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Lika RD4 User Manual

Rugged high torque positioning unit
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User's guide

RD4
Position measurement & control

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  • Page 1: User's Guide

    User's guide Position measurement & control...
  • Page 2 Tous droits réservés. This document and information contained herein are the property of Lika Electronic s.r.l. and shall not be reproduced in whole or in part without prior written approval of Lika Electronic s.r.l. Translation, reproduction and total or partial modification (photostat copies, film and microfilm included and any other means) are forbidden without written authorisation of Lika Electronic s.r.l.

  • Page 3: Table Of Contents

    General contents User's guide.......................................1 General contents....................................3 Subject Index.......................................6 Typographic and iconographic conventions..........................7 Preliminary information..................................8 1 Safety summary..........................10 1.1 Safety..................................10 1.2 Electrical safety...............................10 1.3 Mechanical safety..............................11 2 Identification............................12 3 Mechanical installation........................13 4 Electrical connections........................16 4.1 Ground connection (Figure 3)..........................16 4.2 Connectors (Figure 3)............................17 4.3 Diagnostic LEDs (Figure 3)..........................19 4.4 Dip-Switches (Figure 4)............................20...
  • Page 4 Stop......................................46 Alarm reset...................................46 Incremental jog...................................46 Start......................................47 Emergency....................................47 Save parameters.................................47 Load default parameters..............................47 Axis torque....................................48 OUT 1.......................................48 OUT 2.......................................48 OUT 3.......................................48 Target position (Bytes 4 … 7).............................49 Parameter number (Byte 8)..............................50 Parameter value (Bytes 9 … 12)............................51 7.6.2 Slave  Master functions.........................53 Status word (Byte 0 and 1)..............................53 Axis in position..................................53 Axis enabled..................................53...
  • Page 5 05 Kp position loop................................62 06 Ki position loop.................................63 07 Acceleration..................................63 08 Deceleration..................................63 09 Positive delta..................................63 0A Negative delta...................................63 0B Jog speed.....................................64 0C Work speed..................................64 0D Start Torque current time............................64 0E Code sequence..................................65 0F Kp current loop.................................65 10 Ki current loop..................................65 11 Max current..................................65 12 Starting Torque current..............................66 13 Gear ratio....................................66...

  • Page 6: Subject Index

    Subject Index 01 Distance per revolution...........61 DAC Saturation..............54 02 Position window............62 03 Position window time..........62 Emergency..............47, 55 04 Max following error..........62 Executing a command...........53 05 Kp position loop............62 06 Ki position loop............63 Flash memory error............55 07 Acceleration..............63 Following error..............55 08 Deceleration..............63 09 Positive delta...............63 IN 1..................54 0A Negative delta............63...

  • Page 7: Typographic And Iconographic Conventions

    In this guide, to make it easier to understand and read the text the following typographic and iconographic conventions are used: parameters and objects both of Lika device and interface are coloured in ORANGE; • alarms are coloured in RED;...

  • Page 8: Preliminary Information

    ROTADRIVE positioning units RD4 model. RD4 units are positioning devices which integrate into one system a brushless motor fitted with gearbox, a drive, a multiturn absolute encoder and a position controller. They can be used in a variety of...
  • Page 9 reduction gear. Anyway it is obvious that the parameters you set must be compatible with the mechanical and electrical characteristics of the unit you are going to configure. On the other hand using Siemens STEP7 it is possible to alter any value and then save it permanently in the PLC (except in the -no param module).

  • Page 10: Safety Summary

    • elsewhere in this manual violates safety standards of design, manufacture, and intended use of the equipment; Lika Electronic s.r.l. assumes no liability for the customer's failure to comply • with these requirements. 1.2 Electrical safety Turn OFF power supply before connecting the device;...

  • Page 11: Mechanical Safety

    The counter-electromotive force (back EMF) generated by the motor in case the shaft is forced to rotate due to a manual external force can cause irreparable damages to the internal circuitry. MAN RD4 PB E 1.7 Safety summary 11 of 76...

  • Page 12: Identification

    Information is listed in the delivery document too. Please always quote the order code and the serial number when reaching Lika Electronic s.r.l. for purchasing spare parts or needing assistance. For any information on the technical characteristics of the product refer to the technical catalogue.

