RHINO MOTION CONTROLS Installation Manual and Datasheet
Contents
1. 7A per phase Set Defaults Save to EEPROM Power Supply Selection The general rule of thumb to get the most out of the motor is to drive it with a supply voltage that is at least 3 to 4 times its rated supply voltage A DC regulated power supply with good low ESR decoupling capacitors on its output is recommended for best performance of this drive LED Status and Error Codes There is a single LED on this drive for power and error status messages In case the LED is blinking or flickering please check all connections and powered down wait for 5 seconds and then power up the drive once again LED State Message Green LED ON and steady Powered up and calibrated Red LED Flickering randomly Current Trigger Level Achieved Red LED blinking Short circuit on motor terminals or drive message to connection error Guide to General Problems Problem Symptom Possible Reasons and Solutions Motor is not rotating Drive is not powered up Motor is not connected properly to the drive Drive is in an error state check LED status Pulse and Direction inputs are not connected properly or are not supplying enough current Motor rotates in the wrong direction Motor Phase connections may be reversed LED is blinking Check LED status messages in this document and check connections and voltages accordingly Drive might be damaged due to incorrect installation or handling Drive is not powering up no LED Check that the connectors to the drive are tightly plugged i2. Driver with ENABLE Max 80Vdc and 7A per phase Rhino Motion Controls makes no other warranty either expressed or implied with respect to the product Rhino Motion Controls specifically disclaims the implied warranties of merchantability and fitness for a particular purpose Some jurisdictions do not allow limitations on how long and implied warranty lasts so the above limitation or exclusion may not apply to you However any implied warranty of merchantability or fitness is limited to the 6 month duration of this written warranty Disclaimer Copyright Rhino Motion Controls 2012 Neither the whole nor any part of the information contained in or the product described in this manual may be adapted or reproduced in any material or electronic form without the prior written consent of the copyright holder This product and its documentation are supplied on an as is basis and no warranty as to their suitability for any particular purpose is either made or implied This document provides preliminary information that may be subject to change without notice http www rhinomc com Hybrid AC Driver RMCS 1110
3. MOTION CONTROLS RMCS 1110 v1 0 Hybrid AC Driver with ENABLE Max 80Vdc and 7A per phase Power and Motor Terminal Assignments Terminal No Terminal Name Description Terminal 1 Motor Coil Phase A Terminal 2 Motor Coil Phase A Terminal 3 Motor Coil Phase B Terminal 4 Motor Coil Phase B Terminal 5 Power Ve 18VDC to 80VDC Max wrt GND Terminal 6 Power Ground or Power Ve Encoder Terminal Assignments Terminal No Terminal Name Wire Colour Description Terminal 1 BLACK Power Ground or Power Ve Terminal 2 RED Power Ve SVDC wrt GND Terminal 3 GREEN Motor Coil Phase A Terminal 4 YELLOW Motor Coil Phase A Terminal 5 WHITE Motor Coil Phase B Terminal 6 BLUE Motor Coil Phase B Pulse and Direction Input Assignments Terminal No Terminal Name Description Terminal 1 Enable Motor Free Ve optically isolated input Terminal 2 Enable Motor Free Ve optically isolated input Terminal 3 Direction Ve optically isolated input Terminal 4 Direction Ve optically isolated input Terminal 5 Pulse Ve optically isolated input Terminal 6 Pulse Ve optically isolated input Switch Selection Table for Step Selection Resolution SW1 SW2 Switch 4 Sets Direction SW4 ON Forward Direction SW4 OFF Reverse Direction http www rhinomc com Hybrid AC Driver RMCS 1110 RHINO MOTION CONTROLS RMCS 1110 v1 0 Hybrid AC Driver with ENABLE Max 80Vdc and 7A per phase RS 232 command port A 4pin command port i
