デジタルコントローラ デジタルコントローラ RK 4004 jp 取扱説明書 J
Contents
1.2. U Page 23 RK4004 r Duunu 0 24 7 step 000000 Vjmm 8 osc EL DL OL OL DE DE DT HE 7 HEEL 0 Qmm DLE 2 II DB lt 0 A uuu 000 D D t c 5 RK4004 9 osc cycli tim 00000000 e dependent L D D 0000000 000000000 t 0
3. 0000000 ves 1 5 uu mode EST 17 9 0 Uu Cr 0 L 10 10 0000 16 00000 11 12 0000 13 14 0000 15 1 000 L3 rmn 1 L3 r3 O L3 1 L1 ms E31 E3 EJ m sr tn Oo rA za 1 0 0 0 0 U Page 5
4. utl uggiaug 000 3 000000 0 0 199 0 1 2 10 0000 X5 1 uu 7 8 x 10 x11 12 x x 13 D 22 30 31 Es 0 3 0 0 a3rmnJlI 10 33 DR 11 12 3 4 00 42 44 98 99 6 9 system error 88 1 20 2 gt 3 4 gt 70 C 5 6 7 8 10 1 12 13 14 15 16 00000 X5 X 6 X 12 LED 15 0 pis o x5 X6 LE a HEE x7 7 tT DE 21 OO X 11 SP X 9 003 N ea ed x8 ln t E B AK4002 5 5 X1 000 CES kuwa QOSQO 66606666 X 14 2 X 10 0 1000 X4 uu
5. RK4004 uut L3 c3 O O SEM 2 oo Hg LL m RT mm LL I L3 L3 E 227 um 1 m pad HH r3 r3 EH L3 C3 o 00 mma 00 E 00 00 cogno noga O EE L3 22 xj ES 1 DoS e rin EIE JE EE agn 1 3 L3 0 1 EJ EJ cama saa gz C3 C3 E H A H L3 aaa t nes pes 1 H j pnmo 220 2551 m s 9 107 1 1 L3 gum o00 D EN uo 1 n 11 A 8
6. 0000006080 5 7 netorcur rent 5 8 currentfactor D C H E UD D 5 9 therm tineconst ELE IHE EET 0 ugugpBagpuddddttuttututuluutlu TA 600 3 500 4 400 y 300 sf 100 77 D P i 1 2 3 415 6 7 9 101112 i 5 9 term timeconstt 0000 000000000 6 0 linited 5 7 notor 0000 5 9 term 050 000000000060 6 1 act current 0000 U Page 43
7. 44 98 1 U Page 22 RK4004 99 TEM 4 RK 4004 000000 1 0 1 1 1 2 1 3 14 1 5 etc Top 00000000 6 7 0 00000
8. A or SETUP SETUP E pi 3 En d o0 o7 gt lt m d lt 5 T 4 5 5 5 5 5 5 5 r lt b lt E lt b lt eo eo eo El a E en o a o EL L3 C3 C3 E 1 ogag E ES E 1 GRE L3 rr r3 zl E37 rn L3 Cd E og dogooon C3 C3 ss E aa ss m H a Ej E 3 C3 g TEE ea pu EE ES L1 L3 C3 C3 C3 Ere sss Lr L3 r3 r3 GE Oo o000 57 Fi i Lar r3 mn 0000 L3 E3 EJ E3 E3 C3 garn Ogoogo Ogoogo
9. DD T BE 50 950 000000000000000000000000 dp E S mE 5 Square wve dm 95 000 Delta wave 0Q0 0000000000000 5 HE 1 1 osc trigger node 00000 9 losc cycl 00000600 X 3 2 web speed mesuing 0 0000 8 6 00 0 Hi 0000 0 4 1 5
10. 9 3 U Page 48 RK4004 auto address 9 4 1 0000000000000 000000000000060 2
11. Ei og m ES 42 I 42 L3 42 i Denuguu L3 o020 42 42 ra ra 56 o m o0 oloo B 2 42 o0 pH A ccn 3 g2 alg rir 2 riqi 9 101096 E3 ET t 20000 cb Ea E 200000 ias a a 0 ag 1 zm o020 20685920 rn EM a aaa ojojoj Og o 00 i 20 200 EE c c mc cnr 200 m E 020 20400 n o0 ru Aa a 200 E i EJE3EH Cnm H H I r3 00520 a 0 200 H Il Caeggre 2o00 a rnm a a og O e lt
12. 123 45578 000 Page 2 RK4004 1 30000 00000 uUum UUUJUDUD RKM
13. DS LH U IU m 19 888 13 RK4004 4 1 16 150 pe 22 15 123 Tes ASN 17 1 L3 L3 L3 000 0000 000000 L1 L3 CIETE ETETE ESTE FE GGH 1 L3 Ed EJ E Ed r 1 Ed E E E EJ EJ E3 E EJ 020205 IE 1EJEJEITECIEITEIEEILLL E E E E EJ E E3 E3 E3 EJ XO ON U Page 4 RK4004
14. U Page 7 RK4004 4 2 2 3 X5 Boe 0 6 00000 x 3132
15. _ 3 1 center offset 000 4 LE EE EE EE EE EE EE EE EE ETE EET EE ELE ELT EE EL EE EE EE EE DE Uu 3 2 3 3 LH EE EE 3 4 35 3 6 00000 3 7 3 4 3 5 3 6 3 7 000 000000 m 52 AER 0000 3 4 3 5 3 6 uc ari 00000 0000 00000 0000000 000 52 51 3 3 000000 Page 36 RK4004
16. 2 6 3 7 1 2 webedge U Page 26 RK4004 1 3 prop range 0000 00 HU D 00000 1 6 velocity autop 0 00
17. uu U Page 28 RK4004 4 5 prop stroke 00000 1 3 prop range 0000 20 35 CREMA 4 5 prop stroke 25 rm E 15 207 25 JOY P NAY u MS 000 1000 1 5 nm 2 3 5 25m 0000000 1 5m 0000000000 21 00000 3 0000000000 10 5mm I
18. 0 no usage 1 Motor lock Motor unl ock 2 Automatic ock 2 Autonati k unl ock 3 Reference wth speed 00000 3 Reference wth speed 00000 4 Speed lock 4 Speed unlock 5 Speed ock 0000 5 Speed unl ock 0000 6 Speed lock 0000 6 Speed unl ock 0000 7 Ato lt Center 7 Center lt gt Ato 8 Gscillation CN CN 8 Gscillati on f CF 9 V boffset Renote 000000 RE 1721 01000000 X 3 2 9 10 V bspeed Measure 0000000 x3 2 10 11 Manual Key Hu t 12 Right Key u 00 13 Left Key n
