コントロール カード RK 4003 J 取扱説明書 U
Contents
1. RK40 0 000000000000 E 0 0 3 0 L3 420 ei E c3 estate m o Hrsg EHE oo fum 50 r3 m pul Ge cy B ndo See oao Ld P RE p200 EE ogna go L3 F3 E3 2 o 5 2005 DOG Ee E EE EXE E g2 p3 HBgEgHLBH Bea EE E GEI Cr IO SHS SAna gA 5 A m G CDD DO uu DDDDopDp HEIL2. 011 1 1 D11 Bl SA2 4002 DEV 5 GRP 0 E D a 123 L 4 r3 EK4011 C DS DR 2462 100 240 011 ap D d B a B d LEV 2 c2 Dt T2 1 2 U Page 14 RK 4003 US D gut 1 0000
3. 45 000 and 3 uiui amp and 8 4 9 and 0 IH D UO D ED UL U ul e
4. DD X 5 TO T I nnam 3 4 pos prop 23 4 0000 S Soll 34 5 prop range 4 0000000001010001000000010101010101 155 1 9000000 15 5 10 10 nm 10000015 D O LO U UU UI UI 4 254 000000 par anet er 34 value 5
5. 3 1 5 7 5 nms 20 m si 00000000 10 mme NE ogoogo c 0 00000 7 000000 6 000000 ug 000600 1 2 G 15 3 5 0 20 3 6 71 1 5 5 0 WK 1 5 6 71 VK 7 5 m s VK 10 1 mds D U 0 0 Kat keet 8 speed manual nsh 0 UO LI LI LI uu 000 9 pos range 00002 0 00000 000000 oco 4003 15000000000 15 30 000000 200001 0001000001000100010000
6. 3 4 reserved 4 3 6 reseverd 5 23 5 SE Ts U Page 30 4003 enabl e AG Phot o Se ds enable AG photo 0000000006060 10000 370 ys UA 0 000a 80 0000000 enable photo off DL UO D U U 0 00 0000100000100000000101010101 U Page 31 RK 4003 65 4003 00050 ZC parameters 1 6 to 1 8 d e o
7. ES Ej El E E pH pH CC oH g2 20 oH pa mm E e p g2 E 1 Ed qn o rg CC pm 22 p229 E oN AA g2 p220 E gA o vi Hna oa LJ EIE E X afoga GE oo oogo 2001065 mg ES o o EE EE DH pcebununuuuncu r3 og oo paa g prn rm D DD g o oU OC gog 260006 onog pr rd oaro g oarra o So gg grn KEEN Eege YYA DL DIE OAN OAN AA g DO C3 E oao Doll Gol EO st i0 Dt
8. auto offset 1 3 L3 EJEJEJ r3 EJ S E EET oreet mu L3 E3 EJ EJ E31 C3 C3 11 CODE E3 E3 EJ EJ EJ EJ EJ EJ 000 t m Ed 9 900000 000 33 RK 4003 ct on off 0 4 nm pr 1 1 kk 0 8 0 6 0 4 0 2 0 2 0 4 0 6 0 8 om HUDD 0 4 mm off 0 3 nm 0 8 0 6 0 4 0 2 0 2 0 4 0 6 0 8 56 ME 54156 LO 2210 Paraneter 1 9 mia t 5
9. 0 00000000000000 Drog 000000 EProm DO000000000000 dipp tr 00000000000 000 000000000000000000000000101010101 0000 000000001010001000000000000101001 gt NH 00000000 0 D LED RK 4003 00000 1 2 0000 157 00 00000 U Page 2 RK 4003 00000000010100000000000101000010101 0000000010100000000000000010101 0000000010000010000000100001011 000000001010100010000000100001011 0000000000000100000001000010101 1 1000000001010001000000001001010101
10. 7 00000000000000000000000000 pm 8 Cla LILErm AP EE ES SR HH o I m m I N Mx ET U Page 11 RK 4003 61 4003 00010 4003 00060 ZB zi LH omn N 26 pH E EZ E Ei 8 O zc c o oa color ZE o 2 o g B EI ETE o 2 CG ES pH p HH o0 cl EI oco
11. 100 800 21 2 8 0000000 7 0000 RK 40 000000000000000 80 O 00000 20100 0000022000000000 RS 9 0 0 3 7 du 0 0 9 7 0 0 29 speed 1 00 3 0 speed 3 1 speed 0 80000000000 U Page 23 pd 9 0 12 4 6 10 3 3 122 9 chang ni x t off on 22 8 11 15 11 30 3 2 0000