4. RHINO MOTION CONTROLS RMCS 1110 v1 0 Hybrid AC Driver with ENABLE Max 80Vdc and 7A per phase a nm Front View Installation Manual and Datasheet http www rhinomc com Hybrid AC Driver RMCS 1110 RHINO MOTION CONTROLS RMCS 1110 v1 0 Hybrid AC Driver with ENABLE Max 80Vdc and 7A per phase Key Features Smooth and quiet operation at all speeds and extremely low motor heating Industrial grade performance for an alternating current servo motor Field oriented control based low voltage servo loop Fully configurable position and velocity loop Input supply voltage from 18VDc to 80VDC Delivers up to 7amps of continuous current Selectable gear ratio for encoder with counts from 4000 to 10000 per revolution PULSE DIRECTION and ENABLE inputs with opto isolated interface Short circuit protection for the motor outputs over voltage and under voltage protection LED indication for power and error states Description Thank you for purchasing RMCS 1110 Hybrid AC Driver RMCS 1110 is Rhino Motion Controls introductory hybrid low voltage AC drive designed for smooth and quiet operation without compromising on torque and control at higher speeds It has short circuit protection for the motor outputs over voltage and under voltage protection and will survive accidental motor disconnects while powered up The RMCS 1110 delivers a low voltage servo performance using a field oriented control FOC current loop for two phase hybr
5. ce and support for this product are available from the Rhino Motion Controls Web site http www rhinomc com and our customer service email info rhinomc com Six Month Warranty Rhino Motion Controls rhinomc com warrants its products against defects in materials and workmanship for a period of 6 months from shipment delivery During the warranty period Rhino Motion Controls will either at its option repair or replace products which proved to be defective Exclusions The above warranty does not extend to any product damaged by reasons of improper or inadequate handlings by customer improper or inadequate customer wirings unauthorized modification or misuse or operation beyond the electrical specifications of the product and or operation beyond environmental specifications for the product Obtaining Warranty Service To obtain warranty service please contact our customer service department at info rhinomc com before returning product for service Please make sure that you have gone through this entire installation manual and datasheet before deciding that your product is liable for replacement or repair under this 6 month warranty Customer shall prepay shipping charges for products returned to Rhino Motion Controls for warranty service and Rhino Motion Controls shall pay for return of products to customer Warranty Limitations http www rhinomc com Hybrid AC Driver RMCS 1110 RHINO MOTION CONTROLS RMCS 1110 v1 0 Hybrid AC
6. id PMSM motors It also provides a fully configurable position and velocity loop with feed forward variables to achieve close to zero lag in servo performance Two phase PMSM servo systems give an advantage of higher speed faster response and very low motor heating The RMCS 1110 s FOC control gains are calibrated on start up based on motor characteristics and also adjusted dynamically while the motor is in motion This control algorithm makes it capable of achieving better torque at higher speeds in comparison to comparable drives in its range The PULSE STEP DIRECTION and ENABLE inputs are optically isolated Both inputs work with 2 5V 3 3V or 5V logic drive signals The input drive current is 5mA at 2 5V so almost all logic family 74LS 74HC etc can be used to drive these inputs The RMCS 1110 hybrid AC drive is warranted to be free of manufacturing defects for six months from the date of purchase Please see the section on service support and warranty at the end of this document http www rhinomc com Hybrid AC Driver RMCS 1110 RHINO MOTION CONTROLS RMCS 1110 v1 0 Hybrid AC Driver with ENABLE Max 80Vdc and 7A per phase Technical Specifications Specification i Comments Supply Voltage Volts DC Between Ve and GND Phase Current Amps As demanded by load Servo Loop Speed Hz Power Dissipation Watts Short Circuit Current Amps In case of motor terminal short PUL and DIR Voltage Volts DC Between and
7. input pins Ambient Temp Celsius Humidity Non condensing Step Frequency kHz Direction Setup time ns Steps is clocked on positive edge Mechanical Specifications Specification Details Dimensions L W H 110mm 77mm 33mm Weight 155gms Heat Sink Anodized Aluminum 3mm thickness Mounting Screw Holes 3 6mm minimum diameter Caution Read this document carefully before installing and using you drive Inputs voltage to the drive must not exceed the maximum of 80VDC or it may damage the drive Reversing polarity power supplied to the drive will damage the drive or power supply Connecting the power supply wires to the terminals outputs of the motor coils will damage the drive Short circuiting the motor terminals to Ve power or to each other or to GND may damage the drive Excess humidity or condensation on the drive may damage the drive Voltage in excess of 7V between the PULSE and PULSE or DIR and DIR or ENA and ENA input terminals may damage the opto isolators Reverse voltage in excess of 7V between the PULSE and PULSE or DIR and DIR or ENA and ENA input terminals may damage the opto isolators Heat sink is designed to dissipate heat from the drive circuitry as long as the ambient temperature is less that 70 degrees Celsius Ambient temperature in excess of that may damage the drive Do not un plug the terminals of the motor while the drive is powered up and running http www rhinomc com Hybrid AC Driver RMCS 1110 RHINO
