Lika RD6 Series User Manual
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Lika RD6 Series User Manual

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User's guide
RD6
RS-485 version
Smart encoders & actuators

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Summary of Contents for Lika RD6 Series

  • Page 1 User's guide RS-485 version Smart encoders & actuators...

  • Page 2: General Contents

    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

    4.4.2 Setting the Baud rate and Parity bit (Figure 7)..................23 4.4.3 RT bus termination (Figure 7)........................24 5 Quick reference........................... 25 5.1 Configuring the device using Lika's setting up software................25 5.2 “Serial configuration” page............................26 5.3 “Operative mode” page............................28 5.4 “Parameter” page................................34 5.5 “Message monitor”...
  • Page 4 04 Read Input Register............................56 06 Write Single Register..........................58 16 Write Multiple Registers..........................60 8 Programming parameters......................... 64 8.1 Parameters available..............................64 8.1.1 Holding Register parameters........................64 Distance per revolution [0x00]........................65 Position window [0x01]...........................66 Position window time [0x02]........................66 Max following error [0x03-0x04]......................66 Kp position loop [0x05]...........................66 Ki position loop [0x06]............................66...
  • Page 5 Undervoltage................................77 Watch dog................................77 Hall sequence................................78 Overvoltage................................78 Status word [0x01].............................78 Axis in position...............................78 Axis enabled................................79 SW limit switch +..............................79 SW limit switch -..............................79 Alarm..................................79 Axis running................................79 Executing a command............................79 Target position reached............................79 PWM saturation..............................80 Current position [0x02-0x03]........................80 Current velocity [0x04]............................80 Position following error [0x05-0x06].....................80 Temperature value [0x07]..........................80...

  • Page 6: Subject Index

    Subject Index Kp position loop [0x05]..........65 Acceleration [0x07]............66 Alarm..................78 Load default parameters..........73 Alarm reset................71 Alarms register [0x00]............75 Machine data not valid..........75 Axis enabled...............78 Max following error [0x03-0x04]......65 Axis in position..............77 Motor Overtemperature..........76 Axis not synchronized............75 Motor voltage [0x0A].............80 Axis running...............78 Negative delta [0x0B-0x0C]........67 Code sequence [0x0F].............68 Control by PC..............69...

  • 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 GREEN; • alarms are coloured in RED;...

  • Page 8: Preliminary Information

    In the Modbus version the configuration of the DRIVECOD unit can be done through a software expressly developed and released by Lika Electronic in order to allow an easy set up of the device. The program is supplied for free and can be installed in any PC fitted with a Windows operating system (Windows XP or later).

  • Page 9: Safety Summary

    • elsewhere in this manual violates safety standards of design, manufacture, and intended use of the equipment; Lika Electronic 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 10: Mechanical Safety

    RD6 Modbus® - minimize noise by connecting the shield and/or the connector housing and/or the frame to ground. Make sure that ground is not affected by noise. The connection point to ground can be situated both on the device side and on user’s side. The best solution to minimize the interference must be carried out by the user.

  • Page 11: Identification

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

  • Page 12: Mechanical Installation

    RD6 Modbus® Mechanical installation WARNING Installation and maintenance operations have to be carried out by qualified personnel only, with power supply disconnected. Motor and shaft must be in stop. (values are expressed in mm) Figure 1 - RD6-P8-157-... unit – Overall dimensions MAN RD6 MB E 1.1 Mechanical installation 12 of 92...
  • Page 13 RD6 Modbus® (values are expressed in mm) Figure 2 - RD6-P8-250-... unit – Overall dimensions Figure 3 - Installation example of an RD6 unit MAN RD6 MB E 1.1 Mechanical installation 13 of 92...
  • Page 14 RD6 Modbus® To install the DRIVECOD unit properly please read carefully and follow the instructions below; note anyway that the unit can be installed in several manners and according to the specific user's application. • If required, mount an adapting flange 1; the adapting flange 1 can be either fixed to the actuator's flange 2 first and then to the planetary gearbox 4;...

  • Page 15: 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 16: Connectors (Figure 4 And Figure 5)

    RD6 Modbus® 4.2 Connectors (Figure 4 and Figure 5) M18 4-pin male connector power supply M12 5-pin male connector Modbus BUS M12 5-pin female connector Modbus BUS OUT M12 8-pin male connector, not used in this model Figure 5: Connectors 4.2.1 Power supply connector Power supply M18 4-pin male connector...

