User manual RDxx-P8-xx-xx-E1-xx
Contents
1. ATTENTION CON2 pin 6 and Cable2 color Red 5Vdc output signal used for power supply of external RS485 converter Do not connect if not used RD1 RD2 RD3 oo000 CABLE 1 CABLE 2 CABLE 2 CABLE 1 3 3 Dip Switches Rotadrive has DIP Switches to set the device address SW1 and Bus termination SW2 if Rotadrive is an end device e SW1 binary switch to set device address e SW2 ON if RDx is end device bus termination OFF if RDx is not end device To access DIP Switches remove the PG closure on the back of the device Pin Profibus DP CANopen RS485 RD1 RD2 RD1 RD2 RD1 RD2 1 n c n c n C n c 2 n c n c CAN Low n c 3 B Profi B Profi n C B RS485 4 B RS485 RD RS232 B RS485 B RS485 5 GND GND GND GND 6 5Vdc n C 5Vdc 5Vdc 7 n c n c CAN High n c 8 A Profi A Profi n C A RS485 9 A RS485 TD RS232 A RS485 A RS485 3 2 3 Cable 1 Colour Function Brown 1mm 24Vdc motor White GND Grey Output 5Vdc active LOW Brown 0 25mm 24Vdc controller Green Input 3 Red Input 2 Blue Input 1 3 2 4 Cable 2 Color Profibus DP CANopen RS485 RD1 RD2 RD1 RD2 RD1 RD2 Blue n c n C CAN Low n C Brown n c n c CAN High n c Pink B Profi B Profi n C B RS485 Violet A P B RS4852. 7 8 1 Command 1018 01 Vendor D ro The command byte contents the kind of telegram 1400 Receive PDO1 parameter which is sent across the CAN network 1400 01 COB ID used by PDO1 rw There are three kinds of telegrams 1400 02 Transmission type ay e Set to send to the encoder configuration 1600 Receive PDO1 mapping param parameters 1600 01 Mapped object 1 rw e Reg used by Master to read data from an 1800 Transmit PDO T parameter encoder 1800 01 COB ID used by PDO rw e Warnings used by encoder to send to Master 1800 02 Transmission type aa error messages es index does not exist illegal 100 00 1 transmit PDO mapping E anu 2000 Info parameters ro p COB COB type auch 2000 01 P25 Nr power downs ro 72h Set M gt Srequest not spec 2000 02 P26 Max current of axis ro 3h Set M gt Srequest 4 byte 2000 03 P29 Working time ro Bh Set M gt Srequest 2 byte 2000 04 P30 Nr of power on off ro Fh Set M gt Srequest 1 byte 2000 05 P31 ve sad rutines ro r of Go To Datum 60h Set SM 2000 06 P34 ibe ro confirmation 2000 07 P37 Nr of over current errors ro n Reg ene 0 byte 2000 08 P40 Nr of limit switch errors ro th ao apy ne spec 2000 09 P43 Nr of shortcuts ro i Req i T ve 2000 0A P46 Nr feedback errors ro 4Fh Reg S
3. Byte Field Function 1 AK Acknowledgement 2 PNU Parameter nr 3 IND axis nr 4 SUBIND reserved 5 PWE Value of parameter 8 9 I 01 Input Output 1 10 I O 2 Input Output 2 5 ZSW STW Status word Command word 13 T HIW HSW Target position Actual position 16 structure of AK Bit 7 6 5 4 3 2 1 0 SISB AK SPM ERR 6 2 AK Acknowledgement Master gt Slave Bits 0 1 3 ERR 3 SPM and 7 SISB are not used and therefore set to 0 zero The status of bits 4 5 6 AK indicates if the data transmission has been performed successfully or not Example You send a parameter and Rotadrive replies AK 01 Hex parameter is ok MAN RDxx P8 xx xx E1 xx E 1 0 ROTADRIVE 6 2 1 Parameter request When the master requests a parameter from the unit e PWE contains the assigned parameter value e IND contains the axis nr e PNU the parameter nr 6 2 2 Parameter change After changing a parameter must be activated by activate parameter command value 3 To store the parameter into EEProm it must be saved by the save parameter command value 4 ATTENTION If not saved the parameter will be cancelled after power off The save parameter routine lasts approx 500 ms During this time no Parameter or Save commands can be send to the device 6 2 3 Master gt Slave functions AK value Description 0 no command 1 request
4. NMT function Code NMT function Status node 01 hex Start remote node Operational 02 hex Stop remote node Prepared 80 hex Enter pre operational Pre operational 81 hex Reset node Pre operational 82 hex Reset communication Pre operational Function Object code COB ID hex Used binary NMT 0000 000 yes SYNC 0001 080 no EMERGENCY 0001 081 OFF yes PDO 1 tx 0011 181 1FF yes PDO 1 rx 0100 201 27F yes PDO 2 tx 0101 281 2FF no PDO 2 rx 0110 301 37F no SDO tx 1011 581 5FF yes SDO rx 1100 601 67F yes Nodeguard 1110 701 77F yes COB ID is define as transmit tx or receive rx regarding the Slave device 7 5 Initialisation The rotadrive accesses the CAN network 4s after power on it sends a Boot up message Nodeguarding to Master MAN RDxx P8 xx xx E1 xx E 1 0 7 7 PDO1 Message Receive PDO1 and Transmit PDO1 are composed by 8 data bytes but the structures are different 7 7 1 Receive PDO1 Master gt Slave COB ID hex 8 CAN Data Bytes 200 Node ID le Se Se sae eae CW IND DSP res Position IND Selected axis 0 The index IND is planned for devices with more than an axis It is in the RDx always zero IND 0 wwwika it www lika biz J lixa res Reserved CW Command word 1 144 Command that Master send to Slave Commands Master gt Slave ROTADRIVE
