The position of the DC servo motor can be controlled by a STEP/PULSE and DIRECTION digital interface similar to stepper motors. The PULSE/STEP, DIRECTION inputs are optically isolated. Both inputs work with 2.5V, 3.3V or 5V logic drive signals. This drive is fully compatible with Mega torque encoder motors & Rhino IG52 servo encoder motors.
Features
- Smooth, quiet operation at all speeds and Zero-Backlash DC Servo Motor Performance.
- Input supply voltage from 12VDc to 48VDC.
- Selectable Gain Multiplier and Selectable Error Limit.
- PULSE and DIRECTION inputs with opto-isolated interface.
- Pots for tuning of Proportional, Integral and Differential Gains and also 1 pot for limiting the current.
- 2.5V, 3.3V and 5V compatible PULSE and DIRECTION inputs with 2-wire opto-isolated interface.
- LED indication for power and error states.
For brief description of PID Control refer below link:
https://resources.robokits.co.in/brief-description-pid-control-tuning-rhino-servo-drive-rmcs-2301″
power and motor terminal assignment:
Terminal No. | Terminal Name | Description |
Terminal 1 | GND | Power Ground or Power –Ve |
Terminal 2 | +V | Power +Ve (12VDC to 48VDC Max wrt. GND) |
Terminal 3 | Motor 1 | DC motor connection 1 |
Terminal 4 | Motor 2 | DC motor connection 2 |
Encoder and Input Terminal Assignments:
Terminal No. | Terminal Name | Description |
Terminal 5 | ENA | Encoder A input |
Terminal 6 | ENB | Encoder B input |
Terminal 7 | 5V | 5V volt for Encoder only |
Terminal 8 | Gnd | Gnd for Encoder only |
Terminal 9 | DIR- | – |
Terminal 10 | DIR+ | – |
Terminal 11 | PULSE- | – |
Terminal 12 | PULSE+ | – |
Selection of Overall Gain for servo control loop (This depends upon the input voltage applied to the drive)
Gain Multiplier | SW1 | SW2 |
Servo Gain 1x | OFF | OFF |
Servo Gain 2x | OFF | ON |
Servo Gain 3x | ON | OFF |
Servo Gain 4x | ON | ON |
Setting Error Limit and Multiplier
Multiplier | SW3 | SW4 |
Step Input Multiplier 8x | OFF | OFF |
Step Input Multiplier 4x | OFF | ON |
Step Input Multiplier 2x | ON | OFF |
Step Input Multiplier 1x | ON | ON |
PID Tuning Potentiometer Resistance value for different motors
Motor Type | Power Supply |
Gain Multiplier SW1 & SW2 |
Step Input Multiplier SW3 & SW4 |
Current Limit (Ω) |
Proportional Gain (P) (Ω) |
Integral Gain (I) (Ω) |
Differential Gain (D) (Ω) |
Rhino IG32 High Precision Encoder Motor | 24V 10A | 2x | 1x | 4 K | 2.027 K | 348.6 | 0.591 K |
Rhino IG32 Quad Encoder Motor | 2x | 2.158 K | 0.515 K | 1.187 K | |||
High Torque High Precision Encoder Motor | 2x | 2.075 K | 222 | 0.579 K | |||
High Torque Quad Encoder Motor | 2x | 2.152 K | 0.956 K | 1.233 K | |||
Mega Torque Encoder Servo Motor | 2x | 1.757 K | 313.6 K | 0.683 K | |||
IG52 Encoder Servo Motor | 4x | 1.906 K | 1.240 K | 0.762 K |