  • Page 17: Modbus Interface Connectors (Bus In And Bus Out)

    Lika's EC- pre-assembled cables are fitted with shield connection to the connector ring nut in order to allow grounding through the body of the device. 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 18: Diagnostic Leds (Figure 4 And Figure 6)

    RD6 Modbus® 4.3 Diagnostic LEDs (Figure 4 and Figure 6) Eight LEDs located in the back of the actuator's enclosure are meant to show visually the operating or fault status of both the Modbus interface and the device. The meaning of each LED is explained in the following tables. Figure 6: Diagnostic LEDs Internal housing for DIP switches Controller power supply information...
  • Page 19 RD6 Modbus® LED L6 GREEN Description A problem occurred while upgrading the firmware, see the “5.7.1 If an installation issue occurs” section on page 38. The device is sending or receiving a message Blinking (network activity) No send - receive activity LED L7 Description Active alarms, internal error.

  • Page 20: Dip Switches (Figure 4 And Figure 6)

    RD6 Modbus® LED L8 GREEN Description It indicates that the motor is enabled (control loop activated) It indicates that the motor is disabled (control loop deactivated) During initialisation, the system checks the diagnostic LEDs for proper operation; therefore they blink for a while. 4.4 DIP switches (Figure 4 and Figure 6) WARNING The power supply must be turned off before performing this operation!

  • Page 21: Setting The Node Address: Node Id (Figure 7)

    RD6 Modbus® 4.4.1 Setting the node address: Node ID (Figure 7) WARNING The power supply must be turned off before performing this operation! Set the node address expressed in hexadecimal notation. The node address range is between 1 and 247 (247 = F7 hex). EXAMPLE Address 10 = 0A hex: Address 25 = 19 hex:...

  • Page 22: Setting The Baud Rate And Parity Bit (Figure 7)

    RD6 Modbus® 4.4.2 Setting the Baud rate and Parity bit (Figure 7) WARNING The power supply must be turned off before performing this operation! Set the binary value of transmission rate and parity bit according to the following table, considering that: ON = 1; OFF = 0. Switch Baud rate Parity bit...

  • Page 23: Rt Bus Termination (Figure 7)

    RD6 Modbus® 4.4.3 RT bus termination (Figure 7) WARNING The power supply must be turned off before performing this operation! A bus termination resistor is provided and must be activated as line termination if the actuator is at the ends of the transmission line (i.e. it is either the first or the last device in the transmission line).

  • Page 24: Quick Reference

    RD6 Modbus DRIVECOD positioning units are supplied with a software expressly developed and released by Lika Electronic in order to allow an easy set up of the device. The program allows the operator to set the working parameters of the device;...

  • Page 25: Serial Configuration" Page

    RD6 Modbus® A cable assembly fitted with M12 5-pin / USB connectors and integrated RS-485 converter is available on request; please contact Lika Electronic Technical Assistance & After Sale Service and quote the following code: EXC-USB4-S54- GN-2-M12MC-S54. NOTE If you use the EXC-USB4-S54-GN-2-M12MC-S54 USB connection cable, you are required to install the drivers of the USB Serial Converter and the USB Serial Port first.
  • Page 26 Serial port settings in the personal computer must compulsorily match those in the connected Lika device. Default serial port settings as set at the factory by Lika Electronic for all RD6 Modbus positioning units are the followings:...

