R325IE Single Axis Controller/Driver Encoder Version User Manual
Contents
1. ee 14 9 COMMAND TABLES 15 1 cue aiaia Ursu Descsrs i sas sea Cor 15 Basic Configuration Commands sssessesssseemmeme 15 Axis Configuration Commands ssssssesssssseesemme 15 General Operation Commands ssseessesessmm 15 E Version Commands sssssssssssssesees eene mene 16 10 COMMANDS i iissssee ud ceux Us nsuR e vrRE AR Eurer UE pEExuMR P Ue pcERERYM RS Res 17 HOMI NG amp POSITI ONING sssssssssssssm memes 18 VELOCI TY amp ACCELERATION 0c cece cece eee eect memes 18 SETTING CURRENT ey ee e ese XR Candee ites BERNER OLI T CORR T NE daa 20 STORAGE amp RECALL eorr aden pa che chen TREE ERE res ERR E PRA RR PER REF IRAN FR EA 20 MICROSTEPPING esee hd her ri ERE E n a ReA RE RR RARI ATA EN 21 QUERY COMMANDS nep erede eere coded voee tede aat A EX n ic E ER Rd 21 ENCODER VERSION COMMANDS ssssessssese mee 22 11 RS485 Communication enne 23 RMS Technologies Page 4 Version 1 22 R3235IE Single Axis Controller Driver Manual 08 23 2007 1 FEATURES e Single Axis Driver for Bipolar step motors e Operates from 15 to 48 VDC e 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 e Hold current reduction capabili2. TECHNOLOGIES R325I E Single Axis Controller Driver Encoder Version User Manual C 6 And Commands Guide Version 1 22 RMS Technologies 2533 N Carson St 4698 Carson City NV 89706 0147 Thank you for purchasing the R325IE Single Axis Controller Driver This product is warranted to be free of manufacturing defects for one 1 year from the date of purchase Technical Support By Telephone 408 919 0200 Mon Fri 8 00 a m 5 00 p m 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 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 DI SCLAI MER 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 de
3. 100 The optimum setting will vary with motor inductance and step rate however the default Mixed Mode setting will work well with almost all motors MI CROSTEPPI NG SR 1 2 4 8 16 ASR4 Step Resolution Command or Query 32 64 128 Default 16 256 Sets the step Reads or sets the current step resolution resolution to 4x Allowed values are 256 for 256x 128 for 128x 64 for 64x 32 for 32x 16 for 16x 8 for 8x 4 for 4x 2 for 2x 1 for 1x QUERY COMMANDS FR AFR Firmware Revision Query Only Returns 3 digit part code followed by 3 digit firmware revision value Reply AFR325100 R325 firmware revision 1 00 MA 65 90 AMA88 My Address Command or Query Default 65 Sets the unit Reads or sets the unit address The value read or entered is the address to 88 decimal value of the ASCII character designated as the unit CX address 65 A and 90 Z The change to a new address is immediate in that the command response will use the new address RS ARS Read Switches Query Only Reads the TRUE 1 or FALSE 0 state of the three optically Reads the coupled inputs combined into a single three bit value This switch inputs command is used to check the correct operation of this interface The value order of the inputs is Direction Disable and Step in descending order Direction has the value 4 100 Disable has the value 2 010 S
4. 2X 4X ON ON OFF OFF 8X 16X ON ON ON OFF 32X 64X ON ON OFF ON 128X 256X ON ON ON ON The power must be turned OFF when switching in and out of Full Step mode Notes 1 Switches 8 9 and 10 must be set to OFF to use the R325IE in control mode This is in addition to installing the jumper on JP1 Pins 7 and 8 2 Installing a jumper on JP1 Pins 9 and 10 runs the factory test routine RMS Technologies Page 13 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 8 BASIC STEP AND DIRECTION OPERATION The four control signals Step Direction Disable and Fault Out are optically isolated with a common positive connection usually 5 VDC The common positive connection Pin 1 is typically 5 VDC Each of the inputs is set to TRUE by supplying a signal level 5V below the common positive connection powering the optical isolators The input is set FALSE by putting the signal within 0 5 VDC below the common positive value For test purposes and some applications where input isolation is not required the internal 5 VDC supply at Pin 4 of the I O connector can be used as the common positive connection by linking pins 1 and 4 on the connector If this is done then each input is set TRUE by bringing the voltage level at the input equal to or more negative than the Power Supply negative connection at Pin 11 With this arrangement Direction Disable and Fault Out control can be effected by simple swit
