RHINO MOTION CONTROLSRHINO MOTION CONTROLS RMCS-1112 AC servo motor driver 4. PWM duty cycle speed control mode The speed is controlled by the pulse ratio of the pulse of the PU. The

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AC Motor Driver [RMCS-1112]

Installation Manual and Datasheet


AC Motor Driver [RMCS-1112] 1. Key Features 1. Adopt 32-bit high speed DSP chip. 2. FOC field oriented vector control, support position/speed closed loop. 3. Position mode supports command pulse + direction or quadrature pulse signal. 4. Speed mode supports PWM duty cycle signal or 4~20ma current or 0.6~3V voltage signal control. 5. 16-bit electronic gear function, 1~65535 / 1~65535. 6. Power supply voltage +20V~50V. Support 50~500W AC servo motor. 7. Internal isolation 485 (modbus protocol RTU mode) (19200, 8, N, 1) control mode. Can set the drive Address, simplifying the control system. It can also be controlled directly from a PC and provides PC test software. 8. With under pressure, over pressure, blocked rotation, overheat protection. 9. Provide the in-position signal, alarm output signal, and encoder zero signal of the isolated output.


AC Motor Driver [RMCS-1112] 2. Drive interface 1. Control signal interface (on the drive: Singal) Name function

PU+(+5V) PU-(PU)

Pulse control signal: pulse rising edge is valid; PU-high level is 4~5V, low level is 0~0.5V. In order to respond reliably to pulse signals, the pulse width should be greater than 1.2 µs. If you use +12V or +24V, you need to string resistance.

DIR+(+5V) DIR-(DIR)

Direction signal: high/low level signal, in order to ensure reliable commutation of the motor, the direction signal should precede the pulse signal The direction signal should be established at least 5µs before the pulse signal. DIR-DIR-(DIR) is 4~5V when it is high level and 0~0.5V when it is low level.

EN+(+5V) EN-(EN)

Enable signal: This input signal is used to enable or disable. ENA+ is connected to +5V and ENA- is connected to low level (or When the internal optocoupler is turned on, the driver will cut off the current of each phase of the motor to make the motor free. The pulse is not responded. When this function is not needed, the enable signal terminal can be left floating. In addition, when the driver reports When the alarm is activated, it can be disabled and the alarm can be cleared

The ACSD608 driver uses a differential interface circuit for differential signaling, single-ended common cathode and common anode interfaces. A high speed optocoupler is provided that allows reception of signals from long line drivers, open collectors and PNP output circuits. Evil in the environment Inferior occasions, we recommend long-line driver circuit, strong anti-interference ability.


AC Motor Driver [RMCS-1112] 2.Strong electrical interface (on the drive: logo: Power Motor) Name

Function

+V

DC power supply positive, +24V~+48V, the voltage is too low will cause the drive alarm to stop.

GND

DC power ground.

U motor U-phase coil.

V motor V phase coil.

W motor W phase coil


AC Motor Driver [RMCS-1112] 3.Motor signal interface (on the drive: Encoder)

Terminal number

symbol

function

1 A+ Encoder A is positive

2 B+ Encoder B is positive

3 GND +5v power ground

4 HALL_W magnetic pole signal W phase

5 HALL_U magnetic pole signal U phase

6 PG housing

7 Z+ encoder Z phase positive

8 Z- encoder Z phase negative

9 HALL_V magnetic pole signal V phase

10 NC no connection

11 A- Encoder A is negative

12 B- Encoder B is negative

13 +5V power supply to power the sensor

14 NC no connection

15 NC no connection

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http://www.rhinomc.com RHINO MOTION CONTROLS RMCS-1112 AC servo motor driver 4. Communication and output signal interface (on the drive: UART) The PC can be connected via a dedicated 485 cable. The driver parameters can be set by the provided PC software, and Test the drive and provide some diagnostic information to troubleshoot the drive. Note: 1 pin is the first pin on the left side of the lower row, and pin 6 is the first pin on the left side of the upper row Terminal number symbol function 1 GND signal ground 2 485A 485 communication A end (D+ end) 3 485B driver serial port receiver (TTL level) 4 +5V external supply 5V maximum 100mA 5 V_in speed control voltage or current signal input 6 COM output signal common 7 WR alarm signal output. Low level when alarming 8 PF in-position signal output. Low when in place 9 ZO encoder zero signal output. Low to zero 10 5V_485 Internal 485 power supply interface (external power supply required). 485 power supply is COM pin