  • Page 13: Mechanical Installation

    Motor and shaft must be in stop. Figure 1 - RD4 unit – Overall dimensions ROTADRIVE unit must be secured firmly only to the user's shaft using the provided collar. ROTADRIVE unit is supplied with a screw insulation and an anti- rotation pin (TE M5 screw);...
  • Page 14 RD4 Profibus® Figure 2 - Typical installation example of RD4 unit on worm screw To install properly the ROTADRIVE unit please read carefully and follow these instructions; anyway note that the unit can be installed in several manners and according to the specific user's application.
  • Page 15 The counter-electromotive force (back EMF) generated by the motor in case the shaft is forced to rotate due to a manual external force can cause irreparable damages to the internal circuitry. MAN RD4 PB E 1.7 Mechanical installation 15 of 76...

  • Page 16: Electrical Connections

    Anyway make sure that ground is not affected by noise. It is recommended to provide the ground connection as close as possible to the device. MAN RD4 PB E 1.7 Electrical connections 16 of 76...

  • Page 17: Connectors (Figure 3)

    Case Shielding n.c. = not connected 1 Connect the cable shield to the cable gland of the metal connector We recommend Profibus-DP certified connectors and cables to be used. MAN RD4 PB E 1.7 Electrical connections 17 of 76...
  • Page 18 3. Inputs/ outputs (optional) M12 8-pin male connector (frontal side) Description 0 VDC Input 1 Input 2 Input 3 Output 1 Output 2 Output 3 n.c. n.c.: not connected MAN RD4 PB E 1.7 Electrical connections 18 of 76...

  • Page 19: Diagnostic Leds (Figure 3)

    Indicates the motor is enabled (control loop activated) Indicates the motor is disabled (control loop deactivated) During initialisation, system checks the diagnostic LEDs for proper operation; therefore they blink for a while. MAN RD4 PB E 1.7 Electrical connections 19 of 76...

  • Page 20: Dip-Switches (Figure 4)

    Handle the cover with care not to stretch or pull out the connection wires. Be careful to replace the metal cover at the end of the operation. The DIP-switches are just beneath. Figure 4: Dip-Switches MAN RD4 PB E 1.7 Electrical connections 20 of 76...

  • Page 21: Setting The Node Address: Node Id (Figure 4)

    Activated: when the device is at the end of 1 = 2 = ON the transmission line Deactivated: when the device is not at the end 1 = 2 = OFF of the transmission line MAN RD4 PB E 1.7 Electrical connections 21 of 76...

  • Page 22: Quick Reference

    Quick reference 5.1 Configuring the unit using Siemens STEP7 Installing the GSD file RD4 positioning units fitted with Profibus interface are supplied with their own GSD file RD4Vx.GSD (see enclosed documentation or click www.lika.biz > PRODUCTS > DRIVECOD > RD4).
  • Page 23 RD4 Profibus® To install RD4 unit on Siemens STEP7 proceed as follows. In the main window HW Config of STEP7 select Install GSD File… command from Options menu bar. In the window that appears you can select the GSD file specific to the unit you need to install in your Siemens control system.

  • Page 24: Adding A Node To The Project

    “BUS”. Then drag the Lika RD4-T32 or Lika RD4-T48 or Lika RD4-no param module (according to the model you need to install) to the variables table in the bottom left;...

  • Page 25: Setting "Configuration Data" Parameters

    Properties - DP slave window) is hidden and thus not available when you install the Lika RD4-no param module. Using this module, the unit does not read the parameters from the PLC when the power is switched on (they are...
  • Page 26 Properties - DP slave window and then press the Download to module button (see icon on the left) in the toolbar of the HW Config main window to download the set values. MAN RD4 PB E 1.7 Quick reference 26 of 76...

  • Page 27: Reading Diagnostic Information

    Online / Offline button in the toolbar of the same window (see icon on the left). Now select the RD4-PB module linked to the BUS and then the Module Information... command in the PLC menu bar to enter the Module Information window.
  • Page 28 RD4 Profibus® Finally open the DP Slave Diagnostics page in the Module Information window. Click the Hex. Format... button to display diagnostic information. 6-byte diagnostic: MAN RD4 PB E 1.7 Quick reference 28 of 76...

