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- Page 1 Series Modbus RS485 Integrated Stepper Motor User Manual ©2023 All Rights Reserved Address:15-4, #799 Hushan Road, Jiangning, Nanjing, China Tel: 0086-2587156578 Web: www.omc-stepperonline.com Sales:sales@stepperonline.com Support: technical@stepperonline.com...
- Page 2 Strictly adhere to the technical information regarding installation requirements. This manual is not for use or disclosure outside of STEPPERONLINE except under permission. All rights are reserved. No part of this manual shall be reproduced, stored in retrieval form, or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise without approval from STEPPERONLINE.
- Page 3 Series Modbus RS485 Integrated Stepper Motor Safety Precautions Overall Notes Do not remove the housing with the drive powered on. Cables. Connectors and optional equipment. Please disconnect the power supply for at least 2 minutes and make sure the ...
- Page 4 Series Modbus RS485 Integrated Stepper Motor Precautions for Installation Please install the drive in a cabinet that provides fire protection. Electrical protection in the control cabinet. Please install the driver and motor in a position with sufficient weight ...
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Page 5: Table Of Contents
Table of Content 1 Introduction ..............................1 1.1 Product Introduction ............................1 1.2 Features ................................1 1.3 Application Scenarios ............................. 1 1.3.1 Hands-on Tuning ..........................1 1.3.2 Practical Application Scenarios ......................1 2 Specifications ..............................3 2.1 Electrical and Operating Specifications ......................3 2.2 Storage and Installation Conditions ....................... 3 2.2.1 Storage condition .......................... - Page 6 5.5.2 IO Combination Trigger ........................35 5.5.3 Fixed Trigger ............................36 5.5.4 Immediate Trigger ..........................36 6 Tuning Operations ............................37 6.1 Basic operation of STEPPERONLINE MotionStudio ..................37 6.1.1 Preparation and Steps ........................37 6.1.2 Operation of Trial Run ........................40 6.1.3 Operation of PR Function ........................41 6.2 Basic Operation of Serial Port Tools Software .....................
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Page 7: Introduction
1.1 Product Introduction iDM-RS Series is an integrated stepper motor integrated drive, and based on standard Modbus RTU protocol, using RS485 communication can network up to 31 axes. Its built-in PR feature with 16-segment position table (PR Mode) can save additional controllers in most of point-to-point applications, to greatly enhance system reliability and reduce the cost. - Page 8 Series Modbus RS485 Integrated Stepper Motor (2) Controlled by I/O (switch signal or PLC) The user only needs to turn off the switch signal to realize the PR motion, which is simple to control and low-cost design. Users can also use PLC I/O module to realize PR motion, which is more intelligent than switch signal control.
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Page 9: Specifications
Series Modbus RS485 Integrated Stepper Motor 2 Specifications 2.1 Electrical and Operating Specifications Holding Power Input Frame Length Weight Command Peak Output Max Baud Digital Digital Model Torque Voltage Logical Size (mm) (Kg) Source Current (A) Capability Rate Input Output (N.m) -
Page 10: Interface And Connection
Series Modbus RS485 Integrated Stepper Motor Models Length iDM57-RS13 78mm iDM57-RS23 99mm Models Length 47.14 4- φ 5 57.2 MAX 21±0.5 L±1 iEM-RS2313 78 mm 22±0.5 iEM-RS2323 99 mm φ 8 0.012 Figure 1: Mechanical specifications 3 Interface and Connection 3.1 Interface... -
Page 11: Cn1 &Cn2 Input Power Connector
Series Modbus RS485 Integrated Stepper Motor 3.1.2 CN1 &CN2 Input Power Connector Name Signal Description 20V- 36V Name Signal Description Configurable Single-ended Digital Inputs DI1-DI7, 12V - 24V. DI1 is enabling signal default, DI2-DI7 are GPIOs COMI Configurable Single-ended Outputs... -
