RHINO RMCS - 3001 User manual

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Rhino Industrial 250W Brushless DC Motor
Drive with RTU Modbus
(Model No : RMCS –3001)
Operating Manual v1.0
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Contents
Introduction –Salient Features ......................................................................................................3
Technical specifications and Pin description..................................................................................4
Modbus Registers..........................................................................................................................5
Modbus Register Mapping .............................................................................................................7
Control Modes................................................................................................................................9
Hardware Connection:................................................................................................................9
Mode 0 Analog Open Loop Mode:............................................................................................11
Mode 1 Digital Closed Loop Mode:...........................................................................................11
Mode 2 Digital Open Loop Mode:.............................................................................................11
Mode 3: Analog Closed Loop Mode:.........................................................................................11
Mode 4: Analog Closed Loop Minimum Speed Control Mode:..................................................11
Troubleshooting...........................................................................................................................12

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Introduction –Salient Features
Rhino Motion Controls RMCS-3001 is 250W RTU Modbus high performance brushless dc drive. It supports (15–48V DC)
and it is designed for optimized operation of Rhino brushless DC motors with Hall sensor. 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 brushless 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.
•There is an LED indication for power and error states in this drive.
•It is possible to run the motor in four 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 RTU protocolthrough RS485 Communication.
•There is a function in the drive for setting the Modbus Slave Address from 1 to 247 using MODBUS Tool Device
(Software Setting).
•There is an onboard Potentiometer to control speed of motor in Analog control mode.
•There are five user modes in the drive :
oMode 0: Analog Open Loop Mode
oMode 1: Digital Closed Loop Mode
oMode 2: Digital Open Loop Mode
oMode 3: Analog Closed Loop Mode
oMode 4: Analog Closed Loop Minimum Speed Control Mode

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Technical specifications and Pin description
Supply Voltage and Current
Specification
Min
Max
Units
Comments
Supply Voltage
15
48
Volts DC
Between +Ve and GND
Phase Current
0.5
5
Amps
Peak 5 Amps per phase
Pin description of the drive is as per below image:
(Pins 1-6 are used for drive
and RS485 Configuration)
Pin No.
Description
1
RS485(D-)
2
RS485(D+)
3
BRK(+5V)
4
DIR(+5V)
5
ENA(+5V)
6
GND
Pin No.
Description
7
GND
8
+5V
9
HW
10
HV
11
HU
12
Shield Cable
Pin No.
Description
13
W
14
V
15
U
16
+Ve
17
GND
(Pins 7 - 12 are
Hall encoder)
Connection)
(Pins 13 - 17 are connected to
motor and power supply as
described)

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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 1 to F7(1 - 247)
For example:
If slave id is 7 then write 07FF.
Modbus Slave
Address
Range:1-F7
(1-247)
Default: 1 (1)
Slave ID can be changed using
Modbus tool
Reset default
parameters
0008(8)
Writing 0800 in address 0 will load
default values in drive.
40003
2
Read /
Write
16
bit
Modes (Default value: 0)
Analog Open Loop
Mode
(Mode 0)
0001(1)
Mode byte:00
Control byte:01
Enable motor
For analog mode, connect external
potentiometer.
0000(0)
Mode byte:00
Control byte:00
Disable motor
0003(3)
Mode byte:00
Control byte:03
Brake
Digital Closed Loop
Mode
(Mode 1)
0101(257)
Mode byte:01
Control byte:01
Enable motor in CW
0100(256)
Mode byte:01
Control byte:00
Disable motor
0109(265)
Mode byte:01
Control byte:09
Enable Motor in CCW
0103(259)
Mode byte:01
Control byte:03
Brake
Digital Open loop
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
0209(521)
Mode byte:02
Control byte:09
Enable Motor in CCW
0203(515)
Mode byte:02
Control byte:03
Brake
Analog Closed
Loop Mode
(Mode 3)
0301(769)
Mode byte:03
Control byte:01
Enable Motor
0300(768)
Mode byte:03
Control byte:00
Disable Motor

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0303(771)
Mode byte:03
Control byte:03
Brake
Analog Closed Loop
Minimum Speed
Control Mode
(Mode 4)
0401(1025)
Mode byte:04
Control byte:01
Enable Minimum Speed Control
Mode. Set PWM speed in
address 4.
40005
4
Read /
Write
16 bit
PWM
Range:
0000-12C0
(0-4800)
Default: 0 (0)
Set PWM for digital open loop
mode and analog minimum
speed control mode
40007
6
Read/
Write
16
bit
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

