RHINO MOTION CONTROLS RMCS-2304 User manual

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DC Motor Drive
10V - 30V DC, 50W
ASCII Modbus
RMCS –2304
Operating Manual v1.0

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https://www.robokits.co.in/
Contents
Introduction –Salient Features ....................................................................................................................................3
Technical specifications ...............................................................................................................................................3
Pin Description of this Drive.........................................................................................................................................4
Slave ID Addressing .....................................................................................................................................................5
Modbus Registers........................................................................................................................................................6
Modbus Register Mapping ...........................................................................................................................................7
Control Modes.............................................................................................................................................................9
Mode 0 - Analog Control Mode ................................................................................................................................9
Mode 1 - Joystick Control Mode .............................................................................................................................10
Mode 2 –Digital Speed Control Mode....................................................................................................................11

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Introduction –Salient Features
Rhino Motion Controls DC Drive RMCS-2304 with UART ASCII is a high performance dc motor drive (10–30 V DC up to 10A)
designed for optimized operation of Rhino DC motors.
The salient features of this drive:
•This drive provides a closed loop speed control for the dc system.
•The motor programmed speeds are maintained irrespective of the voltages supplied.
•Also by using this drive, the rated torque of 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 control mode, Joystick control mode and Digital speed
& Direction control mode.
•It has short-circuit protection for the motor outputs, over-voltage and under-voltage protection and will survive
accidental motor disconnects while powered-up.
•This drive is configured using MODBUS ASCII protocol via UART.
•There is a function in the drive for setting the Modbus Slave Address from 1 to 7 using physical jumpers (Hardware
Setting) or using MODBUS Tool Device (Software Setting).
•There are three user modes in the drive:
o Mode0 - Analog Control Mode
o Mode1 - Joy Stick Control Mode
o Mode2 - Digital Speed Control Mode
Technical specifications
Supply Voltage and Current
Specification
Min
Max
Units
Comments
Supply Voltage
10
30
Volts DC
Between +Ve and GND
Phase Current
0.5
5
Amps
Peak 5 Amps per phase

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Pin Description of this Drive
Pin No.
Description
1
GND
2
RXD
3
TXD
4
ENABLE
5
ADC
6
DIRECTION
7
BRAKE
(Pins 1-7 are used for drive
Configuration and UART control)
Pin No.
Description
JP1
Jumper 1
JP2
Jumper 2
JP3
Jumper 3
(JP1 to JP3 are used for Hardware
setting of slave ID)
Pin No.
Description
8
GND
9
VDD
10
Motor+
11
Motor-
(Pins 8 - 11 are connected to motor and
Power supply as described)

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Slave ID Addressing
Multiple drives with different slave addresses can be used with a single controller on single UART bus. For this all drives
should have a unique Slave Address. Using Modbus commands, the slave ID can be set from 1 to 247. However, slave ID
from 1 to 7 can be set using physical jumpers also. As shown in the image below there are three jumpers marked by a red
circled shown in the image below.
The three jumpers JP1, JP2 and JP3 can be set in the configuration as per the below table to provide a physical slave
address to the drive. In the below table 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
programmed to use the Slave ID 1 in default mode which can be changed from 1 to 247 using Modbus commands.
Drive will check jumpers on startup. If no physical jumper is connected it will use programmed slave id (default 11).
Slave ID
JP1
JP2
JP3
Image of connection on the Drive
1
0
0
1
2
0
1
0
3
0
1
1
4
1
0
0
5
1
0
1
6
1
1
0
7
1
1
1

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Modbus Registers
Register
Data
Address
(Decimal)
Access
Size
Function
Range
/Command
And Default
value in HEX
(Decimal)
Specification
Description
40001
0
Read /
Write
16
bit
Write Parameters
to EEPROM
FF (255)
To save parameters in Drive
(EEPROM) send Hex value
XXFF to Address 0.
Where XX is slave ID ranging
from 01 to F7(1 - 247)
For example:
If slave id is 7 then write 07FF.
Modbus Slave
Address
Range:1-F7
(1-247)
Default: 0B(11)
For Slave Address Setting refer
Slave ID Addressing
40003
2
Read /
Write
16
bit
Modes (Default value: 0)
Analog Control
Mode
(Mode 0)
0001(1)
Mode byte:00
Control byte:01
Enable motor in analog Control
mode.
For analog mode, connect
external potentiometer.
0000(0)
Mode byte:00
Control byte:00
Disable motor in analog Control
mode
Joystick Control
Mode
(Mode 1)
0101(257)
Mode byte:01
Control byte:01
Enable motor in joystick control
mode
0100(256)
Mode byte:01
Control byte:00
Disable motor in joystick control
mode
Digital Speed
Control Mode
(Mode 2)
0201(513)
Mode byte:02
Control byte:01
Enable motor in CW
0200(512)
Mode byte:02
Control byte:00
Disable motor in CW
0204(516)
Mode byte:02
Control byte:04
Brake in CW
0203(515)
Mode byte:02
Control byte:03
Enable motor in CCW
0208(520)
Mode byte:02
Control byte:08
Disable motor in CCW
020C(524)
Mode byte:02
Control byte:0C
Brake in CCW
40005
4
Read /
Write
16
bit
Reset Default
Parameters
0000(0)
Writing 0 to this address then
save to eeprom will load default
parameters in drive.
40013
12
Read/
Write
16
bit
Acceleration
Range:
0001 - 0080
(1 - 128)
Default:
0001(1)
Set the Acceleration of the Motor
40015
14
Read/
Write
16
bit
Speed
Range:
0001-0800
(1-2048)
Default:
03E8(1000)
If gearbox is attached output RPM
will be different.

