Lika RD5 User manual

User's guide

RD5

RD53

RS-485 version

Smart encoders & actuators

This document and information contained herein are the property of Lika Electronic s.r.l. and shall not be reproduced in whole or in

part without prior written approval of Lika Electronic s.r.l. Translation, reproduction and total or partial modification (photostat copies,

film and microfilm included and any other means) are forbidden without written authorisation of Lika Electronic s.r.l.

The information herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s.r.l. Lika

Electronic s.r.l. reserves the right to make all modifications at any moments and without forewarning.

This manual is periodically reviewed and revised. As required we suggest checking if a new or updated edition of this document is

available at Lika Electronic s.r.l.'s website. Lika Electronic s.r.l. assumes no responsibility for any errors or omissions in this document.

Critical evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future documentation, in order

to make it as clear and complete as possible. Please send an e-mail to the following address [email protected] for submitting your

comments, suggestions and criticisms.

General contents
User's guide...............................................................................................................................................................................................1
General contents................................................................................................................................................................................3
Subject Index.......................................................................................................................................................................................6
Typographic and iconographic conventions..........................................................................................................................7
Preliminary information..................................................................................................................................................................8
 Safety summary 9
1 Safety.............................................................................................................................................................................9
2 Electrical safety.........................................................................................................................................................9
3 Mechanical safety..................................................................................................................................................10
 Identification 11
 Mounting instructions 12
 Electrical connections 15
1 Ground connection (Figure 2)..........................................................................................................................15
2 M12 connectors (Figure 2).................................................................................................................................16
3 Dip-Switches and diagnostic LEDs (Figure 3)............................................................................................18
3.1 Diagnostic LEDs (Figure 3).........................................................................................................................19
3.2 Setting the address node: Node ID (Figure 3)...................................................................................21
3.3 Setting data transmission rate: Baud rate and Parity bit (Figure 3).......................................22
3.4 RT bus termination (Figure 3)...................................................................................................................23
 Quick reference 24
1 Configuring the device using Lika setting up software........................................................................24
2 “Serial configuration” page...............................................................................................................................25
3 “Operative mode” page.......................................................................................................................................29
4 “Machine data” page............................................................................................................................................33
5 “Message monitor” page....................................................................................................................................35
6 “Test Lika” page.......................................................................................................................................................36
7 “Upgrade Firmware” page..................................................................................................................................36
7.1 If there is an installation issue.................................................................................................................39
8 Getting started.......................................................................................................................................................40
 Functions 41
1 Working principle..................................................................................................................................................41
2 Movements: jog and positioning....................................................................................................................42
3 Distance per revolution [00 hex], Jog speed [0C hex], Work speed [0D hex], Preset [16-17
hex], Positive delta [08-09 hex] and Negative delta [0A-0B hex].......................................................43
 Modbus® interface 47
1 Modbus Master / Slaves protocol principle................................................................................................47
2 Modbus frame description.................................................................................................................................48
3 Transmission modes..............................................................................................................................................49
3.1 RTU transmission mode..............................................................................................................................50
4 Function codes........................................................................................................................................................52
4.1 Implemented function codes...................................................................................................................52
Read Holding Registers.................................................................................................................................................52
Read Input Register........................................................................................................................................................54
Write Single Register......................................................................................................................................................56
Write Multiple Registers...............................................................................................................................................58
 Programming parameters 62
1 Parameters available............................................................................................................................................62