5. B RS485 Black GND GND GND GND Red 5Vdc n C 5Vdc 5Vdc Grey A Profi A Profi n C A RS485 Green e o A RS485 A RS485 RD2 RD3 RD1 sw2 MANUAL MANUAL 876543 2 1 OFF B E bq ON OFF DATUM SW S2 SW1 Device address bit 6 5 4 3 2 1 weight 25 2 23 22 24 20 ATTENTION Using Drive tool software device address must be set to 11 for RS232 RS485 interface MAN RDxx P8 xx xx E1 xx E 1 0 wwwika it www lika biz lixa 4 Parameters ATTENTION Some parameters have a profound effect on the Operation of the drive They must not be altered without careful consideration of the impact on the controlled system Measures must be taken to prevent unwanted changes due to error or tampering Admissible value range for each parameter is listed as follows unit min value max value Default parameter values are written in BOLD characters All parameters with decimals are transmitted without decimal point X X XX X XXX XXXX Parameters with unit P05 are related to the engineering unit set in parameter P05 4 1 Parameter description POO Actual position P05 Contains the actual position The measurement unit is related to parameter P05 POO equals P01 if the unit is positioned within the tolerance window P09 PO1 Target position P05 2147483648 2147483648 Contains the target position to reach after the start command Default value
6. res Reserved STATE Status message In the status message the condition of the device is reproduced The device answers with a data byte Following status messages are implemented bit 7 6 5 4 3 2 17 0 hex dec Description 01 1 PDO released 80 128 Start axis 81 129 Stop axis 82 130 Manual mode Step 83 131 Manual mode Step 84 132 Manual mode Slow 85 133 Manual mode Slow 86 134 Manual mode Fast 87 135 Manual mode Fast 88 136 Start Go To Datum routine 8B 139 Go To Datum 90 144 Start axis with speed set DSP Demand speed 0 100 Value in percent of the maximum speed in automatic positioning By Control word 144 start axes with speed set is activated with the Demand Speed activated value Only a start axis 128 in object 2100h with Sub index OEh is taken as a speed TPosition Target position It contains the target position P01 of the regulator in the unit which was determined by the parameter P05 bit 0 1 axis ready bit 1 1 axis moving bit 2 1 axis in position bit 3 1 Go To Datum routine active bit 4 1 over current bit 5 1 shortcut bit 6 1 encoder error malfunction bit 7 1 target position out of range Also combinations of the above mentioned messages can appear i e a 03h means that the regulator is ready and goes in position a 05h that the axis is in the tolerance wi
7. 0 PO2 Datum value Preset P05 2147483648 2147483648 Contains the datum or preset value The actual position will be set to this value after a Go to Datum or Set Datum command Offset value P33 will be added if set Default value O PO3 Software limit P05 2147483648 2147483648 Lowest target value to be accepted in P01 Default value 100000 MAN RDxx P8 xx xx E1 xx E 1 0 ROTADRIVE P04 Software limit P05 2147483648 2147483648 Highest target value to be accepted in P01 Default value 100000 PO5 Distance for scaling factor any measuring unit 1 100 00 Position value after 1 turn of the shaft Enter value without decimals Default value 2 00 Example 1 The spindle has a pitch of 2 mm You want to display a resolution of 0 01 mm P05 would be 200 2 00 without decimal point PO8 Nr of automatic restarts nr 0 255 The unit restarts automatically if after positioning the new actual position P00 is not within Target position P01 tolerance window P09 Default value O PO9 Tolerance window P05 0 255 Tolerance window around the target position The controller as a proper target position accepts any position inside this window Default value O P10 In Position time x xx sec 0 00 2 00 Sets the time for which a holding current is provided to keep the motor in position after reaching the target position After this time the driver wont energize t
8. 02 Hex High Input 2 04 Hex High Input 3 6 9 1 0 2 byte 10 Not used MAN RDxx P8 xx xx E1 xx E 1 0 hex dec Description 00 0 axis not ready 01 1 axis ready 02 2 axis moving 04 4 axis in position 08 8 Go To Datum routing active 10 16 over current 20 32 shortcut 40 64 encoder error malfunction 80 128 target position out of range FO 240 power supply error The unit can respond with a combination of the above information Example 03 Hex means Rotadrive is ready and moving 05 Hex means Rotadrive is within the tolerance window STW contains the command to send Following commands are available Commands Master gt Slave hex dec Description 80 128 Start axis 81 129 Stop axis 82 130 Manual mode Step 83 131 Manual mode Step 84 132 Manual mode Slow 85 133 Manual mode Slow 86 134 Manual mode Fast 87 135 Manual mode Fast 88 136 Start Go To Datum routine 89 137 Activate parameters 8A 138 Save data EEProm 8B 139 Go To Datum 8C 140 Feedback frequency 6 11 HIW HSW byte 13 16 Contains the actual position and target position www lika it www lika biz lixa ROTADRIVE 7 CANopen interface COB ID hex 1 CAN Data Bytes 7 1 Introduction 700 Node ID 00 CANopen profile define the Arbitration field COB ID and the 8 bytes Data field CAN data bytes of CAN frame The fol
9. E1 xx E 1 0 ROTADRIVE P21 Differential gain increments 0 10000 Sets the differential gain that is active only in the deceleration ramp This parameter is useful if the motor stops before reaching the target position or slows down too early The differential gain gives the motor a short acceleration before target position by means of a ramp increment 0 D gain disable 10000 D gain generates 10000 Ramp increments V Vmax P21 P26 Counting direction 0 1 Sets the counting direction of the controller 0 standard direction 1 inverted direction P26 0 and P42 0 is standard cw counting and rotation from shaft side It is necessary to change both P26 and P42 to invert the counting direction P27 Go To Datum direction 0 1 0 in direction 1 in direction P28 Home position after Go To Datum routine P05 2147483648 2147483648 Sets the home position to go to after Go To datum routine Default value O P29 Reference switch for Go To Datum routine 0 1 0 Reference switch active low 1 Reference switch active high P33 Go To Datum offset P05 2147483648 2147483648 Sets the offset value to assign after Go To Datum routine Go To Datum routine is completed when wwwika it www lika biz lixa reaching the first index pulse after leaving the reference switch New actual position POO Reference value P02 Offset P33 Default value O P36 Close
