DC Servo Drive

10V - 30V DC, 50W with ASCII Modbus

RMCS – 2303

Operating Manual v1.0

https://www.robokits.co.in/
 Contents
Introduction – Salient Features ...........................................................................................................3
Technical specifications and Pin description .......................................................................................4
Drive & Motor Connection ...................................................................................................................5
Modes of Operation ............................................................................................................................6
Slave ID Addressing ...........................................................................................................................7
Basics of a servo drive ........................................................................................................................8
How to use the drive: ..........................................................................................................................9
Software Installation: .....................................................................................................................10
COM port Selection .......................................................................................................................12
Selection of Modbus Slave Address: .............................................................................................13
Parameters ....................................................................................................................................14
Control Modes...................................................................................................................................16
Mode 0 - Analog Control Mode ......................................................................................................16
Mode 1 - Digital Speed Control Mode ............................................................................................18
Mode 2 - Position Control Mode ....................................................................................................20
Modbus Registers............................................................................................................................23
Modbus Register Mapping: ...............................................................................................................25
Control through ArduinoMicrocontroller .............................................................................................29

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Introduction – Salient Features
Rhino Motion Controls RMCS-2303 with UART ASCII is a high performance dc servo drive (10–30 V DC) designed for
optimized operation of any DC Servo motors with quad encoder feedback. This is an amazing cost effective solution to
provide closed loop servo control for various applications. The salient features of this drive:

• This drive provides a closed loop speed and position control for DC motor with encoder.
• The motor programmed speeds are maintained irrespective of the voltages supplied.
• Also by using this drive, the rated torque of the motor is available at all speeds and the torque does not decrease
with change in speeds.
• It is possible to run the motor in three different modes, Analog speed control mode, Digital speed control mode and
Position control mode.
• It has short-circuit protection for the motor outputs, over-voltage and under-voltage protection and will survive
accidental motor disconnects while powered-up.
• This drive is configured using MODBUS ASCII protocol via UART.
• There is a function in the drive for setting the Modbus Slave Address from 1 to 7 using physical jumpers (Hardware
Setting) or using PC GUI or any other device like PLC or microcontroller which can provide proper data output on
ASCII Modbus.

• There are three user modes in the drive :

o Mode 0 - Analog Control Mode
o Mode 1 - Digital Speed Control Mode
o Mode 2 - Position Control Mode

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Technical specifications and Pin description
Supply Voltage and Current

Specification Min Max Units Comments

Supply Voltage 10 30 Volts DC Between +Ve and GND

Phase Current 0.5 3 Amps Peak 3 Amps per phase

Pin description of the drive is as per below image:

Pin No. Description

Pin No. Description
8 GND
1 GND
9 +5VDC
2 RXD
10 ENC_B/Hall W
3 TXD
11 ENC_A/Hall V
4 ENABLE
12 Hall U
5 ADC
13 W
6 DIRECTION
14 Motor- / V
7 BRAKE
15 Motor+ / U
16 VDD
(Pins 1-7 are used for drive Configuration 17 GND
and UART control)
(Pins 8 - 17 are connected to motor and power supply as
described)
Pin No. Description
JP1 Jumper 1
JP2 Jumper 2
JP3 Jumper 3

(JP1 to JP3 are used for Hardware

setting of slave ID)

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Drive & Motor Connection

Drive Pin outs Motor Pin outs

Pin No. Description Motor Wire Color
8 GND GND Black
9 +5VDC VCC(5 V DC ) Brown
10 ENC_B/Hall W ENC_B(Encoder B) Red
11 ENC_A/Hall U ENC_A(Encoder A) Orange
12 Hall U M-( Motor-) Yellow
13 W M+( Motor+) Green
14 Motor- / V
15 Motor+ / U
16 VDD Power Supply Pin outs
17 GND VCC – 10 to 30V
GND

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Modes of Operation
The drive can be configured in the following three modes

1. Mode 0: Analog speed control mode:

a. In this mode the speed of the Rhino DC Servo motor can be controlled by an externally connected
Potentiometer.
b. Speed can be increased or decreased manually based on requirement using potentiometer.
c. The drive will provide full torque at all speeds within the range.
d. However the potentiometer has to be connected via a voltage divider to provide a maximum of 3.3 volts
so as to not damage the drive.
e. Also the Enable, Brake and direction pins have to be connected as per configuration requirements.