8.1.1 Machine data parameters..........................................................................................................................62
Distance per revolution [00 hex].....................................................................................................................................62
Position window [01 hex]...................................................................................................................................................63
Position window time [02 hex]........................................................................................................................................63
Max following error [03 hex]............................................................................................................................................63
Kp position loop [04 hex]....................................................................................................................................................64
Ki position loop [05 hex].....................................................................................................................................................64
Acceleration [06 hex]............................................................................................................................................................64
Deceleration [07 hex]............................................................................................................................................................64
Positive delta [08-09 hex]...................................................................................................................................................64
Negative delta [0A-0B hex]................................................................................................................................................65
Jog speed [0C hex].................................................................................................................................................................65
Work speed [0D hex].............................................................................................................................................................65
Start torque current time [0E hex].................................................................................................................................66
Code sequence [0F hex].......................................................................................................................................................66
Kp current loop [10 hex].....................................................................................................................................................67
Ki current loop [11 hex].......................................................................................................................................................67
Max current [12 hex]............................................................................................................................................................67
Starting torque current [13 hex].....................................................................................................................................67
Offset [14-15 hex]..................................................................................................................................................................67
Preset [16-17 hex]..................................................................................................................................................................68
Gear ratio [18 hex].................................................................................................................................................................68
Jog step length [19 hex]......................................................................................................................................................68
Extra commands register [29 hex]..................................................................................................................................69
Absolute reading................................................................................................................................................................69
Control Word [2A hex].........................................................................................................................................................69
Jog +........................................................................................................................................................................................69
Jog -.........................................................................................................................................................................................70
Stop..........................................................................................................................................................................................70
Alarm reset...........................................................................................................................................................................70
Incremental jog..................................................................................................................................................................70
Start.........................................................................................................................................................................................71
Emergency............................................................................................................................................................................71
Watch dog enable..............................................................................................................................................................71
Save parameters.................................................................................................................................................................71
Load default parameters.................................................................................................................................................71
Perform counting preset................................................................................................................................................72
Axis torque............................................................................................................................................................................72
Brake released.....................................................................................................................................................................72
Target position [2B-2C hex]...............................................................................................................................................72
8.1.2 Input Register parameters.........................................................................................................................74
Alarms register [00 hex]......................................................................................................................................................74
Machine data not valid...................................................................................................................................................74
Flash memory error...........................................................................................................................................................74
Following error....................................................................................................................................................................74
Axis not synchronized......................................................................................................................................................74
Target not valid...................................................................................................................................................................74
Emergency............................................................................................................................................................................74
Overcurrent..........................................................................................................................................................................75
Overtemperature................................................................................................................................................................75
Undervoltage.......................................................................................................................................................................75

Watch dog............................................................................................................................................................................75
Status word [01 hex].............................................................................................................................................................76
Axis in position....................................................................................................................................................................76
Axis enabled.........................................................................................................................................................................76
SW limit switch +..............................................................................................................................................................76
SW limit switch -...............................................................................................................................................................76
Alarm.......................................................................................................................................................................................76
Axis running.........................................................................................................................................................................76
Executing a command.....................................................................................................................................................77
Target position reached..................................................................................................................................................77
DAC saturation....................................................................................................................................................................77
Current position [02-03 hex]............................................................................................................................................77
Current velocity [04 hex]....................................................................................................................................................77
Position following error [05-06 hex].............................................................................................................................77
Current value [07 hex].........................................................................................................................................................78
Temperature value [08 hex]...............................................................................................................................................78
Wrong parameters list [09-0A hex]................................................................................................................................78
I2t [0B hex]................................................................................................................................................................................79
Dip-switch baud rate [0C hex]..........................................................................................................................................79
Dip-switch node ID [0D hex].............................................................................................................................................79
SW Version [0E hex]..............................................................................................................................................................79
HW Version [0F hex]..............................................................................................................................................................80
8.2 Exception codes......................................................................................................................................................82
9   Programming examples 83
9.1 Using the 03 Read Holding Registers function code.............................................................................83
9.2 Using the 04 Read Input Register function code....................................................................................84
9.3 Using the 06 Write Single Register function code.................................................................................86
9.4 Using the 16 Write Multiple Registers function code...........................................................................88
10   Default parameters list 89

Subject Index

Absolute reading..............................................................69

Acceleration [06 hex]......................................................64

Alarm.....................................................................................76

Alarm reset..........................................................................70

Alarms register [00 hex]................................................74

Axis enabled.......................................................................76

Axis in position..................................................................76

Axis not synchronized....................................................74

Axis running.......................................................................76

Axis torque..........................................................................72

Brake released....................................................................72

Code sequence [0F hex].................................................66

Control Word [2A hex]...................................................69

Current position [02-03 hex]......................................77

Current value [07 hex]...................................................78

Current velocity [04 hex]..............................................77

DAC saturation..................................................................77