  • Page 29: Setting And Reading Parameter Values

    Master through variable at address ED 104…107 and receives the preset value through variables AB 108 (Parameter number (Byte 8)) and AD 109…112 (Parameter value (Bytes 9 … 12)). MAN RD4 PB E 1.7 Quick reference 29 of 76...
  • Page 30 Now device can send the preset value “10000”. To carry out the preset procedure, switch bit 7 of the same variable to 0 and then press again the Modify variable button (Parameter number 28h). MAN RD4 PB E 1.7 Quick reference 30 of 76...

  • Page 31: Reading Parameter 29 Current Velocity Value

    (Parameter value (Bytes 9 … 12)). Parameter index = 29hex 29 Current velocity value index of parameter (see on page 68). Parameter value = 1600 speed = 1600 pulses per second. MAN RD4 PB E 1.7 Quick reference 31 of 76...
  • Page 32 4 bytes are not treated properly in STEP7 software. Should this happen, we recommend the "MD" reference operators (pointers) for managing variables transmitted between Master and Slave to be used. MAN RD4 PB E 1.7 Quick reference 32 of 76...

  • Page 33: Functions

    The following scheme is intended to show schematically the working principle of system control logic. Trajectory Torque generator limiter position Current Temperature control generator control Power electronics Current transducer Motor + reduction Absolute gear encoder MAN RD4 PB E 1.7 Functions 33 of 76...

  • Page 34: Movements: Jog And Positioning

    Work speed time position Target + tolerance target Target - tolerance time “Axis in position” delay start=1 “Axis in position”=1 MAN RD4 PB E 1.7 Functions 34 of 76...

  • Page 35: Digital Inputs And Outputs

    RD4 Profibus® 6.3 Digital inputs and outputs RD4 unit is fitted with three digital inputs and three digital outputs. Inputs are read by the Slave device and transmitted to the Master through Status word (Byte 0 and 1) (bits 13-15; see on page 54) when the device is...

  • Page 36: Negative Delta

    • Distance per revolution: this is the new value you want to set in Distance per revolution, expressed in pulses • Min. speed: minimum speed 1 [PPS] for all RD4 units • Max. speed: maximum speed 1600 [PPS] for RD4-...-T32-... model 1066 [PPS] for RD4-...-T48-... model •...
  • Page 37 Target position (Bytes 4 … 7) Position (Bytes 4 … 7). See for instance the relationship between 01 Distance per revolution and the speed values, explained in the previous page. MAN RD4 PB E 1.7 Functions 37 of 76...
  • Page 38 01 Distance per revolution = 1024 pulses per revolution 0C Work speed: Max. = 1600 pulses per second for RD4-...T32-... model (1600*1024/1024 = 1600) = 1066 pulses per second for RD4-...T48-... model (1066*1024/1024 = 1066) 28 Preset 09 Positive delta 0A Negative delta...
  • Page 39 RD4 Profibus® Example 2 RD4-...T32-... positioning unit is joined to a worm screw having a 1 mm pitch and you need to have a hundredth of a millimetre resolution. 01 Distance per revolution = 100 pulses per revolution 0C Work speed Max.

  • Page 40: Profibus® Interface

    7.1 GSD file RD4 devices fitted with Profibus interface are supplied with their own GSD file RD4Vx.GSD (see enclosed documentation or click www.lika.biz > PRODUCTS > DRIVECOD > RD4). GSD file has to be installed on Profibus Master device.

  • Page 41: Baud Rate

    RD4 Profibus® This unit also allows to install the Lika RD4-no param module (it is available starting from H2S4 version, V4 GSD file). Using this module, the unit does not read the parameters from the PLC when the power is switched on (they are read...

  • Page 42: Operating States

    Master needs to acquire diagnostic information from the Slave: in this status the Slave sends diagnostic data to the Master. For any further information refer to section “7.7 DDLM_Slave_Diag“ on page 59. MAN RD4 PB E 1.7 Profibus® interface 42 of 76...

  • Page 43: Ddlm_Set_Prm

    0E Code sequence 62…65 66…69 0F Kp current loop 10 Ki current loop 70…73 11 Max current 74…77 78…81 12 Starting Torque current 13 Gear ratio 82...85 86...89 14 Jog step length MAN RD4 PB E 1.7 Profibus® interface 43 of 76...