19. 3 7 2 6 positonrange 0000 positionrange 0000 2 7 2 5 2 0000000000
20. 6 4 7 speed controller 00000000000 4 8 max motor speed The speed value is set at 220V motor voltage 4 9 act speed 0000 0000000 000000000000 5 0 speed 5 1 speed 0000 D uui U Page 41 RK4004 5 2 accel time HP d 151 1 8 velocity jog D 1 L1 d HH 5 2 ace tin pul
21. 0 00000 ggg manu 000 Po 00 00 unn 0 uuu 000 gu path 22 3 4 3 5 3 6 5 7 4 8 5 0 5 1 6 2 6 3 AG 2491 201444 8 8 1 4 20 12 0 86 3300 0 5 0 02 26 0 4 AG 2491 204474 8 8 1 4 20 25 0 86 3300 0 5 0 02 2 6 0 4 2491 210667 8 8 1 4 20 50 0 86 3300 0 5 0 02 2 6 0 4 2571 311963 8 8 1 5 40 25 2 9 2750 2 0 0 10 2 6 0 4 2571 311941 8 20 25 1 5 40 25 2 9 2750 2 0 010 26 0 4 AG 25 1 311964 8 8 1 5 40 50 2 9 2750 2 0 010 26 0 4 AG 2571 311942 8 20 25 1 5 40 50 2 9 2750 2 0 010 26 0 4 AG 2571 311965 8 8 1 5 40 75 2 9 2750 2 0 0 10 26 0 4 AG 2571 311966 8 20 25 1 5 40 75 29 2750 20 010 26 0 4 AG 2571 311804 8 8 1 5 40 100 2 9 2750 2 0 0 10 2 6 0 4 2571 311943 8 20 25 1 5 40 100 2 9 2750 2 0 010 26 0 4 AG 2591 229159 8 8 1 5 40 15 2 9 2750 10 0 02 2 6 0 4 2591 210896 8 8 1 5 40 25 2 9 2750 10 0 02 26 0 4 AG 2591 210897 8 8 1 5 40 50 2 9 2750 10 0 02 26 0 4 AG 2591 217908 8 20 25 1 5 40 50 2 9 2750 20 010 26 0 4 AG 2591 210898 8 8 1 5 40 75 2 9 2750 10 0 02 26 0 4 AG 2591 227057 8 20 25 1 5 40 75 2 9 2750 20 010 26 0 4 AG 2591 230119 8 20 25 1 5 40 100 29 2750 20 010 26 0 4 AG 2591 219860 8 8 1 5 40 100 2 9 2750 1 0 0 02 26 0 4 AG 2593 230661 8 1 4 120 12 2 1228 20 010 26 0 4 AG 2593 234536 8 151 4 120 50 2 1228 20 010 26 0
22. 1 Auto O force support free J 0001 0004 0005 Hr 2 Sens sel direct energency sensor L and energency sensor R 000000000 0040 0080 0100 0140 O00000 140 1 0 0 reserved 100 100 LE EE EE EE ETE o EE RE EE EET E 1 0 1 delaytire 1 1 0 2 delaytime 2 9 9 config HH BHEBHHHEHEBHSJOHEHBEBMHEHEEHEEGEEB U Page 53 RK4004 m 00 1 0 1 1 0 2 0000 0000 D Q 1 0 1 del ayti e 1
23. 260 271 0000000000 alarm lint 96 2 27 2 86 00000000 U Page 34 004 O T D A zm ed oo 5 S M oH orn on m o C3 om lI B SES l H S N L3 x d E es E b e oc L3 N N 03 oo S Nx t rc NON ON N C3 NC cE EB gt B e C EHE amp SENS So ABAS x rci E C3 m 8 D q aHan mnm ES E E a 1 _ 8 I o5 L m o0 TADE Ib T r du qe
24. RK4004 1 9 velocity defect 09 4 EET EET EE RETI 7 9 7 defect detecti on 2 0 derated velocity 2 1 reseved 21 21 2 3 servo configuration U Page 33 RK4004 uuu 00 E L 2 4 motion direction 2 5 range total
25. 000 ua 1 5 4 5 prop stroke 1 3 prop range 0000 ELE BE EL DE DE EE EE CE HEEL EE CE ET DELL ET GEHE DE EL ETE T EE EE E EE EE HE EE EE EE D EET E ERE E EP EE EE TE BE EE EE 30 U Page 39 RK4004 U Page 40 u T 2 k 15 5 11 nm o 1 3 4 g 000 45 t5 H 15 nm 20 20 nm 257 m
26. DEDE TE EREE EE EE EE EE E EC EE EE EE EE EU EE E EE EET 00000000 15m 00 0000000000000000 1 3 4 5 1 0 0000000000000000 10m 000000 0O 5mm 4 00 4 2 act position 0000 4 3 set position D 004 pos source adress uggggaggaugaggaugagaggaugagagauaggauu 4 4 1 5 2 9 4 4 0010 1 5 2 15
27. EE BET TH 20 4 X n p 4 2 2 1 __ 1 LL LL r4 ER oo m 11 2115 pr ooo c3 Himuila gt gt E3 o L3 L Les E p E3 ES EA EA 1 H eS eS E n a oj pa aa oaaae aaa 0 Haaa A a 00000 CANMON ROOL L OL uut uui 24 10 0000 1 4 5 10 12 13 14 15 16 0000 X 20 4 uiii 000 4 2 3 X 20 4 000 H ll nb O a a X20 1 2 3 24 V U Page 11 RK4004 4 2 3
28. 0000 1 6 velocity auto 20 nms 00000000 15 OI GIN Du 0 rj lt 000000800000000 U Page 27 RK4004 2 3 5im 00000000 20nmi 1 5m 00000000000 3 5 15 15 00000000 1 1 6 00000 9 000 9 000 000 WQ 0000 20 3 5 5 71 20 2 10 Y 1 5nm 5 71 1 8 6 mds VK 1 5nm 10 15 m s