10. axis actuates the Reference switch the motor stops the axis as set in P15 Stop ramp The axis restarts in opposite direction at the speed P14 and leaves the Reference switch The first Index pulse after leaving the limit switch sets the Datum lt a Z D S The Actual value is set to Datum P2 and P33 immediately when reaching the Index pulse of the feedback Now the unit moves to Home position set parameter P28 n MAN RDxx P8 xx xx E1 xx E 1 0 wwwika it www lika biz lixa 5 6 Limit switches Limit switches set the extreme limits of your application s mechanical stroke Limit switch inputs are safe to cable break if a cable breaks motor will stop immediately The unit will stop when e activating the Limit switch by moving in positive direction e activating the Limit switch by moving in negative direction 5 7 Backlash compensation P17 Backlash compensation dwell time P18 Backlash compensation distance P08 Nr of automatic restarts Backlash errors of the spindle or gearbox can be avoid moving to target positions always in the same direction The unit will overrun the target position of the distance set in P18 and hold for the time set in P17 Positive values of P18 overrun the target position in positive direction whereas negative values overrun in negative direction P08 sets the max number of automatic restarts to reach the target position within the tolerance window d
11. register has the follow meaning 0000 Error Reset or no Error bit 7 6 5 4 3 2 1 0 2300 Motor over current 8130 Life Guard Error bit 0 1 No error FF20 Motor short bit 4 1 CAN bus error FF40 Encoder Error bit 7 1 Device error 7 8 4 Save all parameters Writing to this object stores manufacturer defined parameters to EEProm Process data bytes to send Process Data Bytes byte 4 5 6 7 ASCII e V a S hex 65 76 61 73 7 8 5 Restore all parameters Writing to this object restores the default values factory settings Process data bytes to send Process Data Bytes byte 4 5 6 7 ASCII d a 0 l hex 64 61 6F 6C MAN RDxx P8 xx xx E1 xx E 1 0 Pag 16 www lika it www lika biz lixa 8 RS232 RS485 interface ROTADRIVE 8 4 Communication frame 8 1 Connection Field Value Function 8 1 1 RS232 connection EOT 04h End Of Transmit Use 9 pin DSub connector and connect with CON2 AD1 ASCII unit address MSByte according to wiring diagram on chapter 3 2 AD2 ASCII unit address LSByte CON2 Cable 2 Name Function STX 02 Start of Text 4 Violet RxD Receive Data axis command 5 Black GND Ground C1 C2 ASCII 20 Info parameters 9 Green TxD Transmit Data 21 Rotadrive parameters C3 C4 A
12. switch 3 Axis reached reference switch and then encoder index MAN RDxx P8 xx xx E1 xx E 1 0 P18 Backlash compensation distance P21 Differential gain P26 Counting direction P27 Go To Datum direction P28 Home position after Go To Datum routine P29 Reference switch for Go To Datum routine P33 Go To Datum offset P36 Closed loop control P37 Closed loop response time P38 Closed loop tolerance window P39 Closed loop mode P42 Motor rotation direction P43 Deceleration ramp P45 Go To Datum speed P46 Function Input 1 P47 Function Input 2 P48 Function Input 3 P49 Function output P50 Brake active time P52 Command word P80 Controller status P81 Reference Index distance P82 Actual motor current P83 Actual ramp value P84 Controller correction value P85 Go To Datum status wwwika it www ika biz lixa 4 4 List of Info parameters ROTADRIVE 4 5 Factory parameters don t change Nr Parameter Value Nr Bramer Default POO Identification nr of axes value P0O1 Identification Device address P06 Encoder resolution Pulses 1 65000 2000 P02 Identification Version P07 Max permanent current 250 P03 Identification Customer x xx Ampere 0
13. 01 10 00 P10 Profibus address P19 Integral gain 1 Nr of cycles 1 999 10 P11 Profibus status P20 Integral gain 2 Nr of cycles 1 999 10 P25 Nr power downs P22 Feedback monitoring interval 10 P26 Max current of axis Nr of cycles x x 0 5 ms 0 1000 P29 Working time P23 Feedback control on acceleration 1 P30 Nr of power on off ramp Pulses 1 255 P31 Nr start routines P24 Feedback control on deceleration 1 P34 Nr of Go To Datum routines ramp Pulses 1 255 P37 Nr of over current errors P25 Edge counting mode Edges 0 4 4 P40 Nr of limit switch errors P30 Index pulse edge trigger 0 1 1 P43 Nr of shortcuts P31 Standstill control sampling time 0 100 P46 Nr feedback errors tt ey 0 000 32 000 ax peak current NOTE P32 Exxx Ampere 0 01 10 00 aN List of Info parameters is not available with Profibus P34 Over current time interval x xx 0 10 interface to access it use Serial or CANopen sec 0 01 4 00 interface P35 Ramp threshold to activate encoder 50 Parameters P10 and P11 are referred only to monitoring interval 0 100 Profibus interface P40 Max feedback counting frequency 0 Hz 1 300000 P41 Feedback frequency sampling 0 interval ms 0 1000 P44 Proportional gain 0 8 8 P51 l limit 0 P55 Integral gain 3 100 1000 800 MAN RDxx P8 xx xx E1 xx E 1 0 Pag 7 www lika it www lika biz lixa 5 Functions 5 1 1 Start routine The Start comma
