Summary of Contents for RMS R101
- Page 1 R101 Single Axis Driver/Indexer User Manual And Commands Guide Version 1.20 RMS Technologies 2533 N. Carson St. #4698, Carson City, NV 89706-0147...
- Page 2 Specifications are subject to change without notice. RMS Technologies reserves the right to make changes without further notice to any products herein to improve reliability, function, or design. RMS Technologies does not assume any liability arising out of the application or use of any product or circuit described herein;...
-
Page 3: Table Of Contents
Communication Specifications ................6 4. MECHANICAL SPECIFICATIONS .............6 Figure 1: Dimensions Diagram ..................6 5. PIN ASSIGNMENTS ................7 Figure 2: R101 Pin Usage Diagram ..................7 6. CONNECTION SPECIFICATIONS.............8 Connecting the Power ..................8 HyperTerminal Configuration ................8 Setting the Current ................... 9 Setting Step Resolution .................. - Page 4 SV Start Velocity ..................... 35 VL Velocity Limit ..................... 36 VM Velocity Move .................... 37 ZP Zero Position ....................38 11. RS485 Communication ..............39 12. Troubleshooting & FAQ..............41 RMS Technologies Page 4 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005...
-
Page 5: Features
Memory storage of all user configurable parameters after power recycling capabilities The R101 is a ‘Step and Direction’ driver for bipolar step motors. Limited controller functions are provided that allow trapezoidal profile position moves and ramped velocity moves to be made. -
Page 6: Operating Specifications
57600 bits per second (bps) # Bits per character 8 data bits Parity None Stop Bit Flow Control None 4. MECHANICAL SPECIFICATIONS Figure 1: Dimensions Diagram RMS Technologies Page 6 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 7: Pin Assignments
Motor A+ (out) B Input (+ve) Motor A- (out) Motor B+ (out) Motor B- (out) Zero Set (in) Power Ground Power Positive Figure 2: R101 Pin Usage Diagram RMS Technologies Page 7 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 8: Connection Specifications
Assignments) with 15-30 VDC being applied to the board. The converter card allows the R101 to connect to the PC via a standard serial port. It is good practice to connect the motor last after the driver current has been set properly. -
Page 9: Setting The Current
To set Run Current to 2000mA (2.0A): #ARI2000 To set Hold Current to 300mA (0.3A): #AHI300 Setting Step Resolution The R101 is capable of full stepping or 2x, 4x, and 8x microstepping. Example: To set Step Resolution to 4x microstepping: #ASR4 Saving the Configuration In order to have these settings retained upon a power cycle, the data must be saved. -
Page 10: Connecting The Motor
If using the R101 in Step/Direction mode, please proceed to Section 8 – Basic Step and Direction Operation. If using the R101 as a simple controller, please see the Command Tables in Section 9 and more detailed descriptions of the Commands in Section 10. -
Page 11: Basic Step And Direction Operation
33 microseconds with the pulse interval varying with pulse rate. For test purposes, setting the Function Generator duty cycle to 50%, and only varying the frequency is satisfactory. RMS Technologies Page 11 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 12: Command Tables
Step Forward None Stop Motion None Velocity Move * Numeric -15,000 15,000 * Velocity Moves in the range –249 to 249 are not legal except zero RMS Technologies Page 12 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 13: Commands
To query a command use the following format Query Format: #<Address><Command><CR><LF> Response Format: *<Address><value><CR><LF> Example: Queries the current Acceleration value and the response is 10 #AAC *AAC10 RMS Technologies Page 13 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 14: Ac Acceleration
Does not affect any of the basic step and direction move operations Command Example #AAC10000<cr><lf> Sets acceleration to 100 PPS^2. Default value is 50 RMS Technologies Page 14 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 15: Ap Absolute Position
Absolute Position<value> Absolute Position +/ –2,147,483,646 Command Only Used to make an absolute position move. Command Example #AAP1000<cr><lf> Moves to absolute position of 1000. RMS Technologies Page 15 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 16: Cp Current Position
The absolute position scale is set to zero by the Zero Position command (ZP) or the execution of a Home Axis (HA) command. Command Example #ACP<cr><lf> Returns the Current Position of the Motor #ACP1000<cr><lf> Sets the Current Position to be 1000 RMS Technologies Page 16 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 17: Cv Current Velocity
Current Velocity Query Only +/- 15,000 Only valid when a position move (PM) or velocity move (VM) is in progress. Otherwise returns zero. Command Example #ACV<cr><lf> RMS Technologies Page 17 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 18: Firmware Revision
Firmware Revision Query Only Returns product and firmware revision numbers. Command Example #AFR<cr><lf> Reply *AFR101100 //R101 firmware revision 1.00 RMS Technologies Page 18 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 19: Ha Home Axis
Forward is defined as the direction the motor turns when the ‘Direction’ input (JP1-3) is set FALSE, or there is no connection to this input. Command Example #AHA1<cr><lf> Motor turns in the Reverse direction. RMS Technologies Page 19 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 20: Hi Hold Current
Reads or sets the motor Holding Current. The value is the current in Amps times ten. Command Example #AHI300<cr><lf> Sets the Hold Current to 300mA (0.3 Amp). Default value is 300 RMS Technologies Page 20 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 21: Ht Hold Timeout
Reads or sets the time interval in milliseconds after any motor movement, before the motor current is changed from Run Current to Hold Current Command Example #AHT100<cr><lf> Sets the Hold Timeout to 100 mS. Default value is 5000 RMS Technologies Page 21 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 22: Ld Load Defaults