29. S D T mmm j 4 f E 1000 i 0000000000 1 5 mm 0000 U Page 31 RK4004 U Page 32 29 0000 15m sec0 0 0 20mm sec 000000000000 15mmis 0000000000 1 5 000000 20050 0000000 000000 0 1155 0 15mm s pm to Le 00000 3 HUU W 000 O 1 2 G 15 2 27 5 Y G 20 2 10 0 W 1 5nm 7 5 Y WK 1 5nm 10 0 Y VK 11 25 5 VK 15 1 7 velocity pos 0000000 00000080 D000000 0O00000 lnmsec 1 8 velocity jog imiseq r
30. 9 5 CAN connector Right 9 6 CAN connector Left CANT 0 U Page 49 RK4004 00000 9 7 gt function config 1 oo m j oog oa oono a aaa m m ood o aa oono L3 r3 E3 EJ EJ EJ 85 g oad a nuu m o ggf a a ooo maa a aaa oloon a 0gp mna aa oo oo ooo ooo a ooog ogon a ooo ma m m coos aaa ri tiri ooo ooo onoono o o pct 2 5 oa ooa ooa m 2 oo rj mago ooo maaa opoo oog mam oo ooo ooo ooon oo oo ooo ooo
31. 000000 3 1 000000000 01 uui 2 0 000000 with specification 10 0000000000000 total 22 9 3 l center off 00000000 of the motion path notion range set U Page 21 RK4004 11 e a mo o m 5 a 5 memg 3g e 11 O beim p
32. 3 0 10 000 00000 20000 20000000000000 75 000000000 uguugngagungaungaggupngupngugpBagHDBauu U Page 3 SRS gt 4 e 5 5 5 H we 00000000 v s 0000 55 0000000000000 L eous O 5 s i
33. 00000 M n a 1 0 0 reserved 100 1 0 1 del ayti 1 1 0 0 0 10 0 5 1 0000000000000 1 0 2 delaytine 2 1 0 0 0 10 0 S ugagagag 2 0000000000000 1 0 3 subsystem 0 adress 00 00 7F hex 9000060 1 0 4 subsystem 1 adress 00 00 7F hex 1 0 5 subsystem2 adress 00 00 7 hx 000000000 200000 1 0 6 subsystem3 adress 00 00 7 hx 000000000 300000 1 0 7 cali brati on 1 0 8 cali b UDC 1 00 0 80 1 20 1 0 9 offset 1 0 50 50 00000 1 1 0 calib 1 100 0 80 1 20 000000000 1 1 1 reserved 111 1 1 2 vebspeed confi g ua 1 1 3 vebspeed constant 10 10 100 Im 1 1 4 vebspeed 0 0 4000 mmn 000500000600 1 1 5 webspeed i nt 0 0 4000 mmn 1 1 6 webspeed 0 0 4000 mmn 1 1 7 ad pti ve control e 0000 1 1 8 adapti ve functi on 0 0 3 o 0000000000 1 2 0000000000000000000 o 000000000000 4 8 000000000000000000 u ut o 0000000000000 16 000000000 0 N 000000000 32
34. 3 4 3 5 so 3 7 000000000 52 3 7 TE goug 54 450nm HUHH 92 850nm 850nm 450 1 89 UHUHHBUHHH 3 7 188 3 D 10 tUi 3 7 0000000000 uu U Page 37 RK4004 U Page 38 3 8 3 9 39 4 0 pos controlling 00000000600 4 1 pos prop
35. 00000000 i 200 0 00000000000000 RK4004 5 2 1 L3 r3 DogA oO oo 7 Er BB 5555 s p Er HO oo e m 20 aja ZOS mic o E El EJ p H L3 o5 20m 3 rj o m 5o Ooo a H Lo Hu og p 9 Og T m Os 0 El oru CE L4 g OO 11 o05 00 m od OO OO o gcc o0 EE Er o0 EJEJEJEJEJ 0000000 2 000 1 0 000000000 2
36. 1 1 2 webspeed config 1 1 3 webspeed constant 00000000 1 1 4 webspeed 1 1 5 webspeed limt 1 2 0 max webspeed ratio 1 2 1 lim webspeed ratio 1 1 8 adaptive functi on m UUDUU DUDUUUDUBUUUUUDUUDUuunnun U Page 55 RK4004 factor 11 2507 1 200 121 4504 11111111 1 w N 1 1 4 000000000 120 50 1 2 0 0 000000000000 10 15 20 115 114 1 1 5 000000000 121 0 00000000000 1 1 3 15 mmi 1 120 250T 121 20 504 004 50 liga i 15 3045 60 75 1 1 5 1 1 4 dcc ee 751 504 251 II 5 10 15 a 25 1 1 5 1 1 4 U Page
37. D 000102 L 1 0 3 subsystem 0 address 10 0000000000 1 0 4 subsystem 1 address 100000000000 1 0 5 subsystem 2 address 1 0 6 subsystem 3 address 10 05000000000 5 5 0000000 000000000 1 0 3 U 54 Rk4004 000 000000000 1 0 4 0000006060 Uu uu A 9 F C 000000 0 0 3 7 ELLE ELE EE 0 A 0 9 3 F 7 C 1 0 7 cali bration 1 0 8 calib UDC 1 0 9 offset l act 0 calib HE DE TPTE UI E 1 0 0 0 0 1 1 1 111 111
38. RK4004 6 2 current P 6 3 00000 000 6 4 set current ET E E E EET 000000 6 5 reserved 65 0000000000 0000 6 6 current dither A ac 67 l gt 051123445 6 7N8 9 101112 3er 6 7 dither cycleti ne 68 N 6 8 diagnosti cs 6 9 0000000 1 0000 200000000 2 10000 309 3 00000000000000 4 0000000000 70 0000 5 00000000 6 000000000 000000 7 0000000000 8 000000001 10 000000000 12 00000000000 13 0000000000000 14 000000000 12 16