  • Page 27: Operative Mode" Page

    RD6 Modbus® If the connection is established properly, two green lights placed next to the fields used to choose the serial port and set the node ID come on, while the CONNECT button disappears and is replaced by the DISCONNECT button. Furthermore the hardware version and the software version as well as the model of the device are shown in the Slave settings box.
  • Page 28 RD6 Modbus® EMERGENCY button first and then press the RESET ALARM button in this page. Alarm warnings are reset while the green LED L6 in the RD6 unit starts blinking green (there is activity in the network). The following page will appear. In the top left-hand RD6-MB box the following functions are available.
  • Page 29 RD6 Modbus® Reset alarm If an alarm is active, the RESET ALARM button is highlighted in yellow; press the button to reset the alarm. See the Alarm reset item on page 71. Stop Press this button to force a normal halt of the device, respecting the acceleration and deceleration values.
  • Page 30 RD6 Modbus® The following page will appear: The functions available in the Program box allow the operator to create and then save work programs for the RD6 unit. The positions that the device is commanded to reach (target positions) must be set next to the STEP [pulse] items;...
  • Page 31 RD6 Modbus® If the INFINITE LOOP check box is not selected, when you press the START button, the device starts running in order to reach the first commanded position; as soon as the commanded position is reached, the device stops and waits for the set interval to expire;...
  • Page 32 RD6 Modbus® Motor temperature [°C] Temperature value [0x07] See the item on page 79. Voltage [V] Motor voltage [0x0A] See the item on page 80. Current [A] It shows the value of the current absorbed by the motor (rated current). The Current value [0x0B] value is expressed in amperes (A).

  • Page 33: Parameter" Page

    RD6 Modbus® 5.4 “Parameter” page By pressing the PARAMETER button in the sidebar menu the operator enters the Parameter page. In this page the list of the parameters available to set the RD6-Modbus positioning units (machine data) is displayed. On the left of each field the values currently loaded in the unit are shown;...

  • Page 34: Message Monitor" Page

    When you need to load the default parameters (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) press the LOAD DEFAULT button. For any further information on loading the default parameters refer to the Load default parameters variable on page 73.

  • Page 35: Test Lika" Page

    Transmitted = Request PDUs; Received = Response PDUs; Errors = Exception Response PDUs. 5.6 “Test Lika” page Test Lika page is reserved for use by Lika Electronic engineers and is not accessible to users. MAN RD6 MB E 1.1...

  • Page 36: Upgrade Firmware" Page

    The firmware upgrading program consists of a single file having .BIN extension. It is released by Lika Electronic Technical Assistance & After Sale Service. WARNING The firmware upgrading process in any DRIVECOD unit has to be accomplished by skilled and competent personnel.
  • Page 37 Please note that for each DRIVECOD model having its own bus interface an appropriate firmware file is available. Make sure that you have the appropriate update for your DRIVECOD model. The .BIN file released by Lika Electronic has a file name that must be interpreted as follows.

  • Page 38: If An Installation Issue Occurs

    RD6 Modbus® – MB = bus interface of the DRIVECOD unit (CB = CANopen; EC = EtherCAT; MB = Modbus; PB = Profibus; PL = POWERLINK); – H1 = hardware version; – S1.0 = firmware version. 6. select the .BIN file and confirm the choice by pressing the OPEN button, the dialogue box closes;...
  • Page 39 RD6 Modbus® then restart the SW_RD6_MODBUS_X.EXE program. It is not possible to connect to the unit through the Serial configuration page; the operator must enter the Upgrade Firmware page and restart the firmware installation process from point 6. Always make sure that the correct serial port of the personal computer connected to the DRIVECOD unit is selected in the Serial configuration page.

  • Page 40: Getting Started

    (baud rate; see on page 22); the default • value set by Lika Electronic at factory set-up is “baud rate = 9600 bit/s, parity = Even”; set the node address (node ID; see on page 21); the default value set by •...

  • Page 41: Functions

    RD6 Modbus® Functions 6.1 Working principle The following scheme is intended to show schematically the working principle of the system control logic. MAN RD6 MB E 1.1 Functions 41 of 92...

  • Page 42: Movements: Jog And Positioning

    RD6 Modbus® 6.2 Movements: jog and positioning Two kinds of movement are available in the DRIVECOD positioning unit, they are: ● Jog: speed control; ● Positioning: position and speed control. Jog: speed control This kind of control is intended to generate a speed trajectory which allows the rotation speed of the DRIVECOD unit shaft to be equal to the value set in the Jog speed [0x0D] parameter.

  • Page 43: Positioning: Position And Speed Control

    RD6 Modbus® Positioning: position and speed control This kind of control is a point-to-point movement and the maximum reachable Work speed [0x0E] speed is equal to the value set in the parameter; the set speed can be reached only if the available travel is long enough. When the bit 6 Start in the Control Word [0x2A] is “=1”, the motor starts...
  • Page 44 RD6 Modbus® NOTE Position override function It is possible to change the target position value even on the fly, while the device is still reaching a previously commanded target position and without sending a new Start command. To do this, just set a new target value in the Target position [0x2B-0x2C] registers.