  • Page 44: Ddlm_Chk_Cfg

    = Word format (“0”=byte, “1”=word=2byte) bit 5 … 4 = In/out data (“01”=Input, ”10”=output) bit 3 … 0 = Code length Allowed values: Data D6hex = 14 byte input E6hex = 14 byte output MAN RD4 PB E 1.7 Profibus® interface 44 of 76...

  • Page 45: Ddlm_Data_Exchange

    Incremental jog = 1, the activation of this bit causes at rising edge the execution of a single step toward positive direction having the length, expressed in pulses, set next to MAN RD4 PB E 1.7 Profibus® interface 45 of 76...

  • Page 46: Jog

    Jog + Jog - activation of bits causes at rising edge the execution of a single step toward positive or negative direction having the length, expressed in pulses, set next to MAN RD4 PB E 1.7 Profibus® interface 46 of 76...

  • Page 47: Start

    9 The function of this bit is available only when you install the Lika RD4-no param module (see “Adding a node to the project” section on page 24). You must NOT set this bit via Profibus if you do not use the -no param module. Data are saved on non-volatile memory at each rising edge of the bit;...

  • Page 48: Axis Torque

    72. When the default parameters loading operation is carried out, system also triggers an automatic save of all settings on the flash memory. For detailed information on the Lika RD4-no param module please refer to the “Preliminary information” section on page 8. bit 11 Not used.

  • Page 49: Target Position (Bytes 4

    (for instance because of a broken cable or faulty wiring), device stops moving immediately and enters the emergency status. As soon as the network Profibus communication not active communication is restored, the alarm message is invoked to appear. MAN RD4 PB E 1.7 Profibus® interface 49 of 76...

  • Page 50: Parameter Number (Byte 8)

    2A Temperature bit 5 … 0 = parameter index = 101010 binary value = 2Ah = value -Parameter value (Bytes 9 … 12)- are ignored. The next four bytes 9...12 MAN RD4 PB E 1.7 Profibus® interface 50 of 76...

  • Page 51: Parameter Value (Bytes 9

    (thus all values, even if previously saved because of a preset setting, will be overwritten anyway). This unit also allows to install the Lika RD4-no param module (it is available starting from H2S4 version, V4 GSD file). Using this module, the unit does not...
  • Page 52 RD4 Profibus® section “5.3 Setting and reading parameter values” on page 29) are temporary only. Byte 13 Not used. MAN RD4 PB E 1.7 Profibus® interface 52 of 76...

  • Page 53: Slave  Master Functions

    If value is “=1” device is currently moving. Executing a command bit 7 If value is “=0” controller is not executing any command. If value is “=1” controller is executing a command. MAN RD4 PB E 1.7 Profibus® interface 53 of 76...

  • Page 54: Target Position Reached

    This is meant to show the status of the digital input 3. The meaning of the available inputs is described in section “Programming parameters“ on page 60. IN 3 input 3 low (not active) IN 3 input 3 high (active) MAN RD4 PB E 1.7 Profibus® interface 54 of 76...

  • Page 55: Alarms (Bytes 2 And 3)

    (see parameter 2A Temperature value). Address not valid bit 9 0200h Parameter number (address) not valid. Undervoltage bit 10 0400h The power supply voltage is under minimum ratings. MAN RD4 PB E 1.7 Profibus® interface 55 of 76...

  • Page 56: Read-Only

    For the complete list of the available parameters and their meaning please refer to section “Programming parameters“ on page 60. byte 9 byte 10 byte 11 byte 12 … … High Byte 13 Not used MAN RD4 PB E 1.7 Profibus® interface 56 of 76...
  • Page 57 02 Position window. limits set in parameter 03 Position window time Point 4: time set in parameter has expired and Axis in position therefore the bit is set to “=1”. MAN RD4 PB E 1.7 Profibus® interface 57 of 76...
  • Page 58 Status word (Byte 0 and Axis running theoretically (bit 6 - Status word (Byte 0 and Axis enabled (bit 2 - Status word (Byte 0 and 1): PWM is active) Theoretical velocity MAN RD4 PB E 1.7 Profibus® interface 58 of 76...