39. o P can o m r lt L3 o oL FE 1 o oo a E EE E Cc a aa S gt o E mm a Cic rcg nn rice o o m 2 EIE HaoHan 6 rur a oH P A EXESEXENEES _ a aaa aaa mm o aaa a mm amp L3 L3 r3 c3 r3 op 1 02 s 2010200202072 Lr DJ lt L1 LIJLIL s L3 L3 B3 EJ v EJ EE E3 EJ Lr x s X X P cx P ge aH x o o oc co eo o oo 5 o 8 ma o o e 5 55 o 2 9 HiL i uw 9 o o S L k 0 95 9 y s m wm um I 4 Uu 2 gt gt a Ir 5 m 2 8 o oc jg 9 ag k unco 4 T S oO O n 2 Uit i iip 5 d 3 E B 38 d 3 uw 3 9 m m X 8 k La EL 2 1 EET uir ST 21 wa e U Page 52 R lt 404 D0200 0 00000000000
40. Za ooon rir EXE oo ooo ooo ogoogo g r3c3 rnm oog aaa o ooo 0 011020207 0 02 5 L3 Lr zi 1 ooooooooo nooaoo ooo 6 ooogo T E 1 E E31 ETE m m o oo aaa Ea s 2 5 o m a cama 5 IE L3 r3 aaa mua gs ooo eie i ea a gt a o oo00 gt z r3counmoad ETE S aaa L oono 5 0020205 o El gt EJIIEICLI EE D oog 0502051020205 aaa a s a Haagamagdmdngamugaamimagcgumuggacdgamdgucgruugug tbciuuttumtcrciiututuibuiu
41. 62 jcurrent 2 6 0 0 100 0 6 3 current 0 4 0 0 50 0 0000000001 00 6 4 set current 6 5 65 6 6 current dither 0 00 0 00 1 00 uggagagagagagagadgadgadadec 00000 6 7 dither cycl eti ne 0 0 200 ns ac U Page 16 RK4004 imu Mn 00 6 8 di agnosti cs 0000 6 9 system error 45 0000000 1 00 avm 2 gt 3WV C 3 00000000 4 0000000 gt 70 5 000000 6 0000000 7 8 00000000 10 00000000 1 00000 2 0000000000 13 0000000 14 000000000000000000000 15 16 000000 000 7 0 reserved 70 7 1 reserved 71 7 2 running tine neter x h 7 3 suppl tage 24 V 7 4 tenperature case Xx 7 5 tenp case nax 7 6 reserved 76 7 7 reserved 77
42. 7 8 nai nl oops sec 0 32000 00000 7 9 1 O confi gurati on Hau 8 0 36 input status 00 FF HX 000000000600 8 1 reserved 81 86 2 gt input X4 1 2 10 10 1 8 3 gt usage input X4 4 3 10 10 x4 00 8 4 usage input X4 7 4 10 10 x7 8 5 gt usage input X20 2 10 10 0 2 8 6 gt usage input X 3 2 10 10 2 8 7 reserved 87 8 8 reserved 88 8 9 reserved 89 9 0 reserved 90 U Page 17 RK4004 00 000000 000 000 91 systemcorfi g 0000 9 2 controller type 0 0 3 0 1000 uua 1 2 3 100000000000 9 3 controller operate 0 0 99 9 4 gt auto address 1 0 2 o 1 00000000000000000 1 2 2 0000000000000 0 95 96 9 5 connector Ri ght 0 0 0 0 7 F 9 6 connector Left 0 0 0 0 7 F 9 7 function config 1 0801 0000 FFFF 1 X Frane li nnt check 0x0001 N Mcontrol
43. 1 6 1 7 pulse ON tinre 0000000 1 8 pulse OFF time 1 3 pulse range 0 0 RK4004 0 4nm cd 0 8 0 6 0 4 0 2 02 04 0 6 0 8 01000 uut L 0 4nm 0 3m i 24 LEO E X p 0 8 0 6 0 4 0 2 0 2 0 4 0 6 0 8 00000 17 p 24 V DC t 5 1 8 U Page 60 2 0 dig 1 0 address 000000000 1 42031 00000 EE GE EDELETE EEEETE TEE DEDE TDEEEEE 1 4203 5 0 0 15 3 0000000000000 0000 2 1 act control out 000000000000 000000000000000000000 6 0 RK4004
44. J 4004 000000 RK 4004 0003 ZL 1 00 2 2 7 3 0000 7 4 000 8 41 Xx X21 9 4200000000 10 5 00000 13 51 13 5200000000 21 53 0 00000000000 0000000 59 6 D00 61 7 00000 63 BEA 250482 j p 05 RK4004 1 100 1 2 00 gt 00000 01 01 01 0 0 RK400 aa EE E 4 Ul Ul Ul Ul i O00000 1 0000600 000 00 1D D D LU D 000000 00000 00000 E AES M E L 000000 656
45. V 4 lt kd E 100 1 5 rm 15m 0 0 20m 0 00 2m HE THEE EE E 15m 20nm 0000000000000 15nm 0000 1 5 2 HHHBUPPHBHHHBHU BHH 000 o 4 5 1 3 000 000 000 1 2 G 15 2 7 5 G 20 2 10 0 W 1 5nm 7 5 VK 1 5nm 10 0 VK 11 25 mm VK 15 0mm RK4004 4 6 photo auto offset io uui 100 0000000000110 000000
46. Yw 2 0 0 0 2000 0 nm u 1 4 YW G 4 0 0 0 2000 0 nm BE 1 5 e fg yw 6 0 0 0 2000 0 rm 1 6 fqxer vx 10 0 0 2000 0 nm 000600 1 7 pul se ne 10 0 0 10 0 sec 1 8 pul se CFF ti ne 1 0 0 0 10 0 sec 1000 0 1 9 jog wth fast 0 0 1 2 0 dig 1 0 adress 0 0 7 F hx L 2 1 act control out 0000 Xx4 2 0 000 1 3 000000 0000000000000 1 tonon 1 4 00000 0000000000000 2 1 5 O00000 3 Jom 000 2 0 00080 0000 we ngu 000 DU 000 U Page 59
