Related Manuals for RMS R325P
Summary of Contents for RMS R325P
- Page 1 R325P Single Axis Driver User Manual And Commands Guide Version 1.00 RMS Technologies 2533 N. Carson St. #4698, Carson City, NV 89706‐0147 ...
- Page 2 Thank you for purchasing the R325P Single‐Axis Step & Direction Driver. This product is warranted to be free of manufacturing defects for one (1) year from the date of purchase. PLEASE READ BEFORE USING Before you start, you must have a suitable step motor, a DC power supply suitable for the motor and a current resistor. The power supply voltage must be between 4 times and 20 times the motor's rated voltage. DISCLAIMER The information provided in this document is believed to be reliable. However, no responsibility is assumed for any possible inaccuracies or omissions. 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; neither does it convey any license under its patent rights, nor the rights of others. Special Symbols Indicates a WARNING and that this information could prevent injury, loss of property, or even death (in extreme cases). R325P User Manual Page 2 of 20 1/31/2013 Version 1.0...
- Page 3 R325P User Manual Product: R325P Version: 1.00 Date: 1/31/2013 Version History Version Date Description of Changes 1.00 01/31/2013 New User Manual R325P User Manual Page 3 of 20 1/31/2013 Version 1.0...
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Page 4: Table Of Contents
DIP Switch Step Resolution Settings ..................11 8. COMMAND TABLES ................11 Axis Configuration Commands ..................11 General Operation Commands..................11 9. COMMANDS ..................13 Protocol Syntax ..................... 13 10. Troubleshooting ................. 14 11. Appendix A ..................15 11. Appendix B ..................19 R325P User Manual Page 4 of 20 1/31/2013 Version 1.0... -
Page 5: Features
Single Axis Driver for Bipolar step motors Operates from +12 to 48 VDC Phase currents from 0.3 to 3.0 Amp Peak NOTE: Phase current of 2.7 Amp and above REQUIRES an additional heatsink, make sure the temperature of the bracket does not exceed 45° C. Hold current reduction capability with adjustable current and timeout settings Selectable Step Resolution from Full Step to 256x Microstepping Has three optically isolated control inputs and one optically isolated control output Pole Damping Technology™ integrated within driver board Dip switches and a RS485 interface are built‐in to the R325P Controller. A USB connection can be used by using the USB485 Converter Card (sold separately). 2. ELECTRICAL SPECIFICATIONS Supply Voltage: +12 to 48 VDC Phase Current: 0.3 to 3.0 Amps Peak NOTE: Phase current of 2.7 Amp and above REQUIRES an additional heatsink, make sure the temperature of the bracket does not exceed 45° C. I/O Specifications ... -
Page 6: Operating Specifications
3. OPERATING SPECIFICATIONS Maximum Step Frequency: 2.5 MHz Operating Temperature: Low end – 0° C High end – Dependent on case temperature, bracket temperature must not exceed 45° C Automatic Motor Holding Current reduction available from 0.3 to 2.5 Amps Logic Timing Minimum Step Pulse Width 200 nanoseconds Minimum Step Low Time 200 nanoseconds Maximum Power‐Down Recovery Time 20 milliseconds 4. MECHANICAL SPECIFICATIONS Size: 3.00” x 2.75” x 1.42” Weight: 3.2 oz Mounting: Four #6‐32 screws, 2.42” x 2.45” Plate: Aluminum, Hard Anodized Figure 3.1 R325P User Manual Page 6 of 20 1/31/2013 Version 1.0... - Page 7 P3 Configuration Pin No Function 1 Common +ve External 2 Step (in) 3 Direction (in) 4 +5 VDC Internal 5 Disable (in) 6 Motor A+ (out) 7 Motor A‐ (out) 8 Motor B+ (out) 9 Motor B‐ (out) 10 Full Step Output P3 Connector – Pin 1 Location 11 Power Ground Image 5.2 12 Power Positive Table 5.2 R325P User Manual Page 7 of 20 1/31/2013 Version 1.0...
