Rtelligent EP Series User Manual
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Rtelligent EP Series User Manual

Modbus tcp
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EP Series User Manual
EP Series
Modbus TCP User Manual
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Summary of Contents for Rtelligent EP Series

  • Page 1 EP Series User Manual EP Series Modbus TCP User Manual...

  • Page 2: Product Profile

    Thank you for purchasing Rtelligent stepper driver based on Ethernet technology. I hope that our products can help you successfully complete your motion control project. The EP series product is a stepper motor driver based on MODBUS/TCP communication protocol, which integrates intelligent motion control functions, built-in trapezoidal acceleration/deceleration curve, and can independently set acceleration and deceleration.

  • Page 3: Safety Instructions

    EP Series User Manual 1.3. Electrical index Table 1-1 Electrical index Driver parameter Minimum Typical Maximum Unit Power supply Output current (Peak) Control signal breakover current Under-voltage protection point Over-voltage protection point Input signal voltage Driver initialization time 1.4. Safety instructions ...
  • Page 4 EP Series User Manual  Please wait at least 3 seconds after turning off the power before touching the product or removing the wiring. Capacitive devices may still store dangerous electrical energy after a power outage, and it will take a certain amount of time to release it.

  • Page 5: Hardware Connection Diagram

    EP Series User Manual 2. Hardware connection 2.1. Hardware connection diagram The following sections provide a detailed description of the hardware and how to use it. The hardware diagram is as follows: Figure 2-1 Hardware diagram 2.2. Power supply connection ...

  • Page 6: Motor Connection

    EP Series User Manual positive of the power supply and the V+ of the driver. Please be careful not to reverse the connection, the damage to the driver caused by the reverse connection of the power supply cannot be covered by warranty.

  • Page 7: Pin Definition

    EP Series User Manual 2.4. Digital input and output interface The EP series driver has 6 digital input ports and 2 digital output ports. The digital input and output ports can be freely configured with various functions according to their own application requirements.
  • Page 8 EP Series User Manual 2.4.2. Input The schematic diagram of the input port is shown in Figure 2-2 below, and the user can perform system wiring according to the schematic diagram. Figure 2-2 Input port schematic diagram A. IN1, IN2, IN3, IN4 single-ended input signal IN1, IN2, IN3 , IN4: Photoelectric isolation, signal-ended input, minimum pulse width 100us, maximum pulse frequency 5KHz.
  • Page 9 Compatible with 5~24V signals. Figure 2-4 Differential input 2.4.3. Output  The EP series driver contains two photoelectric isolation output signals.  The output current capability of OUT1 is up to 30mA, and the output current capability of OUT2 is up to 100mA.
  • Page 10  A small straight screwdriver for tightening the connector screws.  A computer.  RTConfigurator software(It can be download from: http://www.rtelligent.net/).  A network cable is used for the driver parameter configuration, or for the connection between the driver and the controller.
  • Page 11 2.5.2. Connect your driver and computer using Ethernet The RJ-45 connector on the EP series driver is a 100BASE-TX (100Mbps) compliant interface that can be connected using a standard network cable. Please use CAT5 or CAT5e (or higher) network cable.
  • Page 12 EP Series User Manual Figure 2-8 IP address and subnet mask If your computer’s subnet mask is set to 255.255.255.0, such a setting is called a Class C subnet mask, and your machine can only communicate with another network device that has the same first three bytes of its IP address..
  • Page 13 2.5.3. IP setting The IP setting address format is: IPADD0. IPADD1. IPADD2. IPADD3 Default: IPADD0=192, IPADD1=168, IPADD2=0; The EP series driver has two10-bit rotary DIP switches, the combination setting is IPADD3 in the IP address, IPADD3 = (S1*10)+S2+10.
  • Page 14 EP Series User Manual The user can set the upper three bits of the IP address, subnet mask, gateway and other parameters through the "10.10.10.10" address. The details are shown in Table 2-3 below, among which: The IP setting address format is: IPADD0. IPADD1. IPADD2. IPADD3 Default: 192.168.0.

  • Page 15: Mechanical Dimensions

    EP Series User Manual One green indicator, five red indicators Encoder error Parameter validation One green indicator, six red indicators error One green indicator, seven red indicators Motor phase loss alarm 2.7. Mechanical dimensions Figure 2-9 Driver dimensions...
  • Page 16 EP Series User Manual 3. Communication 3.1. Modbus/TCP introduction Modbus is a communication protocol developed by MODICON in 1979 and is an industrial field bus protocol standard. In 1996, Schneider introduced the MODBUS protocol based on Ethernet TCP/IP-ModbusTCP. Modbus is an application layer messaging protocol used for client/server communication between devices connected on different types of buses or networks.
  • Page 17 The MODBUS protocol allows easy communication in all types of network architectures. Figure 3-2 Modbus communication A. Function code supported by Modbus/TCP EP series drivers currently support the following Modbus function codes: a. 0x03: Read Holding Registers b. 0x06: Write Single Register c. 0x10: Write Multiple Registers B.