2. Mode 1: Digital Speed control mode with direction control:

a. In this mode the speed and direction of the DC servo motor is settable / controllable via a Computer or any
microcontroller board like Arduino or PLC or any other Modbus ASCII compatible device.
b. Like the analog mode here there is no compromise in the torque output of the motor irrespective of the
operational speed and voltage supply and control at higher speeds.
c. This mode can be used when multiple motors are to be used to run at exactly the same RPM and same
torque even though the voltage supply might be different.
d. Also in this mode the direction of the motor can be controlled digitally via Modbus ASCII commands to run
the dc servo motor in both directions
e. In applications like conveyor belts where speed control is critical and industrial robotic applications like
solar cleaning robots where straight line motion is critical for correction operation of the equipment, the
digital speed control mode can provide optimal results.

3. Mode 2: Position Control Mode:

a. In this mode Speed, Direction, Acceleration and Position of motor can be controlled.
b. The position control mode is suitable in applications where exact movement of motor is required. This
can be used in precision applications like machine control, motion control or robotics.

In all modes absolute encoder position and speed is available on Modbus.

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Slave ID Addressing
Multiple drives with different slave addresses can be used with a single controller on single UART bus. For
this all drives should have a unique Slave Address. Using the GUI software or Modbus commands, the slave
ID can be set from 1 to 247. However, slave ID from 1 to 7 can be set using physical jumpers also. As shown
in the image below there are three jumpers marked by a red circle shown in the image below.

The three jumpers JP1, JP2 and JP3 can be set in the configuration as per the below table to provide a
physical slave address to the drive. In the below table a value of ‘0’ corresponds to a state where the jumper is
not connected and a value of ‘1’ corresponds to a state where the jumper is connected. If none of the jumpers
are connected the drive has been programmed to use the Slave ID 11 in default mode which can be changed
from 1 to 247 using GUI software or Modbus commands.

Drive will check jumpers on startup. If no physical jumper is connected it will use programmed slave id.

Slave ID JP1 JP2 JP3 Image of connection on the Drive

1 0 0 1

2 0 1 0

3 0 1 1

4 1 0 0

5 1 0 1

6 1 1 0

7 1 1 1

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Basics of a servo drive

This is a servo drive to work with quad incremental encoder and dc motor. When the drive starts up the encoder
position is set as 0. With reference to the start position drive will always have a 32 bit number keeping track of
movement. It can be set to 0 at any point.

This servo drive works with quadrature encoder. The quadrature encoder also known as quad encoder or
incremental encoder gives two channels of pulses output. It can be of optical or magnetic type.

The basic concept is the encoder gives output of two channels of pulse streams say channel A and channel B to
drive, when A is leading B or B is leading A the drive can also determine the direction of movement.

So drive can calculate the speed and direction of motor according to the pulses if number of Lines per
Rotation is known. For each line drive gets 4 counts, for example if encoder is 334 lines drive can get 1336
(334 x 4) counts per rotation. This parameter can be set in register 10. It's a 16 bit unsigned number having
range of 1 to 65535.

In any of the 3 modes drive manages speed, direction, acceleration, deceleration, position of motor and
voltage and current given to the motor based on set parameters, gains and feedback from encoder. This is a
close loop system means in position mode the drive always tries to make the error which is difference between
the required position and error to 0, in case of speed mode it tries to make the speed same as set speed.

The voltage and current given to motor is also managed by drive to provide higher torque when required. This
also means that even at lower speed, higher torque up to the maximum torque available in motor is possible.

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How to use the drive:
The drive needs to be configured to run in any one of the three modes described in the above section to
make a closed loop control system. The drive can be configured using a PC with GUI software / Modbus
controller / Arduino Board.

To configure the drive for a closed loop system

• PC with GUI software for Rhino 2303 drive or any generic Modbus software (Like Modbus Poll)
o GUI software
https://robokits.co.in/downloads/Rhino%20DC%20Servo%202303%20Config%20Setup.e
xe
o Modbus Poll demo version - https://www.modbustools.com/download.html

• RMCS-2303 UART ASCII Encoder DC Motor Driver

o https://robokits.co.in/motor-drives-drivers/encoder-dc-servo/rhino-industrial-encoder-dc-
motor- driver-50w-with-uart-ascii-compatible-10-to-30-v-10a

• Encoder DC Servo Motor (Any DC motor 10-30VDC 50W max with encoder)

o https://robokits.co.in/rhino-planetary-encoder-dc-servo

o https://robokits.co.in/rhino-ig32-precision-dc-servo

o https://robokits.co.in/motors/encoder-dc-servo/high-torque-dc-encoder-motor

o https://robokits.co.in/motors/encoder-dc-servo/high-torque-high-precision-motor

• Industrial Power Supply (below is a recommended supply. It can vary as per your requirements)

o https://robokits.co.in/power-supply/industrial-power-supply/24v-10a-industrial-power-
supply

• USB UART Module

o RKI-1154 CP2102 - https://robokits.co.in/control-boards/interface-boards/cp2102-usb-

uart-module

• External 10K Potentiometer and resistors (for analog Speed Control mode only).