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Page 8: Connection Specifications
CAUTION: Connecting Motor phases (A, A Bar, B, B Bar) to the incorrect location while the R325P is powered will cause the board to burn. Be sure to insert motor phases into Pins 6 through 9, in the order of A, A Bar, B, and B Bar. It is recommended that power is connected last, so that all connections can be checked before power up. 6. CONNECTION SPECIFICATIONS When using the Driver Only portion of the R325P, use the dip switches for step resolution and current settings. Using the R325P as a Driver Unit Only If using the R325P as a Driver only, be sure to connect the power supply last. Pin 1: Connect Pin 1 to Pin 4 to use the internal +5VDC. By using the internal +5VDC the I/O’s will no longer be optically isolated. If optical isolation is still desired, use a separate +5VDC supply and connect the POSITIVE end of the supply to Pin 1. The NEGATIVE end will connect with the NEGATIVE end of your pulse generator. Pin 2: Use a pulse generator or function generator to receive pulses into the R325P. Connect the POSTIVE end of the pulse generator to Pin 2. The NEGATIVE end will be connected to the NEGATIVE end of the +5VDC supply if using a separate power source. If using the internal +5VDC supply, connect the NEGATIVE end of the pulse generator to Power GROUND. Pin 3: To switch the direction of motor rotation, connect Pin 3 with Pin 11, Power Ground. An open or closed connection to Power Ground will change the direction. Pin 4: This is the internal +5VDC. Use this for testing purposes or if optical isolation of the inputs is not desired. It can output a max of 50 mAmps. Pin 5: To enable the drive leave this Pin open, disable the drive connect Pin 5 with Pin 11 (Power Ground). An open or closed connection to Power Ground will enable and disable the drive, respectively. Pin 6: Phase A Motor Connection CAUTION: Connecting Motor phases (A, A Bar, B, B Bar) to the incorrect Pin 7: Phase A Motor Connection location while the R325P is powered ... -
Page 9: Connecting The Power
Connecting the Power The R325P requires a supply voltage between 12‐48 VDC. First, connect the positive end of the power supply to positive terminal (Pin 12), and then connect the negative of the power supply to the Ground (Pin 11) on the R325P. WARNING! Be careful not to reverse the polarity from the power supply to the driver. Reversing the connection will destroy your driver and void the warranty. Connecting the Motor WARNING! Make sure the power is OFF when connecting or disconnecting motors from the R325P. Damage will occur if the power is being supplied. Please refer to your motor documentation for wiring color code. Connect the corresponding Phase from the motor to the proper pin on the R325P. Motor Phase P1 Connector Phase A Pin 6 Phase A‐ Pin 7 Phase B Pin 8 Phase B‐ Pin 9 ... -
Page 10: Configure The R325 Using The Dip Switch
Using the R325P with more than 5V You can choose to supply the optos with the R325P’s internal 5V supply by jumping pins 1 to 4. But if you choose to use more than 5V, for example, a 24V supply and the step pulse train is also a 0 to 24V low‐high signal, please use the following recommended resistor to limit the current to 10 mAmps. Note: no resistor will be needed on the actual opto supply line, pin 1. Step & Direction lines have a 470 ohm internal resistor Voltage: 5V 10V 15V 24V Ohms needed: 0 500 1000 2000 Wattage rating: 0 ¼ watt ¼ watt ¼ watt Table 6.1 Disable line has a 1k ohm internal resistor Voltage: 5V 10V 15V 24V Ohms needed: 0 1000 2000 3800 Wattage rating: 0 ... -
Page 11: Dip Switch Hold Current Settings
5000 500 Percent Fast Decay Q/N PF Numeric 0 3 2 Table 7.1 General Operation Commands Function Query/New Code Value Minimum Maximum Default Firmware Rev. Q FR Numeric ‐ ‐ ‐ Table 7.2 R325P User Manual Page 11 of 20 1/31/2013 Version 1.0... - Page 12 Communicating with the R325P 1. Connect P1 to PC via RS485‐232 Converter Card or USB485 Converter Card. 2. Set up HyperTerminal by selecting correct COM port 3. Settings for HyperTerminal is as follows: 57600, 8 bits, None, 1, None 4. The R325P Driver only version allows for changing the hold timeout settings, the amount of mixed decay, and to check the firmware revision level. RS485‐232 Converter Card Image 7.1 USB485 Converter Card Image 7.2 R325P User Manual Page 12 of 20 1/31/2013 Version 1.0...