14. SCII parameter number 00 99 Make sure that RxD on PC side is connected with n byte TxD on Rotadrive side and TxD on PC is connected PATA Aai Poes e with RxD on Rotadrive ET 03h End of Text BCC xxh Block Check Character 8 1 2 RS485 connection ENQ 05h ENQuiry Use 9 pin DSub connector and connect with CON2 according to wiring diagram on chapter 3 2 NAK 15h Not AcKnowledge CON2 Cable2 Name Function ACK 06h ACKnowledge 4 Violet B Channel B 9 Green A Channel A NOTE e BCC block check character is a character used 8 2 Technical data for check the correct transmission It is Function Data generated by XOR ing characters C1 C2 C3 C4 Baud rate 9600 DATA and ETX including If BCC lt 20 Hex BCC Bit of data 8 must be added up with 20 Hex this avoids BCC Parity bit No to have values in the range of control character Stop bit 1 values Flow control No e DATA field can contain any number of 8 3 Introduction The RS232 and RS485 protocol is according to DIN 66019 ISO 1765 ANSI X3 28 The PC is master and Rotadrive is the slave with individual serial address Slaves cannot send information without master request There are 3 ways of communication e Send e Receive e Broadcast MAN RDxx P8 xx xx E1 xx E 1 0 numerical characters a sign and can be filled up with zeroes All DATA are sent in ASCII Code 8 5 Send data from Master to Slave The complete set of parameters can be sent to the unit Th
15. SM a 1 ve 2100 Rotadrive parameters S gt M reply 2100 01 P00 Actual position rw 41h Req segmented SDO 2100 02 P01 Target position rw 2100 03 P02 Datum value rw 80h Warning S gt M reply 4 byte 2100 04 P03 Software limit rw f ae 2100 05 P04 Software limit rw n22 Obed dicuonary 2100 06 P05 Distance for scaling factor rw s ex Sub Name Ac 2100 09 P08 Nr of automatic restarts rw hex 2100 0A P09 Tolerance window rw 1000 00 Device type D 2100 0B P10 in position time rw 1001 00 Error register see chap 7 8 3 ro 2100 OC P11 Acceleration ramp 1008 00 Manufacturer device name ro 2100 OE P13 Fast speed ee 1009 00 Manufacturer hardware version ro 2100 OF P14 Manual slow speed a 100A 00 Manufacturer software version ro 2100 10 P15 Stop ramp Stop command rw 100C 00 Guard time rw Step length in manual 100D 00 Life time factor rw 2100 11 jpi6 Jo ee rw 100E 00 COB ID guarding protocol rw Backlash compensation 1010 04 Save all parameters chap 7 8 4 rw 2100 12 P17 avait time rw Restore all default parameters 1011 01 Backlash compensation chap 7 8 5 rw 2100 13 P18 ANE rw 1011 02 Restore communication param rw 2100 16 P21 Differential gain rw 1011 04 Restore axis parameters rw 2100 1B P26 Counting d
16. d loop control 0 1 Enables the closed loop control 0 disabled OFF 1 enabled ON P08 should be set to 0 P37 Closed loop response time Nr of cycles 1 250 Sets the response time expressed in 0 5 ms cycles of closed loop function at any change of the target position Suggested value is 2 Default value 1 0 5 ms P38 Closed loop tolerance window P05 0 50000 Sets a tolerance window expressed in increments After positioning the actual value should be target value tolerance window If not the closed loop control will be enabled and move the axes to correct position Inside the tolerance window the closed loop control is not enabled Default value 1 means 1 increments P39 Closed loop mode 0 1 Sets the closed loop operating mode O only active after each positioning active on target value 1 also active after pressing Stop button or when switching power on P42 Motor rotation direction 0 1 Sets the motor rotation direction 0 standard 1 inverted P26 0 and P42 0 is standard cw counting and rotation from shaft side It is necessary to change both P26 and P42 to invert the counting direction P43 Deceleration ramp P05 255 16000 Sets the length of deceleration ramp expressed in increments Great values stand for long deceleration ramps Low values short deceleration distance may cause overrunning MAN RDxx P8 xx xx E1 xx E 1 0 ROTADRIVE Default valu
17. e 2000 P45 Go To Datum speed 1 100 Sets the Go To Datum speed expressed in percentage of max speed Default value 50 P46 Function input 1 0 4 option Sets the function of digital Input 1 0 Start 1 Stop 2 Reference switch 3 no function 4 BCD coded input only for Drive Tool P47 Function input 2 0 4 option Sets the function of digital input 2 0 Start 1 Stop 2 limit switch negative direction 3 no function 4 BCD coded input only for Drive Tool P48 Function input 3 0 4 option Sets the function of digital input 3 0 Start 1 Stop 2 limit switch positive direction 3 no function 4 BCD coded input only for Drive Tool Start function is active high rising edge Stop function is active low falling edge Limit switch functions are active low When input is high movement is possible when input is low movement is blocked P49 Function output 0 3 Sets the function of digital output 1 0 in position 1 brake active 2 device moving 3 no function P50 Brake active time sec 0 1000 Only for RD11 and RD22 Determines how long the brake has to be active Default value O wwwika it www lika biz e lixa 4 2 Read only parameter P52 Command word 128 139 Shows the command in use P80 Controller status 0 255 Shows controller status ROTADRIVE 4 3 List of Rotadrive para
