Lika RD4 Manuale utente

User's guide

RD4

Position measurement & control

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.

The information herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s.r.l. Lika

Electronic s.r.l. reserves the right to make all modifications at any moments and without forewarning.

This manual is periodically reviewed and revised. As required we suggest checking if a new or updated edition of this document is

available at Lika Electronic s.r.l.'s website. Lika Electronic s.r.l. assumes no responsibility for any errors or omissions in this document.

Critical evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future documentation, in order

to make it as clear and complete as possible. Please send an e-mail to the following address [email protected] for submitting your

comments, suggestions and criticisms.

General contents
User's guide...............................................................................................................................................................................................1
General contents................................................................................................................................................................................3
Subject Index.......................................................................................................................................................................................7
Typographic and iconographic conventions..........................................................................................................................9
Preliminary information...............................................................................................................................................................10
 Safety summary.................................................................................................................................. 11
1 Safety..........................................................................................................................................................................11
2 Electrical safety......................................................................................................................................................11
3 Mechanical safety..................................................................................................................................................12
 Identification....................................................................................................................................... 13
  echanical installation..................................................................................................................... 14
 Electrical connections........................................................................................................................ 17
1 Ground connection (Figure 3)..........................................................................................................................17
2 Connectors (Figure 3)...........................................................................................................................................18
3 Diagnostic LEDs (Figure 3).................................................................................................................................20
4 Dip-Switches (Figure 4).......................................................................................................................................21
4.1 Setting the node address: Node ID (Figure 4)...................................................................................22
4.2 Setting the data transmission rate: Baud rate (Figure 4)............................................................23
4.3 RT bus termination (Figure 4)...................................................................................................................23
 Quick reference................................................................................................................................... 24
 Functions.............................................................................................................................................. 25
1 Working principle..................................................................................................................................................25
2 Movements: jog and positioning....................................................................................................................26
3 Digital inputs and outputs.................................................................................................................................27
4 Objects 3120-00 Distance per revolution, 3114-00 Jog speed, 3115-00 Work speed, 3300-
Preset and 310F Delta space.........................................................................................................................28
 CANopen® interface........................................................................................................................... 32
1 EDS files.....................................................................................................................................................................32
2 NMT states................................................................................................................................................................33
2.1 Initialization.....................................................................................................................................................33
2.2 Pre-operational state...................................................................................................................................34
2.3 Operational state...........................................................................................................................................34
2.4 Stopped state..................................................................................................................................................34
3 Communication messages.................................................................................................................................35
3.1 Generic pre-defined connection set.....................................................................................................36
4 NMT messages.........................................................................................................................................................36
6 PDO messages.........................................................................................................................................................37
6.1 “RECEIVE PDO1” message sent by the Master to the Slave........................................................38
Control Word............................................................................................................................................................................38
Jog +........................................................................................................................................................................................38
Jog -.........................................................................................................................................................................................38
Stop..........................................................................................................................................................................................39
Alarm reset...........................................................................................................................................................................39
Incremental jog..................................................................................................................................................................39
Start.........................................................................................................................................................................................39
Emergency............................................................................................................................................................................39

Axis torque............................................................................................................................................................................40
OUT 1.......................................................................................................................................................................................40
OUT 2.......................................................................................................................................................................................40
OUT 3.......................................................................................................................................................................................40
Target position.........................................................................................................................................................................41
7.6.2 “TRANSMIT PDO1” message sent by the Slave to the Master....................................................42
Status word...............................................................................................................................................................................42
Axis in position....................................................................................................................................................................42
Axis enabled.........................................................................................................................................................................42
SW limit switch +..............................................................................................................................................................42
SW limit switch -...............................................................................................................................................................42
Alarm.......................................................................................................................................................................................42
Axis running.........................................................................................................................................................................42
Executing a command.....................................................................................................................................................42
Target position reached..................................................................................................................................................43
DAC Saturation...................................................................................................................................................................43
IN 1...........................................................................................................................................................................................43
IN 2...........................................................................................................................................................................................43
IN 3...........................................................................................................................................................................................43
Current velocity......................................................................................................................................................................43
Current position......................................................................................................................................................................43
7.7 SDO messages.........................................................................................................................................................45
7.7.1 Command.........................................................................................................................................................45
8   Programming parameters................................................................................................................. 46
8.1 Objects dictionary..................................................................................................................................................46
8.1.1 Standard objects (DS 301).........................................................................................................................46
1000-00 Device type............................................................................................................................................................46
1001-00 Error register.........................................................................................................................................................46
1003 Pre-defined Error Field.............................................................................................................................................47
1005-00 COB-ID SYNC messages....................................................................................................................................47
1008-00 Device name..........................................................................................................................................................47
1009-00 Hardware Version................................................................................................................................................47
100A-00 Software Version.................................................................................................................................................47
100C-00 Guard Time............................................................................................................................................................47
100D-00 Life Time Factor...................................................................................................................................................48
1010-01 Save Parameters..................................................................................................................................................48
1011-01 Restore Default Parameters...........................................................................................................................48
1014-00 COB-ID EMCY........................................................................................................................................................49
1015-00 Inhibit Time Emergency....................................................................................................................................49
1018 Identity Object.............................................................................................................................................................49
1400 Receive PDO Communication Parameter 1.....................................................................................................50
1600 Receive PDO Mapping Parameter 1...................................................................................................................51
1800 Transmit PDO Communication Parameter 1..................................................................................................51
1A00 TPDO Mapping Parameter 1..................................................................................................................................53
8.1.2  Manufacturer's specific objects.............................................................................................................55
3000-00 Baud rate................................................................................................................................................................55
3001-00 Node ID....................................................................................................................................................................55
Device profile objects..............................................................................................................................................56
3108-00 Acceleration...........................................................................................................................................................56
3109-00 Deceleration..........................................................................................................................................................56
310C-00 Max following error...........................................................................................................................................56