5. 5 S Message Format A two character command query designator follows the single address character Depending on the nature of the command the command designator may be followed by a numeric ASCII character string No separator characters are used but a carriage return character OxOD is inserted before the termination character in both the outgoing message and the reply 6 Data Format 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 Check Send Line Ends with Line Feeds and Echo Typed Characters Locally When typing by hand line turn around will occur between characters This is normally not a problem but if you slowly increase the character transmission rate you will find errors occurring until you reach a rate where the line is held in the transmit mode for the whole of the message Using HyperTerminal s file transfer system to send messages is not recommended 9 Reading Reply Messages The message read function on the RS232 side of the interface must make provision for discarding any characters read that proceed the character Line turn around can commonly generate false ch
6. Page 18 Version 1 22 08 23 2007 Command Start velocity Case Sensitive Operand Example Description VELOCITY amp ACCELERATION cont PM APM1000 Position Move Command Only 2 000 000 000 Causes a Relative Motion Position Move using an Makes a 1000 approximately trapezoidal profile The initial velocity is defined step move from by Start Velocity SV the profile ramp is defined by the current Acceleration AC and the Constant Velocity step rate by position Velocity Limit VL Minimum Velocity MV is used to ensure that the deceleration ramp does not set velocity to zero before the target position is reached It should be remembered that while the Position Move value defines the number of steps to be made from the current position the value returned by Current Position CP both before and after a Position Move are on an Absolute step count scale CP readings can be used to determine PM values required to reach any given position on the Absolute step count scale Note This command does not return a value SB ASB Step Back Command Only Makes a single step move at the current step resolution Moves one step Forward is defined as the direction the motor moves with the back Direction input in the FALSE state or with no connection Backwards is thus the direction the motor moves when the Direction input is in th
7. Timeout to 100 movement before the motor current is changed from Run mS Current to Hold Current STORAGE amp RECALL LD ALD Loads all the default values Load Defaults Command Only Loads all of the unit Default parameter values A Save Data SD command must be issued to have these values retained during a power cycle Default values are Module Address 65 A Acceleration 50 Absolute Position 0 Percent Fast Decay 2 Hold Current 300 0 3A Hold Timeout 5000 Minimum Velocity 256 Run Current 1000 1 0A Step Resolution 16 Start Velocity 1000 Velocity Limit 15000 50 ASD Saves data Save Data Command Only This command causes a set of parameter values to be written to non volatile memory On power up the last set of values written are set to be the parameter initial values The parameters whose values are thus saved are My Address Absolute Position Velocity Limit Minimum Velocity Start Velocity Acceleration Hold Timeout Step Resolution Run Current Hold Current Percent Fast Decay RMS Technologies R325IE Single Axis Controller Driver Manual Page 20 Version 1 22 08 23 2007 Command Case Sensitive Operand Example Description MISC PF 0 1 2 3 ACD1 Percent Fast Decay Command or Query Default 2 Sets Mixed Allows the Damping Mode of the driver IC to be set Mode damping 0 Fast Decay to 15 1 Mixed Mode 15 2 Mixed Mode 48 3
8. 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 5 VDC Use this for testing purposes or if optical isolation of the I O s 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 CAUTI ON Connecting Motor phases A A Bar B B Bar to the Pin 7 Phase A Motor Connection incorrect location while the R325IE is powered will cause Pin 8 Phase B Motor Connection the board to burn Be sure to E insert motor phases into Pins 6 through 9 Pin 9 Phase B Motor Connection 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 Pin 10 The Fault Output does nothing in driver only mode Sits high Pin 11 Connect the NEGATIVE of the Power Supply to this terminal Pin 12 Connect the POSITIVE of the Power Supply to this terminal 15 to 48VDC RMS Technologies Page 10 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 Connecting the Power The R325IE requires a supply voltage between 15 48 VDC First connect the positive end of the power supply to positive terminal Pin 12 and then connect the negative of the power supp