18. e parameter values must be inside the allowed range see chap 4 1 Parameter description PC gt Rotadrive EOT AD1 AD2 STX C1 C2 C3 C4 DATA ETX BCC When transmission is correct slave replies with ACK in any other cases with NAK Rotadrive gt PC ACK or NAK All parameters sent to the slave are stored in a data buffer Parameters have to be activated by the activate parameter command ex on chap 8 8 wwwika it www lika biz lixa ROTADRIVE 8 7 Receive data from slave Example PC gt Rotadrive Sending of the command activate parameter to EOT AD1 AD2 STX C1 C2 C3 C4 ENO the unit with device address 11 PC gt Rotadrive The correct reception of the string is acknowledged EOT AD1 AD2 STX C1 C2 C3 C4 with the following message ASCII 1 1 2 1 5 2 Rotadrive gt PC Hex 04 31 31 02 32 31 35 32 STX C1 C2 C3 C4 DATA ETX BCC DATA ETX BCC The reception of a incorrect string i
19. he motor in order to avoid over heating Over running of target position due to short standstill time and big inertia could be caused if P10 is too small Default value 0 10 P11 Acceleration ramp P05 255 16000 Sets the length of positive and negative acceleration ramp expressed in increments e g 2000 1000 1000 High values mean low acceleration longer ramp Too low values could cause unacceptable current peaks Default value 2000 wwwika it www lika biz P13 Fast speed 1 100 1 100 Percentage of max fast speed in manual and automatic positioning mode Default value 100 P14 Manual slow speed 1 100 1 100 Percentage of max slow speed in manual positioning mode Default value 100 P15 Stop ramp activated by Stop command xxxx msec 1 2000 Sets the time to decelerate and stop the motor in after a STOP command Default value 100 P16 Step length in manual mode P05 0 10000 Sets the length in increments of each Step for the Step and Step commands Default value 1 P17 Backlash compensation dwell time x xx sec 0 20 00 Sets the dwell time before starting the backlash compensation If set to 0 the parameter is disabled Default value 0 00 P18 Backlash compensation distance P05 0 250 Sets the backlash compensation distance The unit will overrun the target position for this distance before backlash compensation Default value O MAN RDxx P8 xx xx
20. irection rw 1011 05 Restore device parameters rw 2100 1C P27 Go To Datum direction rw 1014 00 COB ID Emergency rw Home position after Go To 1017 00 Producer heartbeat time rw 2100 1D P28 Datum routine rw MAN RDxx P8 xx xx E1 xxE10 Pag 15 0c tt lt s sSSSitisSiS www lika it www lika biz lixa ROTADRIVE 2100 1E P29 Reference switch for Go i 7 8 6 Error codes on SDO To Datum routine Error codes are specified in Process data bytes 2100 22 P33 Go To Datum offset rw Process Data Bytes 2100 25 P36 Closed loop control rw 4 5 6 7 2100 26 P37 Closed loop response time rw Error register Error code Closed loop tolerance LSB MSB LSB MSB 2100 27 P38 indov rw 2100 28 P39 Closed loop mode rw E R EC Description 2100 2B P42 Motor rotation direction rw 0002 0601h Attempt to write a read only object 2100 2C P43 Deceleration ramp rw 0000 0602h Object does not exist 2100 2E P45 Go To Datum speed rw 0011 0609h Sub index does not exist 2100 51 P80 Controller status rw 0031 0609h Value of parameter written too high 2100 52 P81 Reference Index distance rw 0032 0609h Value of parameter written too low 2100 53 P82 Actual motor current rw 7 9 Emergency error codes 7 8 3 Error register index 1001 h Error Meaning Error
21. lixa User manual RDxx P8 xx xx E1 xx Profibus DP CANopen RS232 RS485 Description This manual describes the ROTADRIVE series with Profibus DP CANopen and RS232 RS485 interfaces ROTADRIVE is a complete positioning unit which integrates a DC gear motor a drive an encoder and a controller Chapters Safety summary Identification Installation amp electrical connections Parameter Functions Profibus DP interface CANopen interface RS232 RS485 interface Diagnostics 0 Controller set up Ee WO OND UI BWN FF 1 Safety summary We strongly recommend carefully reading this user manual and following the installation guidelines below e High current voltage and rotating parts can cause serious or fatal injury e The use of electric machinery like all other uses of concentrated power and rotating equipment may be hazardous e Installing operating and maintaining electric machinery should be performed by qualified personnel only MAN RDxx P8 xx xx E1 xx E 1 0 ROTADRIVE e 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 instrument e Lika assumes no liability for the customer s failure to comply with these requirements Connect according to the chapter 3 Electrical connection 1 1 Safety button A safety button for emergency switch off has to be installed to interrupt motor power s
22. lowing chapters describe asynchronous data transfer Rotadrive is always a slave device IMPORTANT For every omitted specify make reference to the document CiA Draft Standard 301 available on WWW Can cia org 7 2 Bit rate Rotadrive support only one kind of bit rate with the follow characteristics Baud rate Max bus length Nominal bit time 125 Kbit s 500m 8us 7 3 EDS File RDx is supplied with its EDS file RDxxx eds see enclosed support or www lika biz gt products gt actuators The EDS file has to be installed in your CANopen master device 7 4 Pre defined function code The encoder is now in pre operational state e PRE Operational In this state node can communicate to master throw SDO message SDOs are used to set or read Slave parameters In pre operational mode slave can t send PDO or Emergency messages To put node in Operational state master must sent a Start remote node with NMT message e Operational This is the operative state node can send PDO process value and Emergency message To put slave in Pre operational state master must sent a Enter pre operational with NMT message 7 6 NMT Message NMT structure COB ID 11 bit 2 CAN Data Bytes Func Code Node ID Command Slave ID 0000 0 NMT function Slave ID if Slave ID 00h the NMT message is directed to all network node
