RHINO RMCS -2303 User manual
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Contents
Introduction –Salient Features ...........................................................................................................3
Technical specifications and Pin description.......................................................................................4
Drive & Motor Connection...................................................................................................................5
Modes of Operation ............................................................................................................................6
Slave IDAddressing
...........................................................................................................................7
Basics of a servo drive........................................................................................................................8
How to use the drive: ..........................................................................................................................9
Software Installation:.....................................................................................................................10
COM port Selection.......................................................................................................................12
Selection of Modbus Slave Address:.............................................................................................13
Parameters....................................................................................................................................14
Control Modes...................................................................................................................................16
Mode 0 - Analog Control Mode......................................................................................................16
Mode 1 - Digital Speed Control Mode............................................................................................18
Mode 2 - Position Control Mode ....................................................................................................20
Modbus Registers
............................................................................................................................23
Modbus Register Mapping: ...............................................................................................................25
Control through ArduinoMicrocontroller.............................................................................................29
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Introduction –Salient Features
Rhino Motion Controls RMCS-2303 with UART ASCII is a high performance dc servo drive (10–30 V DC) designed for
optimized operation of any DC Servo motors with quad encoder feedback. This is an amazing cost effective solution to
provide closed loop servo control for various applications. The salient features of this drive:
•
This drive provides a closed loop speed and position control for DC motor with encoder.
•
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 speed control mode, Digital speed control mode and
Position controlmode.
•
It has short-circuit protection for the motor outputs, over-voltage and under-voltage protection and will survive
accidental motor disconnects whilepowered-up.
•
This drive is configured using MODBUS ASCII protocol viaUART.
•
There is a function in the drive for setting the Modbus Slave Address from 1 to 7 using physical jumpers (Hardware
Setting) or using PC GUI or any other device like PLC or microcontroller which can provide proper data output on
ASCIIModbus.
•
There are three user modes in the drive :
o
Mode 0 - Analog Control Mode
o
Mode 1 - Digital Speed Control Mode
o
Mode 2 - Position Control Mode
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Technical specifications and Pin description
Supply Voltage and Current
Specification
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 description of the drive is as per below image:
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)
(Pins 8 - 17 are connected to motor and power supply as
described)
Pin No.
Description
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
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Drive & Motor Connection
Drive Pin outs
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
Motor Pin outs
Motor
Wire Color
GND
Black
VCC(5 V DC )
Brown
ENC_B(Encoder B)
Red
ENC_A(Encoder A)
Orange
M-( Motor-)
Yellow
M+( Motor+)
Green
Power Supply Pin outs
VCC –10 to 30V
GND
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Modes of Operation
The drive can be configured in the following three modes
1. Mode 0: Analog speed control mode:
a. In this mode the speed of the Rhino DC Servo motor can be controlled by an externally connected
Potentiometer.
b. Speed can be increased or decreased manually based on requirement using potentiometer.
c. The drive will provide full torque at all speeds within the range.
d. However the potentiometer has to be connected via a voltage divider to provide a maximum of 3.3 volts
so as to not damage the drive.
e. Also the Enable, Brake and direction pins have to beconnected as perconfiguration requirements.
2. Mode 1: Digital Speed control mode with direction control:
a. In this mode the speed and direction of the DC servo motor is settable / controllable via a Computer or any
microcontroller board like Arduino or PLC or anyother Modbus ASCII compatible device.
b. Like the analog mode here there is no compromise in the torque output of the motor irrespective of the
operational speed and voltage supply and control at higher speeds.
c. This mode can be 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 controlled digitally via Modbus ASCII commands to run
the dc servo motor in both directions
e. In applications like conveyor belts where speed control is critical and industrial robotic applications like
solar cleaning robots where straight line motion is critical for correction operation of the equipment, the
digital speed control mode can provide optimal results.
3. Mode 2: Position Control Mode:
a. In this mode Speed, Direction, Acceleration and Position of motor can be controlled.
b. The position control mode is suitable in applications where exact movement of motor is required. This
can beused in precision applications like machine control, motion control or robotics.
In all modes absolute encoder position and speed is available on Modbus.
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Slave IDAddressing
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 the GUI software or 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 circle 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 11 in default mode which can be changed
from 1 to 247 using GUI software or Modbus commands.
Drive will check jumpers on startup. If no physical jumper is connected it will use programmed slave id.