9. count This is used in count to 400 conjunction with Encoder Mode to calculated motor positions EM 1 2 AEM2 Encoder Mode Command or Query Default 2 Sets the Reads or sets the operating mode of the Encoder Interface IC Encoder Mode A value of 1 returns one Encoder Count per Encoder Line A to 2 value of 2 returns 2 Encoder Counts per Encoder Line Only 1 and 2 are valid EP 0 16777215 AEP10 Error Permitted Command or Query Reads or sets the maximum error allowed before Error Action is taken Depending on the system configuration the value is given in either Encoder Counts or Steps at the current Step Resolution If the product of Encoder Lines and Encoder Mode is larger than the product of Motor Steps and Step Resolution then the value is in Encoder Counts Otherwise it is in Steps Note The minimum value is the number of the finer resolution Encoder Counts or Steps required to make up one unit of the coarser resolution ER 0 16777215 AER Error Read Query Only Returns the current Encoder Error value If the product of AER5 Encoder Lines and Encoder mode is larger than the product of Motor Steps and Step Resolution then the error is in Encoder Counts Otherwise it is in Steps GA AGA Go Target A Command Only This applies to Go Target B C D E F G H Initiates position move to the corresponding Target Position set by TA MF AMF200 Motor Fullsteps per revolution Command or Query Default
10. the rate of velocity change for velocity moves Does not affect any of the basic step and direction move operations Acceleration Factor 1000 Pulses per Second Absolute Position Command Only Used to make an absolute position move in step resolution units 1000 position or 0 CV 50 000 ACV Current Velocity Query Only Only valid when a Position Move PM or Velocity Move VM is in progress Otherwise returns zero DV 250 to 50 000 ADV1000 Direction Velocity Command Only 250 to 50 000 ADV 1000 This command is the exact same as Velocity Move VM with the addition of being able to ramp up and down when making moves MV 256 50 000 AMV500 Sets minimum velocity to 500 SPS only on Goes from to from Positive to Negative In the given example it will rotate at firmware ver direction 1000 pps When issued ADV 1000 it will ramp down to 0 then 2 09 or later ramping up amp back up to 1000 pps but rotating in the opposite direction down Note No value is returned MS 0 2 AMS Move Status Query Only Reads Motion Status Returns 0 for No Motion 1 for Position Move and 2 for Velocity Move Minimum Velocity Command or Query Default 256 Reads or sets the minimum velocity for both Position and Velocity command moves The units are steps at the current Step Resolution per second RMS Technologies R325IE Single Axis Controller Driver Manual
11. 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 RMS Technologies Page 27 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 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 Phase A 101 Phase A Ferrite Beads Braided Shield Cable Length less than 50 Feet Two Shielded Twisted Pairs Wire Size from Driver to Motor Cable AWG Table Shield to Earth Ground on Supply End Only 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 0 5 MH is a typical starting point for the Common Mode Line Filters By increasing or decreasing the value of L you can set the drain current to a minimum to meet your requirements RMS Technologies Page 28 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 Driver to Motor Cable AWG Table Length Feet Minimum AWG Length Feet Min
12. 2 R325IE Single Axis Controller Driver Manual 08 23 2007 7 CONNECTION SPECIFICATIONS To begin using the R325IE first determine how you will operate the unit Simple Controller Driver or Driver Only When using the Controller Driver insure that the jumper is located on Pin 7 amp 8 on J P1 and that switches 8 9 and 10 are in the OFF position setup must be made with an RS485 connection and communication can take place using Windows HyperTerminal When using the Driver Only portion of the R325IE first remove the jumper located on JP1 use the dip switches for step resolution and current settings Using the R325IE as a Driver Unit Only If using the R325IE as a Driver only be sure to connect the power supply last Pin1 Connect Pin 1 to Pin 4 to use the internal 5 VDC By using the internal 5 VDC 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 R325IE Connect the POSTIVE end of the pulse generator to Pin 2 The NEGATIVE end will be connected to the NEGATIVE end of the 5 VDC supply if using a separate power source If using the internal 5 VDC supply connect the NEGATIVE end of the pulse generator to Power GROUND Pin 3 To switch the direction of motor rotation