  • Page 18: Register Summary

    EP Series User Manual 3.2. Register summary Note: The register addresses in the following register summary table are all decimal. Table 3-1 Register summary Register Operation Data Function description Remark address type type SHORT Alarm Code, warning mark SHORT Status Code, driver status flag...
  • Page 19 EP Series User Manual Open-loop, servo mode one, servo mode two SHORT Reverse the running direction of the motor SHORT Open-loop running current (mA) SHORT Standby Current Percentage (%) SHORT Time to enter standby after pulse stops (ms) SHORT Pulse command filter...
  • Page 20 EP Series User Manual SHORT Servo mode two speed loop damping 2 SHORT Servo mode two speed loop feedforward gain SHORT Servo mode two gravity compensation SHORT Servo mode two acceleration gain SHORT Servo mode two acceleration feedforward gain SHORT...
  • Page 21 EP Series User Manual SHORT Driver ID SHORT Driver version SHORT Non-label Motor subdivision (Pulses/revolution), low 16 SHORT bits Form a Motor subdivision (Pulses/revolution), high 16 long data SHORT bits IO switching effective time in speed SHORT table/position table mode...
  • Page 22 EP Series User Manual SHORT Segment 0 displacement, low 16 bits Form a SHORT Segment 0 displacement, high 16 bits long data SHORT Segment 1 displacement, low 16 bits Form a SHORT Segment 1 displacement, high 16 bits long data...
  • Page 23 EP Series User Manual SHORT Multi-segment position running mode setting Multi-segment position displacement end-point SHORT number setting Multi-segment position running waiting time unit SHORT setting SHORT Segment 0 displacement maximum speed Segment 0 displacement acceleration and SHORT deceleration Segment 0 wait time after completion of...
  • Page 24 EP Series User Manual displacement SHORT Segment 6 displacement maximum speed Segment 6 displacement acceleration and SHORT deceleration Segment 6 wait time after completion of SHORT displacement SHORT Segment 7 displacement maximum speed Segment 7 displacement acceleration and SHORT deceleration...
  • Page 25 EP Series User Manual Segment 12 wait time after completion of SHORT displacement SHORT Segment 13 displacement maximum speed Segment 13 displacement acceleration and SHORT deceleration Segment 13 wait time after completion of SHORT displacement SHORT Segment 14 displacement maximum speed...
  • Page 26 EP Series User Manual 3.3. Register details 3.3.1. Driver flag register [0～1] 1．Warning mark register [0] All alarm flags of the driver are defined. MODBUS address: 0 Reserve ECDE1 POSE Table 3-2 Register details [0] Name Description 9～15 Reserve Read always returns 0.
  • Page 27 EP Series User Manual Over temperature alarm sign 0: The driver temperature is normal 1: The internal components temperature of the driver is too high Under-voltage alarm sign 0: No under-voltage alarm 1: The driver is under-voltage Over-voltage alarm sign...
  • Page 28 EP Series User Manual Table 3-3Register details [1] Name Description 11～15 Reserve Read always returns 0. power state 0: The drive is not powered 1: The driver is powered on Negative limit valid state 0: Not in the negative limit position...
  • Page 29 EP Series User Manual When the motor is running, it cannot respond to new motion commands, but only to stop commands Motor positioning completion flag in closed-loop mode INPOS 0: Positioning is not completed 1: Positioning has been completed Driver alarm flag...
  • Page 30 EP Series User Manual 1: Input port 5 is on Input port IN4 level state 0: Input port 4 is off 1: Input port 4 is on Input port IN3 level state 0: Input port 3 is off 1: Input port 3 is on...
  • Page 31 EP Series User Manual 3． Input port on edge latch register Each time the port changes from the off state to the on state, the driver will latch this change edge. MODBUS address: 4 Reserve Reserve Table 3-6 Register details [4]...
  • Page 32 EP Series User Manual 4． Input port shutdown edge latch register Each time the port changes from the on state to the off state, the driver will latch this change edge. MODBUS address: 5 Reserve Reserve Table 3-7 Register details [5]...
  • Page 33 EP Series User Manual 5．Input port on edge clear register [6] Used to clear the latched on edge flag. MODBUS address: 6 Reserve Reserve R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 Table 3-8 Register details [6] Name Description Read always returns 0.
  • Page 34 EP Series User Manual 6．Input port shutdown edge clear register [7] Used to clear the latched shutdown edge flag. MODBUS address: 7 Reserve Reserve R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 Table 3-9 Register details [7] Name Description 6～15 Reserve Read always returns 0.