  • Page 45: Distance Per Revolution [0X00], Jog Speed [0X0D], Work Speed [0X0E], Preset [0X12-0X13], Positive Delta [0X09-0X0A] And Negative Delta [0X0B-0X0C]

    RD6 Modbus® Distance per revolution [0x00], Jog speed [0x0D], Work speed [0x0E], Preset [0x12-0x13], Positive delta [0x09-0x0A] Negative delta [0x0B-0x0C] Distance per revolution [0x00], Jog speed [0x0D], Work speed The variables [0x0E], Preset [0x12-0x13], Positive delta [0x09-0x0A] Negative delta [0x0B-0x0C] are closely related, hence you have to be very attentive every time you need to change the value in any of them.
  • Page 46 RD6 Modbus® WARNING Please note that the parameters listed hereafter are closely related to the Distance per revolution [0x00] parameter; hence when you change the value Distance per revolution [0x00] also the value in each of them necessarily Position window [0x01], Max following error [0x03- changes.
  • Page 47 RD6 Modbus® EXAMPLE 2 DRIVECOD RD6 positioning unit is joined to a worm screw having 1 mm pitch and you need to have a hundredth of a millimetre resolution. Distance per revolution [0x00] = 100 steps per revolution Work speed [0x0E] Max.

  • Page 48: Modbus® Interface

    RD6 Modbus® Modbus® interface Lika DRIVECOD positioning units are Slave devices and implement the Modbus application protocol (level 7 of the OSI model) and the “Modbus over Serial Line” protocol (levels 1 & 2 of the OSI model). For any further information or omitted specifications please refer to the “Modbus Application Protocol Specification V1.1b”...

  • Page 49: Modbus Frame Description

    RD6 Modbus® 7.2 Modbus frame description The Modbus application protocol defines a simple Protocol Data Unit (PDU) independent of the underlying communication layers: Function code Data MODBUS PDU The mapping of Modbus protocol on a specific bus or network introduces some additional fields on the Protocol Data Unit.

  • Page 50: Transmission Modes

    The transmission mode and the serial port parameters must be the same for all devices on a Modbus Serial Line. All devices must implement the RTU mode, while the ASCII mode is an option. Lika devices only implement RTU transmission mode, as described in the following section.

  • Page 51: Rtu Transmission Mode

    RD6 Modbus® 7.3.1 RTU transmission mode When devices communicate on a Modbus serial line using the RTU (Remote Terminal Unit) mode, each 8-bit byte in a message contains two 4-bit hexadecimal characters. Each message must be transmitted in a continuous stream of characters.
  • Page 52 RD6 Modbus® The following drawing provides a description of the RTU transmission mode state diagram. Both “Master” and “Slave” points of view are expressed in the same drawing. Initial State Idle Transition from state needs an interval of at least •...

  • Page 53: Function Codes

    Reserved function codes are not available for public use. 7.4.1 Implemented function codes Lika RD6 Modbus positioning units only implement public function codes, they are described hereafter. 03 Read Holding Registers FC = 03 (Hex = 0x03) ro This function code is used to READ the contents of a contiguous block of holding registers in a remote device;...
  • Page 54 RD6 Modbus® Response PDU Function code 1 byte 0x03 Byte count 1 byte 2 x N* Register value N* x 2 bytes *N = Quantity of registers Exception Response PDU Error code 1 byte 0x83 (=0x03 + 0x80) Exception code 1 byte 01 or 02 or 03 or 04 Acceleration [0x07]...

  • Page 55: Read Input Register

    RD6 Modbus® Acceleration The full frame needed for the request to read the parameters [0x07] Deceleration [0x08] (register 8) and (register 9) to the Slave having the node address 1 is as follows: Request PDU (in hexadecimal format) [01][03][00][07][00][02][75][CA] where: [01] = Slave address [03] = 03 Read Holding Registers function code (Acceleration [0x07]...
  • Page 56 RD6 Modbus® Request PDU Function code 1 byte 0x04 Starting address 2 bytes 0x0000 to 0xFFFF Quantity of Input Registers 2 bytes 0x0000 to 0x007D Response PDU Function code 1 byte 0x04 Byte count 1 byte 2 x N* Input register value N* x 2 bytes *N = Quantity of registers Exception Response PDU...