13. 200 Sets Motor Reads or sets the number of Fullsteps per motor revolution i e Fullsteps to 200 A 1 8 motor will have a Fullstep count of 200 TA ATA100 Target A Command or Query This applies to Target B C D E F G H Reads or sets the value of a preset Target Position in Fullstep units as an absolute value Initiates position move to the corresponding Target Position set by TC RMS Technologies R325 E Single Axis Controller Driver Manual Page 22 Version 1 22 08 23 2007 11 RS485 Communication 1 The Interface The EIA specification RS485 defines an integrated circuit that is to be used to connect up to 32 nodes to a two wire party line bus that does not exceed 4 000 ft in length and for use with data rates up to 10M Baud The two wire bus must be terminated at one end for short wire runs and at both ends if the runs exceed 20 ft One of the two wires must be biased positive with respect to the other by approximately 700 millivolts A single 5VDC supply can be used to power the interface IC and this same supply can be used to satisfy the bias and termination requirements A 681 ohm 1 resistor is connected between the 5VDC supply and the positive line A second 681 ohm 1 resistor is connected between ground and the negative line and a 220 ohm 1 resistor is connected across the two lines The transceiver A terminal is connected to the negative line and the B terminals to the positive line For wire r
14. 5 2 Mixed Mode 48 3 100 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 e Slow speeds e Good waveform e PF value 1 Tek JL Stop M Pos 0 000s CH2 1 Coupling sf mrccereeereeaeererenrer dr ERE reas 1 CHT Saami M 250ms Hi 00V RMS Technologies Page 30 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 Volts Div e PF value 2 e Slow speeds e Bad waveform e PF value 1 e Fast speeds e Bad waveform RMS Technologies Coupling SECC eee ee ee t 112 H III TIT Volts Div V R CH1 Eom M 1 00ms CH1 Z 0 00V 11 eee ost n n n n 59 ndis nnn 1 13 sssssasessassassasasa sam LIII XI Volts Div 1 TEC RTP 11 11 11111 torta t rta trt rd TEER EN o an Page 31 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007
15. 5V 10V 15V 24V Ohms needed 0 1000 2000 3800 Wattage rating 0 1 8 watt 1 8 watt V4 watt RMS Technologies Page 14 Version 1 22 R325 E Single Axis Controller Driver Manual 08 23 2007 9 COMMAND TABLES To begin using the R325IE in command mode insure that the jumper is located on Pin 7 amp 8 of J P1 and that switches 8 9 and 10 are in the OFF position setup must be made with an RS485 connection and communication can take place using Windows HyperTerminal When using the Driver Only portion of the R325IE first remove the jumper located on JP1 use the dip switches for step resolution and current settings Basic Configuration Commands Function Query New Code Value Minimum Maximum Default Load Defaults N LD None Save Data N SD None Axis Configuration Commands Function Query New Code Value Minimum Maximum Default Acceleration Q N AC Numeric 1 250 10 Hold Current Q N HI Numeric 0 3000 300 Hold Timeout Q N HT Numeric 100 5000 5000 Min Velocity Q N MV Numeric 256 15 000 256 Percent Fast Q N PF Numeric 0 3 2 Decay Run Current Q N RI Binary 300 3000 1000 Read Switches Q RS Numeric 0 15 Step Resolution Q N SR Numeric 1 256 16 Start Velocity Q N SV Numeric 256 15 000 1 000 Velocity Limit Q N VL Numeric 256 15 000 15 000 Zero Position N ZP None General Operation Commands Function Query New Code Value Minimum Maximum Default Absolute Position N AP Numeric 2147483646 2147483647 Current Posit
16. aracters The function should have a time out associated with waiting for a reply to allow for a non operational Slave node The actual time required is system dependent but 20mS is a commonly used value RMS Technologies Page 24 Version 1 22 R325 E Single Axis Controller Driver Manual 08 23 2007 12 Troubleshooting R325IE is not functioning correctly Try putting the R325 into TEST mode by placing a jumper on Pins 9 amp 10 of JP2 The motor should twitch back and forth slightly if the R325IE is functioning properly R325I E not moving the motor Step Dir Verify that the 5V is being supplied to Pin 1 The R325IE 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 of P1 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 RMS Technologies Page 25 Version 1 22 R325 E Single Axis Controller Driver Manual 08 23 2007 13 Appendix A Recommended Cables 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 sh
