WOBIT SID116 Page 38 User Manual Download

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User manual SID116 – 09.04.2015r. v.1.0 page 38

MODBUS communication

Driver allows communication with master device (MASTER) at MODBUS-RTU protocol. Communication is made
via RS485 port.

Transmission parameters



Default address: 1 (configurable in range 1..126)



Default address:

38400 b/s

(available speeds 9600, 19200, 38400, 57600, 115200)



Stop bit:

, Parity:

none



Timeout:

750µs

(max interval between next bytes in frame)

Communication description, list of user registers and way of drive control by MODBUS-RTU is available at
„

SID116_protokol_MODBUS.pdf

”documentation.

Summary of Contents for SID116

Page 1: ...P H WObit E K J Ober s c 62 045 Pniewy D borzyce 16 tel 61 22 27 422 fax 61 22 27 439 e mail wobit wobit com pl www wobit com pl User manual SID116 DC motor driver with USB and RS485 Modbus interface...

Page 2: ...ogrammable inputs 12 3 6 Analog input 13 3 7 Programmable outputs 13 3 8 Control interfaces 14 3 9 Communication interfaces 15 4 SID116 PC software 16 4 1 USB connection with PC 16 4 2 Application int...

Page 3: ...particular application This information does not release the user from the obligation of own judgment and verification P P H WObit E K J Ober s c reserves the right to make changes without prior notic...

Page 4: ...of sensitive radio and television devices in nearby 1 2 Assembly recommendation It is recommended to follow measures described below to prevent any possible interruptions of the device operation Do n...

Page 5: ...nnel connected to mechanical limit or to limit switch SID116 is equipped with dynamic braking function based on internal resistor with option to connect an external resistance and regenerative braking...

Page 6: ...e setting after selection is assigned directly to pulse generator input Relative setting is assigned to driver input after sum with current value of pulse generator All settings are saved in non viola...

Page 7: ...value is position in encoder pulses steps acceleration braking and maximal velocity are limited according to trapezoid velocity profile Mixed mode this mode is a mix of position adjustment and velocit...

Page 8: ...www wobit com pl User manual SID116 09 04 2015r v 1 0 page 8 3 Device description 3 1 Connectors and indicators arrangement Picture 4 SID116 indicators description...

Page 9: ...oder A channel 24 GND Ground 25 5V Output 5 V 26 Q0 0 Programmable output Digital outputs without opto insulation 27 Q0 1 Programmable output 28 GNDQ Output s ground 29 VDDQ Output s power supply 30 A...

Page 10: ...second end should be connected to driver supply VDC 1 Motor should be connected to M 3 and M 4 inputs motor polarity can be important while use of drive with encoder Picture 5 Motor connection diagra...

Page 11: ...source of power supply To driver please lead EA EB EC and GND signals where GND is ground of encoder power supply Maximal encoder pulses frequency shouldn t exceed 1 MHz In case of encoder with Open...

Page 12: ...mon with device supply ground Picture 8 Inputs with opto insulation I0 0 I0 3 Parameters Opto insulation High state 24 VDC min 2 V max 26 V Low state 2 VDC Picture 10 Inputs without insulation I1 0 I1...

Page 13: ...hen input will be operate in its half range To use full input range it is recommended use external stabilized power supply 10 V To minimize noises cables of analog signal should lead as far as possibl...

Page 14: ...presented below Picture 13 Configuration example of fast inputs for step dir signal Parameters Max signal frequency200 kHz Voltage range 5 24 V Opto insulation Picture 14 Configuration example of fas...

Page 15: ...ipped with MODBUS RTU protocol on RS485 bus Driver is operating as SLAVE device Communication parameters can be adjusted using PC application Device is equipped with internal RS485 120 line terminator...

Page 16: ...existing at industrial conditions While occurring communication problems please use additional protecting elements like use line filters use high quality USB cable 1 5 m length equipped with ferrite...

Page 17: ...www wobit com pl User manual SID116 09 04 2015r v 1 0 page 17 Picture 18 Advanced settings panel...

Page 18: ...otion and waits for next setting PROFIL ZAKO CZONY STA A PR DKO drive achieved set velocity and moves with its value Position field is presenting current drive position in steps which corresponds to s...