  • Page 35 EP Series User Manual 3.3.3. Motor current position and speed related registers [8～16] Table 3-10 Register detail [8-16] Register Bits Property Default Range Description address In the internal pulse mode, the current [0,65535] absolute position, low 16 bits In the internal pulse mode, the current...
  • Page 36 EP Series User Manual Control commands in internal pulse mode 0: Waiting state When the driver receives any control command, it will restore the bit wait state after processing by the driver. So reading this register always returns 0. 1: Fixed-length forward...
  • Page 37 EP Series User Manual Other: No effect. This register works only when the value of internal pulse mode register 20 is 0. External pulse command mode setting register 0: IN1 is the pulse input port, IN2 is the direction input port...
  • Page 38 EP Series User Manual Motor type setting register [0,1] 0: Two-phase stepper motor 1: Three-phase stepper motor Motor running mode setting register 0: Open-loop running [0,2] 1: Servo mode one 2: Servo mode two Motor direction inversion setting register [0,1]...
  • Page 39 EP Series User Manual 3.3.6. Motor and current loop parameters [30～39] Table 3-13 Register details [30-39] Register Bits Property Default Range Description address Automatic PI enable function The driver has built-in parameter identification and gain optimization algorithms. Usually, better results can be achieved. If the...
  • Page 40 EP Series User Manual Current loop integral gain KI in the current loop PI algorithm. When the automatic PI function is enabled, the ILOOPKI [0,2000] is automatically generated. When the automatic PI function is not enabled, the user can modify the ILOOPKP.
  • Page 41 EP Series User Manual the set time, and then start to determine whether the positioning is complete. Set time = set value * 50us Closed-loop maximum current Set the maximum allowable current when the 4000 [0,5000] drive is running in closed-loop, peak sine.
  • Page 42 EP Series User Manual 3.3.9. Input-output setting registers [60～69]、[102～104] 1．Input port setting register [60～65] The driver contains 6 input ports, and each input port is set in the same way. Reserve GPINPO Reserve GPINPUTFUNC LARITY R/W-0 R/W-0 Table 3-16 Register details [60-65]...
  • Page 43 EP Series User Manual 16: Multi-segment speed control 2 17: Multi-segment speed control 3 18: Multi-segment position control 0 19: Multi-segment position control 1 20: Multi-segment position control 2 21: Multi-segment position control 3 Others: No effect, only a common input port.
  • Page 44 EP Series User Manual Output port function selection 0: Normal output, user control 1: Alarm output, OUT1 default 2: Brake signal output 3: In-position signal output 4: Speed reach output, OUT2 default 0～3 GPOUTPUTF UNC 5: Zero return complete output...
  • Page 45 EP Series User Manual Table 3-20 Register details [68] Name Description 2～15 Reserve Read always returns 0. Set the level state of the output port OUT2 OUT1VAL 0: Output port 2 is off 1: Output port 2 is on Set the level state of the output port OUT1...
  • Page 46 EP Series User Manual Running distance during point-to-point motion, low 16 bits, 2000 [0,65535] Unit: Number of pulses, based on the subdivision setting Running distance during point-to-point motion, high 16 bits, [0,65535] Unit: Number of pulses, based on the subdivision setting Registers 73 and 74 form a 32-bit signed register.
  • Page 47 EP Series User Manual 1: The internal pulse command counter is cleared Out of tolerance alarm is invalid [0,1] 0: The out of tolerance alarm is valid 1: The out of tolerance alarm is invalid [0,500] Servo mode one integral gain 3.3.13.
  • Page 48 EP Series User Manual 1000 [0,3000] Current step test current setting, unit: mA [0,3000] Segment 0 speed, unit: rpm [0,3000] Segment 1 speed, unit: rpm [0,3000] Segment 2 speed, unit: rpm [0,3000] Segment 3 speed, unit: rpm [0,3000] Segment 4 speed, unit: rpm...
  • Page 49 EP Series User Manual [0,65535] Segment 3 displacement, low 16 bits [0,65535] Segment 3 displacement, high 16 bits [0,65535] Segment 4 displacement, low 16 bits [0,65535] Segment 4 displacement, high 16 bits [0,65535] Segment 5 displacement, low 16 bits [0,65535]...
  • Page 50 EP Series User Manual 3.3.16. Multi-segment position running control mode parameters [221~271] Table 3-28 Register details [221～271] Register Property Default Range Description address Multi-segment position running mode setting 0: Single running mode It runs sequentially from the displacement of segment 0 to the end point displacement segment number set by the parameter P222, and then stops;...