23. meters Please write down the values of all parameters on this list for assistance and service Nr Parameter Value POO Actual position P01 Target position Hex Dec Description P02 Datum value 00 0 axis not ready P03 Software limit 01 1 axis ready P04 Software limit 02 2 axis is moving P05 Distance for scaling factor 04 4 axis in target position P08 Nr of automatic restarts 08 8 searching zero position P09 Tolerance window 10 16 over current P10 in position time 20 32 Shortcut P11 Acceleration ramp 40 64 system error P13 Fast speed 80 128 target position value out of range P14 Manual slow speed Power supply error Power off P15 Stop ramp Stop command FO 240 time too short for parameter P16 Step length in manual mode storage operation P17 Backlash compensation dwell time P81 Reference switch Encoder index distance P05 0 255 Shows the distance between reference switch and encoder zero index P82 Actual motor current x xx Ampere 0 00 10 00 Shows the motor current P83 Actual ramp value Ramp increments 0 255 Shows the actual ramp value of PWM controller P84 Controller correction value Ramp increments 0 32000 Shows the actual correction value of the controller P85 Go To Datum status Status 0 3 Shows the status of Go To Datum routine 0 Go To datum routine initialized 1 Axis reached reference
24. nd moves the positioning unit to the target position accordingly to the ramp parameters set see also chapter 10 Controller set up When it has reached the position inside the tolerance window the controller gives an in position signal It s possible to change the target position and the motor speed while positioning A new Start command will change the positioning routine to the new values If the new target position is in Opposite negative direction the controller will change the motor direction after doing a Stop ramp Settings of speed will be enabled after Activate parameters command ATTENTION The positioning speed can be changed on the fly This doesn t change the parameter and doesn t need Activate parameters command 5 1 2 Stop routine The Stop command interrupts the positioning routine and stops the motor according to the stop ramp settings 5 2 1 Manual mode Step P14 Manual slow speed P16 Step length in manual mode The Manual mode Step command will move the unit for one Step according to the value of P16 at the speed P14 This command sets Target position P01 actual position POO P16 Note that another Start command will move the unit again to the same position ROTADRIVE 5 2 2 Manual mode Step P14 Manual slow speed P16 Step length in manual mode The Manual mode Step command will move the unit for one Step according to the value of P16 at the speed P14 This comma
25. nd sets Target position P01 actual position P00 P16 Note that another Start command will move the unit again to the same position 5 3 1 Manual mode Slow P14 Manual slow speed P04 Software limit The Manual mode slow command slows down the motor to the speed set in P14 sets the target value to P04 Software limit The unit moves until reaching position P04 Use Stop command to interrupt the positioning Make sure the Software limits are inside the mechanical limits of machine or application to avoid damage and injury Note that another Start command will move the unit again to the same position To move to another position a new target value has to be set 5 3 2 Manual mode Slow P14 Manual slow speed P03 Software limit The Manual mode Slow command slows down the motor to the speed set in P14 and sets the target value to P03 Software limit The unit will move until reaching position P03 Use Stop command to interrupt the positioning Make sure the Software limits are inside the mechanical limits of machine or application to avoid damage and injury Note that another Start command will move the unit again to the same position To move to another position a new target value must be set MAN RDxx P8 xx xx E1 xx E 1 0 wwwika it www ika biz lixa 5 4 1 Manual mode Fast P13 Fast Speed P04 _ Software Limit The Manual mode Fast command slows down the m
26. ndow APosition Actual position It contains the actual position P00 of the regulator in the unit that was determined by the parameter P05 byte 4 5 6 7 LSByte MSByte byte 4 5 6 7 LSByte MSByte 7 7 2 Transmit PDO1 Slave gt Master COB ID hex 8 CAN Data Bytes 180 Node D 0 Be sees ae STATE IND ASP res APosition Transmit PDO 1 is sent always when a Receive PDO1 was received with the valid node number and a valid order CW IND Selected axis 0 The index is planned for devices with more than an axis It is in the RDx always zero IND 0 ASP Actual speed MAN RDxx P8 xx xx E1 xx E 1 0 7 8 SDO Message SDOs messages are used to know or modified rotadrive parameters these parameters are enclosed in the Object dictionary Max 4 bytes are used for CAN data other 4 bytes are used for Command Index and Sub index fields SDOs are always follow by confirmation when Master send a SDO to Slave it always reply with warning in case of problem SDO structure IDENTIFIER 4 CAN Data Bytes COB ID hex 0 1 2 3 F C Node ID Command Index Sub index lbyte LSB MSB 1 byte From 1 to 4 CAN Data Bytes 4 5 6 7 Process data LSByte MSByte wwwika it www lika biz e j Ka ROTADRIVE