47. EU EL UO BL EI Ll 1 2 6 service off on 0000000000 E 1 2 7 gt service mode 2 000000000000000 3 000000000000000 4 0000000000000 5 000000000000 6 0000 7 0000 8 000000 9 0000000 1 2 8 0000 1 EX 1 2 9 00000 EX 1 3 0 0000000000 Rk4004 5 3 000000060 0000 0000000000 LUE TE EE T 00 13
48. m Z 9 E 4 E pi NN aud MN ci Cs ee e eoo eo doc eio e eo S o oo oO 1 x 60 eo 5 o Lo eo e o st eo vc ac t Qi 2 59 O p 5 959 g o 8 x 2 g g O 4 A c Q 2 C n O 5 e gt CIN a5 0 fur a A c vd 9 D 25 In e icm 4 E 77 gt N c o N e C C EI c 5 2 or 288 RE g E m m mm m m m m mL m m m r1 x gt x 50 RK4004 200 0000 166 0000000000 Witch webedge R V tch L 0010 0020 0030 30 2 enable Photo and Sens gt Center 0040 0080 0040 A0 9 8 function config 2 00000
49. 1 s 13 11 u ES ES SERN 1 1 parar uius s x Ld 519 eee 0o ima 5 E OCO ES Heec L1 LE r ESL gj oaa 005 goo B d LACE OOC S BB QUY 1 1 g B S Hd o0 cM 1 1 gt 2 1 1 2 EH 4 C x 1 gt 9 107 187 Y EIE e E 29 05 SjF pm ucuuuoduuuur E 1 e 11 12 13 U Page 6 RK4004 2 00000 4004 4002 LK 4203 RT 4019 DO 2000 4014 DC 0310 x x DC 0311 x x x DC 0340 x DC 0341 X X DC 0360 X X DC 0361 X X X DC 1310 X X X DC 1340 X X DC 2340 X X DC 2341 X X X 3 000
50. 00 ng a rnm a a unm 000 ra ios m aa oal aa aaa a a a a aoon u x v r3 S BE E E EIE E E o o E a S 8888 r3 iG 5 F e S S E q 3 5 3 S 5 9 S o 2 e N Q LE 1 gt 1 x olo LO B B B X 8 8 gt E E EN F T 2 9 8 Eu 5 D s s e 9 g oj 2 2 8 5 8 2 5 a 5 m 9 gt gt g NiS s ES 5 z 5 gt 9 G Oo 5 x i h gt 4 Ei e g S Z ELR e 8 8 D 42 2189 2 5 P P 0o 9 o o Ot r3 77 o o gt gt gt gt 5 15 BE 7 g n 5 m ri SEN U Page 14 RK4004 du 00 2 3 servo confi gurati on 2 4 nation directi on 0 0 1 18h 0 1 00 2 5 noti range total 0 0 0 0 370 0 nm 1 IIIIIIITI 2 6 positi onrange 0 0 0 0 32006 00000000600 2 7 positi onran
51. 1 1 9 adapti ve ratio 000 1 2 0 max webspeed ratio 114 1 2 1 lim webspeed ratio 1 1 5 1 2 1 121 1 2 2 reserved 122 1 2 3 reserved 123 1 2 4 position I part 1 000000 1 9 2 0000 1 2 4 9 00000 01 0000000000000 00 uuu U Page 57 RK4004 U Page 58 I Service 2 5 0 0 0 0
52. E x15 000000 Aani TE gt d Xx7 x ALE H D N S X 21 0000 a d P LR C9 Od 5 H Je EI 13 0000 5 O 8 x lt 5 2057 1 OOo 200000 200 000000000000 X14 00000000 X 10 0 x2 01000000 0000000 20 JUD l 40 U Page 8 uu 4 1 00000 1 21 R lt 404 uut X 1 424 VC 2 gt gt gt gt X 3 NP O QI i gt gt 0 X4 001 000 001 V uui V nov 00800 uuu 0 0 0 lt 1521 mnm n 0 NO BA 0 DC lt 7 H gh CAN Low LED LED X 00V In
53. U Page 44 RK4004 7 0 70 7 1 71 7 2 running time meter 7 3 24 DC 7 4 emp case max 0000000000 t 00000000L 7 6 76 77 7 8 rinl oops sec 7 9 1 0 confugirati on 8 0 digi input status 8 1 81 U Page 45 RK4004 8 2 usage input X 4 1 8 3 usage input X 4 4 8 4 usage input X 4 7 8 5 usage input 220 2 8 6 usage input X 3 2 O00000
54. asl al 000 3 5 5 3 PWM 5 4 reserved 54 U Page 42 5 5 current controller U uu 5 6 cut off current 000 5 7 000000 6 9 0000000 0000 5 7 motor current 000000 0 0 R lt 404 5 8 currentfactor 5 9 term tireconst 0000600 6 0 limted current 0000
55. 0000 no controller output 0000 Ntarget gt CNN 0001 1D U 00 Delta N gt CAN 0002 00000 Pos target gt 0003 1 00000 Deta Pos gt CN 0004 I target gt CAN 0005 10 sable Loop 003 Send target pos 010 webspeed im 0020 1 1 5 IStart slow 0040 uggaagumagagsudgdeaguuulutiututultiutiueublitututl UL HLggiuLdiUmL BB JAUTO Gear I partO0080 1 2 4 position I part I part BB B H Wl BLU OE B DO D Hl Pos TXD 50 gt 10 0100 10msr 000000 ELE EET EE EET HE ELE EE EE EE HIER EELET EL HE ER E D0200 0000000000