12. o0 c4 4 23 5 1 00 00000000 0000000000001010010101001010 2 2 0 0 00001000101 0001000001 EC 000000 1 0 1 1 1 2 1 3 1 4 1 5 etc U Page 16 4003 6 prop range 0000 70 6 CO o 0 OD GO c on 0000508 2o00 poopoo mu oad Goor Lr aoad cL DD GOOD oo o00 o
13. 2 6 CFE Dr OCH DDR 0 00111101010 1 3 7 RER 0 EL BE 4 EET EE OK 4 0 HDH DNR WEN Em Se Es d 3 3 reserved 2 to 3 7 reserved 6 3 8 3 8 gearconstant Enc D Encoder i 000 160 0 0 s 00000 m 3 1 111 HATT ALR P HEI 13 3 15 3 8 0000000000000000 0000 VS 35 6 25 0 VS 50 16 4 VS 60 30 7 3 1000 0 12D 0000000600 25 RK 4003 6300000000 0004U ZB RK 4003
14. 1 6 000000000000000 0000000101000000100000100010101 000 1 3 00000000000000 3 8 1 3 2 0 0000000 10 0000000000000000 0000000 11 12 13 42 00000000000 U Page 15 RK 4003 44 000000000000000 00000 I ut 00000 99 0000000000
15. 0000 321 5 L S UU Max 100 32000 nynm Mn 0 25 0 UU 1000 4 5 enabl e AG Photo 0000 3 5 3 6 3 7 3 8 6400000000 RK 4003 0004U_ZB 1 0 Ds 8 5 00 3 8 D iut D 23 2 1 C C C D OC D 5C C D 100 0 320 0038000000000 RK 4003 00010 H D D EO UO U U 7 6 prop range E 1372 3 8 2 0 00000001000101010 3 5 m 00000000 25 mmm 10 0 mj 00000 0000002 nmi DD rn 5 0002 3 5 UO LO
16. CL um E Cl o o0 es Ei pEmBuium CC ES pEmuium m o o0 ES Ec N m sf i NI OILO AJN Ta N U Page 12 12 6 RK 4003 8 2 35 6 11 50 W100 Wnotor 22 000 1 00 D 4 2 20 VS 35 6 00000 10000 20000 30000 40000 50000 60000 7 0000 50 100 Wnator 12 50 W100 Wnotor 24 000 DUU 20 VS 35 6 0000 000 127 227 127 227 127 227 0 o0 20 0021 0000000000 y 1 00000000000 OO 0 56 CC CC E x x cOgoBgocao5goBgood e EI EELD D D 000000000000 Y 0 0 0 0 000 10011 11 00000000 000 10011 0000000000 0101 DO 0020 0021 0020 0021 0 000000000 arog 1 01010 DO 0020 0021 0 0 0 0 0 oa Ke 88 CC 1 Il 1 uH gx Il UNI P
17. mode o 4003 00040 28 0000 RK 4003 1 6 0000000000 EE ETA CI ESETE EHA EI EST EST E Ex zT ESL EIL TZ E EE ESI EET TES SE EJ L3 L3 C3 C3 C3 C3 E3 2A m n L3 r3 roc c 0000000 15 0000 Lr og uum 1 2 2 2 2 010106 5 1 et Du U Page 6 4003 14 A CC hoo d E TE EE I EJEJET
18. ON 0 56 CC D So 5 52259288 oc e e DO 0020 0021 0 000000000 1000 10010 0000000000 0101 DO 0020 0021 0 0 00000 1000 10010 0000000000 0101 DO 0020 0021 0 0 0 0 0 0 DS 8 Doc 290pn0000 900p0o 2000 5 8 ze CH HI 28 20521528 9 L LEST guo cooagosB8o 1 an I Hon 2 0 iun Qr hex hex hex hex hex hex hex hex 500 Max 10 00 00 00 00 00 00 00 00 0 20 50 00 00 00 00 00 00 00 00 11 Mn 12 2 onda 10000 20000 30000 4 5 0000 000000 60000 70000 1 00005 00 00 t 0 0 100 1 8 2 2 22 3 2 4 2 5 2 6 2 7 2 8 2259 3 0 2 1 3 1 3 2 U Page 27 81000000600 hex 05 500 0 10 5 23 3 3 4 4003 0 o0 0 i 8 1 0 7
19. 1 9 0000 e e e 2 2 DR 2261w th 1051 AG 2593 DR 246 w th 2593 DR 247 0000 4003 1322 U Page 24 RK 4003 Ti ne Path dependent dependent 0 4 UgugpuggugH 00000000000000000000000 00 1 5 1