27. ny time It reports the status of the device and O s PC gt Rotadrive unit 11 EOT AD1 AD2 STX C1 C2 C3 C4 ENO ASCII 1 1 2 1 8100 Hex 04 31 31 02 32 31 38 30 05 In responding to a status request the unit replies with some DATA bytes 2 hex bytes 1 1 0 status 2 device status Rotadrive gt PC STX C1 C2 C3 C4 DATA ASCII 21 1118 0 Ix X X X Hex 02 32 31 38 30 3x 3x 3x 3x ETX BCC ASCII Hex 03 XX Status information I O Status pit FS S a Be D8 bit 0 1 High Input 1 bit 1 1 High Input 2 bit 2 1 High Input 3 bit 3 1 High Output 1 Device Status bt 7 6 5 4 3 24 17 0 bit 0 0 axis not ready bit 0 1 axis ready bit 1 1 axis moving bit 2 1 axis in position bit 3 1 Go To Datum routing active bit 4 1 over current bit 5 1 shortcut bit 6 1 encoder error malfunction bit 7 1 target position out of range bit 4 7 1 power supply error The status information can be combined together Example 03Hex means Rotadrive is ready and moving O5Hex means Rotadrive is within the tolerance window MAN RDxx P8 xx xx E1 xx E 1 0 ROTADRIVE 9 Diagnostics 9 1 Power down The recommended power su
28. or rotation direction if necessary e Now enter a target position value and start moving During this operation the motor should reach maximum rotational speed e The stroke should exceed the value entered in P11 acceleration ramp e f Rotadrive overruns the target position increase the value of P11 e Decrease P11 if the positioning time is too high 2tlKa Lika Electronic Via S Lorenzo 25 36010 Carr VI Italy Tel 39 0445 382814 Fax 39 0445 382797 Italy eMail info lika it www lika it World eMail info lika biz www lika biz MAN RDxx P8 xx xx E1 xx E 1 0 Pag 20 wwwika it www ika biz
29. otor to the speed set in P13 and sets the target value to P04 Software limit The unit will move until reaching position P04 Use Stop command to interrupt the positioning Make sure the Software limits are inside the mechanical limits of machine or application to avoid damage and injury Note that another Start command will move the unit again to the same position Target value now coincides with Manual mode Fast position 5 4 2 Manual mode Fast P13 Fast Speed P03 Software limit The Manual mode Fast command slows down the motor to the speed set in P13 and sets the target value to P03 Software limit The unit will move until reaching position P03 Use Stop command to interrupt the positioning Make sure the Software limits are inside the mechanical limits of machine or application to avoid damage injury Note that another Start command will move the unit again to the same position Target value now coincides with Manual mode Fast position 5 5 1 Set To Datum P02 Datum value This command sets the actual position to Datum value parameter P02 5 5 2 Go To Datum routine Starts a Go To Datum routine P02 Datum value P45 Go To Datum speed P27 Go To Datum direction P28 Home position after Go To Datum routine P29 Reference switch for Go To Datum routine ROTADRIVE Routine The motor moves the axis at the speed P45 in the direction set in P27 The
30. parameter value 2 change parameter value 3 activate parameter 4 save parameter on EEProm 6 3 AK Acknowledgement Slave gt Master The device issues an error message against incorrect parameter requests 6 3 1 Parameter OK The parameter has been accepted 6 3 2 Parameter error Error value Description Parameter nr not valid 2 range of parameters is from 0 to 80 Parameter value not valid 3 see value range of each parameter in parameter list 6 3 3 Axis error Axis number not valid see IND www lika it www lika biz lixa 6 3 4 Slave gt Master functions ROTADRIVE 6 10 ZSW STW byte 11 12 Only byte 11 is used Byte 12 is always zero ZSW shows the status of the unit after a command from the Master Communications Slave gt Master AK value Description 0 not valid 1 parameter OK 2 parameter nr not valid 3 parameter value not valid 4 axis nr not valid 6 3 5 SISB Not used 6 3 6 SPM Not used 6 4 PNU byte 2 Parameter number see parameter list 6 5 IND byte 3 Rotadrive is a single axis unit Set IND always 0 zero 0 axisnr 1 6 6 SUBIND byte 4 Reserved bits set always to 0 zero 6 7 PWE byte 5 8 Contains the parameter value Byte 8 is LSB least significant byte At power on PWE contains the service time of RD 6 8 I O 1 Digital input byte 9 Contains input signal status 01 Hex High Input 1
31. pply of Rotadrive is 24Vdc The integrated power failure controller senses voltage levels below 18Vdc and saves all actual values In power down mode the unit is not enabled to run Return of correct power supply will restart the unit Situation 1 Power supply falls down and remains under 18Vdc the unit switches to power down mode the controller is not enabled to run the device Situation 2 During a positioning routine power supply falls down under 18Vdc and subsequently increases again over 18Vdc e the unit switches to lt 18Vdc e lost of correct actual position e controller restarts working gt 18Vdc e power failure error will be stored in diagnostic memory e run Go To Datum routine or reset actual position to right value power down mode IMPORTANT In this condition the power supply is not dimensioned appropriately 9 2 Diagnostics memory Rotadrive has a diagnostics memory that can be checked by means of Lika Drive tool The following information is stored permanently Nr of power on off events Nr of power down events see Situation 2 Nr of positioning routines Start with 0x80 Nr of Go To Datum routines Start with 0x88 Nr of over current events Nr of encoder errors malfunctions Nr of shortcut events Nr of limit switch errors max motor current during operation service time power supply switched on www lika it www lika biz e j Ka ROTADRIVE 9 3 LED Diagnostic