  • Page 57: Write Single Register

    RD6 Modbus® Current position [0x02- The full frame needed for the request to read the 0x03] parameter (input registers 3 and 4) to the Slave having the node address 1 is as follows: Request PDU (in hexadecimal format) [01][04][00][02][00][02][D0][0B] where: [01] = Slave address [04] = 04 Read Input Register function code (Current position [0x02-0x03]...
  • Page 58 RD6 Modbus® Request PDU Function code 1 byte 0x06 Register address 2 bytes 0x0000 to 0xFFFF Register value 2 bytes 0x0000 to 0xFFFF Response PDU Function code 1 byte 0x06 Register address 2 bytes 0x0000 to 0xFFFF Register value 2 bytes 0x0000 to 0xFFFF Exception Response PDU Error code...

  • Page 59: Write Multiple Registers

    RD6 Modbus® The full frame needed for the request to write the value 05 DC hex (= 1500 dec) Acceleration [0x07] in the parameter (register 8) to the Slave having the node address 1 is as follows: Request PDU (in hexadecimal format) [01][06][00][07][05][DC][3A][C2] where: [01] = Slave address...
  • Page 60 RD6 Modbus® Request PDU Function code 1 byte 0x10 Starting address 2 bytes 0x0000 to 0xFFFF Quantity of registers 2 bytes 0x0001 to 0x007B Byte count 1 byte 2 x N* Registers value N* x 2 bytes value *N = Quantity of registers Response PDU Function code 1 byte...
  • Page 61 RD6 Modbus® Register 8 value Lo Register 9 value Hi Register 9 value Lo As you can see in the table, the value 05 DC hex, i.e. 1500 in decimal notation, is Acceleration [0x07] set in the parameter (register 8); the value 03 E8 hex, i.e. Deceleration [0x08] 1000 in decimal notation, is set in the parameter (register...
  • Page 62 RD6 Modbus® NOTE For further examples refer to the “Programming examples” section on page 85. WARNING For safety reasons, when the DRIVECOD unit is on, a continuous data exchange between the Master and the Slave has to be planned in order to be sure that the communication is always active;...

  • Page 63: Programming Parameters

    RD6 Modbus® Programming parameters 8.1 Parameters available Hereafter the parameters available for RD6 Modbus devices are listed and described as follows: Parameter name [Register address] [Register number, data types, attribute]  The register address is expressed in hexadecimal notation.  The register number is expressed in decimal notation.

  • Page 64: Distance Per Revolution [0X00]

    RD6 Modbus® NOTE Always save the new values after setting in order to store them in the non- volatile memory permanently. Use the Save parameters function available in Control Word [0x2A] register, see on page 70. Should the power supply be turned off all data that has not been saved previously will be lost! WARNING Extra commands...

  • Page 65: Position Window [0X01]

    [Register 6, Unsigned16, rw] This parameter contains the proportional gain used by the PI controller for the position loop. The value has been optimized by Lika Electronic according to the technical characteristics of the device. Default = 80 (min. = 0, max. = 1000)

  • Page 66: Acceleration [0X07]

    RD6 Modbus® Acceleration [0x07] [Register 8, Unsigned16, rw] This parameter defines the acceleration value that has to be used by the device Jog speed [0x0D] Work speed [0x0E]. The when reaching both the and the parameter is expressed in revolutions per second [rev/s ].

  • Page 67: Negative Delta [0X0B-0X0C]

    RD6 Modbus® Negative delta [0x0B-0x0C] [Registers 12-13, Unsigned32, rw] This value is used to calculate the maximum backward (negative) limit the device is allowed to reach starting from the preset value. Should it happen that the maximum backward limit is reached, a signalling is activated through the SW limit switch - status bit of the Status word [0x01] (the bit is forced high).

  • Page 68: Work Speed [0X0E]

    RD6 Modbus® Work speed [0x0E] [Register 15, Unsigned16, rw] This parameter contains the maximum speed the device is allowed to reach in automatic work mode (movements are controlled using the Start and Stop Control Word [0x2A] commands -see the parameter- and are performed in Target position [0x2B-0x2C]).