Page 19: ...ted for 0 and for 10 000 value Gain field allows to enter control interface amplification floating point value Entered value should be confirmed by pressing ENTER button Constant coefficient field all...

Page 20: ...ers Table 3 Advanced parameters description Parameter Description 01 Homing settings Homing mode Available modes HOME_ON_INIT_POS homing turned on only position reset HOME_ON_CURRENT homing after exce...

Page 21: ...maximal velocity limitation in rpm Acceleration Acceleration Profile braking in rps2 05 Velocity profile at velocity regulation mode Maximal velocity Driver maximal velocity limitation in rpm Accelera...

Page 22: ...e state OFF enforcing not active 5 Input polarity HIGH high state on driver input corresponds to active signal LOW low state on driver input corresponds to active signal 6 Configuration of signals ass...

Page 23: ...f R2 setting R3 Index input of R3 setting R4 Index input of R4 setting R5 Index input of R5 setting R6 Index input of R6 setting R7 Index input of R7 setting R8 Index input of R8 setting R9 Index inpu...

Page 24: ...21 Errors handling window User can configure errors At first column window is located error name Second column informs about error status Not active error is not active Active is active depend on set...

Page 25: ...ntil its finish II Start SID116 PC application III Read in default settings 1 and save settings 2 After record driver will restart which will be signalized by LED diode blinking on front panel IV Go t...

Page 26: ...hanical brake it must be configured Outputs configuration is located at I O configuration window check 4 2 3 chapter Below is presented configuration for NC brake type Normally closed i e 0 V supply b...

Page 27: ...a odwo ania chapter XIII When drive is equipped with brake correctly configured driver should release the lock after giving ENABLE signal in other case please change brake polarity or check connectin...

Page 28: ...ase of sign incompatibility please exchange order of motor cables change of rotation direction or exchange A and B encoder signals change of counting direction MOTOR BRAKE in case of drive equipped wi...

Page 29: ...tation direction 100 PWM_BEZWZGLEDNIE 10 Motor is control with 10 duty to negative rotation direction 0 PWM_BEZWZGLEDNIE 0 Motor is stopped 100 PWM_BEZWZGLEDNIE 10 Motor is control with 10 duty to pos...

Page 30: ...ocity regulator controls current regulator input Due to regulator topology adjustment should be started from current regulator While drive is equipped with encoder first of all velocity regulator shou...

Page 31: ...used with a setting PRAD_BEZWZGLEDNIE setting value will be set directly as a set value in mA PRAD_WZGLEDNIE setting value will be summed with current value set in mA Read 5 and record 6 buttons are u...

Page 32: ...h a sign After entering a setting pressing ENTER button will cause record to driver memory Setting type 4 defines functions to be used with a setting PREDKOSC_BEZWZGLEDNIE setting value will be set di...

Page 33: ...Setting value 3 is an integer value with a sign After entering a setting pressing ENTER button will cause record to driver memory Setting type 4 defines functions to be used with a setting POSITION_BE...

Page 34: ...charging e g storage batteries when motor operates at mobile application In case of electric motors energy returns in form of high power short pulses Excess of energy from motor is converted into the...

Page 35: ...level irrespective of the fact drive is active or not which means that storage battery will be discharged to 24 V level That s why driver voltage supply at settings should be set to maximal value whi...

Page 36: ...while current consumption 50 rated Please use additional radiator on driver or enforce air circulation around driver housing Please limit motor rated current at settings If drive overheat while normal...

Page 37: ...se check encoder operation Please check if counting pulses direction from encoder is the same as motor polarity Drive screech while operation with regulator Overregulation of current regulator Please...

Page 38: ...e via RS485 port Transmission parameters Default address 1 configurable in range 1 126 Default address 38400 b s available speeds 9600 19200 38400 57600 115200 Stop bit 1 Parity none Timeout 750 s max...

Page 39: ...www wobit com pl User manual SID116 09 04 2015r v 1 0 page 39 7 Record of changes Table 8 Record of changes Version Firmware PC program 1 00 first version first version...

Page 40: ...Inputs IN0 1 IN0 8 Opt insulation yes Low state below 2 V High state 5 24 V Inputs IN1 0 IN1 2 Opt insulation none Low level below 2 V High state 5 24 V Outputs Q0 Q1 Opt insulation yes Type transist...

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