RHINO MOTION CONTROLS RMCS-3002 User manual

BRUSHLESS DC MOTOR DRIVE ASCII
Modbus (Model No: RMCS – 3002)
O erating Manual v1.0

Contents
Introduction – Salient Features ..................................................................................... 3
Technical specifications
and
Pin description ................................................................. 4
Slave ID
Addressing ...................................................................................................... 5
Mod us
Registers ......................................................................................................... 6
Mod us
Register
Mapping ............................................................................................ 8
Control
Modes ............................................................................................................. 10
Hardware
Connection of Analog
Open
and
Closed
Loop Mode: ............................ 10
Mode
0
Analog
Open Loop Mode: ....................................................................... 12
Mode
3:
Analog
Closed
Loop Mode: ................................................................... 12
Mode
4:
Analog
Closed
Loop Minimum Speed Control Mode: ............................. 12
Hardware
Connection of Digital
Open
and
Closed
Loop Mode: .............................. 13
Mode
1
Digital Closed Loop Mode: ...................................................................... 13
Mode
2
Digital
Open Loop Mode: ........................................................................ 13
Trou leshooting .......................................................................................................... 14

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Introduction – Salient
Features
Rhino Motion Controls RMCS-3002 with UART ASCII is a high performance rushless dc drive (10–30 V DC) designed for
optimized operation of Rhino rushless DC motors with Hall sensor feed ack. This is an amazing cost effective solution to
provide closed loop/open loop control for various applications. The salient features of this drive:
 This drive provides a closed loop/open loop speed control for the rushless dc system.
 The drive will provide full torque at all speeds within the range.
 This drive is designed for smooth and quiet operation without compromising on torque and control at higher speeds.
 This drive has speed feed ack (Hz) and current feed ack (A).
 This drive have option to control the length of motion, once the length of that motion is exceed the motor will automatically enter
rake condition.
 There is an LED indication for power and error states in this drive.
 It is possi le to run the motor in Five different modes.
 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 through UART.
 There is a function in the drive for setting the Mod us Slave Address from 1 to 247 using MODBUS Tool Device
(Software Setting).
 There is an external Potentiometer required to control speed of motor in Analog control mode.
 There are five modes in the drive:
o Mode 0: Analog Open Loop Mode
o Mode 1: Digital Closed Loop Mode
o Mode 2: Digital Open Loop Mode
o Mode 3: Analog Closed Loop Mode
o Mode 4: Analog Closed Loop Minimum
Speed Control Mode

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Technical s ecifications and Pin descri tion
Su ly Voltage and Current Ratings:
S ecification Min Max Units Comments
Supply Voltage 10 30 Volts DC Between +Ve and GND
Phase Current 0.5 3 Amps Peak 3 Amps per phase
Pin descri tion of the drive is as er below image:
Pin No. Descri tion
1 GND
2 RXD
3 TXD
4 ENA
5 ADC
6 DIR
7 BRK
(Pins 1-7 are used for drive
Configuration and UART control)
(Pins 8 - 17 are connected to
motor and ower su ly as
described)
(J 1 to JP3 are used for
Hardware setting of slave ID)
Pin No. Descri tion
8 GND
9 +5VDC
10 ENC_B/Hall W
11 ENC_A/Hall V
12 Hall U
13 W
14 Motor- / V
15 Motor+ / U
16 VDD
17 GND
Pin No. Descri tion
JP1 Jumper 1
JP2 Jumper 2
JP3 Jumper 3

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Slave ID Addressing:
The second unique feature in this drive is that a single controller can e used to control seven drives at the same time using
the physical jumpers. Using the Mod us Poll software, the slave ID can e set from 1 to 247. However, in this driver, we can
set slave ID from 1 to 7 using physical jumpers also. As shown in the image elow there are three jumpers marked y a red
circle shown in the image elow.
The three jumpers JP1, JP2 and JP3 can e set in the configuration as per the elow ta le to provide a physical slave
address to the drive. In the elow ta le 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 een
programmed to use the Slave ID 1 in default mode.
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
)
Acces
s
Size Function
Range
/Command
And Default
value in HEX
(Decimal)
S ecification Descri tion
40001 0Read /
Write
16
it
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 1 to F7(1- 247)
For example:
If slave id is 7 then write 07FF
Mod us
Slave
Address
Range:1-F7
(1-247)
Default: 1 (1)
Slave ID can e changed using
Mod us tool software
`Reset
default
parameter
s
0008 (8) Writing 0008 in address 0 will
load default values in drive.
40003 2
Read /
Write 16 it
Modes (Default value: 0)
Analog
Open Loop
Mode
(Mode 0)
0001(1) Mode yte:00
Control yte:01
Ena le motor
For analog mode, connect
external potentiometer.
0000(0) Mode yte:00
Control yte:00 Disa le motor
0003(3) Mode yte:00
Control yte:03 Brake
Digital
Closed
Loop Mode
(Mode 1)
0101(257) Mode yte:01
Control yte:01 Ena le motor in CW
0100(256) Mode yte:01
Control yte:00 Disa le motor
0109(265) Mode yte:01
Control yte:09 Ena le Motor in CCW
0103(259) Mode yte:01
Control yte:03 Brake
Digital Open
loop Mode
(Mode 2)
0201(513) Mode yte:02
Control yte:01 Ena le motor in CW
0200(512) Mode yte:02
Control yte:00 Disa le motor
0209(521) Mode yte:02
Control yte:09 Ena le Motor in CCW
0203(515) Mode yte:02
Control yte:03 Brake

