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Lika RD4 User Manual

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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.......................................7 Typographic and iconographic conventions..........................9 Preliminary information................................10 1 Safety summary..........................11 1.1 Safety..................................11 1.2 Electrical safety..............................11 1.3 Mechanical safety..............................12 2 Identification............................13 3 Mechanical installation........................14 4 Electrical connections........................17 4.1 Ground connection (Figure 3)..........................17 4.2 Connectors (Figure 3)............................18 4.3 Diagnostic LEDs (Figure 3)..........................20 4.4 Dip-Switches (Figure 4)............................21...
  • Page 4 Axis torque....................................40 OUT 1.......................................40 OUT 2.......................................40 OUT 3.......................................40 Target position..................................41 7.6.2 “TRANSMIT PDO1” message sent by the Slave to the Master............42 Status word....................................42 Axis in position..................................42 Axis enabled..................................42 SW limit switch +................................42 SW limit switch -................................42 Alarm.......................................42 Axis running..................................42 Executing a command..............................42 Target position reached..............................43 DAC Saturation...................................43 IN 1......................................43...
  • Page 5 310D-00 Position window..............................56 310E-00 Position window time............................56 310F Delta space..................................57 3111-00 Kp position loop..............................57 3112-00 Ki position loop..............................58 3114-00 Jog speed................................58 3115-00 Work speed................................58 3116-00 Max speed................................59 3117-00 Jog step length..............................59 3118-00 Start Torque current time..........................59 3120-00 Distance per revolution............................59 3300-00 Preset..................................60 3301-00 Offset..................................60 3302-00 Code sequence..............................61...
  • Page 6 Flash memory..................................67 Life Guard....................................67 Following error..................................67 8.4 Node guarding protocol.............................68 9 Programming examples........................69 10 Default parameters list........................70...

  • Page 7: Subject Index

    Subject Index 3117-00 Jog step length..........59 3118-00 Start Torque current time......59 1000-00 Device type............46 3120-00 Distance per revolution......59 1001-00 Error register...........46 3200-00 Alarms..............65 1003 Pre-defined Error Field........47 3300-00 Preset..............60 1005-00 COB-ID SYNC messages......47 3301-00 Offset..............60 1008-00 Device name............47 3302-00 Code sequence..........61 1009-00 Hardware Version.........47 3330-00 Kp current loop..........61 100A-00 Software Version..........47...
  • Page 8 Life Guard................67 Power surge................67 Machine data not valid..........65 Start..................39 Status word................42 Stop..................39 No active errors..............67 SW limit switch -.............42 SW limit switch +............42 OUT 1..................40 OUT 2..................40 Target not valid..............65 OUT 3..................40 Target position..............41 Overcurrent.................65 Target position reached..........43 Overtemperature..........66 e seg. Overvoltage................67 Undervoltage............66 e seg.

  • Page 9: 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 10: 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 11: 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 12: 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 CB E 1.5 Safety summary 12 of 72...

  • Page 13: Identification

    Information is listed in the delivery document too. Please always quote the ordering 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 14: 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;...
  • Page 15 RD4 CANopen® 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 16 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 CB E 1.5 Mechanical installation 16 of 72...

  • Page 17: Electrical Connections

    Lika's E- connectors have a plastic gland, thus grounding is not possible. If metal connectors are used, connect the cable shield properly as recommended by the manufacturer.

  • Page 18: Connectors (Figure 3)

    CAN GND is the 0 VDC reference of CAN signals, it is not connected to 0 VDC supply voltage. Lika's EC- pre-assembled cables only. n.c. = not connected We recommend CANopen certified cables to be used. MAN RD4 CB E 1.5 Electrical connections 18 of 72...
  • Page 19 Lika's E- connectors have a plastic gland, thus grounding is not possible (see Figure below). If metal connectors are used, connect the cable shield properly as recommended by the manufacturer.

  • Page 20: 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 CB E 1.5 Electrical connections 20 of 72...

  • Page 21: 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 CB E 1.5 Electrical connections 21 of 72...

  • Page 22: Setting The Node Address: Node Id (Figure 4)

    If you set the address to 0, device will be set to 1 automatically (address 0 is reserved for Master). If you set an address higher than 127, device will be set to 127 automatically. MAN RD4 CB E 1.5 Electrical connections 22 of 72...