56. 0000000000000 00000000 1 1 9 adapti ve ratio 0 0 409 6 1 2 0 vebspeed rati o 0 0 409 6 96 9e 1 2 1 limvebspeed rati o 0 0 409 6 96 9e 1 2 2 reserved 122 1 2 3 reserved 123 U Page 19 0000000000 RK4004 000000 Mn Max 00 00 1 2 4 pos 1 0 000 0 000 1000 15 I part 1 2 5 1 Service 0000 1 2 6 service off on 0 0 1 1 2 7 servi ce node 0 0 9 1 D 2 3 CU 4 CU 5 PWM 6 PWM 7 8 9 1 2 8 testval ue 1 0 100 100 96 1 2 9 testval ue 2 0 100 100 1 3 0 testcycl eti ne 0 01 0 01 10 00 S U Page 20 gt 0 0 000000000000 0 0 CANMON 20
57. 4 pos source adress 00 00 7F U Page 15 RK4004 00 00 4 5 stroke 100 0 2000 0 nm 4 6 auto offset 0 r200 0200 0 m 00000000000 S nhi conf i gurati on SYS 6000000 47 speed control er uuu 4 8 motor speed 1250 100 4000 1 I inanin 4 9 act speed rm 00000000 0000 5 0 P 2 00 10 01 1000 5 1 speed 0 10 0 01 5 00 000000006000 5 2 jacced tine 0 0 0 1 100 se 5 3 1 PWM 000 Pwp 0000 0000000 5 4 reserved 54 5 5 current control er 000 5 6 cut off current 8 0 0 0 10 0 A uggggggugg 0000000000000 5 7 metorcurrent 10 0 0 7 0 A 0000000000000 5 8 currentfactor 150 100 200 5 9 ti neconst 60 1 200 6 0 current 7 00 7 00 A 6 1 current 120 00 20 00
58. cp poser EC qo g5 TEE A O A EN G N N hybrid offset 00000000000 2 2 9 LU reference offset lUDDUDIDUBDDDDUDDDBDBDUDDBDDUUUDUDBDUDUHDUU 3 0 ugugpnaguugaugugagumnaugggunmnaagmuadi uu HUBguiigiuiiugugubutuutuumptitubuiHt ED U Page 35 RK4004
59. 0 reserved 90 Lll 9 1 U Page 47 RK4004 2 9 Ep EET m rnm gaa l H Il CE B 5 N E x 1 5 a O 1 oomo z o EXE O au E 3 ooo 9 lH 2 B n n 25 a GH E Ot nui m pj Ec rmn 0gg220 BEAGA O uguauog 24220 cnogcudoadgauaudog 0442229 I l I Lr ng 8 E E ES w Hw o0 o0 05 Exe E yr Arcares 1 1 rr p c c c u HB 1 2
60. 4 AG 2593 310696 8 151 5 120 5 2 1228 20 010 26 0 4 AG 2595 226921 8 8 1 5 40 75 2 9 2750 2 0 0 10 2 6 0 4 2596 227183 8 8 1 5 40 40 2 9 2750 2 0 010 26 0 4 AG 2671 311967 8 16 1 5 80 25 4 9 3070 20 010 26 0 4 AG 26 1 311946 8 28 1 5 80 25 4 9 3070 2 0 0 10 26 0 4 AG 2671 311944 8 16 1 5 80 50 4 9 3070 20 010 26 0 4 AG 26 1 311947 8 28 1 5 80 50 4 9 3070 20 010 26 0 4 AG 2671 310208 8 16 1 5 80 75 4 9 3070 20 010 26 0 4 AG 26 1 311948 8 28 1 5 80 75 4 9 3070 20 010 26 0 4 AG 26 1 311945 8 16 1 5 80 100 4 9 3070 20 010 26 0 4 AG 2671 311949 8 28 1 5 80 100 4 9 3070 20 010 26 0 4 AG 2671 311807 8 16 1 5 80 150 4 9 3070 20 0 10 26 0 4 AG 2671 311950 8 28 1 5 80 150 4 9 3070 20 010 26 0 4 AG 2601 224526 8 41 5 80 50 4 9 3070 20 010 26 0 4 AG 2691 212610 8 16 1 5 80 50 4 9 3070 2 0 010 26 0 4 AG 2691 229098 8 28 1 5 80 50 4 9 3070 20 010 26 0 4 AG 2601 212609 8 16 1 5 80 75 4 9 3070 20 010 26 0 4 AG 2691 228765 8 28 1 5 80 75 4 9 3070 20 010 26 0 4 AG 2691 312204 8 34 5 1 5 80 100 7 5 2750 20 010 26 0 4 AG 2601 217808 8 16 1 5 80 100 4 9 3070 20 010 26 0 4 AG 2691 212325 8 28 1 5 80 100 4 9 3070 20 010 26 0 4 AG 2691 234946 8 41 5 80 175 4 9 3070 20 010 26 0 4 AG 2601 228283 8 28 1 5 80 175 4 9 3070 20 010 26 0 4 AG 2601 214554 8 16 1 5 80 175 4 9 3070 20 010 26 0 4 AG 4081 208615 8 6 25 1 25 9 5 25 0 71 27 8 0 4 0 01 2 6 0 4 4081 208616 8 6 25 1 2 5 9 5 6 0 71 2778 0 4 0 01 26 0 4 AG 40
61. D L U Page 29 RK4004 Q 4 5 00000 00000 9 SK H 3 25 3 5 7 14 G 25 2 12 5 G SK 1 5nm 7 14 VK SK 1 5nm 12 5 VK 10 71nm 18 75 mm rate Width 00000000 rate evel 1 4 dual dual Z Mm 0 5 5 Ogg 2o00 a QOO pe Eire fe J OGE o0 o00 m 02 05 0015 005 L3 r3 05 O00 w p3 021 5 005 EE Oo oog oong 02 5 g Og o00 s L3 C3 r3 L3 r3 ri S
62. 0 U Page 51 RK4004 O i D sable 1 Loop 0005 0008 0000 he target gt CAN LU D 000D operatorkey config LU LU D BL UL 9 9 z _ 1 a00 9 ra L1 tim ooa m mm fm n n 05 c Eel o Zog 2 ipz17 ia 11 LJ p cundo C E qn m E Zon o E an m Ps a r3 rp 1 si upa asa ex m mU m O m o Lr o r3 n 1 205 a 1 0 rdc o raq 5