Page 12: Dip Switches
Series Modbus RS485 Integrated Stepper Motor 3.1.4 DIP Switches The iDM-RS series use an 8-bit DIP switched to set Salve ID (also called Site Alias), Baud Rate and Terminal Resistance, they are shown as below: (1) Slave ID: SW1-SW5 (off=1, on=0) -
Page 13: Wiring Instructions
Series Modbus RS485 Integrated Stepper Motor Note: (1) When the SW1-SW5 is default (all are on), the Slave ID can be configured by the PC software (2) Baud Rate: SW6 - SW7 Baud Rate 115200 (Default) 38400 (Factory) 19200... -
Page 14: Power Supply Cable
Please connect surge absorber to inductive device, such as anti-parallel diode for DC coil, parallel RC-snubbers circuit for AC coil. 3.2.3 RS485 Communication Cable STEPPERONLINE can provide specific network cable CABLE-TX*M*-ISV2, the maximum length is 20meter, user can also made by yourself, please contact STEPPERONLINE for the part number of connector. 3.3 I/O Connection 3.3.1 Digital Inputs The connections of input signals are as below: Figure 3.3: Input Interface Connection... -
Page 15: Digital Output
Series Modbus RS485 Integrated Stepper Motor 3.3.2 Digital Output Drive Side 12-24VDC Figure 3.4: Output Interface Wiring Note: (1) The power supply (12-24VDC) above is provided by user, and if the polarity of power supply is reversed, it will damage the drive. -
Page 16: Modbus Function Codes (Fc)
Series Modbus RS485 Integrated Stepper Motor Single message communication rate of RS485 ： (Unit: ms) Time from transmission Start receiving to send Baud rate Receive wait time completion to recovery of Total completion time receiving state 115200 2.44 0.64 3.08... -
Page 17: Preset Single Register Fc= 06
Series Modbus RS485 Integrated Stepper Motor Note: 0x0191-- output peak current, 000A(Hexadecimal)=10(decimal, unit: 0.1A), it means the current 1A. Example B: Read multiple register values Send message: 01 03 01 BC 00 06 05 D0 Receive message: 01 03 0C 00 00 00 02 00 00 00 01 00 00 00 04 B6 13 Details as following: Master->slave data:... -
Page 18: Preset Multiple Registers Fc= 10
Series Modbus RS485 Integrated Stepper Motor Master->slave data: Message 01 91 00 20 DD 7B Description Slave ID Register address Write data Slave>master data: Message 01 91 00 20 DD 7B Description Slave ID Register address Write data Note: 0x0191-- output peak current, write data 0x0020=32(decimal, unit: 0.1A), it means the current 3.2A. -
Page 19: Modbus & Pr Parameters
4.3.1 Basic Parameters STEPPERONLINE RS485 parameter data type is 32 bits, a parameter contains two registers of high 16 bits and low 16 bits, only the lower 16 bits are used in practice. However, when reading or writing multiple parameters in succession, the high 16 bits of the parameter need to be used as the start, usually 00. - Page 20 Series Modbus RS485 Integrated Stepper Motor Default is normal-open (N.O) type, it can be set to 0x0157 Pr4.11 0-65535 normal-closed (N.C) type by setting the corresponding DO1(output 1) port +0x80 0: invalid; 0x0159 Pr4.12 0-65535 DO2(output 2) 0x20: command completed;...
- Page 21 Series Modbus RS485 Integrated Stepper Motor Switching time to 0x01D1 Pr5.32 10-65535 standby Standby current 0x01D3 Pr5.33 0-100 percentage 0x01E1 Pr6.00 JOG velocity 0-5000 r/min This JOG is triggered by RS485. 0x01E3 Pr6.01 Interval 0-10000 For JOG triggered by IO, please use Pr8.40/8.41 0x01E5 Pr6.02...
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Page 22: Input And Output Parameters
Series Modbus RS485 Integrated Stepper Motor 4.3.2 Input and Output Parameters Register Par. # in Definition Description Range Default Unit Address software 0x0145 Pr4.02 SI1 (DI1) 0-65535 136 (0x88) (1) SI1 is set to enable by default, N.C 0x0147 Pr4.03... - Page 23 Series Modbus RS485 Integrated Stepper Motor Set value of low 8 bits: Normally open. Normally closed setting Digital input function setting Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 (000 0000) 0x00: Invalid input. (000 1000) 0x08: Enable. (010 0000)0x20: CTRG.