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Software Installation:
Software is available here
https://robokits.co.in/downloads/Rhino%20DC%20Servo%202303%20Config%20Setup.exe

Download and run the setup executable.

• Click Next button

• Verify installation destination and click Next

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• Click Finish when Installation Successful message shows up.

Now, Software is ready to use. find the shortcut on desktop and open the software. Once the Software
is installed connect USB-UART as per shown in below figure.

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COM port Selection
Select COM Port for USB-UART, then click on "Connect" button.

You may look in 'Devices and Printers' or 'Device Manager' for specific serial port of your device. The
software supports serial ports up to COM32 only. If your device's port number is higher you can change it in -
Device Manager > Ports (COM & LPT) > Double click on device name > Port Settings > Advanced > COM
Port number

Once your drive is connected to COM Port and it shows "Connected" message.

When the drive communicates with software You can see a blinking Green indication.

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Selection of Modbus Slave Address:
There are two ways to select Modbus Slave address.

1. If Slave address is already known, it can be directly selected from drop box.

2. If slave address is not known or multiple drives with multiple addresses are connected on serial bus, click
search button. This will search for all slave ids from 1 to 247. If any response is received from slave id it will
give indication in status bar and list the drive in 'Available Slaves' drop down box.

To search slave address click on "Search". Once all the connected devices are found click on "Stop Search".
Select any of detected slave address in Modbus Slave Address drop down box and drive will start
communicating to software.

Make sure no multiple drives with same slave address is connected on serial bus.

Once any drive is connected and slave id for the same is selected, software will read parameters of the drive.
It can also be done manually by clicking 'Read Parameters' button.

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Parameters
READ PARAMETERS

"Read Parameters" is used to read current parameters of drive.

SET A PARAMETER
• Pressing 'Enter' on text box will change the parameter in drive but it will not be saved permanently. 'Write
Parameters' button must be clicked to save all parameters permanently.
• Set Position Proportional gain, Velocity Feed Forward gain and Position Integral Gain as per requirement.
These can be used to remove vibrations and making movement of motor accurate.
• Set Modbus slave address and lines per rotation. Lines Per Rotation is very important because it does have
effect on indication of speed feedback.
• If slave address is changed the software will automatically change the slave id of currently connected
device.
• Set Speed and Acceleration as per the requirement of application.

WRITE PARAMETERS
Once all the parameters are entered and tested, click on "Write Parameters" to save all parameters in drive.
These parameters will be changed permanently. Notification will be shown as below when all parameters
are written successfully.

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RESET PARAMETERS

To reset the drive to default configuration click 'Reset Parameters' button. This will set all parameters to default
values. When button is clicked software will ask for confirmation.

Click on "Yes" to reset the drive. After Clicking on 'Yes' if reset is successful confirmation message will be
shown. Power off and Power on the drive to load default parameters. If any physical jumpers are preset at
this point the slave id of the drive will be according to that otherwise slave id will be 11.

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Control Modes
Motor can be run in 3 different modes - 0: Analog Mode, 1: Digital Speed Mode, 2: Position Mode

Mode 0 - Analog Control Mode

In this mode drive can be controlled using an external potentiometer or analog voltage input. As this is a close loop
drive, high torque (up to the maximum torque motor can provide) is available even at low speed.

• Connect external potentiometer to change speed of motor as per diagram.

• Connect enable (Pin 4) of drive to GND (Pin 8) to enable motor in analog mode.
• Direction of motor can be changed in analog mode by connecting the Direction (Pin 6) to the GND (Pin
8).
• Electronic brake can be applied to motor by connecting Brake to GND - (Pin 7) to GND (Pin 1).