20. Paraneter 2 0 U Page 34 1 4 step ath 110 nei ntu 8 Urt 1 5 hysteresis 0003000000000 5 threshol ds 1 6 stop pulse tr L7 pulse slowtr 1 8 slow fast tr 3 SIDD 1 1 6 00000 WERE 2 1 7 00000 3 1 8 412 000000 EA RRE 000000000 1 9 time 0500000000 2 0 ti 19 0000 20 sa 5232 RK 4003 3 2 1 manual speed f ast ERR DA 4 41201 4022 3 LK 400200000 2 2 output LK adress 3 U P
21. anas 1 y CD c CO COD U Page 20 RK 4003 22 o zero offset 1 6 4 2 COOC CH GO COOC BH Ooooooop 2220202020202 8 020202020509 CODE L 8 8 Gdfset
22. 5 g E BEBE E E o o 9 E zd E 818 8 ot d 2 6 S 8 8 m Qaa n 1 S e e m e e e e eia dio 2j Si el E 8 aq Ga ols a 9 Ge e e e Li L L m o vii st N X 5 9 559 No o 1 E L DU Li Cl ES ogo gt ROC E am oo E CID o p E COOC uuo oom E CID D E oo o oom 8 CH cd N m sf li e sf Te N 5 5 1 d cd U Page 26 RK 4003 22 24 11 12 6 000000000000 100600 20000 30000 400600 500600 60000 70000 Pu 0000 20 w000 50 W100 WII LI 000 0000 20 Wnat or 50 W100 Wnotor 12 bent 0000 20 w000 50 W100 UU 29 0021 0000000000
23. EE CC 15202020207 L3 C3 r3 E3 r3 1 1 0 0 0 0 U Page 5 0 0 0 0 10 0 0 0 0 0 0 0 9 8 22 BCS 24 0 18 6 0 00 000001 00 0 0000010100010000000010101010 0 0000000000010100000001 2 2 220000 00000000 0 000 00000001010100000000000000101001 100000000101010010100000001010000101 1100000001010100101010000 10000000000000000000000001001 00000010100000101010001 sv 000000 0000 Lu unu uii 0 13 888
24. U 4003 1 00 2 2 00 7 3 00 9 4 0000 9 5 0000000000 10 e 00000 11 61 RK 4003 00010 ZH 4003 0006U ZB 12 6200000000 RK 4003 00010 ZH 4003 00060 14 63 RK 4003 00040 26 6 4 RK 4003 00040 28 65 RK 4003 00050 ZC 32 66 RK 4003 00050 ZC 33 7 00000 37 BEA 250303 J 01 00000 EE o0 CC GE ao DCH CC e4 0000000000 oam o DUDDUDDUDDUDDUDUDUUUDUD 00 150000000 40 192
25. 1 1 1 A Ad 41 s 0 000000000000000 2 00 0000000000 Vs S 000000000 5 60 s 41000000 0 0 m 3 0000000 2080 000000 0 sl 000000 20 n 7 20000000000 n 1 He xu S m n 00000000 000 LT 111 EL E 0 10 1258 0218 5219 3 0 SE RK 4003 2 0 osz mode 1019 10 Square 90 Tri angular
26. 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 ESCH e ELE ELE EJ EI E EI L3 r3 Lr og O 1 1 1 1 CODE CODE r3 1 0 Page 4 RK 4003 uuu 5 00000000101010001000000000001010101 4003 0006U 1 5 0000000 coun 1 yje JAR Ge he Gi 1 n
27. DD GOOD um CO 105 E3 oo O00 maaa o ooo OOO pn ogg CT gu 00 U LI U LI UU 1 5 0011 DO U D D U DE U 3 5 m 00000000 20 nsi 6 7000000 2 D 2 15 nsi 000 003 5 000000 8 0 00000 0000600 0000 2 Es M 1 5 nm 000000 000 1 20 3 5 5 71 G 20 2 10 G 5 1 5 nmi 5 71 1 8 6 m s VK S 1 5 nm 10 VK 15 m s 000 uut U Page 17 RK 4003 7 speed automti c d 7 220 mg 7 215 U Page 18 Umuttutrttdttut pearaneter 6 0 00000