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Page 24: Status Monitoring Parameters
Series Modbus RS485 Integrated Stepper Motor Example 2: IO input port 1 is set to enable function. Normally closed. Filter time 10ms (default) The register value is configured as 0000 0000 1000 1000, which translates to 136 in decimal, i.e. write 136 to Pr4.02 to achieve the above configuration. -
Page 25: Error Codes And Troubleshooting
Series Modbus RS485 Integrated Stepper Motor Note: (1) The read value is 0x1111 when no save instruction has been executed after the first power-up; (2) The first read value is 0x5555 after a save instruction is executed, and then it changes back to 0x1111. -
Page 26: Drive Alarm Codes And Troubleshooting
(2) There are two methods to clear the current alarm: one is via Clear current error Current error STEPPERONLINE MotionStudio, and the second is via external I/O; (3) If the current error cannot be cleared, please check the drive All history error records can be cleared by STEPPERONLINE... -
Page 27: Register Mapping Continuous Read/Write Function
Series Modbus RS485 Integrated Stepper Motor 4.5 Register Mapping Continuous Read/Write Function Address description 0x0F10-0x0F19. By writing the "address to be mapped" to 0x0F10-0x0F19, it is possible to set the address mapping. The 10 consecutive mapped addresses are available for mapping discontinuous parameter addresses. -
Page 28: S-Code Application
The rest of the unused bits are 0, such as bits 11-14, bits 3-6. iDM-RS Series drivers have only 3 outputs, and the S-code can only use 3 bits, each bit corresponds to an output. Therefore, there are only 8 output combinations (000, 001, 010, 011, 100, 101, 110, 111), and these 8 states can be set freely, depending on the requirements. -
Page 29: Enable Drive
4.7 Enable Drive There are two methods to enable iDM-RS Series drives: I/O enable: DI1 of iDM-RS Series drive is the enable input by default, normally closed, so iDM42-RS06 immediately enters the enable state after power on. RS485 communication: ... -
Page 30: Homing / Return To Zero Position
then it is positive limit switch homing. Conversely, the negative limit homing. Home switch: Set by register address 0x600A, or STEPPERONLINE software. If the motor turns toward the home switch when zeroing, it will use the home switch it touches as the home point; if the motor turns in the opposite direction when zeroing, it will automatically reverse to find the home point after it touches the limit switch. -
Page 31: Homing Parameters
Series Modbus RS485 Integrated Stepper Motor Note: In the normal homing, because the motor to find the origin process is slowed down and stopped, so after finding the origin will move a certain distance, the actual read position value may not be 0, in this case, you can check the "return to the origin to move to the specified position", that is, move to the 0 position. - Page 32 Series Modbus RS485 Integrated Stepper Motor (1) Home Switch & Positive Limit Switch (2) Home Switch at Positive Direction (3) Home Switch & Negative Limit Switch...
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Page 33: Homing By Limit Switch
Series Modbus RS485 Integrated Stepper Motor (4) Home Switch at Negative Direction 5.2.3. Homing by Limit Switch (1) Positive Limit Switch... -
Page 34: Soft Limit & Jog & Quick Stop
It is not requiring hardware, eliminating malfunction due to poor wiring contact, and it can prevent mechanical slip and abnormal action with internal position comparison. And the iDM-RS Series drives carry out homing to find the mechanical home before the soft limit function can be activated. - Page 35 Series Modbus RS485 Integrated Stepper Motor Relevant objects: Register Par. # in Definition Default Value Description address software 0x6026 Pr8.38 JOG 2 velocity JOG triggered by external I/O signal, Unit: rpm 0x6027 Pr8.39 JOG 1 velocity 0x6028 Pr8.40 JOG Acceleration...
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Page 36: Quick Stop
Series Modbus RS485 Integrated Stepper Motor 5.3.3 Quick Stop The iDM-RS Series drives have two types of quick stop: digital input quick stop signal and register quick stop. Quick stop time sequence Relevant objects: Register Par. # in Default... -
Page 37: Pr Path Configuration
Series Modbus RS485 Integrated Stepper Motor Pr9.03 0x6203 velocity Unit: rpm Pr9.04 0x6204 Unit: ms/1000rpm Pr9.05 0x6205 Unit: ms/1000rpm Pr9.06 0x6206 Pause time Pause time after the command is stopped Pr9.07 0x6207 Special parameter PR Path 0 maps directly to Pr8.02, Others are reserved Pr9.08... -
Page 38: Other Functions Of Pr
Series Modbus RS485 Integrated Stepper Motor Path 10 Path 11 Path 12 Path 13 Path 14 Path 15 Note: The 4 digital inputs do not have to be configured as ADD0 - ADD3, it is configured according to the actual required path motions. - Page 39 Series Modbus RS485 Integrated Stepper Motor Multi-segment jump path sequence diagram Continuous movement The bit5 of Pr9.00 is 0 , which does not overlap the continuous path. As shown in the figure below, set PR1 (PR path1) and PR2 (PR path2) to run continuously and PR1 jump. There is no in-position signal in the intermediate delay from PR1 jump to PR2.