Hardware Connection:

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Drive to PC/Analog Connection

CP2102 Pin outs

GND
Drive Pin outs TXD
Pin No. Description RXD
1 GND
2 RXD Voltage Divider Pin outs
3 TXD GND GND
4 ENA Potentiometer Pin outs 3.3V Signal
5 ADC GND GND 5V 5 V DC
6 DIR Output Signal
7 BRK VCC 3.3 V DC

Set drive to Analog Control Of Motor in Software:

• By default the drive is in Analog mode. However if the mode is changed to some other then it can be
set through software.
• Connect drive to PC and select Analog Control Mode in Operation Mode

• After selecting analog control mode click on "Write Parameters" to always start the drive in analog
mode.

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Mode 1 - Digital Speed Control Mode
• In this mode the drive works in speed mode. It tries to reach and maintain the speed as per set
parameter.
• The speed can vary depending upon load and gains set.
• Make sure that the set speed is always less than the motor can actually reach, otherwise the drive can
give uncertain result. For example if the maximum speed motor can reach at given voltage is 18000
always set speed less than 18000 RPM.

Hardware Connection:

Digital Control Mode in Software:

a). To run your motor on digital speed control mode select this mode from operation mode.

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b) In this mode speed of motor(rpm) can be controlled by changing value from 0-65535.

1. Speed can be increased and decreased using "+" and "-" respectively.

2. Enable Motor : Once speed is set click on "Enable Motor" to run motor on set speed.

3. Change Direction: Change the direction of motor. Can be done when motor is running or stopped.

4.Speed Feedback: Current speed feedback from drive. This depends on actual speed m easured by encoder
and Lines per rotation setting.

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Mode 2 - Position Control Mode
The position control mode allows to go to absolute position with reference to 0 as start position. Current position
can be set to 0 at any point of time. The drive also manages the speed and acceleration/deceleration as per set
parameter while responding to any change in set position.

When a 32bit value is set through register 16 and 18 the drive will try to move motor to that position. It can be
updated even when motor is moving. Motor can be stopped any time or speed can be changed anytime even
while moving.

Hardware Connection:

POSITION
MODE

COUNT CALCULATION:
Lines per rotation concept is very important for Position Control mode. For example we will use
HIGH TORQUE HIGH PRECISION ENCODER DC GEARED MOTOR 12V 200RPM (RMCS-5014)
https://robokits.co.in/motors/encoder-dc-servo/high-torque-high-precision-encoder-dc-geared-motor-12v-200rpm

Lines per rotation = 334

For one rotation of encoder, the no of counts = 334 x 4 = 1336 (As it is quad encoder) So for 1336 steps, the base
motor would move one rotation.

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However as the motor is geared motor, the ratio of the gear box determines the rotation of the output shaft of the
motor for each rotation of the base motor.
output shaft(rpm) = base motor(rpm) / gear ratio
counts per rotation = counts per rotation X gear ratio for output shaft of base motor

For example, A motor of 200 RPM with base motor of 18000 rpm, the gear ratio is 90. Hence for a full rotation of
the output shaft in this motor, the number of counts to be programmed would be 1336 x 90 = 120,240 steps.
This means output shaft will complete one rotation when Hex value of 120240 counts is set to register 16 and 18,
LSB and MSB respectively.

Position Control in Software

When drive is connected and put in Position Control mode, software will look like this .

In Position control mode there are two ways to control position: Absolute Position control and Relative
Position control.
ABSOLUTE POSITION
In this control mode motor will move precisely until entered count is not obtained. Position command can be given
by putting number in Absolute Position textbox and clicking 'Go to absolute position' button. The direction is
automatically managed by the drive. For example writing 4000 and clicking button moves the motor forward to
4000 count, giving -4000 would move the motor in other direction to achieve -4000 count. Feedback section

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shows the actual current position and speed of motor.

RELATIVE POSITION
Relative position is a software function, the software takes current position as reference and moves motor to the
count typed in textbox with reference to current position.

For example, if current position is 5000 and entered value is 3000 in forward direction (M+) then motor will move
to 8000 position (absolute) and then if direction is reverse (M-) then it will move to 2000 position (absolute).

There are also some preset command buttons to move motor. Any of these buttons will not function if motor is
moving (speed is not 0).

Other commands in Position mode

"Jog+" and "Jog-" are used to move motor manually in forward and reverse direction. It can be used when motor
needs to be manually moved to some location like for homing.
"Set Home": To set current position as home position - 0. "Go to Home": Go to position 0.
"Stop Motion": Stop motor but keep position loop on. Motor stops but holds the current position. "E-stop Drive": By
clicking this button drive will cut-off power supply to motor and motor gets free.