  • Page 69: Jog Step Length [0X14]

    Byte 0 bit 0: Not used. Control by PC bit 1: This function is reserved only for use and service of Lika Electronic engineers (only used with Modbus service port). bits 2 … 7 Not used. MAN RD6 MB E 1.1...

  • Page 70: Control Word [0X2A]

    RD6 Modbus® Byte 1 Not used. WARNING Extra commands register [0x29] For safety reasons the holding register parameter is not stored in the memory. So it is required to be set after each power-on. Control Word [0x2A] [Register 43, Unsigned16, rw] This variable contains the commands to be sent in real time to the Slave in order to manage it.

  • Page 71: Stop

    RD6 Modbus® single step toward the negative direction having the length, Jog step length [0x14] expressed in pulses, set next to the item to be executed at rising edge; then the actuator stops and waits for another command. Velocity, acceleration and deceleration are performed according to the value set next Jog speed [0x0D],...

  • Page 72: Start

    RD6 Modbus® Start bit 6 When it is set to “=1” the device moves in order to reach Target position [0x2B-0x2C] the set target position (see on page 73). For a complete description of the position control see on page 43. Jog +, Jog - and Start functions cannot be enabled simultaneously.

  • Page 73: Load Default Parameters

    RD6 Modbus® Load default parameters bit 10 The default parameters (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) are restored at each rising edge of the bit; in other words, the default parameters loading operation is performed each time this bit is switched from logic level low (“0”) to logic level high...
  • Page 74 RD6 Modbus® Position window time [0x02] item, the bit 0 Axis in position set next to the Status word [0x01] in the goes high (“=1”). For more information refer also to the “Positioning: position and speed control” section on page 43. Default = 0 (min.

  • Page 75: Input Register Parameters

    RD6 Modbus® 8.1.2 Input Register parameters The Input Register parameters are accessible for reading only; to read the value set in an input register parameter use the 04 Read Input Register function code (reading of multiple input registers); for any further information on the implemented function codes refer to the “7.4.1 Implemented function codes“...

  • Page 76: Target Not Valid

    RD6 Modbus® Target not valid bit 5 The set target position is over the maximum travel limits. Emergency Bit 7 Emergency in Control Word [0x2A] bit 6 has been forced to low value (0); or alarms are active in the unit. Overcurrent bit 7 Motor overcurrent.

  • Page 77: Hall Sequence

    RD6 Modbus® Hall sequence bit 14 An error has been detected in the Hall sensors commutation sequence. Overvoltage bit 15 The power supply voltage is over the maximum ratings allowed. Please ensure that the power supply voltage is within the range. If the alarm is triggered during the braking operation, please consider the counter-electromotive force (back EMF).

  • Page 78: Axis Enabled

    RD6 Modbus® further information please refer to the “Positioning: position and speed control” section on page 43. bit 1 Not used. Axis enabled bit 2 It shows the enabling status of the motor. This bit is "=1" when the motor is enabled, that is: PWM is active and the axis is under closed-loop control (while reaching a target position or using a jog, for instance).

  • Page 79: Pwm Saturation

    RD6 Modbus® refer also to the “Positioning: position and speed control” section on page 43. bits 9 … 11 Not used. PWM saturation bit 12 The current supplied for controlling the motor phases has reached the saturation point and cannot be increased further.

  • Page 80: Wrong Parameters List [0X08-0X09]

    RD6 Modbus® Value 18 1A hex in hexadecimal notation corresponds to the binary representation 0001 1000 0001 1010 and has to be interpreted as: temperature of the motor = 24°C; temperature of the electronics = 26°C. Wrong parameters list [0x08-0x09] [Registers 9-10, Unsigned32, ro] Machine data not valid The operator has set invalid data and the...

  • Page 81: Current Value [0X0B]

    The value is expressed in mA (milliamperes). Hall [0x0C] [Register 13, Unsigned16, ro] This function is reserved only for use and service of Lika Electronic engineers. Duty cycle [0x0D] [Register 14, Unsigned16, ro] This function is reserved only for use and service of Lika Electronic engineers...

