RHINO RMCS –2303 Operating Manual page 24

Read /
40005 4
Write
Read /
40007 6
Write
Read /
40009 8
Write
Read /
40011 10
Write
Read /
40013 12
Write
Read /
40015 14
Write
Read/
40017 16
Write
Read /
40019 18
Write
40021 20 Read Only
40023 22 Read Only
40025 24 Read Only
Restart Drive
0900(2304)
(Mode 9)
01-FF (1-255)
Position
16 bit
Proportional Gain
00-FF (0-255)
Position Integral
16 bit
Gain
0-FF (0-255)
Velocity Feed
16 bit
forward Gain
Default: 20
0000-FFFF
16 bit Lines per Rotation
Default: 014E
0000 – FFFF
16 bit Acceleration
4E20(20000)
0000-FFFF
Speed Command
16 bit for base Motor in
RPM
Default:0800
0000-FFFF
LSB of Position
Command
32 bit
0000-FFFF
MSB of Position
Command
0000-FFFF
LSB of Position
Feedback
32 bit
0000-FFFF
MSB of Position
Feedback
0000-FFFF
16 bit Speed Feedback
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Mode byte:09
Control byte:00
Range:
Default:
20(32)
Range:
Default:
10(16)
Range:
(32)
Range:
(0-65535)
(334)
Range:
(0-65535)
Default:
Range:
(0-65535)
(2048)
Range:
(0-65535)
Default:0
Range:
(0-65535)
Default:0
Range:
(0-65535)
Default:0
Range:
(0-65535)
Default:0
Range:
(0-65535)
Default:0
Restarts the drive
Writing 0 in this address, then save
to eeprom, on power reset the drive
will load default values
Set number of lines of encoder
depends on encoder. Speed
feedback depends on this.
Set the Acceleration of the Motor
If gearbox is attached output RPM
will be different.
Send Position Command, motion is
affected only when register 18 is
updated.
Position Feedback Register
Current Speed Feedback
24 | P a g e