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Modbus Registers
Range /
Data Command And
Function
Register Address Access Size Default value Specification Description
(Decimal) in HEX
(Decimal)

To save parameters in Drive

(EEPROM) send Hex value XXFF
For slave is 7
Write Parameters to Address 0.
Mode byte:07
FF (255) Control byte: FF Where XX is slave ID ranging from
to EEPROM
Read / 16
40001 0 01 to F7(1 - 247)
Write bit
For example:
If slave id is 7 then write 07FF.

Range:1-F7
For Slave Address Setting refer
Modbus Slave (1-247)
Slave ID Addressing on page 7
Address
Default: 0B(11)
Modes (Default value: 0)
Enable motor in analog Control
Mode byte:00
0001(1) mode.
Control byte:01
For analog mode, connect external
Analog Control potentiometer.
Mode
0000(0) Mode byte:00 Disable motor in analog Control
(Mode 0)
Control byte:00 mode

Mode byte:01 Enable motor in CW (Clockwise

0101(257)
Control byte:01 Direction)

Mode byte:01
0100(256) Disable motor in CW
Control byte:00

Mode byte:01
0104(260) Brake in CW
Control byte:04

Mode byte:01 Enable motor in CCW (Counter

Digital Speed 0109(265)
Control byte:09 Clockwise Direction)
Control Mode
Read / (Mode 1)
40003 2 16 bit Mode byte:01
Write 0108(264) Disable motor in CCW
Control byte:08

Mode byte:01
010C(268) Brake in CCW
Control byte:0C

Mode byte:02 Enable motor in position control

0201(513)
Control byte:01 mode
Position Control
Mode
Mode byte:02 Disable motor in position control
(Mode 2) 0200(512)
Control byte:00 mode

Special Functions

E-stop Mode byte:07 Stops motion and stops giving

0700(1792)
(Mode 7) Control byte:00 power to motor

Stop Mode byte:07 Stops motion, motor maintains the

0701 (1793)
(Mode 7) Control byte:01 position
Set Home
Mode byte:08
Position 0800(2048) Set current encoder count to 0
Control byte:00
(Mode 8)

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 Restart Drive Mode byte:09
0900(2304) Restarts the drive
(Mode 9) Control byte:00
Range:
01-FF (1-255) Writing 0 in this address, then save
Read / Position
40005 4 16 bit to eeprom, on power reset the drive
Write Proportional Gain
Default: will load default values
20(32)
Range:
00-FF (0-255)
Read / Position Integral
40007 6 16 bit
Write Gain
Default:
10(16)
Range:
0-FF (0-255)
Read / Velocity Feed
40009 8 16 bit
Write forward Gain
Default: 20
(32)
Range:
0000-FFFF Set number of lines of encoder
Read / (0-65535)
40011 10 16 bit Lines per Rotation depends on encoder. Speed
Write
Default: 014E feedback depends on this.
(334)
Range:
0000 – FFFF
Read / (0-65535)
40013 12 16 bit Acceleration Set the Acceleration of the Motor
Write
Default:
4E20(20000)
Range:
Speed Command 0000-FFFF If gearbox is attached output RPM
Read / (0-65535)
40015 14 16 bit for base Motor in will be different.
Write
RPM Default:0800
(2048)
Range:
0000-FFFF
Read/ LSB of Position
40017 16 (0-65535)
Write Command Send Position Command, motion is
Default:0 affected only when register 18 is
32 bit
Range:
0000-FFFF updated.
Read / MSB of Position
40019 18 (0-65535)
Write Command
Default:0
Range:
LSB of Position 0000-FFFF
40021 20 Read Only (0-65535)
Feedback
Default:0
32 bit Position Feedback Register
Range:
MSB of Position 0000-FFFF
40023 22 Read Only (0-65535)
Feedback
Default:0
Range:
0000-FFFF Current Speed Feedback
40025 24 Read Only 16 bit Speed Feedback (0-65535)
Default:0

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Modbus Register Mapping:
➢ Device Modbus Address(MOD_ID)

Address: 0x00 (40001)

Default value: 0x0BFF

MOD_ID[15:8] SP[7:0]
rw rw rw rw rw rw rw rw rw rw rw rw rw rw rw rw

Bits 15:8 MOD_ID[15:8]: Modbus address bits

Default: 0x0B
Maximum value: 0xF7
Minimum value: 0x01
Bits 7:0 SP[7:0]: Save parameters to eeprom
Default: 0x00
If slave id is 7 then write 07FF