28. 0000000000001000001010100101001 0000000101010001000 10110010010001 1 30000 UI 000000001010001000000000001010101 000 U Page 3 8 3 14 PID 1 C E CEU CECI CE CI CE UI CE D UI D U DI 000 24 1 7
29. 5189 H HIH 218 eet 4 1 uu E CH 45 45 uu Bm Ia G 21 31 8 8 82 00 00 00 200 00 00 00 pog EE ES ai gc c o0 o0 oo oo gR xo o 00 1 DO 00 00 2009 000 o a g 2 554 rr E mn gt pogo ogo ogo ogo ogo ogo oo 9 4 zl E S mo On um us 5 2 E cd N m sf 1 ui N o N mi N Nim 1 S Gd 5 x 5 eil di 41 4241 U Page 32 4003 6 6 00000 00 4003 00050 2 0 D uut 4 4003 00010 1 2 subsystem 7 adress 8 1 00 S 5 subsystemO adress b 2 40 LL m 7 C 3 F 0 9 00000000000010000000000010101
30. step 1 0 KE 110 ne ntu db rutru Ti notor current I1 s SLT 1 2 motor directi 1 a e es 1 3 notion range 4 inv ext target 1 4 172 0000000000000000000 LA U Page 19 4003 node 1 5 control 00000 0 0000000 0 0 G 0 G and 1
31. DC 0150 DC 0151 DC 0160 DC 0162 DC 0163 x x lt DC 0210 DC 0211 DC 0212 DC 0213 DC 0214 gt lt gt lt lt lt lt X X lt DC 0240 DC 0241 0242 DC 0243 0244 DC 0245 0250 DC 0263 lt lt lt lt lt lt X lt gt lt lt DC 1010 DC 1040 1044 DC 1050 DC 1110 DC 1111 DC 1140 DC 1141 C 1144 DC 1147 DC 1150 C 1151 C 1161 DC 1210 1240 1241 gt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt DC 1247 DC 1250 DC 2110 0 2111 DC 2140 2141 DC 2210 DC 2211 DC 2240 DC 2241 gt lt lt X gt lt X lt X lt X X lt X lt X X X gt lt lt lt X lt X X X lt X X lt X lt gt lt X lt gt lt X X X X lt X lt x X lt X lt X X X X X XX XX lt X X Xx Page 8 RK 4003 U Page 9
32. INTE reserved 1 du Dana anpl i tude 1 8 osz 100 ra uut D U Page 21 RK 4003 129 t U Page 22 Lo osz tine Ti me dependent 010111 11 0 0 0 000101 0100010101010 Pat h dependent
33. cl cl E EE E EE E E TEES EE p 1 Ei Hut 1 ec e oo ooog COD 9 s gogogaga AOADA el 2555 OO COOC CO OO OO o g gog o o go o oa o0 o0 p3t1EdETEHHE B3 g o E Ez ogoogo o oa og rr cm CC OO OC CO FH EH oana Cl mmu mum gooo onn CE 2000 p DD E ET E es o o g o o o o oo oo D r3 CO CO OO DC ooo oo oanl Gerd HS Sioa CO E rp D DO 8 14 133 E ES S SS EE EEEE ula j o olo nr LL LL LL LL LL LL LL 53 LL SS 5 N 9 FS FS FS FS FS FS FS 2989888 ssg N5 em oe Elei bel vil ri sel 8 e e a9 8 8 8 8 8 8 8 Li r3 a 3X 2 ale 8 8 8 8 8 8 8
34. 0 a Gm st N Qr UU hex hex hex hex hex hex hex hex 500 7 F 7 F 7 F 7 F 7 F 7 F 7 F 7 F Max 10 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 20 50 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11 12 Mn 0 0 2 onda 10000 20000 30000 4 5 0000 60000 0000 70000 0000 1 00005 00 00 00 100 1 8 2 2 22 3 2 4 2 5 2 6 2 7 2 8 219 3 0 2 1 3 1 3 2 U Page 13 4003 0 o0 1 3281 0 0 1 nu I DI UI CC u 0 o0 Max 10 0 32000 Inynm Mn 25 0 0 o0 3 2 4 5 3 3 3 4 3 5 3 6 3 7 KE 62 00000000 RK 4003 0001U ZH RK 4003 0006U ZB 000000000001001010100000011 0