32. s RD1 has 5 LED s on it s cover and RD2 has 4 LED s on it s cover see figure which optically represent the status of the device RD1 RD2 0 NO v 0 a If the unit stops before reaching the target position increase value of P21 differential gain The setup of this parameter depends on the ramp length Switch on P08 nr of automatic restarts if the unit is unable to reach the target properly If the application allows some tolerances regarding the positioning accuracy set parameter P09 tolerance window to this value The controller reports in position when the unit is inside the tolerance window Man Vers Description 10 1 issue i Unification of in Rotadrive manuals Nr LED Description Green Axis in position see 0x04 Green Bus communication OK Red Error see 0x10 0x20 0x40 0x80 Green Power supply Controller OK O1 eI WIN e Green Power supply Motor OK 10 Controller set up Before switching on the unit make sure all connections are according to the wiring diagrams Follow these steps for a correct setup of the unit e Set parameters P03 P04 and P05 according to the mechanical characteristics of the application e Switch off parameters like P08 nr automatic restarts P09 tolerance window and P17 backlash compensation dwell time e Move the unit using manual mode and e Change P26 and P42 controller and mot
33. s followed by a ASCII 11317 negative acknowledgement like Hex 31 33137 03 32 Rotadrive gt PC ACK in any other cases with NAK Hex 06 Rotadrive gt PC NAK Example Sending of target position 135 12 to unit 15 and 8 8 Serial commands _ start command for positioning All commands are sent with parameter P52 C1 C2 Sending target position C3 C4 fields 2152 PC gt Rotadrive The following commands are available EOT AD1 AD2 STX C1 C2 C3 C4 Commands Master gt Slave ASCII 1 1 7 1 0 1 DATA Description Hex 04 31 31 02 32 31 30 31 80 h Start axis ae Stopes DATA ETX BCC 82 h Manual mode Step Asci 113151112 83 h Manual mode Step 84 h Manual mode Slow plex AR AA Ps a0 85 h Manual mode Slow 86 h Manual mode Fast Rotadrive gt Ee 87 h Manual mode Fast H 06 88h Start Go To Datum routine 89 h Activate Parameters oe 8A h Save data EEProm T sare eae EOT AD1 AD2 STX C1 C2 C3 C4 quency ASCII i a lit foe The transmission of correct commands is Hex 04 31 31 02 32 31 35 32 acknowledged with ACK The transmission of incorrect commands is DATA ETX BCC acknowledged with NAK ASCII 1 2 8 Hex 31 32 38 03 3C Rotadrive gt PC __ ACK Hex 06 MAN RDxx P8 xx Xx E1 xxE10 Pagy 18 i ttt t lt s i lt i lt iCits www lika it www lika biz o lixa 8 9 Status request P80 The status of Rotadrive can be requested at a
34. upply 2 Identification The device can be identified by the label s data ordering code serial number This information is listed in the delivery document For technical features of the product to make reference at the technical catalogue 3 Installation amp electrical connections 3 1 Mounting instructions Rotadrive can be mounted directly on a spindle with 14mm and fixed by means of the collar and the anti rotation pin The unit can be mounted in any position In order to guarantee the maximum life of mechanical parts of the RD11 we recommend to use a flexible coupling between Rotadrive and spindle 3 2 Electrical connections ATTENTION The transmission of a Start command moves the unit and the axis Make sure no personal injury and mechanical damage can be caused Each Start routine has to be taken out with care e Layout electrical connections according to local norms and laws e Avoid running the signal cables near high voltage power cables e g motor power supply drive cables e Always use shielded and twisted cables if possible wwwika it www ika biz lixa 3 2 1 CON1 DSub 5 2 pin Power supply ROTADRIVE Pin Function Al 24Vdc motor A2 GND 1 Output 5Vdc active LOW 2 24Vdc 10 controller 3 Input 3 4 Input 2 5 Input 1 on RD12 and RD22 output is not connected 3 2 2 CON2 DSub 9 pin Interfaces
35. uring the backlash compensation routine If P08 is set to zero 0 backlash compensation function is not active 5 8 Closed loop P36 Closed loop control P37 Closed loop response time P38 Closed loop tolerance window P39 Closed loop mode The Closed loop function allows to keep the unit in position within the tolerance window P38 The closed loop function gets active when any external force tries to move the axis away from the target position Closed loop is done by an intelligent Pl controller MAN RDxx P8 xx xx E1 xx E 1 0 ROTADRIVE IMPORTANT only RD1 Manual mode slow and can be done directly on the unit by means of push buttons MANUAL and MANUAL The DATUM push button is equivalent to Set To Datum see parameter P02 and chapter 5 5 1 Unscrew the PG cover on the back side of RD1 to access the push buttons MANUAL MANUAL ojlo folie DATUM wwwika it www lika biz lixa 6 Profibus DP interface 6 1 1 Introduction The following chapters describe the cyclic data transfer The layout of data transfer has been optimized for drives to be fast and at constant time intervals 6 1 2 GSD File Rotadrive is supplied with it s GSD file RDxxx gsd see enclosed support or www lika biz gt products gt actuators The GSD file has to be installed in your Profibus DP master device 6 1 3 Telegram structure
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