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Modbus Register Mapping
➢Device Modbus Address(MOD _ID)
Address: 0x00 (40001)
Default value: 0x01FF
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: 0x01
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 and writing 0800 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
rw
0
0
0
0
DIR
0
BRK
EN
Bits 15:8 MODE [15:8]: Mode byte
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
Bits 7:0 CRTL [7:0]: Control Byte
Default: 0x00
Bit 1 BRK: Brake
0: Disable Brake
1: Enable Brake
Bit 3 DIR: Direction (only Digital mode)
0: Clockwise direction
1: Counter-clockwise direction
Bit 0 EN: Enable bit
0: Disable mode
1: Enable mode
Brake has more priority than enable.
➢PWM Register(PWM)
Address: 0x04 (40005)
Default value: 0x0000
PWM[15:0]
rw

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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. Set PWM for open loop mode.
➢Frequency Register(FRQ)
Address: 0x06 (40007)
Default value: 0x0000
FRQ[15:0]
rw
Bits 15:0 FRQ [15:0]: Frequency
Default: 0x0000
Maximum value: 0x0190
Minimum value: 0x0000
There is 10% error in output RPM of the motor. If gear box is attached then output rpm is different. Set frequency for closed loop mode.
Calculate RPM from frequency:
Speed [rpm] = 60 * freq [Hz] / number of pair poles

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Control Modes
Motor can be run in 5 different modes:
oMode 0: Analog Open Loop Mode
oMode 1: Digital Closed Loop Mode
oMode 2: Digital Open Loop Mode
oMode 3: Analog Closed Loop Mode
oMode 4: Analog Closed Loop Minimum Speed Control Mode
Hardware Connection:
oM

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Mode 0 Analog Open Loop Mode:
a. In this mode the speed of the Rhino BLDC motor can be controlled by using Potentiometer which is available at the
corner side of drive.
b. User can increase or decrease the speed manually based on requirement by using Potentiometer.
c. The drive will provide full torque at all speeds within the range.
d. Also the Enable, Brake and Direction Inputs are available in this drive for this mode.
e. Need to connect Enable pin with 5V to run motor in analog control mode.
f. Direction and brake can only be applied by connecting DIR or BRK pin to 5V.
Mode 1 Digital Closed Loop Mode:
a. In this mode the speed and direction of the Rhino BLDC Motor is settable / controllable via a Computer / Arduino
Controller board / any other Modbus RTU compatible device.
b. As in 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 is used when multiple motors are to be used to run at exactly the same RPM and same torque.
d. Also in this mode the direction of the motor can be controlled digitally via modbus RTU commands to run the BLDC
motor in both directions
e. For industrial applications, brushless DC motors are primarily used in servo, actuation, positioning, and variable
speed applications where precise motion control and stable operation are critical for the satisfactory operation of the
manufacturing or industrial process. They are commonly used as: Linear motors, Servomotors, Actuators for
industrial robots, Extruder drive motors, Feed drives for CNC machine tools.
Mode 2 Digital Open Loop Mode:
a. In this mode user can increase or decrease speed of motor as per PWM setting.
b. This mode is PWM Controlled Mode.
c. The use of pulse width modulation (PWM) to control a small motor has the advantage in that the power loss in the
switching transistor is small because the transistor is either fully “ON” or fully “OFF”.
d. As a result the switching transistor has a much reduced power dissipation giving it a linear type of control which
results in better speed stability.
e. Pulse width modulation is a great method of controlling the amount of power delivered to a load without dissipating
any wasted power.
Mode 3: Analog Closed Loop Mode:
a. In this mode the speed of the Rhino BLDC motor can be controlled by connected Potentiometer.
b. As this is closed loop mode no need to connect enable pin to 5v.
c. The drive will provide full torque at all speeds within the range.
d. Brake can be applied through software setting.
e. Direction cannot be changed in this mode.
Mode 4: Analog Closed Loop Minimum Speed Control Mode:
a. In this mode user can set the minimum speed of the motor by software setting and the set speed will affect in analog
mode.
b. Basically user can define minimum speed of motor in this mode.
c. The drive will provide full torque at all speeds within the range.
d. Direction cannot be changed in this mode.

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Troubleshooting
a. If motor is not moving in digital closed loop mode read value in frequency register.
b. If motor is not moving in digital open loop mode read value in PWM register.
c. If motor is not running in analog mode check external potentiometer connections and
check enable connection as it must be connected with 5V.
d. If timeout error check hardware connections of motor, power supply, RS485 module connections.
Also check slave id is correct or not.
e. If error light is blinking reset power and if any parameters are saved in drive then write reset command in drive.

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Copyright © Rhino Motion Controls, 2020 Neither the whole nor any part of the information contained in, or the product
described in this manual, may be adapted or reproduced in any material or electronic form without the prior written consent
of the copyright holder. This product and its documentation are supplied on an as-is basis and no warranty as to their
suitability for any particular purpose is either made or implied. This document provides preliminary information that may
be subject to change without notice.