➢ Control and Mode Register

Address: 0x02(40003)
Default value: 0x0000

MODE[15:8] CRTL[7:0]
0 0 0 0 rw rw rw rw 0 0 0 0 DIR BRK 0 EN

Bits 15:8 MODE [15:8]: Mode byte

Default: 0x00

Bits [11:8] 0000: Analog Control Mode

0001: Digital Control mode
0010: position Control Mode
0111: Stop mode
1000: Set Home Position
1001: Restart Drive

Bits 7:0 CRTL [7:0]: Control Byte

Default: 0x00

Bit 3 DIR: Direction (only Digital mode)

0: Clockwise direction
1: Counter-clockwise direction

Bit 2 BRK: Brake

0: Disable Brake
1: Enable Brake
Note: This function is only available in Digital control mode.

Bit 0 EN: Enable bit

0: Disable mode
1: Enable mode

Note: Enable has more priority than brake.

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 ➢ Position Proportional Gain Register (PPG)

Address: 0x04 (40005)

Reset Value: 0xFF20

Reserved PPG[7:0]
1 1 1 1 1 1 1 1 rw rw rw rw rw rw rw rw

Bits 15:8 Reserved

Bits 7:0 PPG [7:0]: Position Proportional Gain register
Default: 0x20
Maximum value: 0xFF
Minimum value: 0x01

Position proportional gain provides stable and vibration less movement in motor.

➢ Position Integral Gain Register (PIG)

Address: 0x0006 (40007)

Reset Value: 0xFF10

Reserved PIG[7:0]
1 1 1 1 1 1 1 1 rw rw rw rw rw rw rw rw

Bits 15:8 Reserved.

Bits 7:0 PIG [7:0]: Position Integral Gain register
Default: 0x10
Maximum value: 0xFF
Minimum value: 0x00
Position Integral gain affects torque of the motor.

➢ Velocity Feed forward Gain Register (VFFG)

Address: 0x08 (40009)

Reset Value: 0xFF20

Reserved VFFG[7:0]
1 1 1 1 1 1 1 1 rw rw rw rw rw rw rw rw

Bits 15:8 Reserved.

Bits 7:0 VFFG [7:0]: Velocity Feed forward Gain register
Default: 0x20
Maximum value: 0xFF
Minimum value: 0x00

Velocity feed-forward gain predicts the commands needed to achieve zero error and inject them into the control loop.

➢ Lines per Rotation Register (LPR)

Address: 0x0A (40011)

Reset value: 0x014E

LPR[15:0]
rw

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Bits 15:0 LPR [15:0]: Lines per Rotation
Default: 0x014E
Maximum value: 0xFFFF
Minimum value: 0x0000

This register is allocated to set number of lines of an Encoder of the Motor. The speed feedback and position
feedback depends on this register.

➢ Acceleration Register(ACC)

Address: 0x0C (40013)

Reset value: 0x4E20

ACC[15:0]
rw

Bits 15:0 ACC [15:0]: Acceleration

Default: 0x4E20
Maximum value: 0xFFFF
Minimum value: 0x0000

Acceleration is applied in speed and position control modes when starting the motion or changing the speed.
Deceleration is also applied as per set value when stopping the motor or decreasing the speed.

➢ Speed Register(SPD)

Address: 0x0E (40015)

Reset value: 0x0800

SPD[15:0]
rw

Bits 15:0 SPD [15:0]: base motor speed in RPM

Default: 0x0800
Maximum value: 0xFFFF
Minimum value: 0x0000

If gearbox is attached output RPM will be different.

➢ LSB of Position Command (LSB_POS)

Address: 0x0010 (40017)

Reset value: 0x0000

LSB_POS[15:0]
rw

Bits 15:0 LSB_POS [15:0]: LSB of Position Command

Default: 0x0000
Maximum value: 0xFFFF
Minimum value: 0x0000

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 ➢ MSB of Position Command (MSB_POS)

Address: 0x12 (40019)

Reset value: 0x0000

MSB _POS[15:0]
rw

Bits 15:0 MSB_POS [15:0]: MSB of Position Command

Default: 0x0000
Maximum value: 0xFFFF
Minimum value: 0x0000

Motor will move only when register 18 is updated.