17. ch closure between the input and the power negative connection at Pin 11 If the Step input is obtained from a Function Generator then careful adjustment of the Offset control is needed to ensure that the negative level of the input signal is equal to or more negative than the power negative connection at Pin 11 The minimum duration of the active negative Step input signal level is 400 nanoseconds and also this is the minimum for the inactive positive level This limits the maximum usable step rate to 2 5 MHz The optimum operating arrangement minimum power usage is for a constant width negative going pulse of 400 nanoseconds with the pulse interval varying with pulse rate For test purposes setting the Function Generator duty cycle to 50 and just varying frequency is satisfactory Using the R325 with more than 5V You can choose to supply the optos with the R325 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 O 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 amp Direction lines have a 470 ohm internal resistor Voltage 5V 10V 15V 24V Ohms needed 0 500 1000 2000 Wattage rating 0 Yq watt Yq watt Ya watt Disable line has a 1k ohm internal resistor Voltage
18. e energized or TRUE state SF ASF Step Forward Command Only Makes a single step move at the current step resolution Moves one step Forward is defined as the direction the motor moves with the forward Direction input in the 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 SM ASM Stop Motion Command Only This command can be used to affect an end to any Position Stops any Move or Velocity Move in progress It has no effect on motion Position or produced by the Step and Direction inputs Velocity move in progress SV 256 15000 ASV500 Start Velocity Command or Query Default 1000 Reads or sets the velocity used for the first step in a position set to 500 PPS move in steps sec Value based on motor performance move of 1000 steps per second VL 256 15000 AVL5000 Velocity Limit Command or Query Default 15000 Sets the velocity Reads or sets the velocity used for Velocity Moves and the limit to 5000 constant velocity portion of a Position Move steps sec VM 250 50 000 AVM1000 Velocity Move Command Only 250 50 000 The sign of the value determines the direction positive for or 0 Starts a velocity forward and negative for backward in which the velocity move is made The value sets the step rate in steps per second at the current step resolution Velocity cannot exceed Veloc
19. get G Q N TG Numeric 0 16777215 175 Target H Q N TH Numeric 0 16777215 200 Zero Position ZP RMS Technologies Page 16 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 10 COMMANDS Protocol Syntax Command Format lt Address gt lt Command gt lt value gt lt CR gt lt LF gt Example ACP1000 lt CR gt lt LF gt Sets Driver A to the current position of 1000 To query a command use the following format Query Format lt Address gt lt Command gt lt CR gt lt LF gt Example AAC lt CR gt lt LF gt Queries Driver A for the current Acceleration Value The response would be in the following format Response Format lt Address gt lt value gt Example AAC10 The Acceleration Value for Driver A is 10 lt CR gt lt LF gt 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 RMS Technologies Page 17 Version 1 22 R325 E Single Axis Controller Driver Manual 08 23 2007 Command Operand Example Description HOMING amp POSITIONING HA 0 Forward AHA1 Home Axis Command Only 1 Reverse Causes the motor to move at the preset Start Velocity SV in Motor turns in the direction set by the co
20. imum AWG Length Feet Minimum AWG Length Feet Minimum AWG 1 Amp Peak 10 25 50 20 20 18 2 Amp Peak 10 25 50 20 18 16 3 Amp Peak 10 25 50 18 16 14 4 Amp Peak 10 25 50 18 16 14 75 18 75 14 75 12 75 12 100 16 100 14 100 12 100 12 Length Feet Minimum AWG Length Feet Minimum AWG Length Feet Minimum AWG 5 Amp Peak 10 25 50 16 16 14 6 Amp Peak 10 25 50 14 14 14 7 Amp Peak 10 25 50 12 12 12 Driver to Motor Supply Cable Wire Size 75 100 12 12 75 100 12 12 75 100 12 12 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 RMS Technologies R325 E Single Axis Controller Driver Manual Page 29 Version 1 22 08 23 2007 14 Appendix B PF Value For applications requiring ultimate smoothness of motion and extreme accuracy the R325 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 4 0 Fast Decay 1 Mixed Mode 1