310D-00 Position window.................................................................................................................................................56
310E-00 Position window time.......................................................................................................................................56
310F Delta space.....................................................................................................................................................................57
3111-00 Kp position loop...................................................................................................................................................57
3112-00 Ki position loop....................................................................................................................................................58
3114-00 Jog speed................................................................................................................................................................58
3115-00 Work speed............................................................................................................................................................58
3116-00 Max speed..............................................................................................................................................................59
3117-00 Jog step length.....................................................................................................................................................59
3118-00 Start Torque current time................................................................................................................................59
3120-00 Distance per revolution....................................................................................................................................59
3300-00 Preset........................................................................................................................................................................60
3301-00 Offset........................................................................................................................................................................60
3302-00 Code sequence.....................................................................................................................................................61
3330-00 Kp current loop....................................................................................................................................................61
3331-00 Ki current loop......................................................................................................................................................61
3340-00 Max current...........................................................................................................................................................61
3341-00 Starting Torque current....................................................................................................................................62
3342-00 Gear ratio................................................................................................................................................................62
3343-00 Positive absolute limit switch........................................................................................................................62
3344-00 Negative absolute limit switch......................................................................................................................62
3005-00 Current value [mA].............................................................................................................................................63
3006-00 Temperature value..............................................................................................................................................63
3100-00 Control word.........................................................................................................................................................63
3101-00 Status word...........................................................................................................................................................63
3102-00 Demanded position value................................................................................................................................63
3103-00 Current position value......................................................................................................................................63
3105-00 Current velocity value.......................................................................................................................................64
3106-00 Target position.....................................................................................................................................................64
3107-00 Target speed..........................................................................................................................................................64
310B-00 Position following error...................................................................................................................................64
3110-00 Cyclic Time.............................................................................................................................................................64
3200-00 Alarms......................................................................................................................................................................65
Machine data not valid...................................................................................................................................................65
Flash memory error...........................................................................................................................................................65
Following error....................................................................................................................................................................65
Axis not synchronized......................................................................................................................................................65
Target not valid...................................................................................................................................................................65
Emergency............................................................................................................................................................................65
Overcurrent..........................................................................................................................................................................65
Overtemperature................................................................................................................................................................66
Undervoltage.......................................................................................................................................................................66
CAN Life guard error........................................................................................................................................................66
8.2 Warning messages................................................................................................................................................67
8.3 Emergency messages...........................................................................................................................................67
No active errors..................................................................................................................................................................67
Generic error........................................................................................................................................................................67
Power surge.........................................................................................................................................................................67
Overvoltage..........................................................................................................................................................................67
Undervoltage.......................................................................................................................................................................67
Overtemperature................................................................................................................................................................67

Flash memory......................................................................................................................................................................67

Life Guard..............................................................................................................................................................................67

Following error....................................................................................................................................................................67

8.4 Node guarding protocol.....................................................................................................................................68

9 Programming examples..................................................................................................................... 69

10 Default parameters list................................................................................................................... 70

Subject Index

1000-00 Device type......................................................46

1001-00 Error register...................................................46

1003 Pre-defined Error Field.......................................47

1005-00 COB-ID SYNC messages.............................47

1008-00 Device name....................................................47

1009-00 Hardware Version.........................................47

100A-00 Software Version..........................................47

100C-00 Guard Time......................................................47

100D-00 Life Time Factor.............................................48

1010-01 Save Parameters............................................48

1011-01 Restore Default Parameters.....................48

1014-00 COB-ID EMCY.................................................49

1015-00 Inhibit Time Emergency.............................49

1018 Identity Object.......................................................49

1400 Receive PDO Communication Parameter 1

.............................................................................................50

1600 Receive PDO Mapping Parameter 1.............51

1800 Transmit PDO Communication Parameter 1

.............................................................................................51