63. 0 0002 Gerter direct 0 0004 0 0008 100000000 0 0010 100000000 0 0 0020 enable Photo 0x0040 Sens err gt Cent er 0x0080 acti ve 0x0100 Ato SensorFree 0 0200 2 0 0400 010 nm 0 0800 D Ox1000 2000 ex systemnade 0x4000 FE 1721 Va 0x8000 98 function config 2 0000 0000 FFFF 2 Gontroall er out put 0x0000 gt CAN 0x0001 0x0002 Pos target gt 0x0003 Beta Pos gt CAN I target gt 0x0005 lt loop 0x0008 Sendtargetpos 0 0010 1 Lock vebspeed 0 0020 Start sl ow 0x0040 dear l part 0 0080 1 PosTXD 50 210ns 0 0100 99 operatorkey 0000 0000 FFFF conf i g 10000000 0 0001 1 Ato gt take photo 0 0002 000000 force support free 0x0004 1 Grte gt supp free 0 0008 1 unused sup free 0x0010 no edge gt sens free 0x0020 sens sel direct 0x0040 10000000 L 0x0080 10000000 R 0x0100 900000 0x0000 0000 0x1000 00000 00 0x2000 U Page 18 RK4004
64. 0 0 RT D D O BE 5 EYE EE E o0 m n e ES o0 pag EJEJE3 um mj uuudHmoguumunm 1 1 L1CJEJEJE3E3 Ia 1050202020252 25 5 0 002102020505 cun uou nu H H H H H ATIRA 00000000000 start servi ce 000000000 00 0000000 DO VE 199 00000000 0 0 D020000 000000 0 0 D00 42 5 0 000 000 0 5 10 00000600 L 2 Dus 253 Page 13 EX 2 1 1 2 2 1 RK 4004 4
65. 00000600 Pat h dependent 1 LI I HEEL EE LEE ELE EE ERE EE EIE E EE EE EE DE EDI 20 2 i 3 V fe DI zas M DD LH s 000000 ft 20 f 0000000 20H n H c n 000000 100000001 0 00000000000000 00000 1 5 mmn m The external pulse generator nust emit the cal cul ated ugumgmuuugmumumumumugggBSSSSSODBODBDODBDOUU f H f 15 m n 00000001 000000000 U Page 25 RK4004 1 0 osc wave
66. 14 Auto Key 15 Center Key ut 16 Latch weberror U Page 46 R L X 4 6 24 V DC X44 X47 3 4 X4 3 X4 4 24V DC 6 46 X4 7 24V DC 5 RK4004 1 LI LI LI LI LI UU U UU UU UU U UU UU DDD I 2 LI LE LI LI LE DE DE LI LE LE LI LE D DE D LE DE DE UD UI LI LI LI D UU UU HU UU UU UU D U 8 7 reserved 87 8 8 reserved 88 lUDDDUDUUDUDUDUDUUuDUuu 8 9 reserved 89 9
67. 20 08 270 05 00 26 04 VS 36 10 482 1 77 20 08 250 05 00 26 04 VS 45 10 49 9 1 78 6 ohe 0 71 278 20 010 70 01 VS 90 8 161 5 8 49 30 20 010 26 04 BC 1103 8 81 5 40 19 29 250 20 01 26 04 BT 25 8 1161 100 0 8 49 30 20 010 26 0 4 2272 500 1 1 2 5 20 10 09 1 6 10 00 26 04 2275 500 1 1 2 5 20 10 09 146 10 00 126 04 U Page 62 RK4004 7 00000 IRIGIS 24 V DC EE ELE T 20 30V IC O00000 uuu 0000 48 w 180 W uuu HHHH 02 00 7 2 uuu 22 V PW 000000 5 A 000000 7 uuu 00 50 0C L EH HE P 00 CAN HU t 5 V potenti free CAN 250 0000 4 1 4 4 4 7 20 2 3 2 Low 0 0 3 Wx 10 30VC 5 x 20 4 D D 01 PNP xmn5 xme 24 V DC 05 u uunnnnnnnnnnnnnn U Page 63 Erhardt Lei GnbH Post box 10 15 40 D 86136 Augsburg Tel ephone 0821 24 35 0 Tel ef ax 0821 24 35 666
68. 56 U U nr ED BLU E DUH 2 HU 1 6 2526 L LL E L LL LU L L 100 6 LH 000000 The 5 mmn 20nd UJgJ IJUIJSSHJJSJSSHUDSBZNISIBHUHUHHSHg EE EH I E E E EBgggJJau 1 1 6 actual webspeed mmn 1 1 7 adaptive controle 00 1 1 8 adaptive function 0000 RK4004 00000000 00000 13 000 2 000000000 0000013 000000000 4 8 16 5 32 4 5
69. 81 226862 8 6 25 1 2 5 9 5 50 0 71 2778 0 4 0 01 26 0 4 AG 4091 209822 8 6 25 1 2 5 9 5 6 0 71 27 8 0 4 0 01 2 6 0 4 AG 4451 322010 500 11 2 5 9 12 0 9 1746 10 0 02 26 0 4 AG 4451 32011 500 11 25 20 30 0 9 1746 10 0 02 26 0 4 AG 4571 311968 8 8 1 5 40 25 2 9 2750 2 0 0 10 2 6 0 4 4571 311952 8 20 25 1 5 40 25 2 9 2750 20 010 26 0 4 U Page 61 RK4004 0000 0000 00000 00 nm 000 0 nni 22M 3 4 3 5 3 6 5 7 48 5 0 5 1 6 2 6 3 AG471 31805 8 81 5 40 50 29 250 20 01 26 04 4571 3193 8 20251 5 40 50 29 250 20 01 26 04 AG471 31951 8 81 5 40 75 29 250 20 01 26 04 AG471 3194 8 20251 5 40 75 29 250 20 01 26 04 54571 3186 8 81 5 4 10 29 250 20 01 26 0 4 54571 3195 8 20251 5 4 10 29 250 20 01 26 04 AG491 23056 8 81 5 40 25 29 250 20 01 26 04 AG491 232466 8 20251 5 40 25 29 250 20 01 26 04 AG491 30753 8 20251 5 40 50 29 250 20 01 26 04 AG491 23067 8 81 5 40 50 29 250 20 01 26 04 AG491 230060 8 81 5 40 75 29 250 20 01 26 04 AG491 2293 8 22 1 5 40 75 29 250 20 01 26 04 4591 2939 8 81 5 40 100 29 250 20 01 26 0 4 AG491 230136 8 20251 5 4 10 29 250 20 01 26 04 4671 31
