Lika RD4 User Manual
User's guide
RD4
Position measurement & control
This publication was produced by Lika Electronic s.r.l. 2015. All rights reserved. Tutti i diritti riservati. Alle Rechte vorbehalten. Todos los
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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 info@lika.it 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
1 Safety summary.................................................................................................................................. 11
1.1 Safety..........................................................................................................................................................................11
1.2 Electrical safety......................................................................................................................................................11
1.3 Mechanical safety..................................................................................................................................................12
2 Identification....................................................................................................................................... 13
3 Mechanical installation.....................................................................................................................14
4 Electrical connections........................................................................................................................ 17
4.1 Ground connection (Figure 3)..........................................................................................................................17
4.2 Connectors (Figure 3)...........................................................................................................................................18
4.3 Diagnostic LEDs (Figure 3).................................................................................................................................20
4.4 Dip-Switches (Figure 4).......................................................................................................................................21
4.4.1 Setting the node address: Node ID (Figure 4)...................................................................................22
4.4.2 Setting the data transmission rate: Baud rate (Figure 4)............................................................23
4.4.3 RT bus termination (Figure 4)...................................................................................................................23
5 Quick reference................................................................................................................................... 24
6 Functions.............................................................................................................................................. 25
6.1 Working principle..................................................................................................................................................25
6.2 Movements: jog and positioning....................................................................................................................26
6.3 Digital inputs and outputs.................................................................................................................................27
6.4 Objects 3120-00 Distance per revolution, 3114-00 Jog speed, 3115-00 Work speed, 3300-
00 Preset and 310F Delta space.........................................................................................................................28
7 CANopen® interface........................................................................................................................... 32
7.1 EDS files.....................................................................................................................................................................32
7.2 NMT states................................................................................................................................................................33
7.2.1 Initialization.....................................................................................................................................................33
7.2.2 Pre-operational state...................................................................................................................................34
7.2.3 Operational state...........................................................................................................................................34
7.2.4 Stopped state..................................................................................................................................................34
7.3 Communication messages.................................................................................................................................35
7.3.1 Generic pre-defined connection set.....................................................................................................36
7.4 NMT messages.........................................................................................................................................................36
7.6 PDO messages.........................................................................................................................................................37
7.6.1 “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
1
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
3
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
A
Alarm.....................................................................................42
Alarm reset..........................................................................39
Axis enabled.......................................................................42
Axis in position..................................................................42
Axis not synchronized....................................................65
Axis running.......................................................................42
Axis torque..........................................................................40
C
CAN Life guard error.......................................................66
Control Word.....................................................................38
Current position...............................................................43
Current velocity................................................................43
D
DAC Saturation.................................................................43
E
Emergency...................................................................39, 65
Executing a command...................................................42
F
Flash memory.....................................................................67
Flash memory error.........................................................65
Following error..........................................................65, 67
G
Generic error......................................................................67
I
IN 1.........................................................................................43
IN 2.........................................................................................43
IN 3.........................................................................................43
Incremental jog.................................................................39
J
Jog -.......................................................................................38
Jog +......................................................................................38
L
Life Guard............................................................................67
M
Machine data not valid.................................................65
N
No active errors................................................................67
O
OUT 1.....................................................................................40
OUT 2.....................................................................................40
OUT 3.....................................................................................40
Overcurrent.........................................................................65
Overtemperature.................................................66 e seg.
Overvoltage........................................................................67
P
Power surge........................................................................67
S
Start.......................................................................................39
Status word........................................................................42
Stop........................................................................................39
SW limit switch -.............................................................42
SW limit switch +............................................................42
T
Target not valid.................................................................65
Target position..................................................................41
Target position reached.................................................43
U
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 EXAMPLE 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: Modbus 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.
RD4 CANopen®
1 Safety summary
1.1 Safety
• Always adhere to the professional safety and accident prevention
regulations applicable to your country during device installation and
operation;
• installation and maintenance operations have to be carried out by
qualified personnel only, with power supply disconnected and stationary
mechanical parts;
• device must be used only for the purpose appropriate to its design: use for
purposes other than those for which it has been designed could result in
serious personal and/or the environment damage;
• high current, voltage and moving mechanical parts can cause serious or
fatal injury;
• warning ! Do not use in explosive or flammable areas;
• failure to comply with these precautions or with specific warnings
elsewhere in this manual violates safety standards of design, manufacture,
and intended use of the equipment;
• Lika Electronic s.r.l. assumes no liability for the customer's failure to
comply with these requirements.