  • Page 59: Ddlm_Slave_Diag

    RD4 Profibus® 7.7 DDLM_Slave_Diag Master device can send a request for diagnostic information to the Slave device at any time. RD4 devices provide the 6-byte reduced diagnostic. 6-byte diagnostic: Byte Description Status 1 Status 2 Status 3 Master ID Manufacturer ID MAN RD4 PB E 1.7...

  • Page 60: Programming Parameters

    (thus all values, even if previously saved because of a preset setting, will be overwritten anyway). This unit also allows to install the Lika RD4-no param module (it is available starting from H2S4 version, V4 GSD file). Using this module, the unit does not...

  • Page 61: Configuration Data Parameters

    Parameter value (Bytes 9 … 12) items of the Data Exchange message. The Lika RD4-no param module has no relevance to the reduction gear ratio and can be used for whatever unit and independently from its reduction gear. Anyway it is obvious that the parameters you set must be compatible with the mechanical and electrical characteristics of the unit you are going to configure.

  • Page 62: Position Window

    [Unsigned32, rw] This parameter contains the proportional gain used by the PI controller for the position loop. Value has been optimized by Lika Electronic according to the technical characteristics of the device. Default = 500 (min. = 0, max. = 1000).

  • Page 63: Ki Position Loop

    [Unsigned32, rw] This parameter contains the integral gain used by the PI controller for the position loop. Value has been optimized by Lika Electronic according to the technical characteristics of the device. Default = 60 (min. = 0, max. = 1000).

  • Page 64: Jog Speed

    This parameter allows to set the maximum speed of the unit when using Jog - functions. Parameter is expressed in pulses per second. Default = 1600 (min. = 1, max. = 1600) for RD4-...-T32-... model Default = 1066 (min. = 1, max. = 1066) for RD4-...-T48-... model 0C Work speed...

  • Page 65: Code Sequence

    [Unsigned32, rw] This parameter contains the proportional gain used by the PI controller for the current loop. Value has been optimized by Lika Electronic according to the technical characteristics of the device. Default = 200 (min. = 0, max. = 1000).

  • Page 66: Starting Torque Current

    It displays the gear ratio of the reduction gear installed between the motor and the encoder shaft of the unit. This is a read-only parameter. Default = 32 for RD4-...-T32-... model Default = 48 for RD4-...-T48-... model 14 Jog step length...

  • Page 67: Operational Data Parameters

    09 Positive delta 0A Negative delta. limits according to the values set in For a detailed explanation see on page 36. MAN RD4 PB E 1.7 Programming parameters 67 of 76...

  • Page 68: Current Velocity Value

    Ls bit Major number Minor number Value 258 in decimal notation corresponds to the binary representation 00000001 00000010 and has to be interpreted as: 01 02 hex, i.e. version 1.2. MAN RD4 PB E 1.7 Programming parameters 68 of 76...

  • Page 69: Hardware Version

    = interface (00 = Modbus; 01 = Profibus; 02 = CANopen; 03 … 0F = bits not used) 12 … 15 = ROTADRIVE model (00 = RD4; 01 = RD1xA; 02 = RD5; 03 … 0F = bits not used)

  • Page 70: Negative Absolute Limit Switch

    SET_PRM phase: this means that configuration data has been sent properly to the Slave device. Parameter 01 Distance per revolution 07 Acceleration 08 Deceleration 09 Positive delta 0A Negative delta MAN RD4 PB E 1.7 Programming parameters 70 of 76...
  • Page 71 0B Jog speed 0C Work speed 0D Start Torque current time 0E Code sequence 11 Max current 12 Starting Torque current 13 Gear ratio 14 Jog step length 28 Preset MAN RD4 PB E 1.7 Programming parameters 71 of 76...

  • Page 72: Default Parameters List

    10 Ki current loop 11 Max current mA 5000 12 Starting Torque current 7000 28 Preset P 32 (RD4-...T32-...) 13 Gear ratio 48 (RD4-...T48-...) 14 Jog step length P MAN RD4 PB E 1.7 Default parameters list 72 of 76...
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  • Page 76 GSD file (V4). Updated Preset entries. Warning against back EMF Dispose separately LIKA Electronic Via S. Lorenzo, 25 36010 Carrè (VI) • Italy Tel. +39 0445 806600 Fax +39 0445 806699 Italy: eMail info@lika.it - www.lika.it World: eMail info@lika.biz - www.lika.biz...

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