My Address 65 (A) Absolute Position Step Resolution Run Current 10 (1.0A) Hold Current 3 (0.3A) Hold Timeout 5,000 Velocity Limit 15,000 Minimum Velocity Start Velocity 1,000 RMS Technologies Page 22 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 23: Ma My Address
The change to a new address is immediate, in that the command response will use the new address Command Example #AMA88<cr><lf> Sets the unit address to 88 (‘X’). Default value is 65 Address Value RMS Technologies Page 23 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 24: Ms Move Status
Query Only. Reads Motion Status. Returns 0 for No Motion, 1 for Position Move, and 2 for Velocity Move. Command Example #AMS<cr><lf> Queries the current status RMS Technologies Page 24 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 25: Mv Minimum Velocity
Reads or sets the minimum velocity for both Position and Velocity command moves The units are steps (at the current Step Resolution) per second Command Example #AMV500<cr><lf> Sets Minimum Velocity to 500 SPS Default value is 250 RMS Technologies Page 25 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 26: Pf Percent Fast Decay
The optimum setting will vary with motor inductance and step rate; however the default ‘Mixed Mode’ setting will work well with almost all motors. Command Example #APF1<cr><lf> Sets Mixed Mode Damping. Default value is 1 RMS Technologies Page 26 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 27: Pm Position Move
‘Absolute’ step count scale. Command Example #APM1000<cr><lf> Makes a 1,000 step move from the Current Position. Note: This command does not return a value. RMS Technologies Page 27 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 28: Ri Run Current
The set ‘Run Current’ is maintained for a time set by ‘Hold Timeout’ (HT) before dropping to the current set by ‘Hold Current’ (HI) Command Example #ARI1000<cr><lf> Sets the run current to 1000mA (1 Amp). Default value is 1000 RMS Technologies Page 28 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 29: Rs Read Switches
(1000) ‘Direction’ has the value 4 (0100) ‘Disable’ has the value 2 (0010) ‘Step’ has the value 1 (0001) Command Example #ARS<cr><lf> Reads the switch inputs. RMS Technologies Page 29 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 30: Sb Step Back
FALSE state, or with no connection. Backwards is thus the direction the motor moves when the ‘Direction’ input is in the energized or TRUE state. Command Example #ASB<cr><lf> Moves one step back. RMS Technologies Page 30 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 31: Sd Save Data
My Address Absolute Position Velocity Limit Minimum Velocity Start Velocity Acceleration Hold Timeout Step Resolution Run Current Hold Current Percent Fast Decay Command Example #ASD<cr><lf> Saves Data. RMS Technologies Page 31 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 32: Sf Step Forward
FALSE state, or with no connection. Backwards is thus the direction the motor moves when the ‘Direction’ input is in the energized or TRUE state. Command Example #ASF<cr><lf> Moves one step forward. RMS Technologies Page 32 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 33: Sm Stop Motion
This command can be used to affect an end to any Position Move or Velocity Move in progress. It has no effect on motion produced by the Step and Direction inputs. Command Example #ASM<cr><lf> Stops any Position or Velocity move in progress. RMS Technologies Page 33 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 34: Sr Step Resolution
4 for 4x microstepping 2 for 2x microstepping 1 for Full step Command Example #ASR4<cr><lf> Sets the step resolution to 4x microstepping. Default value is 8 RMS Technologies Page 34 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 35: Start Velocity
Reads or sets the velocity used for the first step in a position move. Value based on motor performance. Command Example #ASV500<cr><lf> Sets Start Velocity to 500 PPS. Default value is 1,000 RMS Technologies Page 35 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 36: Vl Velocity Limit
Reads or sets the velocity used for the constant velocity portion of a position move. Command Example #AVL5000<cr><lf> Sets the velocity limit to 5000 PPS. Default value is 15,000 RMS Technologies Page 36 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 37: Vm Velocity Move
Changes to new velocity values from new VM commands, will also occur at the rate set by ‘Acceleration’ (AC). Command Example #AVM1000<cr><lf> Starts a velocity move of 1000 steps per second. RMS Technologies Page 37 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 38: Zp Zero Position
Zero Position Command Only Sets the current value of the Absolute Position scale to zero Command Example #AZP<cr><lf> Sets Absolute Position to zero. RMS Technologies Page 38 Version 1.20 R101 Single Axis Driver/Indexer Manual May 31, 2005... -
Page 39: Rs485 Communication
The Slave address is the first character after the ‘#’ in the outgoing message, and the first character after the ‘*’ in the reply. For ease of use RMS Technologies restricts the range of address characters to the range of capital letters ‘A’ to ‘Z’, with ‘A’ being the default. - Page 40 Data is transmitted at 57,600 Baud, with eight data bits, no parity, and two stop bits. 7. Recommended Interface Device The RMS Technologies USB485 Converter Card converts the RS485 connection to a standard USB connection (1.1 and 2.0 compatible). 8. HyperTerminal Operation In addition to setting the data format to match that specified in section 6, two settings must be made in the ASCII setup section.
-
Page 41: Troubleshooting & Faq
12. Troubleshooting & FAQ R101 is not functioning correctly Try putting the R101 into TEST mode by placing a jumper on Pins 9 & 10 of JP2. The Motor should twitch back and forth slightly. RMS Technologies Page 41 Version 1.20...
Need help?
Do you have a question about the R101 and is the answer not in the manual?
Questions and answers