  • Page 23: Setting The Data Transmission Rate: Baud Rate (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 CB E 1.5 Electrical connections 23 of 72...

  • Page 24: Quick Reference

    For any further information please refer to page 28. MAN RD4 CB E 1.5 Quick reference 24 of 72...

  • Page 25: Functions

    The following scheme is intended to show schematically the working principle of system control logic. Trajectory Torque generator position limiter Current PI Temperature control generator control Power electronics Current transducer Motor + Reductio Absolute n gear encoder MAN RD4 CB E 1.5 Functions 25 of 72...

  • Page 26: 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 CB E 1.5 Functions 26 of 72...

  • Page 27: Digital Inputs And Outputs

    RD4 CANopen® 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 (bits 13-15; see on page 42) when the device is running in Operational state.

  • Page 28: Preset And 310F Delta Space

    • 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 • 1024: this is the maximum value you can set in...
  • Page 29 3105-00 Current velocity value, 3106-00 Target position 3107-00 Target speed. See for instance the relationship between 3120- 00 Distance per revolution and the speed values, explained in the previous page. MAN RD4 CB E 1.5 Functions 29 of 72...
  • Page 30 3120-00 Distance per revolution = 1024 steps per revolution 3115-00 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) 3300-00 Preset 310F Delta space Positive delta...
  • Page 31 RD4 CANopen® Example 2 ROTADRIVE 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. 3120-00 Distance per revolution = 100 steps per revolution 3115-00 Work speed Max.

  • Page 32: Canopen® Interface

    RD4 CANopen® CANopen® interface Lika ROTADRIVE positioning units are Slave devices and are designed in compliance with the “Application Layer and Communication Profile DS301”. For any further information or omitted specifications please refer to “CiA Draft Standard 301” document available at www.can-cia.org.

  • Page 33: Nmt States

    EPROM. As soon as the basic CANopen® device initialization is carried out, device sends a boot- Pre-operational up message and then switches automatically to state. MAN RD4 CB E 1.5 CANopen® interface 33 of 72...

  • Page 34: Pre-Operational State

    Communication using PDO and SDO messages is not allowed. Pre-Operational Operational To switch the Slave device to state the Master must send the specific commands Enter pre-operational Start remote node using a NMT message. MAN RD4 CB E 1.5 CANopen® interface 34 of 72...

  • Page 35: Communication Messages

    - Node guarding protocol: it is used to detect remote errors in the network, see on page 68. Relation between device states and communication objects: Initialization Pre-operat. Operational Stopped SYNC EMCY Boot-up Nodeguard MAN RD4 CB E 1.5 CANopen® interface 35 of 72...

  • Page 36: Generic Pre-Defined Connection Set

    NMT service Node state Start remote node Operational 01 hex 02 hex Stop remote node Stopped Enter pre-operational Pre-operational 80 hex 81 hex Reset node Pre-operational Reset communication Pre-operational 82 hex MAN RD4 CB E 1.5 CANopen® interface 36 of 72...

  • Page 37: Pdo Messages

    Structure of RECEIVE PDO1 messages received by the Slave device (sent by the Master): IDENTIFIER 8 CAN data byte COB-ID (hex) F.C. Node-ID Control Word Target position 200+ Node ID … … High … … High MAN RD4 CB E 1.5 CANopen® interface 37 of 72...

  • Page 38: Receive Pdo1" Message Sent By The Master To The Slave

    3117-00 Jog step length item; then the slave stops and waits for another issue. Velocity, acceleration and MAN RD4 CB E 1.5 CANopen® interface 38 of 72...

  • Page 39: Stop

    This bit has to be normally high (“=1”), otherwise it will cause the device to stop immediately. For a normal halt (not immediate) which respects the set deceleration see above bit 2 Stop. MAN RD4 CB E 1.5 CANopen® interface 39 of 72...

  • Page 40: Axis Torque

    3. The meaning of the available outputs is described in section “Programming parameters“ on page 46. OUT 3 output 3 low (not active) OUT 3 output 3 high (active) Bytes 2 and 3 Not used. MAN RD4 CB E 1.5 CANopen® interface 40 of 72...