70. 9609 8 11 5 80 25 49 1 3070 20 010 26 04 AG471 3198 8 25 141 5 80 25 49 30 20 01 26 04 AG471 3196 8 11 5 80 50 49 3070 20 010 26 04 AG471 311959 8 2 141 5 80 50 49 3070 20 010 26 04 AG471 3188 8 11 5 80 75 49 30 20 01 26 04 AG471 311960 8 25141 5 80 75 49 3070 20 01 26 04 AG 4671 311957 8 111 5 8 100 49 3070 20 01 26 0 4 4671 131960 8 25141 5 8 100 49 3070 20 01 26 04 AG471 3118091 8 1L1 5 8 150 49 300 20 010 26 04 AG471 31962 8 2141 5 8 150 49 3070 20 01 26 0 4 AG491 23062 8 1L1 5 80 25 49 1 3070 20 010 26 04 AG4600 23056 8 11 5 80 50 49 3070 20 01 26 04 AG460 23000 8 1L1 5 80 75 49 3070 20 010 26 04 4691 2305651 8 11 5 8 100 49 3070 20 010 26 0 4 4691 2301351 8 2 141 5 8 10 49 3070 20 010 26 04 AG499 30900 8 111 6 80 49 3070 20 01026 04 1111 500 1 1 2 5 20 10 09 1 6 10 00 26 04 1272 500 1 1 2 5 20 10 09 1 6 10 00 26 04 ER 2472 500 1 1 2 80 10 33 20 010 26 04 2472 500 1 1 2 80 15 33 20 010 26 04 2472 500 1 1 2 80 20 33 3475 20 1010 26 04 VE 5016 8 81 5 40 30 29 250 20 01 26 04 VE 5016 8 81 5 4 350 29 250 20 01 26 04 VG 18 8 641 4 80 55 295 1897 20 010 26 04 ER 52 8 181 5 40 1 17 25 29 250 20 010 26 04 VS 50 8 641 125 3 27 30 20 010 26 04 VS 60 8 2881 300 3 27 30 20 010 26 04 VS 35 10 482 1 7
71. E Lara Ogo E3 C3 C3 C3 C3 L2 C3 C3 C3 C3 aaa ELIT E C3 r3 rr BE n p mr TES ESTE C EST i agoan g2200 E pim m agaang 5200 og0000 C3 c3 ER JEE ES go m imi C c3 c3 S EE E EE S ES ES C3 E3 CJ L3 EJ EJ CJ C3 CJ m L3 C3 Opooo mm 1020202 Oo0000 J ETTI 0505 0505 1 EL 10 mr 3 L3 mr 1 pH 05 2 2 05 ET 0505 pH Opgang 0205 0505 10050505 10005050505 ooog OGGEGGE 05 BODOH agang 0 E 1 3 E E E EIC Jl EST EZ mprouurmuuumuUrm retai U Page 12 RK4004 000000 ummpmnaulmumumubigutHutuu 0
72. dex A 45V 0000 B gt gt gt gt CAN H gh CAN Low 194 nax 1 0 A O 2 x 24V 21 Ne NE NP N E UO 24V 10 U Page 9 RK4004 4 2 UN NV SETUP H v in 4 2 1 u a is U Page 10 3 00000000 4 2 4 2 4 2 J 2 3 2000 0 000000000000 000000000 4 RK4004 uguugngagungaunagupngupngugpBaggHnpduu uguugngagungaungagupngupngugpBagHpauu
73. el i E 22120529 Du Oco Ga 5000000 D 42 v aaa 2 paca m dcc c e EX a oo L CIEL o Oog m zi o a 90000000 r3 r9 uum G 2 E s amara muon maaa e 111 9 pm guon r3 ON 1 r Zouununu uuugotHuug rcp rr amp rnuruiuriuririritbtruu ooooop0ga ooo II II ll m N N 30 0 000000000000000 31 VS 35 32 3 DR 12 DR 11 38 345 VS 50 000 42 00000000000
74. ge 00 3270 0 0 nm 00000000060 2 8 alarmli 96 75 0 100 2 9 hybri d offset 0 0 32700 3270 0 mm 3 0 reference off set 00 3270 0 3270 0 mm 000000000000000 1 3 1 center offset 0 0 3270 0 3300 0000000006060 3 2 systemof f set 00 32700 3270 0 mm 0600000000 tese 00000600 33 total resolution 0 0 00 320 0 pnm 0000000600 3 4 encoder resolution 8 8 9999 p revrev 428000000 3 5 rotation gear 8 0 0 1 100 0 3 6 linear gear 4 0 01 2500 0000000 3 7 gearf actor 1 00 0 10 5 00 8 encoder filter 4 2 16 3 9 reserved 39 4 0 pos control er 0000 4 1 pos prop 5 0 0 1 200 0 m 0000000 0000000000000600 4 2 act position 0 0 32700 3270 0 m 00000 4 3 set positi on 0 0 3270 0 3270 0 nm d adu 4
75. t 05 05 5 1 r3 c goa o oog oogoH Ogag agge 2 5 0 3 o coooa ooon coo oo oom HAN o 0 e gt EIE3E a rra gO _ 00 ooog goa Haa AGAH pj e oo rcm P wa ooog oon0p000 e 17 LJILJL IL LL OL TES LJILILILILILI LI LI LI 000000 14 0000000 0000 Y 0 uu U Page 30 RK4004 1 4 dual rate 50 1 5 dual rate level 00000000060 70 0 0 nm 50 100 5mm 20 ms 70 100 14 mds 5mi 000000000000 14 0 00000000 ual This function is bei ng deacti vated when val ue 100 is entered into paraneter 1 5 dual rate level 1 6 velocity auto 1 3 0000 000 bom 1 3 prop range 2 0
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