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Page 13: Commands
Query Format: #<Address><Command><CR><LF> Example: #AFR<CR><LF> Queries Driver A for the current Firmware Revision The response would be in the following format Response Format: *<Address><value> Example: *AFR325100 R325P firmware revision 1.00 <CR><LF> stand for "Carriage Return" and "Line Feed" respectively. These are NOT characters to be typed in. For direct keyboard users, these values are executed when the "Return" key is pressed. For programmers, a "Carriage Return" and "Line Feed" (also known as a "New Line") command needs to be executed after each command. Command Operand Example Description (Case Sensitive) HT 100 ‐5000 #AHT100 Hold Timeout ‐ Command or Query, Default = 500 ‐ Reads or sets the time interval in milliseconds after any motor Sets the Hold movement, before the motor current is changed from Run Current ... -
Page 14: Troubleshooting
9. Troubleshooting R325P is not functioning correctly Try putting the R325P into TEST mode by placing a jumper on Pins 3 & 4 of J1 as shown below. The motor should twitch back and forth slightly if the R325P is functioning properly. R325P not moving the motor (Step/Dip) Verify that the 5V is being supplied to Pin 1. The R325P is causing the motor to vibrate and jitter back and forth Are the Motor phases switched? Be sure to check that motor wires are connected to Pins 6 through 9, in the order of A, A Bar, B, B Bar. To check which wires belong to one phase, take a Meter to measure resistance between any two wires. If there is a finite value between two of them, insert the wires into pins 6 and 7, OR pins 8 and 9. Insert the remaining two wires accordingly. Technical Support By Telephone: 408‐919‐0200 (Monday‐Friday; 8:00 AM ‐ 5:00PM Pacific) On the Web: www.linengineering.com 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 call technical support at 408‐919‐0200. R325P User Manual Page 14 of 20 1/31/2013 Version 1.0... -
Page 15: Appendix A
10. Appendix A: Recommended Cable Recommended Cable Configurations: DC Supply to Driver Cable length, wire gauge and power conditioning devices play a major role in the performance of your RMS Technologies Driver and Motor. NOTE: The length of the DC power supply cable to the Driver should not exceed 50 feet. Example A – Cabling Under 50 Feet, DC Power Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet long. If cabling of 50 feet or longer is required, the additional length may be gained by adding an AC power supply cable. Correct AWG wire size is determined by the current requirement plus cable length. Please see the Driver Supply Cable AWG Table in this Appendix. R325P User Manual Page 15 of 20 1/31/2013 Version 1.0... - Page 16 2 Amps (Peak) Length (Feet) 10 25 50* 75* 100* Minimum AWG 20 18 16 14 14 3 Amps (Peak) Length (Feet) 10 25 50* 75* 100* Minimum AWG 18 16 14 12 12 * Use the alternative methods illustrated in Examples B and C when the cable length is ≥ 50 feet. Also, use the same current rating when the alternate AC power is used Driver Supply Cable Wire Size NOTE: Always use Shielded/Twisted Pairs for the Driver DC Supply Cable, the AC Supply Cable and the Driver to Motor Cable. R325P User Manual Page 16 of 20 1/31/2013 Version 1.0...
- Page 17 Recommended Cable Configurations: Driver to Motor Cable length, wire gauge and power conditioning devices play a major role in the performance of your Driver and Motor. NOTE: The length of the DC power supply cable between the Driver and the Motor should not exceed 50 feet. Example A demonstrates the recommended cable configuration for the Driver to Motor cabling under 50 Feet long. Correct AWG wire size is determined by the current requirement plus cable length. Please see the Driver to Motor Cable AWG Table in this Appendix. Example A ‐ Cabling Under 50 Feet, Driver to Motor If cabling of 50 feet or longer is required, the additional length can be gained by adding Common Mode Line Filters (2x) *L ≈ 0.5 MH R325P User Manual Page 17 of 20 1/31/2013 Version 1.0...
- Page 18 25 50 75 100 Minimum 18 16 14 12 12 AWG Driver to Motor Supply Cable Wire Size NOTE: These recommendations will provide optimal protection against EMI and RFI. The actual cable type, wire gauge, shield type and filtering devices used are dependent on the customer’s application and system. NOTE: Always use Shielded/Twisted Pairs for the Driver DC Supply Cable, the AC Supply Cable and the Driver to Motor Cable. R325P User Manual Page 18 of 20 1/31/2013 Version 1.0...
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Page 19: Appendix B
11. Appendix B: PF Value For applications requiring ultimate smoothness of motion and extreme accuracy, the R325P driver can be programmed via RS485 to change the Percent Fast Decay rate, or, the PF value. The Percent Fast Decay default is 2, or a mixed mode of 48%. Mixed mode is a damping technique done to the driver IC. The following values indicate the choices for Percent Fast Decay: PF Values (0 through 3): 0 = Slow Decay 1 = Mixed Mode 15% 2 = Mixed Mode 48% 3 = 100% Fast Decay Generally speaking, applications that run at slow speeds are recommended to use a PF value of 1 or less. Fast speeds should use a PF value of 2 or more. Since the best PF value is dependent on the motor winding, loads, power supply voltage, and other factors, it is best to use an oscilloscope and a current probe device to view the current waveform and try different PF values. The following examples show good and bad waveforms when choosing different PF values. PF value 1 Slow speeds Good waveform R325P User Manual Page 19 of 20 1/31/2013 Version 1.0... - Page 20 PF value 3 Slow speeds Bad waveform PF value 1 Fast speeds Bad waveform R325P User Manual Page 20 of 20 1/31/2013 Version 1.0...
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