  • Page 41: Target Position

    Slave while it is moving to target Jog + Jog - position, jog command will be ignored; if commands are sent simultaneously, device does not move or, if already moving, it stops its movement. MAN RD4 CB E 1.5 CANopen® interface 41 of 72...

  • Page 42: Transmit Pdo1" Message Sent By The Slave To The Master

    If value is “=1” device is 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 CB E 1.5 CANopen® interface 42 of 72...

  • Page 43: Target Position Reached

    Speed of the device expressed in pulses per second [PPS], updated at every second. Bytes 4 … 7 Current position Absolute position of the device when the PDO message is sent. MAN RD4 CB E 1.5 CANopen® interface 43 of 72...
  • Page 44 (bit 0 - Executing a command Status word) (bit 7 - Axis running (bit 6 - Status word) Axis enabled Status word: PWM is (bit 2 - active) Theoretical velocity MAN RD4 CB E 1.5 CANopen® interface 44 of 72...

  • Page 45: Sdo Messages

    S  M reply 4 byte S  M reply 2 byte S  M reply 1 byte S  M reply segmented SDO Warning S  M reply 4 byte MAN RD4 CB E 1.5 CANopen® interface 45 of 72...

  • Page 46: Programming Parameters

    1000-00 Device type [Unsigned32, const] Default = 0000012Dh 1001-00 Error register [Unsigned8, ro] Should an error occur, bit 0 of this object will be set to “1”. Default = 00h MAN RD4 CB E 1.5 Programming parameters 46 of 72...

  • Page 47: 1003 Pre-Defined Error Field

    Master polls each Slave at regular time intervals issuing RTR messages. This time-interval is called the “node guard time” and may be different for each Slave. For further details see section “8.4 Node guarding protocol” on page 68. Default = 0 MAN RD4 CB E 1.5 Programming parameters 47 of 72...

  • Page 48: 100D-00 Life Time Factor

    [Unsigned32, rw] This object allows you to restore all parameters to default values (they are set at the factory by Lika Electronic engineers to allow the operator to run the device for standard operation in a safe mode). Write load (ASCII code in hexadecimal form) in the data bytes and then issue a...

  • Page 49: 1014-00 Cob-Id Emcy

    Default = 0 1018 Identity Object  01 Vendor Id [Unsigned32, ro]  02 Product code [Unsigned32, ro]  03 Revision number [Unsigned32, ro]  04 Serial number [Unsigned32, ro] MAN RD4 CB E 1.5 Programming parameters 49 of 72...

  • Page 50: 1400 Receive Pdo Communication Parameter 1

    FDh (253) Asynchronous, RTR only not implemented Asynchronous, FEh (254) implemented manufacturer specific Asynchronous, device FFh (255) not implemented profile specific Default = FEh (event-driven, asynchronous, manufacturer specific) MAN RD4 CB E 1.5 Programming parameters 50 of 72...

  • Page 51: 1600 Receive Pdo Mapping Parameter 1

    11-bit ID (CAN 2.0A) 29-bit ID (CAN 2.0B) if bit 29 = 0 28 … 11 if bit 29 = 1: bits 28-11 of 29-bit-COB-ID 10 … 0 (LSB) bits 10-0 of COB-ID MAN RD4 CB E 1.5 Programming parameters 51 of 72...
  • Page 52 3105-00 Current velocity value); and/or velocity exchange (see object in this case the minimum interval between two PDO transmissions is set Inhibit Time next to the following parameter object 1800h sub 3. MAN RD4 CB E 1.5 Programming parameters 52 of 72...

  • Page 53: 1A00 Tpdo Mapping Parameter 1

    [Unsigned32, ro] Default = 3101 0010h.  02 3105-00 Current velocity value [Unsigned32, ro] Default = 3105 0010h.  03 3103-00 Current position value [Unsigned32, ro] Default = 3103 0020h. MAN RD4 CB E 1.5 Programming parameters 53 of 72...
  • Page 54 NOTE 1010-01 Save Parameters Save set values using function. Reset node Reset communication Should the power be turned off or commands be sent all data not saved will be lost! MAN RD4 CB E 1.5 Programming parameters 54 of 72...

  • Page 55: Manufacturer's Specific Objects

    “4.4.1 Setting the node address: Node ID (Figure 4)” on page 22. The default address is 1. MAN RD4 CB E 1.5 Programming parameters 55 of 72...