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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Basics of a servo drive
This is a servo drive to work with quad incremental encoder and dc motor. When the drive starts up the encoder
position is set as 0. With reference to the start position drive will always have a 32 bit number keeping track of
movement. It can be set to 0 at any point.
This servo drive works with quadrature encoder. The quadrature encoder also known as quad encoder or
incremental encoder gives two channels of pulses output. It can be of optical or magnetic type.
The basic concept is the encoder gives output of two channels of pulse streams say channel A and channel B to
drive, when A is leading B or B is leading A the drive can also determine the direction of movement.
So drive can calculate the speed and direction of motor according to the pulses if number of Lines per
Rotation is known. For each line drive gets 4 counts, for example if encoder is 334 lines drive can get 1336
(334 x 4) counts per rotation. This parameter can be set in register 10. It's a 16 bit unsigned number having
range of 1 to 65535.
In any of the 3 modes drive manages speed, direction, acceleration, deceleration, position of motor and
voltage and current given to the motor based on set parameters, gains and feedback from encoder. This is a
close loop system means in position mode the drive always tries to make the error which is difference between
the required position and error to 0, in case of speed mode it tries to make the speed same as set speed.
The voltage and current given to motor is also managed by drive to provide higher torque when required. This
also means that even at lower speed, higher torque up to the maximum torque available in motor is possible.
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How to use the drive:
The drive needs to be configured to run in any one of the three modes described in the above section to
make a closed loop control system. The drive can be configured using a PC with GUI software / Modbus
controller / Arduino Board.
To configure the drive for a closed loop system
•
PC with GUI software for Rhino 2303 drive or anygeneric Modbus software (Like Modbus Poll)
o
GUI software
https://robokits.co.in/downloads/Rhino%20DC%20Servo%202303%20Config%20Setup.e
xe
o
Modbus Poll demo version - https://www.modbustools.com/download.html
•
RMCS-2303 UART ASCII Encoder DC Motor Driver
o
https://robokits.co.in/motor-drives-drivers/encoder-dc-servo/rhino-industrial-encoder-dc-
motor- driver-50w-with-uart-ascii-compatible-10-to-30-v-10a
•
Encoder DC Servo Motor (Any DC motor 10-30VDC 50W max with encoder)
o
https://robokits.co.in/rhino-planetary-encoder-dc-servo
o
https://robokits.co.in/rhino-ig32-precision-dc-servo
o
https://robokits.co.in/motors/encoder-dc-servo/high-torque-dc-encoder-motor
o
https://robokits.co.in/motors/encoder-dc-servo/high-torque-high-precision-motor
•
Industrial Power Supply (below is a recommended supply. It can vary as per your requirements)
o
https://robokits.co.in/power-supply/industrial-power-supply/24v-10a-industrial-power-
supply
•
USB UART Module
o
RKI-1154 CP2102 -https://robokits.co.in/control-boards/interface-boards/cp2102-usb-
uart-module
•
External 10K Potentiometer and resistors (for analog Speed Control mode only).
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COM port Selection
Select COM Port for USB-UART, then click on "Connect" button.
You may look in 'Devices and Printers' or 'Device Manager' for specific serial port of your device. The
software supports serial ports up to COM32 only. If your device's port number is higher you can change it in -
Device Manager
> Ports (COM & LPT) > Double click on device name > Port Settings > Advanced > COM
Port number
Once your drive is connected to COM Port and it shows "Connected" message.
When the drive communicates with software You can see a blinking Green indication.
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Selection of Modbus Slave Address:
There are two ways to select Modbus Slave address.
1.
If Slave address is already known, it can be directly selected from drop box.
2.
If slave address is not known or multiple drives with multiple addresses are connected on serial bus, click
search button. This will search for all slave ids from 1 to 247. If any response is received from slave id it will
give indication in status bar and list the drive in 'Available Slaves' drop down box.
To search slave address click on "Search". Once all the connected devices are found click on "Stop Search".
Select any of detected slave address in Modbus Slave Address drop down box and drive will start
communicating to software.
Make sure no multiple drives with same slave address is connected on serial bus.
Once any drive is connected and slave id for the same is selected, software will read parameters of the drive.
It can also be done manually by clicking 'Read Parameters' button.
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Parameters
READ PARAMETERS
"Read Parameters" is used to read current parameters of drive.
SET A PARAMETER
•
Pressing 'Enter' on text box will change the parameter in drive but it will not be saved permanently. 'Write
Parameters' button must be clicked to save all parameters permanently.
•
Set Position Proportional gain, Velocity Feed Forward gain and Position Integral Gain as per requirement.
