RHINO MOTION CONTROLS RMCS-1120, Installation Manual And Datasheet

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RHINO MOTION CONTROLS
RMCS-1120
Hybrid Servo Driver with Modbus RTU communication
(Max. 50Vdc and 7A per phase)
http://www.rhinomc.com
Page 8
Hybrid AC Driver [RMCS-1120]
Where,
PP_GAIN Position Error Proportional Gain in Position Control Loop
PFF_GAIN Input Velocity Feedforward Gain in Position Control Loop
PD_GAIN Position Error (Derivative) Damping Gain in Position Control Loop
PV_GAIN Velocity Error Proportional Gain in Velocity Control Loop
IV_GAIN Velocity Error Integral Gain in Velocity Control Loop
DV_GAIN Velocity Error (Derivative) Damping Gain in Velocity Control Loop
C_LIMIT Current Command Limit Variable to reduce overheating in specific applications
CP_GAIN Current Error Proportional Gain in Current Control Loop
CI_GAIN Current Error Integral Gain in Current Control Loop
C_TRIGGER Overload Current Trigger Level setting for LED Display
FLT_TIME_CNST Input Pulse Train IIR filter Time Constant setting
PFA_GAIN Input Acceleration Feedforward Gain In Position Loop
I_MUL Input Pulse Train Multiplier to reduce Output Speed
SLVADDR Slave Address of Device for Modbus RTU Communication
ENC_PPR The Encoder CPR setting for the Motor
M_POLES The Number of Poles in the Motor
Note: The Current Limit and the Current Trigger Level are application specific parameters.
Additional Commands
Parameter Description Address
Decimal
Address
Data Type
Default
Max
V_COMD Velocity Command 0X2000 8192 Signed 0 200
A_COMD Acceleration
Command 0X2001 8193 signed 25
1000
M_COMD
Motion Command 0X2002 8194 signed long 0
-
M_STATE Motion Status 0X2004 8196 signed 4
-
P_ERROR Position Error 0x2005 8197 signed -
-
C_POS Current 32bit POS 0X2006 8198 Signed long - -
C_Angle Current Angle 0X2008 8200 signed -
-