  • Page 56: Device Profile Objects

    It represents the time for which the axis has to be within the tolerance window 310D-00 Position window limits set in the object before the state is signalled Axis in position through the status bit. Parameter is expressed in milliseconds. Default = 100 MAN RD4 CB E 1.5 Programming parameters 56 of 72...

  • Page 57: 310F Delta Space

    3111-00 Kp position loop [Unsigned32, rw] This object 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 MAN RD4 CB E 1.5...

  • Page 58: 3112-00 Ki Position Loop

    3112-00 Ki position loop [Unsigned32, rw] This object 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 3114-00 Jog speed...

  • Page 59: 3116-00 Max Speed

    This object shows the maximum speed you can set in the objects speed 3115-00 Work speed. Parameter is expressed in pulses per second. Default = 1600 for RD4-...-T32-... model Default = 1066 for RD4-...-T48-... model 3117-00 Jog step length [Unsigned32, rw]...

  • Page 60: 3300-00 Preset

    [Integer32, ro] This object defines the difference between the position value transmitted by the device and the real position: real position – preset. Value is expressed in pulses. Default = 0 MAN RD4 CB E 1.5 Programming parameters 60 of 72...

  • Page 61: 3302-00 Code Sequence

    3330-00 Kp current loop [Unsigned32, rw] This object 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 3331-00 Ki current loop...

  • Page 62: 3341-00 Starting Torque Current

    [Unsigned32, ro] It displays the gear ratio of the reduction gear installed between the motor and the encoder shaft. This is a read-only parameter. Default = 32 for RD4-...-T32-... model Default = 48 for RD4-...-T48-... model 3343-00 Positive absolute limit switch...

  • Page 63: 3005-00 Current Value [Ma]

    This object shows the value of the current position. value object is contained in the PDO messages sent by the Slave (see further details in the section “7.6 PDO messages” page 37). MAN RD4 CB E 1.5 Programming parameters 63 of 72...

  • Page 64: 3105-00 Current Velocity Value

    3105-00 Current velocity value); in this and/or velocity exchange (see object case the minimum interval between two PDO transmissions is set next to the Inhibit Time parameter object 1800h sub 3. MAN RD4 CB E 1.5 Programming parameters 64 of 72...

  • Page 65: 3200-00 Alarms

    Bit 7 in the Word has been forced to low value (0); or alarms are active in the unit. bit 7: 0040h Overcurrent The power supply current is exceeding maximum ratings. MAN RD4 CB E 1.5 Programming parameters 65 of 72...

  • Page 66: Overtemperature

    NOTE 1010-01 Save Parameters Save default values using function. Reset node Reset communication Should the power be turned off or commands be sent all data not saved will be lost! MAN RD4 CB E 1.5 Programming parameters 66 of 72...

  • Page 67: Warning Messages

    Errors sub-register Specific codes 00…00 Emergency codes available: 0000h No active errors 1000h Generic error 2220h Power surge 3110h Overvoltage 3120h Undervoltage 4310h Overtemperature 5530h Flash memory 8130h Life Guard 8611h Following error MAN RD4 CB E 1.5 Programming parameters 67 of 72...

  • Page 68: Node Guarding Protocol

    “Node guarding error” 1001-00 Error register 1003 Pre-defined Error (see on page 20), objects Field are updated and an error message is sent. Reset node To reset the error send a command. MAN RD4 CB E 1.5 Programming parameters 68 of 72...

  • Page 69: Programming Examples

    NOTE 1010-01 Save Parameters Save default values using function. Reset node Reset communication Should the power be turned off or commands be sent all data not saved will be lost! MAN RD4 CB E 1.5 Programming examples 69 of 72...

  • Page 70: Default Parameters List

    3302-00 Code sequence 3330-00 Kp current loop 3331-00 Ki current loop 3340-00 Max current mA 5000 3341-00 Starting Torque 7000 current mA 3300-00 Preset P 3117-00 Jog step length P MAN RD4 CB E 1.5 Default parameters list 70 of 72...
  • Page 71 This page intentionally left blank...
  • Page 72 PDO Communication Parameter 1, 3110-00 Cyclic Time Warning against back EMF Dispose separately LIKA Electronic Via S. Lorenzo, 25 36010 Carré (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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