1.2 Electrical safety
• Turn OFF power supply before connecting the device;
• connect according to explanation in section ”Electrical connections”;
• a safety push-button for emergency power off has to be installed to shut
off motor power supply in case of emergency situations;
• in compliance with 2004/108/EC norm on electromagnetic
compatibility, following precautions must be taken:
- before handling and installing the equipment, discharge
electrical charge from your body and tools which may come in touch
with the device;
- power supply must be stabilized without noise; install EMC filters on
device power supply if needed;
- always use shielded cables (twisted pair cables whenever possible);
- avoid cables runs longer than necessary;
- avoid running the signal cable near high voltage power cables;
- mount the device as far as possible from any capacitive or inductive
noise source; shield the device from noise source if needed;
- to guarantee a correct working of the device, avoid using strong magnets
on or near by the unit;
MAN RD4 CB E 1.5 Safety summary 11 of 72
RD4 CANopen®
- minimize noise by connecting the shield and/or the connector housing
and/or the frame to ground. Make sure that ground is not affected by
noise. The connection point to ground can be situated both on the device
side and on user’s side. The best solution to minimize the interference
must be carried out by the user.
1.3 Mechanical safety
• Install the device following strictly the information in the section
“Mounting instructions”;
• mechanical installation has to be carried out with stationary mechanical
parts;
• do not disassemble the unit;
• do not tool the unit or its shaft;
• delicate electronic equipment: handle with care; do not subject the device
and the shaft to knocks or shocks;
• respect the environmental characteristics of the product;
• unit with solid shaft: in order to guarantee maximum reliability over time
of mechanical parts, we recommend a flexible coupling to be installed to
connect ROTADRIVE and user's shaft; make sure the misalignment
tolerances of the flexible coupling are respected;
• unit with hollow shaft: ROTADRIVE can be mounted directly on a shaft
whose diameter has to respect the technical characteristics specified in the
purchase order and clamped by means of the collar and the hole into
which an anti-rotation pin has to be inserted.
WARNING
The unit has been adjusted by performing a no-load mechanical running test;
thence default values which has been set refer to an idle device, i.e. running
disengaged from the load. Furthermore they are intended to ensure a standard
and safe operation which not necessarily results in smooth running and
optimum performance. Thus to suit the specific application requirements it may
be advisable and even necessary to enter new parameters instead of the factory
default settings; in particular it may be necessary to change velocity,
acceleration, deceleration and gain values.
WARNING
The counter-electromotive force (back EMF) generated by the motor in case the
shaft is forced to rotate due to a manual external force can cause irreparable
damages to the internal circuitry.
MAN RD4 CB E 1.5 Safety summary 12 of 72
RD4 CANopen®
2 Identification
Device can be identified through the ordering code and the serial number
printed on the label applied to its body. Information is listed in the delivery
document too. Please always quote the ordering code and the serial number
when reaching Lika Electronic s.r.l. for purchasing spare parts or needing
assistance. For any information on the technical characteristics of the product
refer to the technical catalogue.
MAN RD4 CB E 1.5 Identification 13 of 72
RD4 CANopen®
3 Mechanical installation
WARNING
Installation and maintenance operations have to be carried out by qualified
personnel only, with power supply disconnected. Motor and shaft must be in
stop.
Figure 1 - RD4 unit – Overall dimensions
ROTADRIVE unit must be secured firmly only to the user's shaft using the
provided collar. ROTADRIVE unit is supplied with a screw insulation and an antirotation pin; the anti-rotation pin (TE M5 screw) has to be inserted into the
screw insulation. This will provide to the unit both stability and the mobility
needed to absorb the mechanical tensions produced during operation. Do not
fasten firmly the anti-rotation pin to the flange or the fixed support on user's
side without using the screw insulation! If this occurs, the mechanical tensions
would be transmitted completely to the motor shaft and this would lead to
bearings damages and mechanical breakdowns!
MAN RD4 CB E 1.5 Mechanical installation 14 of 72
RD4 CANopen®
Figure 2 - Typical installation example of RD4 unit on worm screw
To install properly the ROTADRIVE unit please read carefully and follow these
instructions; anyway note that the unit can be installed in several manners and
according to the specific user's application.
• Drill a 10-mm diameter hole in the flange or in the fixed support on user's
side in order to insert the screw insulation and the anti-rotation pin. The
MAN RD4 CB E 1.5 Mechanical installation 15 of 72
RD4 CANopen®
distance between the axis of the shaft and the axis of the hole must be 122
± 0,5 mm. Make sure that the hole and the shaft are perfectly aligned on
the vertical axis. If installation is not carried out properly, mechanical
tensions would be produced on the motor shaft and this would lead to
bearings damages and mechanical breakdowns!
• insert the screw
insulation in the
hole;
• insert the TE M5
x 35 UNI5739
screw and the
two M5 washers
in the hole
designed in the
flange of the
ROTADRIVE
unit; partially
screw the M5 lock nut;
• insert the user's shaft in the hollow shaft of the ROTADRIVE unit; the
maximum depth of the ROTADRIVE shaft is
35 mm; ascertain that the anti-rotation
pin is inserted properly in the screw
insulation; secure the user's shaft through
the collar and the relevant fixing screw;
the minimum distance between the collar
and the fixed support on user's side must
be not less than 1 mm in order to prevent
the fixed parts from coming into contact;
• tighten the anti-rotation pin on the screw
insulation;
• tighten the M5 lock nut in order to secure the anti-rotation pin to the
flange of the ROTADRIVE unit.