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Page 40: Trigger Methods
Series Modbus RS485 Integrated Stepper Motor Interrupt function timing sequence 5.5 Trigger Methods 5.5.1 CTRG Trigger When the path triggered by CTRG, it can be configured for rising edge triggering or double edge triggering. (No falling edge trigger function). -
Page 41: Io Combination Trigger
Series Modbus RS485 Integrated Stepper Motor For example: 4-segment PR path The CTRG trigger method requires not only the configuration of the required number of paths, but also the setting of an additional input to the CTRG signal SI4 is set to enable input by default, normally closed. -
Page 42: Fixed Trigger
Series Modbus RS485 Integrated Stepper Motor Note: “on” the input signal optocoupler on, “off”means signal optocoupler off. 5.5.3 Fixed Trigger Fixed trigger mode is after configuring homing and path (less than 16-segment), then use Pr8.02( 0x6002) to start the operation path which replace IO functions of CTRG and HOME. -
Page 43: Tuning Operations
CABLE-PC-1 Pin Definition It is recommended that users order this cable directly from STEPPERONLINE, not to make it yourself (2) USB to RS232 converter, sometimes it needs to manually install the drive program. (3) COM port selection, as shown in the figure below, the communication port is COM3:... - Page 44 Series Modbus RS485 Integrated Stepper Motor (4) Connect tuning software Select COM3, do not select baud rate and device number, keep the default settings. After clicking connect, it will display the driver model.The number of ports and other information, and the lower left corner of the color block turns green, indicating that the connection has been successful.
- Page 45 Series Modbus RS485 Integrated Stepper Motor (6) Input and output function and polarity setting...
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Page 46: Operation Of Trial Run
Series Modbus RS485 Integrated Stepper Motor Note: After setting the parameters, click "OK". Then, in the parameter management window, click the Save button to prevent the parameter values from being lost after the drive is powered off. 6.1.2 Operation of Trial Run... -
Page 47: Operation Of Pr Function
Series Modbus RS485 Integrated Stepper Motor 6.1.3 Operation of PR Function (1) This window can set the CTGR trigger and Homing parameters of PR motion: (2) This window is the PR path parameter setting, including operation mode, target position, speed value, etc. Double click to modify parameters. - Page 48 Series Modbus RS485 Integrated Stepper Motor (3) Manually run the PR path As shown in the figure below, the default is the motion parameter of PR0. As long as click Start, the motor will run according to the path of PR0. If click PR1 in step 4, the motor will be forced to switch to the path of PR1. Click step 3 to stop motor.
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Page 49: Basic Operation Of Serial Port Tools Software
Series Modbus RS485 Integrated Stepper Motor 6.2 Basic Operation of Serial Port Tools Software This is to control the motor through RS485 communication, user can realize the movement of the motor by sending commands to the corresponding registers. 6.2.1 Preparation and Steps... -
Page 50: Operation Instruction Format
Series Modbus RS485 Integrated Stepper Motor (4) Connect tuning software Select COM3, select the same baud rate as the drive settings. After clicking connect. 6.2.2 Operation Instruction Format Data format: Here is an example of setting the PR0 path: (Data is in hexadecimal) -
Page 51: Appendix A Parameters List
1. Modbus RTU Parameters The STEPPERONLINE RS485 parameter data type is 32-bit data, and a parameter contains two registers, high 16 bits and low 16 bits, but in practice most parameters only need to use the low 16 bits. When reading and writing multiple parameters in... - Page 52 Series Modbus RS485 Integrated Stepper Motor Register Software Default Name Description Range Unit Address Parameter No. Value 0x0001 Pr0.00 Pulse/revolution 10000 200-51200 10000 0x0005 Pr0.02 Control mode source Invalid 0-10 0:CW 0x0007 Pr0.03 Motor direction 1:CCW 0x0009 Pr0.04 0-10000 1499 0.001mH...
- Page 53 Series Modbus RS485 Integrated Stepper Motor When SW6 and SW7 are all OFF, it can be set by PC software. When SW1 - SW5 are all ON, it can be set by PC 0x01BF Pr5.23 RS485 ID 0-127 software 0: 8-bit data, even check, 2 stop bits;...
- Page 54 Series Modbus RS485 Integrated Stepper Motor 2. PR Parameters: PR parameter data type is 16-bit data, one parameter occupies one register (one 16-bit register = 2 8-bit bytes). Parameter NO. Register Address Name Description in PC software Bit0: CTRG effective edge. 0--rising edge, 1--double edges Bit1: Soft limit..
- Page 55 Series Modbus RS485 Integrated Stepper Motor Pr8.54 0x6036 S-code output setting for Path 6 Pr8.55 0x6037 S-code output setting for Path 7 Pr8.56 0x6038 S-code output setting for Path 8 Pr8.57 0x6039 S-code output setting for Path 9 Pr8.58...
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