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Analog
Closed Loop
Mode
(Mode 3)
0301(769) Mode yte:03
Control yte:01 Ena le Motor
0300(768) Mode yte:03
Control yte:00 Disa le Motor
0303(771) Mode yte:03
Control yte:03 Brake
Analog Closed
Loop Minimum
Speed Control
Mode (Mode 4)
0401(1025)
Mode yte:04
Control yte:01
Ena le Minimum Speed Control
Mode. Set PWM speed in
address 4.
40005 4 Read /
Write 16 it
PWM
Range:
0000-12C0
(0-4800)
Default: 0 (0)
Set PWM for digital open loop
Mode and Analog Closed Loop
Minimum Speed Control Mode
40007 6
Read/
Write 16 it
Frequency
(Hz)
Range:
0000 – 0190
(0 - 400)
Default: 0(0)
Set Frequency for digital closed
loop mode
Speed [rpm] = 60 * freq [Hz]
/ number of pair poles
40009 8 Read
only
16 it Speed Feed ack Range:0000-
FFFF (0-65535)
Current Speed of motor
(Hz)
40011 10 Read
only
16 it Current Feed ack Range:0000-
FFFF (0-65535)
Current Feed ack
(A)
40013 12 Read /
Write
16 it Movement limit Range:(-32767
to 32767 )
Default:
7FFF(32767)
Control length of motion

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Modbus Register Ma ing
➢Device Modbus Address(MOD _ID)
Address: 0x00 (40001)
Default value: 0x0100
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]: Mod us address register
its Default: 0x01
Maximum value: 0xF7
Minimum value: 0x01
Bits 7:0 SP[7:0]: Save parameters
Default: 0x00
If slave id is 7 then y writing 0x07FF in this address it will save parameters in eeprom and writing 0x0800 will load default
value in drive.
➢Control and Mode Register
Address: 0x02(40003)
Default value: 0x0000
MODE[15:8]
CRTL[7:0]
0
0
0
0
rw
rw
rw
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0
0
0
0
DIR
0
BRK
EN
Bits 15:8 MODE [15:8]: Mode yte
Default: 0x00
Bits [11:8] 0000 : Analog Open Loop Mode
0001 : Digital Closed Loop Mode
0010 : Digital Open Loop Mode
0011 : Analog Closed Loop Mode
0100 : Analog Closed Loop Minimum Speed Control Mode
Bits 7:0 CRTL [7:0]: Control Byte
Default: 0x00
Bit 1 BRK : Brake
0 : Disa le Brake
1 : Ena le Brake
Bit 3 DIR: Direction (only Digital mode)
0 : Clockwise direction
1 : Counter-clockwise direction
Bit 0 EN : Ena le it
0 : Disa le mode
1 : Ena le mode
Note : Brake has more priority than enable.

PWM[15:0]
rw
FRQ[15:0]
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➢PWM Register(PWM)
Address: 0x04 (40005)
Default value: 0x0000
Bits 15:0 PWM [15:0]: PWM
Default: 0x0000
Maximum value: 0x12C0
Minimum value: 0x0000
PWM Signal depends on the application. PWM range of this drive is 0-4800 (decimal) value. In Digital open Loop mode speed
can e controlled y PWM.
➢Frequency Register(FRQ)
Address: 0x06 (40007)
Default value: 0x0000
Bits 15:0 FRQ [15:0]: Frequency
Default: 0x0000
Maximum value: 0x0190
Minimum value: 0x0000
S eed [r m] = 60 * freq [Hz] / number of air oles
Motor speed will vary as per a ove equation. As frequency increases speed will increase. In digital Closed loop mode speed
can e controlled y frequency.
Note: There is 10% error in output RPM of the motor. If gear ox is attached then output rpm is different.
➢ S eed Feedback Register(SPD)
Address: 0x08 (40009)
Default value: 0x0000
SPD[15:0]
r
Bits 15:0 SPD [15:0]: Speed Feed ack Register
This register stores current frequency to find current speed of motor use elow equation. Find num er of poles from datasheet of motor.
Speed feed ack is availa le in closed loop mode only.
Calculate RPM from frequency:
S eed [r m] = 60 * freq [Hz] / number of air oles
Note: There is 10% error in output RPM of the motor. If gear ox is attached then output rpm is different.

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➢ Current Feedback Register(CUR)
Address:0x0A(40011)
Default value: 0x0000
CUR[15:0]
r
Bits 15:0 C UR [15:0]: Curent Feed ack Register
This register stores current drawn value. Unit is A (Ampere).
➢Movement Limit(MVL)
Address: 0x0C (40013)
Default value: 0x7FFF
MVL[15:0]
rw
Bits 15:0 M VL [15:0]: Movement Limit Register
In digital closed loop mode (01) there is option to control the length of motion, once the length of that motion is exceed the motor will
automatically enter in rake condition. Range of this address is -32767 to +32767.