ATTENTION
Never force manually the rotation of the shaft not to cause permanent
damages! The counter-electromotive force (back EMF) generated by the motor
in case the shaft is forced to rotate due to a manual external force can cause
irreparable damages to the internal circuitry.
MAN RD4 CB E 1.5 Mechanical installation 16 of 72
RD4 CANopen®
4 Electrical connections
WARNING
When you send Start, Jog + or Jog - commands, the unit and the shaft start
moving! Make sure there are no risks of personal injury and mechanical
damages.
Each Start routine has to be checked carefully in advance!
Never force manually the rotation of the shaft not to cause permanent
damages!
Figure 3: Electrical connections and diagnostic LEDs
4.1 Ground connection (Figure 3)
To minimize noise connect properly the frame to ground; we suggest using the
ground screw provided in the frame (see Figure above). Connect properly the
cable shield to ground on user's side. Lika's EC- pre-assembled cables are fitted
with shield connection to the connector ring nut in order to allow grounding
through the body of the device. Lika's E- connectors have a plastic gland, thus
grounding is not possible. If metal connectors are used, connect the cable shield
properly as recommended by the manufacturer. See also note in the next
paragraph. Anyway make sure that ground is not affected by noise. It is
recommended to provide the ground connection as close as possible to the
device.
MAN RD4 CB E 1.5 Electrical connections 17 of 72
RD4 CANopen®
4.2 Connectors (Figure 3)
Power supply
M16 3-pin male connector
(frontal side)
Pin Description
1
+24VDC 10% motor power supply
2
+24VDC 10% controller power supply
3 motor and controller 0 VDC supply voltage
Interface
M12 5-pin connectors
A coding
(frontal side) male
(BUS IN)
female
(BUS OUT)
Pin Description
1 n.c.
2 n.c.
3
CAN GND
1
4 CAN High
5 CAN Low
Case
Shielding
2
1
CAN GND is the 0 VDC reference of CAN signals, it is not connected to 0
VDC supply voltage.
2
Lika's EC- pre-assembled cables only.
n.c. = not connected
We recommend CANopen certified cables to be used.
MAN RD4 CB E 1.5 Electrical connections 18 of 72
RD4 CANopen®
NOTE
We suggest always connecting the cable shield to ground on user's side.
Lika's EC- pre-assembled cables are fitted with shield connection to the
connector ring nut in order to allow grounding through the body of the device.
Lika's E- connectors have a plastic gland, thus grounding is not possible (see
Figure below). If metal connectors are used, connect the cable shield properly as
recommended by the manufacturer.
Inputs / outputs (optional)
M12 8-pin male connector
(frontal side)
Pin Description
1 0 VDC
2 Input 1
3 Input 2
4 Input 3
5 Output 1
6 Output 2
7 Output 3
8 n.c.
n.c.: not connected
MAN RD4 CB E 1.5 Electrical connections 19 of 72
RD4 CANopen®
4.3 Diagnostic LEDs (Figure 3)
Five LEDs located next to the M16 power supply connector (see Figure 3) are
meant to show visually the operating or fault status of the CANopen interface
and the device as well. The meaning of each LED is explained in the following
table:
LED 1 GREEN Description
ON
Indicates the power supply of the controller is
turned on
OFF
Indicates the power supply of the controller is
turned off
LED 2
Not used
LED 3 GREEN RUN Description
ON
Device in Operational state
Single flash
Device in Stopped state
Blinking led
Device in Pre-Operational state
LED 4 RED ERR Description
ON Bus off
Double flash Node guarding error (see on page 68)
Single flash Maximum number of warning errors
Blinking led
General error or Flash memory error
OFF No error
LED 5 GREEN Description
ON
Indicates the motor is enabled (control loop
activated)
OFF
Indicates the motor is disabled (control loop
deactivated)
During initialisation, system checks the diagnostic LEDs for proper operation;
therefore they blink for a while.
MAN RD4 CB E 1.5 Electrical connections 20 of 72
RD4 CANopen®
4.4 Dip-Switches (Figure 4)
WARNING
Power supply must be turned off before performing this operation!
NOTE
When performing this operation be careful not to damage the connection wires.
To access DIP-Switches loosen the four screws and remove the connectors metal
cover. Handle the cover with care not to stretch or pull out the connection
wires. Be careful to replace the metal cover at the end of the operation.
The DIP-switches are just beneath.
Figure 4: Dip-Switches
MAN RD4 CB E 1.5 Electrical connections 21 of 72
RD4 CANopen®
4.4.1 Setting the node address: Node ID (Figure 4)
WARNING
Power supply must be turned off before performing this operation!
Set the node address expressed in hexadecimal notation.
The range of node addresses is between 1 and 127 (127 = 7F hex).
Example
Address 10 = 0A hex:
Address 25 = 19 hex:
Address 95 = 5F hex:
NOTE
The default address is 1.
If you set the address to 0, device will be set to 1 automatically (address 0 is
reserved for Master).
If you set an address higher than 127, device will be set to 127 automatically.
MAN RD4 CB E 1.5 Electrical connections 22 of 72
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