These can be used to remove vibrations and making movement of motor accurate.
•
Set Modbus slave address and lines per rotation. Lines Per Rotation is very important because it does have
effect on indication of speed feedback.
•
If slave address is changed the software will automatically change the slave id of currently connected
device.
•
Set Speed and Acceleration as per the requirement of application.
WRITE PARAMETERS
Once all the parameters are entered and tested, click on "Write Parameters" to save all parameters in drive.
These parameters will be changed permanently. Notification will be shown as below when all parameters
are written successfully.
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RESET PARAMETERS
To reset the drive to default configuration click 'Reset Parameters' button. This will set all parameters to default
values. When button is clicked software will ask for confirmation.
Click on "Yes" to reset the drive. After Clicking on 'Yes' if reset is successful confirmation message will be
shown. Power off and Power on the drive to load default parameters. If any physical jumpers are preset at
this point the slave id of the drive will be according to that otherwise slave id will be 11.
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Control Modes
Motor can be run in 3 different modes - 0: Analog Mode, 1: Digital Speed Mode, 2: Position Mode
Mode 0 - Analog Control Mode
In this mode drive can becontrolled using an external potentiometeror analog voltageinput. Asthis is aclose loop
drive, hightorque(upto the maximum torque motorcanprovide)isavailable even atlow speed.
•
Connect external potentiometer to change speed of motor as per diagram.
•
Connect enable (Pin 4) of drive to GND (Pin 8) to enable motor in analog mode.
•
Direction of motor can be changed in analog mode by connecting the Direction (Pin 6) to the GND (Pin
8).
•
Electronic brake can be applied to motor by connecting Brake to GND - (Pin 7) to GND (Pin 1).
Hardware Connection:
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Drive to PC/Analog Connection
Set drive to Analog Control Of Motor in Software:
•
By default the drive is in Analog mode. However if the mode is changed to some other then it can be
set through software.
•
Connect drive to PC and select
Analog Control Mode
in OperationMode
•
After selecting analog control mode click on "Write Parameters" to always start the drive in analog
mode.
CP2102 Pin outs
GND
TXD
RXD
Drive Pin outs
Pin No.
Description
1
GND
2
RXD
3
TXD
4
ENA
5
ADC
6
DIR
7
BRK
Voltage Divider Pin outs
GND
GND
3.3V
Signal
5 V
5 V DC
Potentiometer Pin outs
GND
GND
Output
Signal
VCC
3.3 V DC
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Mode 1 - Digital Speed Control Mode
•
In this mode the drive works in speed mode. It tries to reach and maintain the speed as per set
parameter.
•
The speed can vary depending upon load and gainsset.
•
Make sure that the set speed is always less than the motor can actually reach, otherwise the drive can
give uncertain result. For example if the maximum speed motor can reach at given voltage is 18000
always set speed less than 18000 RPM.
Hardware Connection:
Digital Control Mode in Software:
a).
To run your motor on digital speed control mode select this mode from operation mode.
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b
) In this mode speed of motor(rpm) can be controlled by changing value from 0-65535.
1.
Speed can be increased and decreased using "+" and "-"respectively.
2.
Enable Motor : Once speed is set click on "Enable Motor" to run motor on set speed.
3.
Change Direction: Change the direction of motor. Can be done when motor is running or stopped.
4.
Speed Feedback: Current speed feedback from drive. This depends on actual speed measured by encoder
and Lines per rotation setting.
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POSITION
MODE
Mode 2 - Position Control Mode
The position control mode allows to go to absolute position with reference to 0 as start position. Current position
can be set to 0 at any point of time. The drive also manages the speed and acceleration/deceleration as per set
parameter while responding to any change in set position.
When a 32bit value is set through register 16 and 18 the drive will try to move motor to that position. It can be
updated even when motor is moving. Motor can be stopped any time or speed can be changed anytime even
while moving.
Hardware Connection:
COUNT CALCULATION:
Lines per rotation concept is very important for Position Control mode. For example we will use
HIGH TORQUE HIGH PRECISION ENCODER DC GEARED MOTOR 12V 200RPM (RMCS-5014)
https://robokits.co.in/motors/encoder-dc-servo/high-torque-high-precision-encoder-dc-geared-motor-12v-200rpm
Lines per rotation = 334
For one rotation of encoder, the no of counts = 334 x 4 = 1336 (As it is quad encoder) So for 1336 steps, the base
motor would move one rotation.
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