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RHINO RMCS -2303, Руководство по эксплуатации

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d)  User can set position of motor as per requirement.  For 334 lines  per rotation user need to send Hex value 

538 (Decimal value is 1336) to address 16 for 1 rotation of encoder as per below image. To understand lines 
per rotation concept refer page 16. 
 

 

 

e)  To enable motor in position control mode send Hex value 0201 to address 2 as per below image. 

 

 

 

Содержание RMCS -2303

Страница 1: ...DC Servo Drive for Rhino Encoder DC Servo Motor Model No RMCS 2303 Operating Manual v1 0...

Страница 2: ...Drive with Modbus Poll Software 10 Step 3 Set slave ID in Modbus Poll Software to send and receive Data 12 Step 4 Go to Function 15 STEP 5 Set the Lines per rotation as per the encoder and motor spec...

Страница 3: ...the motor is available at all speeds and the torque does not decrease with change in speeds It is possible to run the motor in three different modes analog speed control mode digital speed control mo...

Страница 4: ...rive is as per below image Pins 1 7 are used for drive Configuration and UART control Pin No Description 8 GND 9 5VDC 10 ENC_B Hall W 11 ENC_A Hall U 12 Hall U 13 W 14 Motor V 15 Motor U 16 VDD 17 GND...

Страница 5: ...e is used when multiple motors are to be used to run at exactly the same RPM and same torque even though the voltage supply might be different d Also in this mode the direction of the motor can be con...

Страница 6: ...able a value of 0 corresponds to a state where the jumper is not connected and a value of 1 corresponds to a state where the jumper is connected If none of the jumpers are connected the drive has been...

Страница 7: ...https robokits co in rhino ig32 precision dc servo https robokits co in motors encoder dc servo high torque dc encoder motor https robokits co in motors encoder dc servo high torque high precision mo...

Страница 8: ...Description 8 GND 9 5VDC 10 ENC_B Hall W 11 ENC_A Hall U 12 Hall U 13 W 14 Motor V 15 Motor U 16 VDD 17 GND Motor Pin outs Motor Wire Color GND Black VCC 5 V DC Brown ENC_B Encoder B Red ENC_A Encoder...

Страница 9: ...Pin outs Pin No Description 1 GND 2 RXD 3 TXD 4 ENA 5 ADC 6 DIR 7 BRK CP2102 Pin outs GND TXD RXD Potentiometer Pin outs GND GND Output Signal VCC 3 3 V DC Voltage Divider Pin outs GND GND 3 3V Signa...

Страница 10: ...the Modbus Poll software is installed and the CP2102 is connected please run the Modbus Poll software b Proceed to the Connection Tab on the screen and click the same as per below image c Then click o...

Страница 11: ...ngs are as per above for all parameters including the parity and stop bit e Once the OK button is pressed in the connection setup the screen should show connected and it should be as per below image f...

Страница 12: ...tware It should pop up a menu as per below image Change screenshot b Now select the first option Read write Definition It should open up a window as per below image c Make all the settings as per abov...

Страница 13: ...nce all settings are done click on apply then select ok e You should receive data in the main table as per below image f The procedure to set Slave ID through software setting is explained below with...

Страница 14: ...power reset also remove all the three jumpers and enter Slave ID 247 as per below image h Then your drive is connected with Modbus Poll Software and Slave ID is 247 i This concludes STEP3 of the conf...

Страница 15: ...to understand the procedure to write the data to the drive to run it as per the requirement a Go to Functions tab on the home screen and click on 06 Write Single Register as per the below image b It...

Страница 16: ...enable the Digital speed control mode of the drive d Once the data is input in the window click send e Response OK message will be displayed as per below f Once the response OK is received it means th...

Страница 17: ...e gear box determines the rotation of the output shaft of the motor for each rotation of the base motor Eg For a motor of 200 RPM with base motor of 18000 rpm the gear ratio is 90 Hence for a full rot...

Страница 18: ...rite Single Register as per the below image b Send lines per rotation Hex value to address 10 For High Precision encoder motor lines per rotation is 334 so send Hex value 14E 334 to address 10 as per...

Страница 19: ...r hardware connections as per STEP 1 and set the values in address 2 as per below table which is described from point no b Slave ID Address Value hex Description 7 2 0000 Enables mode 0 analog mode 7...

Страница 20: ...e Pin 4 of drive to GND Pin 8 to enable motor in analog mode h User can change direction of motor in analog mode to connect the Direction Pin 6 to the GND Pin 8 i User can lock motor by connecting bra...

Страница 21: ...tion 7 2 0100 Enable Mode 1 digital mode 7 2 0101 Enable the motor 7 2 0109 Changes the direction of motor Direction changes in low speed then user can increase speed of motor 7 14 For example Min 0 M...

Страница 22: ...maximum RPM for the motor we would have to program 4650 HEX value of 18000 in the value and send To set 50 RPM output for the motor we would have to set 50 rpm for the base motor So we would set 2328...

Страница 23: ...ge g To stop motor send Hex value of 0 to address 2 as per below image h This concludes the settings for Mode1 The Gain and acceleration of the motor can be set as per described in Apendix 1 If you in...

Страница 24: ...334x4 1336 Units for command are in steps so depends on the lines per rotation of the encoder This Hex Value 538 is for one rotation of encoder 18 MSB 0 Units for command are in steps so depends on t...

Страница 25: ...er rotation user need to send Hex value 538 Decimal value is 1336 to address 16 for 1 rotation of encoder as per below image To understand lines per rotation concept refer page 16 e To enable motor in...

Страница 26: ...Refer Page 14 for calculations For one rotation at output shaft 334 lines per rotation Hex value is 1D5B0 120240 decimal value Register 16 and Register 18 is 16 Bit so you can send maximum value up to...

Страница 27: ...ddress 2 Motor takes one rotation at output shaft By this method user can set motor at any position i This concludes the settings for Mode2 The Gain and acceleration of the motor can be set as per des...

Страница 28: ...ng to saved setting Users don t need to connect the drive through software again to run the motor In hex value 07FF 07 is slave ID and FF value is ignored b To Reset setting in drive send Hex value 0...

Страница 29: ...er Dependent Modbus Input Register No of Bits Maximum Value Default Values Hex Description VP_GAIN_BYTE 4 8 Bit 255 FF20 Velocity proportional gain VI_GAIN_BYTE 6 8 Bit 255 FF10 Velocity integral gain...

Страница 30: ...for registers listed in the above table Register 1 This register shows device address Its default value is 0007 where 00 shows mode is disabled 07 is slave ID Register 1 is related to register 2 As p...

Страница 31: ...de Byte It is related to register 2 Refer below image for understanding its default Hex value is 2000 where 2 is Input control byte register and 00 shows it is in mode 0 As per below image when user s...

Страница 32: ...egral gain I gain parameter Its default value is FF10 240 User can change this value as per requirement Refer below method to change Velocity Integral gain of motor Eg Hex value FF42 190 send to regis...

Страница 33: ...This register is used to set speed of motor It is already explained in Mode1 Digital Speed Control mode settings on Page 20 Register 16 and Register 18 These register are used for Position control mod...

Страница 34: ...0 user can read LSB position of motor and from register 22 user can read MSB position of encoder Register 24 This register is used to take speed feedback of motor Its default value is 0800 When motor...

Страница 35: ...Page 35 Then user can read feedback of motor speed as per below image...

Страница 36: ...Error o Check Connections and reset power o Check Jumpers connection as per slave ID o If no jumper is connected then default slave ID is 7 Error in position control Mode o Check Lines per rotation va...

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