35. 0000000 CDD DIS 1 1 L3 r3 r r r tccur GE 2 0 4 select 9 ves nang g a d ad ws uuu U Page 7 0 PK oss Lc 1 7 0000000000 en e 1 gy e rn 11 EE r3 3 Et ES G E EJ prm Do DD rn CODE ooo rn CC r3 r3 m st 10 2 0000 4003 4003 4002 4002 4012 LK 4002 LK 4010 RT 4011 RT 4019 RT 4070 ZC 4061 DC 0110 0 0111 X DC 0112 DC 0113 X lt X DC 0140 DC 0141 DC 0142 DC 0143 0144 gt lt gt X lt X lt DC 0145
36. L 3L A 0 ELE dubie Eer cog Oe O St CH St 2821 Gen CN m sr L0 0 lt 10 5 1 2 5 000000 10 6 RK 4003 141 4000000600 5 7000000600 0000 8 Se aun 0 pes LI 5 0 TO 1 af CB 2021222224 25 25127 Val ue d 1 OI 00 0 Binary 5 1 Hex 6
37. y EE e E IEEE oo r3 1 oo o o0o52 2000 ru ooo o r3 o000 EZE DEE E E3 pl 1 o0 g ogo pop Hum o ug oo oo um muaugu 5yuumuuu uiu uuHmuuunu oo o o uu oo oo or052 2200 oo ooog o ug og o0 HH GAA m 29 mmu DOOF OTIO O QAH miu mium ESSE O0 oc uua nim mBuurp OD EN qp del E PESE a EST 8 2 E CO DICH hi rpm m m m rmnmmrmrnutD 0rmucrt Er oo Dal Oan Gen SH 88535 9 o a B E E z o o 2 o EM elg 8 8 amp 5 c i E m sg NU m m E e e m m e o o E 8 8 5 m n e Ge z mom e o d SS No o e o E go l EE EES el ES T oo r3 o m m E
38. 0 7 00000000100001010100000101000101 00000000101010010000000000001010001 5 VG uuu 5 000000 000000 uui uuu mode 12 13 mode 4003 0001U ZH RK 4003 1 400000000100 EI oonan EFE E T EI EzT EZ EZ El E EI rp eo EE Oo r ON QS58989R amp 8RNRGONXQSN 0000000 0000000 00000
39. 00060 nm ee U Page 28 4003 6 9 D0000 00 9 9 59 0 0000 1 25 3 5 7 14 GS 25 2 12 50 G SK 1 5 7 14 VK SK 1 5 12 5 VK 10 71 nm 18 75 mm speed automati T EE range 7 9 pos 000000 219 0000000010100010000000000000101 13 150 00000000 15 00000 30 000000 U Page 29 4003 3 3 SourcePos adress
40. 0105 r3 SC El 2o05 L3 402 05 L3 c3 c m N Set 4 H00 D JOE x x x x r Lpmmimoador L3 Co 04 210 11 ooga rinm L3 L3 p3 E p b E COOC 42 05005205 DO op oz ec 52525215 Ee DUU Zo CC een 000000000000000 o CO o gt GE pooooo ei CO e 1 SE 414 4 44 5 ESCH 2 eebe CO d eb ITT H 18 o ooo o COD a Ce DD ooog E COOC d TS o aoa OO 3 2 052 05 o aa OO o L3 r3 T f XQ oo 11 41 CC CC CC e Ej E Dir og 5 og og L3 r3 L3 r3 u r3 Pi n assi ganent 40 4003 410000000 X1p 0 X40 0 C 1000 000 24 DC 0000000000000 24V DC z zm c Om Lg L3 Ed 4 E3 n Oa r3 Lc
41. age 35 control node 22 3 00000 0 0000000 9 and 0 00000001000010100001 O00000 1 amp and 8 AES RK 4003 L3 L3 rcr Go 2 ong 8 E SES E Ld COOC e m I E p o0 g o 1 59 1 1 IC Lar L1 L3 c3 C3 1 1 1 1 EEIEIE 3 L3 16262 1 CH M ca EJ EI 4 o o nm 4 2 E d bmi o o o
42. e pe H c 1 r3 wi f c E C z e SCENE U Page 36 7 00000 RK 4003 24 V DC 0000 20 30V DC 000000 0000000 30 W 100 W 22 PW 00 0000 3 12 3 0A 5 0 CAN LH 1 O D 4 5 V potenti al free CAN 1 1 LI 250 KBaud 23 2 4 Low 0 to 3 H gh l 10 to V DC O00000 DC 00 64000 000 5 kHz U Page 37 Erhardt Lei Post box 10 15 40 D 86136 Augsburg Tel ephone 0821 24 35 0 Tel ef ax 0821 24 35 666 U Page 38
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