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RHINO MOTION CONTROLS RMCS-1112 AC servo motor driver 5. DIP switch 6. Status indication and alarm After the power is turned on, the red light is on once to check if the LED is working properly. Then the green light is on and the red light is off. If an alarm state is encountered, the cause can be judged by flashing red, or the alarm generation can be read by modbus. SW1 SW2 mode control mode OFF OFF Position mode encoder follow OFF ON position mode pulse + direction ON OFF speed mode PWM duty cycle ON ON speed mode 4~20MA or 0.6~3V


RHINO MOTION CONTROLS RMCS-1112 AC servo motor driver Alarm code 0x10 A long flash system high temperature alarm >70°C continues to run 0x20 two long flash write flash failed to continue running 0x11 One long flashing one short flash system 0x11 overheat alarm>90°C The shutdown temperature drops below 70°C and continues to run 0x12 A long flash system blocked alarm shutdown 0x13 two short flash system two short flash system 0x14 A long flash system Stall alarm, overloaded load shutdown


RHINO MOTION CONTROLS RMCS-1112 AC servo motor driver 3. Driver wiring diagram and control method

1. Typical wiring diagram of the driver As shown in the figure below, the driver needs to be connected to a 20~50VDC power supply. The voltage is selected according to the rated voltage of the motor. Alternatively, the motor's UVW and encoder are plugged and plugged directly into the drive. If you need to lengthen the cable, you can make a patch cord. This version provides an alarm signal for the optocoupler output, an in-position signal, and an encoder zero signal, which can be connected as needed. The following figure has 5 small boxes, which are 5 control modes that can be selected. After power-on, only one of the control modes can be selected. The line is shown below.


RHINO MOTION CONTROLS RMCS-1112 AC servo motor driver 2. Command pulse + direction position control mode

Number of pulses in one revolution = number of encoder lines *4 / electronic gear For example: 2500 line encoder, electronic gear is 4:1, Number of pulses in one revolution = 2500 * 4 / (4/1) = 2500 Command pulse frequency = (requires motor running speed / 60) * Number of pulses in one revolution For example: need to click 3000RPM a circle of pulses is 2500 Pulse frequency = 3000/60 * 2500 = 125000 = 125k PUL DIR CW CCW Parameter setting Command pulse+ direction Pulse train symbol


RHINO MOTION CONTROLS RMCS-1112 AC servo motor driver 3. Orthogonal command pulse position control mode This mode can be used for encoder follow-up, such as an axis connected to the encoder, the encoder output is connected to the driver (wiring the way is the typical wiring diagram of the drive), the driver can control the servo motor, follow the signal of the input encoder, follow the control encoder. The ratio of the angle of rotation of the encoder to the motor can be set by adjusting the electronic gear. Forward pulse: Reverse pulse: The direction in which the motor rotates: the rising edge of the PU leads the forward edge of the DIR rising edge. The rising edge of PU is delayed by the rising edge of DIR.


RHINO MOTION CONTROLS RMCS-1112 AC servo motor driver 4. PWM duty cycle speed control mode The speed is controlled by the pulse ratio of the pulse of the PU. The duty cycle range of 10%~90% represents 0~Max_Speed. (Max_Speed is the target speed saved in position mode. By setting this parameter, you can control the required rotation more precisely. Speed, don't worry about exceeding the set speed). The frequency of the PU is 1K~10K. PU duty = (target speed / 3000) * 80% + 10% For example: need speed 2000 PU duty = (2000/3000) * 0.8 + 0.1 = 63.3% 5. Voltage or current signal speed control mode Control the speed by applying a voltage or current signal between V-IN and GND. 4mA~20mA (or 0.6~3V) signal corresponding to 0~Max_Speed (Max_Speed is the target speed saved in position mode, by setting this parameter, you can precise control of the required speed, and there is no need to worry about exceeding the set speed). If a potentiometer is needed to control the speed, Press the connection in the typical wiring diagram of the drive.

25% duty cycle 75% duty cycle Forward Reverse


RHINO MOTION CONTROLS RMCS-1112 AC servo motor driver 4. Parameter debugging According to the load connected to the motor, the parameters need to be adjusted to achieve the best results.