21. ion Q N CP Numeric 2147483646 2147483647 Current Velocity Q CV Numeric 0 50 000 Direction Velocity N DV Numeric 50 000 50 000 Firmware Rev Q FR Numeric Home Axis N HA Numeric 0 1 Move Status Q MS Numeric 0 2 Position Move N PM Numeric 2000000000 2000000000 Step Back N SB None E Step Forward N SF None Stop Motion N SM None B Velocity Move Q VM Numeric 50 000 50 000 Velocity Moves in the range 249 to 249 are not legal except zero RMS Technologies Page 15 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 E Version Commands Function Query New Code Value Minimum Maximum Default Current Encoder Q CE Numeric 0 16777215 Error Action Q N EA Numeric 0 2 2 Encoder Installed Q N EI Boolean 0 1 1 TRUE Encoder Lines Q N EL Numeric 0 16777215 400 Encoder Mode Q N EM Numeric 1 2 2 Error Permitted Q N EP Numeric 0 16777215 Enc Cnt Error Read Q ER Numeric 0 16777215 GoA GA Go B GB Go C GC Go D GD GoE GE GoF GF Go G GG Go H GH Home Axis HA Boolean 0 1 0 FWD Motor Fullsteps Q N MF Numeric 0 16777215 200 Target A Q N TA Numeric 0 16777215 25 Target B Q N TB Numeric 0 16777215 50 Target C Q N TC Numeric 0 16777215 75 Target D Q N TD Numeric 0 16777215 100 Target E Q N TE Numeric 0 16777215 125 Target F Q N TF Numeric 0 16777215 150 Tar
22. ity Limit The move begins at the set Minimum Velocity MV with the speed ramping to the command velocity at the rate set by Acceleration AC Changes to new velocity values from new VM commands will also occur at the rate set by Acceleration AC Note No value is returned Zero velocity makes an abrupt stop RMS Technologies R325IE Single Axis Controller Driver Manual Version 1 22 08 23 2007 Page 19 Command Operand Example Description Case Sensitive SETTING CURRENT HI 0 3000 AHI300 Hold Current Command or Query 0 to 3000 Default 300 Sets the Hold Reads or sets the motor Holding Current in 100 milliamps Current to increments The value does not round 300mA 0 3A RI 300 3000 ARI1000 Run Current Command or Query Default 1000 Sets the run Sets the motor Phase Current for any form of motion in current to 1000 milliamps mA 1 0 Amp 300 300mA 0 3 Amp 2500 2500mA 2 5 Amp The last two numbers of the value are not read 350 300mA 2499 2400mA The set Run Current is maintained for a time set by Hold Timeout HT before dropping to the current set by Hold Current HI NOTE Current of 2 7 Amp and above REQUIRES an additional heatsink make sure the temperature of the bracket does not exceed 45 C HT 100 5000 AHT100 Hold Timeout Command or Query Default 5000 Sets the Hold Reads or sets the time interval in milliseconds after any motor
23. ixed 1x Optically Isolated Output Minimum Motor Impedance 1 5 mH Note The drive may behave unpredictably if the motor you are using as an inductance less than 1 5 mH 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 COMMUNI CATION SPECI FI CATI ONS Address bytes in the RS485 commands allow multiple units 32 units max to be controlled from a single host port Interface Type RS485 Baud Rate 57600 bits per second bps Bits per character 8 data bits Parity None Stop Bit 2 Flow Control None RMS Technologies Page 7 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 5 MECHANICAL SPECIFICATIONS Size 3 00 x 2 94 x 1 42 Weight 4 8 oz Mounting Four 6 32 screws 2 42 x 2 45 Plate Aluminum Hard Anodized Dimensions 3 00 2 42 2x 0 29 4x E 0 15 4 un amp x y A 2 45 2x RMS TECHNOLOGIES R325 L1 pooo es IT RMS Technologies Page 8 R323IE Single Axis Controller Driver Manual 0 49 0 155 Version 1 22 08 23 2007 6 PLN ASSIGNMENTS A 12 pin pluggable terminal strip connector P1 provides po
24. ller Driver Manual Table of Contents 1 FEATURES ac ea a c eec cc lle 5 Pole Damping Technology ssssssssssssssm meme nene 5 Optically Isolated Inputs and Output sssosseseeeeseeee 5 Encoder Feedback amp Pinouts cecceee eee eens eee eee eens eens tne eae eae teas 6 2 ELECTRI CAL SPECI FI CATIONS 5 iis cceuloscs ese usuusksiescs eio uua 7 3 OPERATING SPECIFICATIONS een nmm 7 4 COMMUNI CATION SPECI FI CATI ONS enne 7 5 MECHANICAL SPECI FI CATIONS eene 8 6 PIN ASSIGNMENTS n icscessvasa ou rea asuERA REDE UE EE ER ERE aiiai 9 7 CONNECTION SPECI FI CATIOONS eee 10 Connecting the Power cer Oh Rer reb a a x x nh n Fr RD 11 HyperTerminal Configuration sssssssssesssssmmeme 11 Setting the Current amp Step Resolution sssseeseeseeeeseeesee 12 Saving the Configuration sssssssssssssss memes 12 Connecting the Motor ssssssssssssssse memes eene 12 Configure the R325IE using the DIP Switch ssseseseseses 13 DIP Switch Run Current Settings ssssssssssssseemmmeeenne 13 DI P Switch Hold Current Settings sssssssssssssssseeeemmmenee 13 DIP Switch Step Resolution Settings sssssesssssesmee 13 8 BASIC STEP AND DIRECTION OPERATION