Deceleration [07 hex].....................................................64

Dip-switch baud rate [0C hex]...................................79

Dip-switch node ID [0D hex].......................................79

Distance per revolution [00 hex]...............................62

Emergency...................................................................71, 74

Executing a command...................................................77

Extra commands register [29 hex]............................69

Flash memory error.........................................................74

Following error..................................................................74

Gear ratio [18 hex]...........................................................68

HW Version [0F hex]........................................................80

I2t [0B hex].........................................................................79

Incremental jog.................................................................70

Jog -.......................................................................................70

Jog +......................................................................................69

Jog speed [0C hex]...........................................................65

Jog step length [19 hex]................................................68

Ki current loop [11 hex]................................................67

Ki position loop [05 hex]...............................................64

Kp current loop [10 hex]...............................................67

Kp position loop [04 hex].............................................64

Load default parameters...............................................71

Machine data not valid.................................................74

Max current [12 hex]......................................................67

Max following error [03 hex]......................................63

Negative delta [0A-0B hex].........................................65

Offset [14-15 hex]...........................................................67

Overcurrent.........................................................................75

Overtemperature..............................................................75

Perform counting preset...............................................72

Position following error [05-06 hex].......................77

Position window [01 hex].............................................63

Position window time [02 hex]..................................63

Positive delta [08-09 hex]............................................64

Preset [16-17 hex]...........................................................68

Save parameters...............................................................71

Start.......................................................................................71

Start torque current time [0E hex]...........................66

Starting torque current [13 hex]...............................67

Status word [01 hex]......................................................76

Stop........................................................................................70

SW limit switch -.............................................................76

SW limit switch +............................................................76

SW Version [0E hex]........................................................79

Target not valid.................................................................74

Target position [2B-2C hex]........................................72

Target position reached.................................................77

Temperature value [08 hex].........................................78

Undervoltage.....................................................................75

Watch dog...........................................................................75

Watch dog enable............................................................71

Work speed [0D hex].......................................................65

Wrong parameters list [09-0A hex].........................78

Typographic and iconographic conventions

In this guide, to make it easier to understand and read the text the following typographic and

iconographic conventions are used:

•parameters and objects both of Lika device and interface are coloured in ORANGE;

•alarms are coloured in RED;

•states are coloured in FUCSIA.

When scrolling through the text some icons can be found on the side of the page: they are expressly

designed to highlight the parts of the text which are of great interest and significance for the user.

Sometimes they are used to warn against dangers or potential sources of danger arising from the use of

the device. You are advised to follow strictly the instructions given in this guide in order to guarantee

the safety of the user and ensure the performance of the device. In this guide the following symbols are

used:

This icon, followed by the word WARNING, is meant to highlight the parts of the

text where information of great significance for the user can be found: user must

pay the greatest attention to them! Instructions must be followed strictly in order

to guarantee the safety of the user and a correct use of the device. Failure to heed

a warning or comply with instructions could lead to personal injury and/or damage

to the unit or other equipment.

This icon, followed by the word NOTE, is meant to highlight the parts of the text

where important notes needful for a correct and reliable use of the device can be

found. User must pay attention to them! Failure to comply with instructions could

cause the equipment to be set wrongly: hence a faulty and improper working of

the device could be the consequence.

This icon is meant to highlight the parts of the text where suggestions useful for

making it easier to set the device and optimize performance and reliability can be

found. Sometimes this symbol is followed by the word EXAMPLE when instructions

for setting parameters are accompanied by examples to clarify the explanation.

Preliminary information

This guide is designed to provide the most complete information the operator needs to correctly and

safely install and operate the ROTADRIVE positioning units RD5 and RD53 models.

RD5 and RD53 units are positioning devices which integrate into one system a brushless motor fitted

with gearbox, a drive, a multiturn absolute encoder and a position controller. They can be used in a

variety of applications in any industrial sector and are suitable to drive secondary axes such as in mold

changers, mobile stops, tools changers, suction cups motion units, conveyor and spindle positioning

devices on packaging & woodworking machineries, among others.

An integrated brake differentiates RD53 model from RD5 model. The brake is designed to activate as

soon as the motor comes to a stop in order to prevent it from moving even slightly.

