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Summary of Contents for Lin Engineering R356
- Page 1 R356 Driver/Controller Built-in 256x Microstepping Driver and encoder feedback for position correction User Manual Version 1.10 Lin Engineering 16245 Vineyard Blvd., Morgan Hill, CA 95037...
- Page 2 Specifications are subject to change without notice. Lin Engineering reserves the right to make changes without further notice to any products herein to improve reliability, function, or design. Lin Engineering does not assume any liability arising out of the application or use of any product or circuit described herein;...
- Page 3 1.07 11/03/2010 Updated step frequency to 16.7MHz 1.08 8/19/2014 Driver outputs updated Replaced Hyper Terminal with LinCommand 1.09 5/16/2016 Updated links and specs 1.10 3/16/2018 Update Name and Logo R356 Controller & Driver Page 3 Version 1.10 Lin Engineering 3/16/2018...
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Page 4: Table Of Contents
6. CONNECTION SPECIFICATIONS Quick Start USB-485 Converter Card …………….………………………..10 Quick Start RS232-485Converter Card …….…….………………………….. 11 Mating Connectors …………….……………………………………………... 12 7. CONFIGURING AND CONTROLLING THE R356 LinCommand Setup …………….…………………….……………………..13 Setting the Current…………….……………………………………………..14 Connecting Multiple R356 Units ……………………………………………... 15 Changing the Address of the Controller….………….………………………... -
Page 5: Features
The option of simply sending an error report is also possible. The R356 must first be set up to work with the encoder by understanding the CPR and calculating an encoder ratio. -
Page 6: Default Settings
RS485 (RS232 or USB with a converter card) Baud Rate 9600*, 19200, or 38400 bps # Bits per character 8 Data Parity None Stop Bit Flow Control None *default/recommended R356 Controller & Driver Page 6 Version 1.10 Lin Engineering 3/16/2018... -
Page 7: Mechanical Specifications Dimensions
4. MECHANICAL SPECIFICATIONS Dimensions Figure 1: Dimensions R356 Controller & Driver Page 7 Version 1.10 Lin Engineering 3/16/2018... -
Page 8: Pin Assignments
On the opposite end of the DB- 15 female connector cable, there is a 3 pin connector provided for the converter card in order for the R356 to communicate with the PC. The four I/O wires are colored Orange, Orange/White, White and Red/White. -
Page 9: Connecting To The Usb485 Card
*Pin #1 is located here: Figure 3: USB to RS485 converter card, p/n USB485 The USB485 converter card does not require power (it receives power from the PC). Power is still needed for the R356 controller/driver. Connecting to RS232 card R356 pin#... -
Page 10: Connection Specifications
4. Your power supply will be connected to the R356 directly. The USB485 card is powered via the PC. R356’s pin 9, Red wire is +12 to +40VDC, pin 1, Green wire is Ground. The USB485 converter card’s Green wire needs to also connect to the power supply Ground. -
Page 11: Quick Start Rs232-485Converter Card
RS232-485 converter card Figure 5: Connection using RS232 1. The RS232 converter card connects to the R356 using the DB-15 cable that is provided to you. The 3-Pin connector is placed onto the converter card. R356’s pin 9, Red wire is +12 to +40VDC, pin 1, Green wire is Ground. -
Page 12: Mating Connectors
Mating Connectors The following cables are provided with the R356 unit (Part # 090-00096): DB-15 cable: See page 8 for pin assignments. 4-Pin cable for step motor: Color Function One 4-pin cable is for the motor A+ Phase windings. Blue... -
Page 13: Configuring And Controlling The R356 Lincommand Setup
10. Enter command strings on one of the 7 lines in the ‘Send’ window and click ‘Send’ to send command line to the controller. 11. For a complete list of commands and their definitions refer to the R356 Commands manual. Example command: /1A10000R ... -
Page 14: Setting The Current
You have a motor that is rated at 0.85 Amps, 0.85 Amps x 1.4 = ~1.2 Amps. Using Table 5 we would see that 1.2 Amps is 40% of the driver’s maximum output current. Assuming the R356 is addressed to Number 1, this is what you’d program: / 1m40R Example Two: You have a motor that is rated at 1.0 Amps, and your Controller is addressed to... -
Page 15: Connecting Multiple R356 Units
Connecting Multiple R356 Units Connect multiple units by using the Converter card, shown below. If using the RS232-to-RS485 converter card, daisy chain all four wires: power, ground, RS485+ and RS485- prior to plugging into the converter card. Figure 7: Connection using RS232 Converter Card If using the USB485 converter card, connect all the power and ground lines on the units to the main power supply. -
Page 16: Changing The Address Of The Controller
Pins 5, 7, 13 and 14 can all be used with push buttons. Below shows the corresponding input numbers for these pins. Input 1 Pin 13 Input 2 Pin 5 Input 3 Pin 7 Input 4 Pin 14 Table 7 R356 Controller & Driver Page 16 Version 1.10 Lin Engineering 3/16/2018... -
Page 17: Led Or Other Output
Use the following table to connect the corresponding wires. Optical Sensor DB15 Cable Pin # Green Green/white Black Green/white Red Yellow/white White Orange/white Table 8 R356 Controller & Driver Page 17 Version 1.10 Lin Engineering 3/16/2018... -
Page 18: Appendix A Encoder Usage
Appendix A Encoder Usage The R356 can do closed loop position correction. The encoder connects to the board internally. Position Correction Mode Position correction mode, when enabled will issue steps to the motor until the encoder reads the correct position. -
Page 19: Appendix B Amps/Phase Vs Amps Peak
Beginning at position 1, Phase A receives negative current, and Phase B receives positive current. Let’s assume it is at coordinate (-1, 1). R356 Controller & Driver Page 19 Version 1.10... - Page 20 The most logical way to describe a rating is to take an average, or RMS (root means squared) value. But drivers understand current in terms of peak current, therefore the conversion is: Amps/Phase x 1.4 = Amps Peak R356 Controller & Driver Page 20 Version 1.10...
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Page 21: Appendix C Step And Direction Mode
Appendix C Step and Direction Mode The R356 unit can be configured as a driver only by first connecting it to your PC and saving the special mode “n96” in program memory storage zero. 1. First connect to your PC and save n96 in storage zero: /1s0n96R 2. - Page 22 Eight wire motors can be connected in two ways: Parallel and Series. When in parallel, the wires are simply connected such that the beginning of each winding are connected together. Figure 21: 8 Lead Wire Parallel Connection R356 Controller & Driver Page 22 Version 1.10 Lin Engineering 3/16/2018...
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Page 23: Appendix E Troubleshooting
Our technical support group is glad to work with you in answering your questions. If you cannot find the solution to your particular application, or, if for any reason you need additional technical assistance please contact us. R356 Controller & Driver Page 23 Version 1.10...
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