1A00 TPDO Mapping Parameter 1............................53

3000-00 Baud rate..........................................................55

3001-00 Node ID.............................................................55

3005-00 Current value [mA].......................................63

3006-00 Temperature value........................................63

3100-00 Control word...................................................63

3101-00 Status word.....................................................63

3102-00 Demanded position value.........................63

3103-00 Current position value................................63

3105-00 Current velocity value.................................64

3106-00 Target position...............................................64

3107-00 Target speed....................................................64

3108-00 Acceleration....................................................56

3109-00 Deceleration....................................................56

310B-00 Position following error.............................64

310C-00 Max following error.....................................56

310D-00 Position window...........................................56

310E-00 Position window time.................................56

310F Delta space..............................................................57

3110-00 Cyclic Time.......................................................64

3111-00 Kp position loop............................................57

3112-00 Ki position loop..............................................58

3114-00 Jog speed..........................................................58

3115-00 Work speed......................................................58

3116-00 Max speed........................................................59

3117-00 Jog step length..............................................59

3118-00 Start Torque current time.........................59

3120-00 Distance per revolution..............................59

3200-00 Alarms................................................................65

3300-00 Preset.................................................................60

3301-00 Offset..................................................................60

3302-00 Code sequence...............................................61

3330-00 Kp current loop..............................................61

3331-00 Ki current loop...............................................61

3340-00 Max current.....................................................61

3341-00 Starting Torque current.............................62

3342-00 Gear ratio.........................................................62

3343-00 Positive absolute limit switch..................62

3344-00 Negative absolute limit switch...............62

Alarm.....................................................................................42

Alarm reset..........................................................................39

Axis enabled.......................................................................42

Axis in position..................................................................42

Axis not synchronized....................................................65

Axis running.......................................................................42

Axis torque..........................................................................40

CAN Life guard error.......................................................66

Control Word.....................................................................38

Current position...............................................................43

Current velocity................................................................43

DAC Saturation.................................................................43

Emergency...................................................................39, 65

Executing a command...................................................42

Flash memory.....................................................................67

Flash memory error.........................................................65

Following error..........................................................65, 67

Generic error......................................................................67

IN 1.........................................................................................43

IN 2.........................................................................................43

IN 3.........................................................................................43

Incremental jog.................................................................39

Jog -.......................................................................................38

Jog +......................................................................................38

Life Guard............................................................................67

Machine data not valid.................................................65

No active errors................................................................67

OUT 1.....................................................................................40

OUT 2.....................................................................................40

OUT 3.....................................................................................40

Overcurrent.........................................................................65

Overtemperature.................................................66 e seg.

Overvoltage........................................................................67

Power surge........................................................................67

Start.......................................................................................39

Status word........................................................................42

Stop........................................................................................39

SW limit switch -.............................................................42

SW limit switch +............................................................42

Target not valid.................................................................65

Target position..................................................................41

Target position reached.................................................43

Undervoltage........................................................66 e seg.

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 ORANGE;

•alarms are coloured in RED;

•states are coloured in FUCSIA.

When scrolling through the text some icons can be found on the side of the page: they are expressly

designed to highlight the parts of the text which are of great interest and significance for the user.

Sometimes they are used to warn against dangers or potential sources of danger arising from the use of

the device. You are advised to follow strictly the instructions given in this guide in order to guarantee

the safety of the user and ensure the performance of the device. In this guide the following symbols are

used:

This icon, followed by the word WARNING, is meant to highlight the parts of the

text where information of great significance for the user can be found: user must

pay the greatest attention to them! Instructions must be followed strictly in order

to guarantee the safety of the user and a correct use of the device. Failure to heed

a warning or comply with instructions could lead to personal injury and/or damage

to the unit or other equipment.

This icon, followed by the word NOTE, is meant to highlight the parts of the text

where important notes needful for a correct and reliable use of the device can be

found. User must pay attention to them! Failure to comply with instructions could

cause the equipment to be set wrongly: hence a faulty and improper working of

the device could be the consequence.

This icon is meant to highlight the parts of the text where suggestions useful for

making it easier to set the device and optimize performance and reliability can be

found. Sometimes this symbol is followed by the word EXA PLE when instructions

for setting parameters are accompanied by examples to clarify the explanation.

Preliminary information

This guide is designed to provide the most complete information the operator needs to correctly and

safely install and operate the ROTADRIVE positioning units RD4 model.

RD4 units are positioning devices which integrate into one system a brushless motor fitted with gearbox,

a drive, a multiturn absolute encoder and a position controller. They can be used in a variety of

applications in any industrial sector and are suitable to drive secondary axes such as in mold changers,

mobile stops, tools changers, suction cups motion units, conveyor and spindle positioning devices on

packaging & woodworking machineries, among others.

The available interfaces for fieldbus communication are: odbus RTU, Profibus-DP and CANopen DS

301.

To make it easier to read the text, this guide can be divided into two main sections.

In the first section general information concerning the safety, the mechanical installation and the

electrical connection as well as tips for setting up and running properly and efficiently the unit are

provided.

While in the second section, entitled CANopen Interface, both general and specific information is given

on the CANopen interface. In this section the interface features and the parameters implemented in the

unit are fully described.

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