Hello everyone, I'm Tom Trinh, Senior Application Engineer for Valin Corporation.
Today I will illustrate how to send a Modbus TCP command to an IAI RCON with the Ethernet option - ET. That allows you to control the RCP6 actuators, to turn on the servo on, and to home the actuators, as well as commanding the actuators to go to a certain position with the specified velocity, acceleration, deceleration, and so forth.
So what you see in front of you here is the 24 Volt power supply, and I'm using it to power the RCON controller.
This can be any RCON gateway, RCON-GW-EP-ET. So that's the model I have here. Anything that has - ET, you'll be able to send the Modbus TCP command. The nice thing about the RCON controller here, right now I have RCON-PC-2 which I'm connecting to RCP6 to it. This little controller, the RCON controller you can have up to 16 axis meaning you can have eight more slices here. It will allows you to have up to 16 axis or 16 actuators like this. This just happened to have two of them right now.
So the way it works is you power it up with a 24 Volt DC here and then I have RJ 45 which is the Ethernet cable connect to my laptop. OK, that's how I will send the Modbus TCP command. And then here you see 2 connections here. That's basically the motor cable as well as an encoder cable connected to the actuator here. OK, so that's what's connected to here. And on the big one here, the same thing. There's only one cable connected here, all right. So I can control up to two RCP 6 actuators or any other IAI actuators here, all right. You just need to select the correct icon slices that use for that actuator. All right, you notice on here I have also the Phoenix connector. I'm basically just jumper out on my E stop and over travel and so forth. So I just jumper it. So that's what this connector is for. The connector below here, that's where you supply the 24 Volt power to it.
All right, so that's basically the hardware demo I have as well as what cable needed to make this happen. OK, now I know the by default, the IP address for the RCON controller is one 192.168.1.1 and you can certainly change that to a different IP address using IAI software called IA-OS software. I already changed that and set it up so I'm not going to launch it, but that's what you would need to change the IP address if you choose to do that. OK, so let's see what else so that's the IA-OS software. So what you see in front of you here is basically my utility that I'm going to select the command to turn on the servo and to home the servo. So having said that, let me go and clear this out so you can see I'm going to disconnect here. And just so you can see, Modbus TCP. So that's the address that I have for the IAI RCON controller. It's 192.168.001.001. The subnet mask is 255.255.255.0 and then the TCP port is 502. OK, so I already set it up. I'm going to connect to it and as soon as I connect to it, it said all right, my connection is OK at this point.
What I'm going to do is I'm going to turn on the servo. So I'm going to send down a bit to turn it on. And the register for this is 0D01, OK. And what I want to do is I'm going to make this as binary. And if you look here, you see the servo on is bit #12. OK, so if I start from the left, this is 0 and this is bit 12. So to do that, I'm going to go up here. I'm going to type in 0001. That's my servo on and the rest is zero. I'm going to write it. As soon as I write it, it's all set. Now I'm going to tell it to home. So right now it's sitting right in the middle of the actuator. So to home it I need to turn on the servo here and
also the home command, which is bit #4. All right, so I'm going to do that. OK, so I have a servo on I'm going to home as I execute it, you will see the actuator here will go to where the 0 is. So here we go. Let's do it. See it's homing. So now it reached 0. So now we're at zero.
OK, the next thing is let's say I want to command this to go to 50.25mm. OK, so the address for that, the Modbus address is 9901, which is 9900 by the way. But the software offset by 1, so I need to do that. I'm going to have 8 registers. I'm going to change this to function Modbus function 10 which is to write to multiple registers and I need to say 8 registers here. I'm going to put decimal here. All right, so here we are. OK, so I said I want to go 50.25mm, OK, and the position bandwidth is .1 millimeter and I'm going at 450 .00mm per second at the acceleration and deceleration .3G OK. So as soon as I'm executing this, you see the motor go very quickly to 50.25mm. So let's take a look at that. Voila. OK, now let's say I want to change the speed to 100 millimeter per second and I want to go to 125.78mm. All right. So as soon as I do that, it will take off and go further this way. All right, here we go. Let's do it. There you go. If I want it to go to zero, I just type in 0 here. And let's say I want to go very slow just so you can see 55mm per second. And here we are, let's go.
All right, so that's basically it , how to send a Modbus TCP command to an IA RCONcontroller to control an IAI RCP6 actuator, ISP actuator and many other IAI actuators.
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