25. ly to the Ground Pin 11 on the R325IE 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 HyperTerminal Configuration Configure HyperTerminal to properly communicate with the R325IE Please follow these steps to properly set up HyperTerminal 1 Open a terminal from your PC by following these steps Start Menu gt Programs Accessories gt Communications gt HyperTerminal 2 Assign a name for your New Connection Click Ok 3 Under Connect using select the COM connection that corresponds to your PC serial port i e COM 1 COM 2 etc then click OK 4 Set your Port Settings to Bits per second 57600 Data bits 8 Parity None Stop bits 2 Flow control None Click OK 5 Turn on local echo by going to File gt Properties gt Settings tab gt ASCII Setup Check the boxes for Send line ends with line feeds and Echo Typed Characters Locally These options will be useful when typing commands in HyperTerminal Click OK Click OK 6 HyperTerminal is ready to send commands The line turnaround from transmit to receive must be less than one character interval 191 uS The command syntax is as follows lt Board Address Command Value cr lf The reply syntax is lt Board Address gt lt Command gt lt Value gt lt cr gt lt lf gt Note Not all commands will return a value Example Se
26. mmand value Motion stops when the the reverse index input of a device on the input pin goes TRUE then stops direction and sets Absolute Position and Current Encoder to zero Motion can also stop by the entry of a Stop Motion SM command Forward is defined as the direction the motor turns when the Direction input P1 3 is set TRUE or there is no connection to this input P2 Configuration Pin No Function 1 GND 2 Index 3 E 4 5 V 5 CP ACP1000 Current Position Command or Query 2 147 483 646 Sets the current Returns the absolute position of the axis if no value is passed position to be Valid after power cycles if a Save Data Command is issued before 1000 power down Can be used to set current position value The units are steps at the current step resolution value becomes ACP invalid with step resolution changes The absolute position scale Returns the is set to zero by the Zero Position command ZP or the current position execution of a Home Axis HA command of the motor ZP AZP Zero Position Command Only Sets the Current Position and the Encoder Position to zero Note This command functions differently between R325I and R325IE VELOCI TY amp ACCELERATION AC AP 1 250 m 2 147 483 646 AAC1 Sets Acceleration to 1000 PPS 2 AAP1000 Moves to the Acceleration Command or Query Default 10 Used to shape the acceleration and deceleration ramps of position moves and
27. osition Motor Fullsteps per Revolution multiplied by Step Resolution has a higher resolution than the units used to measure the encoder position Encoder Lines multiplied be Encoder Mode then position error is measured in motor position units otherwise the error is measured in encoder position units The count of the finer unit increments required to make up one of the coarser unit increments is calculated and stored as the Encoder Factor This parameter is used each time an encoder to motor position check is made The user can enter a parameter value Error Limit that sets the maximum error allowed before corrective action is taken This units for this parameter is the same as the Encoder Factor The minimum value for this parameter is automatically set to match the Encoder Factor count Generally the user would only modify this value for systems where the encoder and motor are not coaxial mounted and an allowance must be made for backlash Encoder Pinouts P2 Configuration Pin No Function GND Index A 5 V OU R WIN 1 B RMS Technologies Page 6 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 2 ELECTRICAL SPECIFICATIONS Supply Voltage 15 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 3x Optically Isolated Inputs 1 f
28. ould not exceed 50 feet RMS Driver T Type RFI Filter 5 H gt Required Current Ferrite Beads Shield Shielded Twisted Pair Wire Size from i ashes Supply Cable AWG Table Cable Length less then 50 Feet DC Voltage from Power Supply Shield to Earth Ground on Supply End Only 500 yf Per Amp 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 RMS Technologies Page 26 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 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 Driver Supply Cable AWG Table 1 Amp Peak Length Feet 10 25 50 75 100 Minimum AWG 20 20 18 18 16 2 Amp Peak Length Feet 10 25 50 75 100 Minimum AWG 20 18 16 14 14 3 Amp 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 2 50 feet Also use