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Modbus Register Mapping
➢Device Modbus Address(MOD _ID)
Address: 0x00 (40001)
Default value: 0x0BFF
MOD_ID[15:8]
SP[7:0]
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
Bits 15:8 MOD_ID [15:8]: Modbus address register bits
Default: 0x0B
Maximum value: 0xF7
Minimum value: 0x01
Bits 7:0 SP [7:0]: Save parameters
Default: 0x00
If slave id is 7 then by writing 07FF in this address will save parameters in eeprom.
➢Control and Mode Register
Address: 0x02(40003)
Default value: 0x0000
MODE[15:8]
CRTL[7:0]
0
0
0
0
rw
rw
rw
rw
0
0
0
0
0
BRK
DIR
EN
Bits 15:8 MODE [15:8]: Mode byte
Default: 0x00
Bits [11:8] 0000: Analog Control Mode
0001: Joystick Control mode
0010: Digital Speed Control Mode
Bits 7:0 CRTL [7:0]: Control Byte
Default: 0x00
Bit 2 BRK: Brake
This function is only available in Digital speed control mode
0: Disable Brake
1: Enable Brake
Bit 1 DIR: Direction (only Digital mode)
0: Clockwise direction
1: Counter-clockwise direction
Bit 0 EN: Enable bit
0: Disable mode
1: Enable mode
Enable has more priority than brake.
➢Acceleration Register(ACC)
Address: 0x0C (40013)
Default value: 0x0001

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ACC[15:0]
rw
Bits 15:0 ACC [15:0]: Acceleration
Default: 0x0001
Maximum value: 0x0080
Minimum value: 0x0000
Acceleration can be changed in mode 2 digital control mode and affect in all the modes when starting the motion or
changing the speed. Deceleration is also applied as per set value when stopping the motor or decreasing the speed.
➢Speed Register(SPD)
Address: 0x0E (40015)
Default value: 0x03E8
SPD[15:0]
rw
Bits 15:0 SPD [15:0]: base motor speed
Default: 0x03E8
Maximum value: 0x0800
Minimum value: 0x0000
If gearbox is attached output RPM will be different.
➢Reset Register(RST)
Address: 0x04 (40005)
RST[15:0]
rw
Bits 15:0 RST [15:0]: Reset register
Writing 0 in this address then save to eeprom will reset default parameters in drive.

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Control Modes
Motor can be run in 3 different modes - 0: Analog Control Mode, 1: Joystick Control Mode, 2: Digital Control Mode
Mode 0 - Analog Control Mode
•In this mode drive can be controlled using an external potentiometer or analog voltage input. As this is a close loop drive,
high torque (up to the maximum torque motor can provide) is available even at low speed.
•Speed of motor can be changed in analog mode by moving an external potentiometer.
•Default Acceleration and Speed is already set in this drive.
•Can change default settings through Modbus Poll software, PLC and Arduino Controller.
•Electronic brake can be applied to motor by connecting Brake to GND - (Pin 7) to GND (Pin 1).
•Direction can be changed by connecting Direction pin to Gnd.
Hardware Connection

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Mode 1 - Joystick Control Mode
•In this mode motor can be controlled using an external Joystick through ADC input.
•Direction and Speed of motor can be changed in this mode by moving the Joystick.
•Motor is in Brake condition at center point of Joystick.
•Motor rotate in CW direction while moving the Joystick in upward direction.
•Motor rotate in CCW direction while moving the joystick in downward direction.
•Default Acceleration and Speed is already set in this drive.
•Can change default settings through Modbus Poll software, PLC and Arduino Controller.
•Electronic brake can be applied to motor by connecting Brake to GND - (Pin 7) to GND (Pin 1).
Hardware Connection