➢ LSB of Position Feedback (LSB _POS_FB)

Address: 0x14 (40021)

Reset value: 0x0000

LSB _POS_FB[15:0]
r

Bits 15:0 LSB_POS [15:0]: LSB of Position Feedback

Default: 0x0000
Maximum value: 0xFFFF
Minimum value: 0x0000

➢ MSB of Position Feedback (MSB _POS_FB)

Address: 0x16 (40023)

Reset value: 0x0000

MSB _POS_FB[15:0]
r

Bits 15:0 MSB_POS [15:0]: MSB of Position Feedback

Default: 0x0000
Maximum value: 0xFFFF
Minimum value: 0x0000

➢ Speed Feedback (SPD_FB)

Address: 0x18 (40025)

Reset value: 0x0000

SPD_FB[15:0]
r

Bits 15:0 SPD_FB [15:0]: Speed Feedback of base motor in RPM

Default: 0x0000
Maximum value: 0xFFFF
Minimum value: 0x0000
Read Current Speed of the motor in RPM. If gearbox is attached then output RPM will be different.

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Control through Arduino Microcontroller
RMCS2303 drive can be controlled by any microcontroller, PLC or PC software capable of communicating on
ASCII Modbus protocol. Following section shows how to use provided library for Arduino microcontroller.

Hardware Connection:

DRIVE-ARDUINO MEGA CONNECTION

DRIVE ARDUINO

GND GND

RXD TXn (n=1,2,3 for Arduino mega2560)

TXD RXn (n=1,2,3 for Arduino mega2560)

DRIVE-ARDUINO UNO CONNECTION

DRIVE ARDUINO

GND GND

RXD D3(Software Serial Tx)

TXD D2(Software Serial Rx)

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Library Installation:
➢ Download RMCS-2303 Arduino library from :
http://robokits.co.in/downloads/RMCS2303drive_Arduino_Library.zip
➢ In Arduino IDE got to menu - Sketch > Include Library > Add .ZIP Library

➢ Choose the downloaded zip file.

➢ You can see confirmation if library import is successful

➢ Open examples from Menu File > Examples > RMCS-2303_DC_Servo

➢ Set parameters; make sure you choose parameters, serial port, and slave id properly before uploading
the code to Arduino board.
➢ There are many more functions other than covered in example codes. Description of these functions
as below. In this code 'rmcs' is object for library class, it can be changed.

Functions for analog control mode

rmcs.Enable_Analog_Mode(slave_id); //Enable analog mode
rmcs.Disable_Analog_Mode(slave_id); //Disable motor in analog
mode

Functions for Digital speed control mode

rmcs.Speed(slave_id,5000); //Set speed to 5000 RPM
rmcs.Enable_Digital_Mode(slave_id,1); //Enable speed mode, motor starts
moving long int b=rmcs.Speed_Feedback(slave_id);//Speed feedback from drive
rmcs.Brake_Motor(slave_id, 1); //Brake motor in speed mode
rmcs.Disable_Digital_Mode(slave_id,1); //Disable motor in speed mode

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Functions for position control mode
rmcs.Absolute_position(slave_id,-10000); //Move to absolute position -
10000 long int b=rmcs.Position_Feedback(slave_id);//Take position
feedback from drive Serial.println(b);

Special Functions
rmcs.SAVE(slave_id); //Save all parameters
rmcs.RESET(slave_id); //Reset drive to default
parameters, rmcs.ESTOP(slave_id); //E-stop the
drive rmcs.STOP(slave_id); //Stop motion
rmcs.SET_HOME(slave_id); //Set current position to
0 rmcs.Restart(slave_id); //Software restart drive.

Description of code and functions used

#include<RMCS2303drive.h>

Include Downloaded library in code to use available functions for controlling RMCS2303 drive in all
modes. If
Library is not installed then follows steps as per described in “Library Installation".

RMCS2303 rmcs;

Make an object for class RMCS2303. Any object name can be set instead of "rmcs". Use the same
class in
all functions.

byte slave_id=7; int INP_CONTROL_MODE=265; int PP_gain=32; int PI_gain=16; int VF_gain=32;
int LPR=334; int acceleration=20000; int speed=320;

Set all necessary parameters value as per application. INP_CONTROL_MODE depends on Mode
and type
of control, values are given in Hex in Appendix 1 so convert it in integer then store in
INP_CONTROL_MODE variable. LPR is Lines Per Rotation.

rmcs.Serial_selection(1); //Serial port selection:0-Hardware serial,1-Software serial

Set hardware or software serial port to be used. Boards like Arduino Uno have only one hardware
serial port
this gets used by usb-serial. In this case software serial should be used to communicate with drive.
Boards like Arduino mega have multiple hardware serial ports, in this case use hardware serial.