  • Page 51 EP Series User Manual Multi-stage position running waiting time unit setting 0：ms [0,1] 1：s This parameter takes effect only when the  parameter P221 is set to 0/1 Segment 0 displacement maximum speed, unit: rpm  For displacement stroke, please refer to the...
  • Page 52 EP Series User Manual [0,3000] Segment 6 displacement maximum speed, unit: rpm Segment 6 displacement acceleration and [1,2000] deceleration, unit: r/s^2 [0,65535] Segment 6 wait time after completion of displacement [0,3000] Segment 7 displacement maximum speed, unit: rpm Segment 7 displacement acceleration and...
  • Page 53 EP Series User Manual Segment 13 wait time after completion of [0,65535] displacement [0,3000] Segment 14 displacement maximum speed, unit: rpm Segment 14 displacement acceleration and [1,2000] deceleration, unit: r/s^2 Segment 14 wait time after completion of [0,65535] displacement [0,3000]...
  • Page 54 EP Series User Manual After setting this value and saving the parameter permanently by writing 1 to the parameter P90, it will automatically return to the origin at the next power-on. Return-to-origin is only triggered after re-power and the motor is enabled.
  • Page 55 EP Series User Manual switch Origin: Negative limit switch Positive homing Deceleration point: Mechanical limit position Origin: Mechanical limit position Note: This mode is only  available for EPT60. Negative homing Deceleration point: Mechanical limit position Origin: Mechanical limit position Note: This mode is only ...
  • Page 56 EP Series User Manual Limit processing method: The origin return trigger signal is given again, and the motor performs the origin return in the reverse direction. P293/P294 is the relative offset after encountering the origin. After encountering the limit sensor and re-triggering the origin return, the origin is reversely searched.
  • Page 57 The details are as follows. 4.1.1. Point-to-point control mode EP series drivers have the function of controlling the motor to run the specified pulse stroke through communication. The specific modes and parameters that need to...
  • Page 58 4.1.2. Jog control mode EP series drivers have the function of controlling motor jog operation through communication. The specific modes and parameters that need to be set are as follows: Note:The register address is a decimal number unless it is specially marked or explained.
  • Page 59 4.2. IO control: Start-stop + Direction EP series drivers can use two IN ports to control the operation of the motor through this mode. One of the IN terminals is used to control the start/stop of the motor, and one of the IN terminals is used to control the running direction of the motor.
  • Page 60 4.3. IO control: Forward + Reverse EP series drivers can use two IN ports to control the operation of the motor through this mode. One of the IN terminals is used to control the forward of the motor, and one of the IN terminals is used to control the reverse of the motor.
  • Page 61 EP Series User Manual (2) Set the functions of digital input and output ports according to application needs and actual wiring terminals. Among them, please set the function of the two IN terminals to "Jog forward/Start-stop" and “Jog reverse/Direction" to control the forward and reverse motion of the motor.
  • Page 62 EP Series User Manual IN1 port function 40061（0x003C） 46（0x002E） IN2 port function 40062（0x003D） 47（0x002F） IN3 port function 40063（0x003E） 48（0x0030） IN4 port function 40064（0x003F） 49（0x0031） Effective time after IO switch 50us 40101（0x0064） 200（Time=200*50us=1ms） Segment 0 speed 40106（0x0069） Segment 1 speed 40107（0x006A）...

  • Page 63: Appendix A Function Code Message Format

    EP Series User Manual 5. Appendix 5.1. Appendix A Function code message format MBAP Transaction Identifier Protocol Identifier Length Unit Identifier Function Code Data 5.1.1. Function 03: Read Holding Registers Query message: 97 76 00 00 00 06 04 03 00 7D 00 7D...
  • Page 64 EP Series User Manual Example Length Description Remark 0x97 Transaction Identifier, H Client initiated, server replicated, for 0x96 Transaction Identifier, L transaction pairing Client initiates, server replicates 0x0000 Protocol Identifier Modbus protocol = 0. message 0x00FD Length From the next to the last of this byte...
  • Page 65 EP Series User Manual Response message: 97 79 00 00 00 06 04 10 00 00 00 01 Example Length Description Remark 0x97 Transaction Identifier, H Client initiated, server replicated, for 0x79 Transaction Identifier, L transaction pairing Client initiates, server replicates...

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