  • Page 82: Hw Version [0X11]

    RD6 Modbus® HW Version [0x11] [Register 18, Unsigned16, ro] This is meant to show the hardware version and model of the DRIVECOD unit. The meaning of the 16 bits in the register is as follows: 12 11 10 09 08 06 05 04 03 02 01 00 DRIVECOD model Hardware version...
  • Page 83 RD6 Modbus® EXAMPLE 1 Positioning Start (bit 6 - Control Word [0x2A]) Executing a command (bit 7 - Status word [0x01]) Axis running (bit 6 - Status word [0x01]) Target position reached (bit 8 - Status word [0x01]) Axis in position (bit 0 - Status word [0x01]) Axis enabled (bit 2 -...

  • Page 84: Exception Codes

    RD6 Modbus® 8.2 Exception codes When a Client device sends a request to a Server device it expects a normal response. One of four possible events can occur from the Master's query: If the Server device receives the request without a communication error •...

  • Page 85: Programming Examples

    RD6 Modbus® Programming examples Hereafter are some examples of both reading and writing parameters. All values are expressed in hexadecimal notation. 9.1 Using the 03 Read Holding Registers function code EXAMPLE 1 Acceleration [0x07] Request to read the parameters (register 8) and Deceleration [0x08] (register 9) to the Slave having the node address 1.

  • Page 86: Using The 04 Read Input Register Function Code

    RD6 Modbus® 9.2 Using the 04 Read Input Register function code EXAMPLE 1 Current position [0x02-0x03] Request to read the parameter (registers 3 and 4) to the Slave having the node address 1. Request PDU [01][04][00][02][00][02][D0][0B] where: [01] = Slave address [04] = 04 Read Input Register function code (Current position [0x02-0x03] [00][02] = starting address...
  • Page 87 RD6 Modbus® [31][CA] = CRC Response PDU [01][04][02][00][81][79][50] where: [01] = Slave address [04] = 04 Read Input Register function code [02] = number of bytes (2 bytes for each register) Alarms register [0x00], 00 81 hex = 0000 0000 [00][81] = value of register 1 1000 0001 bin [79][50] = CRC...

  • Page 88: Using The 06 Write Single Register Function Code

    RD6 Modbus® 9.3 Using the 06 Write Single Register function code EXAMPLE 1 Acceleration [0x07] Request to write the value 05 DC hex (= 1500 dec) in the parameter (register 8) of the Slave having the node address 1. Request PDU [01][06][00][07][05][DC][3A][C2] where: [01] = Slave address...
  • Page 89 RD6 Modbus® Response PDU [01][06][00][2A][00][84][A8][61] where: [01] = Slave address [06] = 06 Write Single Register function code (Control Word [0x2A] [00][2A] = address of the register variable, register 43) [00][84] = value set in the register [A8][61] = CRC The value 00 84 hex = 0000 0000 1000 0100 in binary notation is set in the Control Word [0x2A] variable (register 43).

  • Page 90: Using The 16 Write Multiple Registers Function Code

    RD6 Modbus® 9.4 Using the 16 Write Multiple Registers function code EXAMPLE 1 Acceleration Request to write the values 1500 and 1000 in the parameters [0x07] Deceleration [0x08] (register 8) and (register 9) of the Slave having the node address 1. Request PDU [01][10][00][07][00][02][04][05][DC][03][E8][73][C1] where:...

  • Page 91: Default Parameters List

    RD6 Modbus® Default parameters list Parameters list Default value Distance revolution 4096 [0x00] PPR Position window [0x01] P Position window time [0x02] ms following error 50000 [0x03-0x04] P Kp position loop [0x05] Ki position loop [0x06] Acceleration [0x07] rev/s Deceleration [0x08] rev/s Positive delta [0x09-0x0A] 134213631 Negative...
  • Page 92 Document release Release date Description Interface 10.06.2016 First issue Connectors, shaft dimensions, Modbus 25.07.2016 interface release 1.1 Lika Electronic Via S. Lorenzo, 25 • 36010 Carrè (VI) • Italy Tel. +39 0445 806600 Fax +39 0445 806699 info@lika.biz • www.lika.biz...

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Rd6-p8-157 seriesRd6-p8-250 series

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