1. Internal acceleration and deceleration curve Select whether to use the internal acceleration/deceleration curve depending on the controller output signal. Use the internal acceleration curve: When the motor acceleration is less than 60000, the drive will enable the internal acceleration and deceleration curve, and the specific acceleration will be set. Set the same value. Use occasion: When using the internal acceleration curve, it will produce hysteresis pulses, some occasions that do not need to follow in real time. An internal acceleration curve can be used. Some controllers, the pulse is directly sent to the corresponding speed, without acceleration and deceleration, Using the internal acceleration and deceleration curve can reduce the difficulty of programming the controller. The internal acceleration curve is prohibited: When the motor acceleration is greater than or equal to 60000, the drive is allowed to accelerate and decelerate according to the external pulse, and the internal acceleration is invalid. Use occasions: For example, the engraving machine, the pulse output from the controller is accelerating or decelerating, so there is no need to add the internal drive. The speed curve, if used at this time, will lag behind the actual pulse. 2. Screw load First introduce the torque, first use 400W motor, 1.3NM. The load is a 5mm pitch screw, which is the motor shaft rotation. Move the load 5mm in a circle, in this case, Load arm and other force arm = 5mm / 3.14 = 1.592 mm The thrust that the motor can provide is Thrust through screw drive = 1.3NM / (1.592mm*0.001) = 816 N The weight that can push the load is about 80KG, which is vertical, and the flat push can be slightly larger.Since the screw load motor rotates one revolution and the distance of movement is short, the parameters of the drive (acceleration can be large, such as 20000, the position loop KP can be larger, such as 3000). Servo motors are best suited for this type of load.


RHINO MOTION CONTROLS RMCS-1112 AC servo motor driver

3. Pulley load Servo motors are not really suitable for this type of load. Because the pulley is generally relatively large in diameter, for example 30 mm in diameter. When the motor turns one turn, the distance that the load moves is 30mm*π = 94.2, which is many times larger than the screw 5mm mentioned above. The thrust that the motor can provide is Belt driven thrust = 1.3NM / (30mm*0.001) = 43.3 N The weight that can push the load is about 4.3KG. So the servo motor is not suitable for the synchronous wheel, because the synchronous wheel rotates one. The distance the ring load moves is too long and the arm is long. If you want to use a servo motor in this case, you can choose to synchronize as small as possible. The wheel or the small synchronous wheel is connected through the motor shaft, and the load is connected to the large synchronous wheel, so that the speed is reduced several times, and the better effect can be achieved. This Kind of occasion drive parameters (acceleration setting is small, such as 5000, position loop KP setting is small, such as 1000), so The purpose of setting the parameters is to reduce the acceleration and deceleration because the load has a large inertia. 4. Disk load This type of load servo cannot be directly driven, and generally requires a speed reducer. For example, a circle with a diameter of 200mm and a weight of 10KG plate. The radius is 100mm and the weight equivalent radius is 50mm. The arm is large. If the servo is to receive such a load, Connect the reducer to the load.


RHINO MOTION CONTROLS RMCS-1112 AC servo motor driver 6. PC software instructions This drive provides a host computer software for monitoring and testing the drive. Can view and set drivers through software Internal parameters of the device.The software is divided into waveform display, motor operating parameters and other parts.Here's a look at the various parts. Waveform display: There are 4 channels in total, which are represented by 4 colors.Color and font within the motor operating parameters, The same color that is: blue represents current, green represents the pulse width of the output, red represents the current speed, and black represents the voltage. Motor operating parameters: Real-time data indicating the operation of the motor. Drive setting parameters: display the drive's DIP switch, and direction enable settings. If it is modbus mode, this The column is invalid. Drive running status: This column will display the alarm status of the drive. If there is no alarm, it will display normal operation

Modbus control parameters: The parameters in this column are internal parameters of the drive. If you want to modify these parameters, you must first enable write to modbus 1. The specific parameter meaning refers to the register description. Modbus Read: This field sets the address of the drive, the period of reading the drive data, and whether it is read. Modbus send: This column is used to modify the drive parameters, first select the parameter type, then set the parameter data, then send it later.


RHINO MOTION CONTROLS RMCS-1112 AC servo motor driver 7. Common problem handling

1. If the pulse control port DIR conduction direction is different from the direction I need, how to change it? A: You can set the polarity of DIR through the host computer. After connecting to the host computer, modbus enables write 1 and DIR polarity write. 0. Last parameter save flag write 1. Re-power on. 2. The power-on drive does not alarm, and the drive alarm is given after the running pulse. What happened? A: Check if the connector is loose, and any broken or sequential exchange of the motor UVW and encoder wires will not work properly. 3. How to control the operation through the host computer A: Connect the motor, power on the drive, connect the drive and computer through the provided USB cable, according to the "host computer use The description is set so that the host computer can read the data. Modbus enables transmission 1. Then the PU step is sent. The distance you need to go.

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RHINO MOTION CONTROLSRHINO MOTION CONTROLS RMCS-1112 AC servo motor driver 4. PWM duty cycle speed control mode The speed is controlled by the pulse ratio of the pulse of the PU. The