Hardware Serial port: rmcs.Serial_selection (0); Software Serial Port: rmcs.Serial_selection (1);

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rmcs.Serial0(9600); //usb serial to monitor data on serial monitor

This function will initialize Serial communication by setting baudrate between Arduino and Serial
monitor in Arduino IDE. Baudrate can be changed as required.

rmcs.begin(&Serial3,9600); //uncomment if using hardware serial port for

mega2560:Serial1,Serial2,Serial3 and set baudrate

This function passes the pointer of serial port to be used. It's used to initialize serial port and set
baudrate.
Serial1 : rmcs.begin(&Serial1,9600); Serial2 : rmcs.begin(&Serial2,9600); Serial3 :
rmcs.begin(&Serial3,9600);

rmcs.begin(&myserial,9600); //uncomment for using software serial and set baudrate

This function is used to set baudrate of Software Serial port. In Arduino Uno software serial should be
used.

rmcs.WRITE_PARAMETER(slave_id, INP_CONTROL_MODE, PP_gain, PI_gain, VF_gain,

LPR, acceleration, speed);

This function is used to write all parameters. Confirmation will be sent on Serial port shown as below
when
all parameters are written Successfully.

rmcs.READ_PARAMETER(slave_id);

This function read all current parameters and then print on Serial monitor.

Analog Mode:
rmcs.Enable_Analog_Mode(slave_id);

This function will enable your drive in Analog control mode. Speed of motor can be changed by
varying
potentiometer.

rmcs.Disable_Analog_Mode(slave_id); // To disable motor in Analog control Mode

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This function is used to disable motor in analog control mode.

Digital Speed Control Mode:

rmcs.Speed(slave_id,5000); //enter speed within range of 0-65535

When drive is used in Digital Speed control mode, this function is used to change the speed. Value
from 0
to 65535 can be set but all motors have some maximum rpm. When value is more than possible RPM
motor will run at full speed, this may cause jerks in motion commands.

rmcs.Enable_Digital_Mode(slave_id,1);
Enable motor in digital mode with forward or reverse direction. 0 is forward (encoder count +) and 1 is reverse
(encoder count -).

Forward : rmcs.Enable_Digital_Mode(slave_id,0); Reverse: rmcs.Enable_Digital_Mode(slave_id,1);

rmcs.Speed_Feedback(slave_id);
This function returns the current speed of motor in long integer. Speed less than 0 is received when
motor is moving in reverse direction.

rmcs.Brake_Motor(slave_id, 1);
This function is used to brake motor in digital speed control mode. Should be used with direction as
below, if not drive may misbehave and motor may jerk.

Forward: rmcs.Brake_Motor(slave_id,0); Reverse: rmcs.Brake_Motor(slave_id,1);

rmcs.Disable_Digital_Mode(slave_id,1);
This function will disable Digital speed control mode in entered direction. Should be used with direction
as below, if not drive may misbehave and motor may jerk.

Forward: rmcs.Disable_Digital_Mode(slave_id,0); Reverse: rmcs.Disable_Digital_Mode(slave_id,1);

Position Control Mode:

rmcs.Absolute_position(slave_id,10000); This
function enables drive in position control mode. Positive range is 1 to 2147483647 and negative
range is -1 to -2147483648. Direction is selected automatically by drive.
rmcs.Absolute_position(slave_id,-10000);

rmcs.Position_Feedback(slave_id);
Current Position of motor can be read by this function on Serial monitor. This function will return long integer.

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Special Functions:

rmcs.SAVE(slave_id);
This function will save all written parameters in drive.

rmcs.RESET(slave_id);
This function will reset all the parameters and set all parameters at default value.

rmcs.ESTOP(slave_id);
This function will stop motor and cut off power from drive to motor.

rmcs.STOP(slave_id);
This function is used to stop motion of motor. Motor will be locked as its still controlled by drive.

rmcs.SET_HOME(slave_id);
This function changes current encoder position to "0".

rmcs.Restart(slave_id);
Restart the drive by software.

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Copyright © Rhino Motion Controls, 2020 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.

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