The available interfaces for fieldbus communication are: Modbus RTU, Profibus-DP and CANopen DS

301.

In the Modbus version the configuration of the ROTADRIVE unit can be done through a software

expressly developed and released by Lika Electronic in order to allow an easy set up of the device. The

program is supplied for free and can be installed in any PC fitted with a Windows operating system

(Windows XP or later). It allows the operator to set the working parameters of the device; control

manually some movements and functions; and monitor whether the device is running properly.

To make it easier to read the text, this guide can be divided into two main sections.

In the first section general information concerning the safety, the mechanical installation and the

electrical connection as well as tips for setting up and running properly and efficiently the unit are

provided.

While in the second section, entitled Modbus Interface, both general and specific information is given

on the Modbus interface. In this section the interface features and the registers implemented in the unit

are fully described.

RD5 – RD53 Modbus®

1 Safety summary

1 1 Safety

•Always adhere to the professional safety and accident prevention

regulations applicable to your country during device installation and

operation;

•installation and maintenance operations have to be carried out by

qualified personnel only, with power supply disconnected and stationary

mechanical parts;

•device must be used only for the purpose appropriate to its design: use for

purposes other than those for which it has been designed could result in

serious personal and/or the environment damage;

•high current, voltage and moving mechanical parts can cause serious or

fatal injury;

•warning ! Do not use in explosive or flammable areas;

•failure to comply with these precautions or with specific warnings

elsewhere in this manual violates safety standards of design, manufacture,

and intended use of the equipment;

•Lika Electronic s.r.l. assumes no liability for the customer's failure to

comply with these requirements.

1 2 Electrical safety

•Turn OFF power supply before connecting the device;

•connect according to explanation in section ”Electrical connections”;

•a safety push-button for emergency power off has to be installed to shut

off motor power supply in case of emergency situations;

•in compliance with 2004/108/EC norm on electromagnetic

compatibility, following precautions must be taken:

- before handling and installing the equipment, discharge

electrical charge from your body and tools which may come in touch

with the device;

- power supply must be stabilized without noise; install EMC filters on

device power supply if needed;

- always use shielded cables (twisted pair cables whenever possible);

- avoid cables runs longer than necessary;

- avoid running the signal cable near high voltage power cables;

- mount the device as far as possible from any capacitive or inductive

noise source; shield the device from noise source if needed;

- to guarantee a correct working of the device, avoid using strong magnets

on or near by the unit

MAN RD5 RD53 MB E 1.1 Safety summary 9 of 92

RD5 – RD53 Modbus®

- minimize noise by connecting the shield and/or the connector housing

and/or the frame to ground. Make sure that ground is not affected by

noise. The connection point to ground can be situated both on the device

side and on user’s side. The best solution to minimize the interference

must be carried out by the user.

1 3 Mechanical safety

•Install the device following strictly the information in the section

“Mounting instructions”;

•mechanical installation has to be carried out with stationary mechanical

parts;

•do not disassemble the unit;

•do not tool the unit or its shaft;

•delicate electronic equipment: handle with care; do not subject the device

and the shaft to knocks or shocks;

•respect the environmental characteristics of the product;

•unit with hollow shaft: ROTADRIVE can be mounted directly onto a shaft

whose diameter has to respect the technical characteristics specified in the

purchase order and clamped by means of the collar and the hole into

which an anti-rotation pin has to be inserted.

WARNING

The unit has been adjusted by performing a no-load mechanical running test;

thence default values which has been set refer to an idle device, i.e. running

disengaged from the load. Furthermore they are intended to ensure a standard

and safe operation which not necessarily results in smooth running and

optimum performance. Thus to suit the specific application requirements it may

be advisable and even necessary to enter new parameters instead of the factory

default settings; in particular it may be necessary to change velocity,

acceleration, deceleration and gain values.

WARNING

The counter-electromotive force (back EMF) generated by the motor in case the

shaft is forced to rotate due to a manual external force can cause irreparable

damages to the internal circuitry.

MAN RD5 RD53 MB E 1.1 Safety summary 10 of 92

This manual suits for next models

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