8. ion PNP pull up In this connection technique all the signal ve inputs are connected to a common low voltage GND The opto isolators LED is turned on by a pull up on the Ve terminals by an PNP transistor output http www rhinomc com Hybrid AC Driver RMCS 1110 RHINO MOTION CONTROLS RMCS 1110 v1 0 Hybrid AC Driver with ENABLE Max 80Vdc and 7A per phase Controller oO ENABLE R 0 if VCC SV R 1K Power gt 0 125W if VCC 12V R 2K Power gt 0 125W if VCC 24V R must be connected to control signal terminal Control Signal Connection Differential In this connection technique each input is differential controlled and no necessity for a common voltage Controller Drive PUL PUL R 0 if VCC SV R 1K Power gt 0 125W if VCC 12V R 2K Power gt 0 125W if VCC 24V R must be connected to control signal terminal 2 phase 4 lead Motors Connections 4 lead motors are the least flexible but easiest to wire Speed and torque will depend on winding inductance In setting the drive output current multiply the specified phase current by 1 4 to determine the peak output current http www rhinomc com Hybrid AC Driver RMCS 1110 RHINO MOTION CONTROLS RMCS 1110 v1 0 Hybrid AC Driver with ENABLE Max 80Vdc and 7A per phase Service and Support Servi
9. n Check the supply voltage is adequate and in correct polarity Drive might be damaged due to incorrect installation or handling Erratic Motion on Motor Power supply voltage not stable or regulated Motor Coil damaged or not connected to the drive correctly Current setting on the motor too high Control signals of Pulse or Direction are not connected properly or not supplying enough voltage and current http www rhinomc com Hybrid AC Driver RMCS 1110 RHINO MOTION CONTROLS RMCS 1110 v1 0 Hybrid AC Driver with ENABLE Max 80Vdc and 7A per phase Control signal interference due to power supply or environmental noise Motor stalls during accelerating Motor load is too high Acceleration is too high Gain settings is too low of the Motor Power Supply is too low for Motor or Speed Excessive Motor or Drive Heating Drive is damaged Power supply voltage is too high Not enough cooling or ventilation for motor or drive Control Signal Connection NPN pull down In this connection technique all the signal ve inputs are connected to a common high voltage VCC The opto isolators LED is turned on by a pull down on the Ve terminals by an NPN transistor output Controller Drive vcco ENABLE ms R 0 if VCC 5V R 1K Power gt 0 125W if VCC 12V R 2K Power gt 0 125W if VCC 24V R must be connected to control signal terminal Control Signal Connect
10. s available on the drive for debug and tuning routines This port is assessable on the main drive board after opening the drive cover The communication setting are given below along with a command list A cable for connecting a RS 232 DB9 to the port is usually shipped with the drive After connecting it to a computer the drive can be accessed by simple commands using any terminal software The baud rate of 115200bps is default with no flow control 8 bit data and 1 stop bit The below list of commands can be used to read or write a register A new line and carriage return is required to process any command Command and Register Table Command List Register Description Default Position Proportional Gain Velocity Proportional Gain Velocity Integral Gain Velocity Damping No of Poles in Motor Construction Encoder Counts Per Revolution Current Loop P Gain Current Limit Position Error Limit Current Loop I Gain Acceleration Feed Forward Home Position in Counts Velocity Feed Forward Position Integral Gain LED Trigger Level for Current A B C D E F G H J K L N O R Additional Commands Command List Description Default Go To Absolute Position 32767 Go To Relative Position 32767 Start Data Stream Stop Data Stream Go to Acceleration and Deceleration Go to Velocity Setting http www rhinomc com Hybrid AC Driver RMCS 1110 RHINO MOTION CONTROLS RMCS 1110 v1 0 Hybrid AC Driver with ENABLE Max 80Vdc and
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