29. proper pin on the R325 Motor Phase P1 Connector Phase A Pin 6 Phase A Pin 7 Phase B Pin 8 Phase B Pin 9 Using the R3251IE If using the R325IE in Step Direction mode remove the jumper from Pins 7 amp 8 on JP1 and proceed to Section 8 Basic Step and Direction Operation If using the R325IE as a simple controller please insure that there is a jumper on Pins 7 amp 8 on JP1 and refer to the Command Tables in Section 9 and more detailed descriptions of the Commands in Section 10 RMS Technologies Page 12 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 Configure the R3251IE using the DIP Switch R325I E DIP Switch Settings In addition to the Jumper on Pin 7 amp 8 on JP1 the Switches 8 9 and 10 must be OFF in control mode If using Step amp Direction mode remove the jumper Run Current Function SW1 SW2 SW3 0 3A ON ON ON ON 0 4A 0 5A ON OFF ON ON 0 6A 0 8A 1 0A 1 2A 1 4A 1 6A ON ON ON OFF 1 8A 2 0A ON OFF ON OFF 2 2A 2 4A ON ON OFF OFF 2 6A 2 8A ON OFF OFF OFF 3 0A F OFF OFF j WARNING Current of 2 7 Amp and above REQUI RES an additional heatsink make sure the temperature of the bracket does not exceed 45 C Hold Current Percent of Run Current Function SW5 SW6 0 33 66 100 Step Resolution Function SW7 SW8 SW9 SW10 Full Step OFF OFF OFF OFF
30. racter values other than the framing characters can be used for the address and as any other part of the message 3 Messages Messages should be transmitted as a continuous character stream with less than a half character time between characters Messages are classified as either Commands or Queries Commands instruct the designated Slave to do something Queries request the designated Slave to provide information Apart from the leading being replaced by a the Slaves response to a Command should be an exact copy of the command message In the case of a Query the query message is also echoed but the value or other requested information is added into the reply I RMS Technologies Page 23 Version 1 22 R325 E Single Axis Controller Driver Manual 08 23 2007 A one character time interval has to be allowed between outgoing and incoming messages to allow for line turn around Switching between Transmit and Receive At 57 600 baud one character with 11 bits one start eight data and two stop bits transmits in 191 uS 4 Validation Commands are validated by comparing the content of the reply with the content of the command message on a character by character basis Queries are partially validated in a similar manner but the information added by the Slave is only subjected to credibility tests When the information returned is deemed critical repeating the Query and comparing results can further validate communications
31. scribed herein neither does it convey any license under its patent rights nor the rights of others Note This equipment has been tested and found to comply with the limits for a Class digital device pursuant to part 15 of the FCC Rules These Limits are designed to provide reasonable protection against harmful interferences when the equipment is operated in its installation This equipment generates uses and can radiated radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications If this equipment does cause harmful interference the user will be required to correct the interference This Class digital apparatus complies with Canadian ICES 003 Cet appareil num rique de la classe est conforme la norme NMB 003 du Canada Special Symbols Indicates a WARNI NG and that this information could prevent injury loss of property or even death in extreme cases RMS Technologies Page 2 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 R3251E User Manual Product R325IE Version 1 21 Date 06 07 2007 1 20 02 13 2006 New Formatting 1 21 06 07 2007 Added DV Direction Velocity command 1 22 08 23 2007 Added info on internal resistors and recommended resistors for opto isolated inputs Added Appendix B PF Value Page 3 Version 1 22 RMS Technologies 08 23 2007 R325IE Single Axis Contro
32. tep has the value 1 001 TI ATI Test Inputs Query Only Step Direction and Disable all return a value in decimal form Reads the The value order of the inputs is switch inputs Direction Disable and Step in descending order Direction has the value 4 100 Disable has the value 2 010 Step has the value 1 001 Reply ATI3 3 011 RMS Technologies R325IE Single Axis Controller Driver Manual Page 21 Version 1 22 08 23 2007 feo ones Operand Example Description ENCODER VERSION COMMANDS CE 16777215 ACE Current Encoder Query Only Motor Position Returns a 16 bit signed value corresponding to the current in Encoder ACE12345 motor position encoder count See Encoder Mode counts EA 0 1 2 AAEA2 Error Action Command or Query Default 2 Sets Error Reads or sets a value that determines the action to be taken Action to when an encoder error is found Correct Mode 0 The error is reported via the optocoupled output 1 The error is reported and the motor is stopped 2 The error is reported and the correction move is made El 0 1 AEI1 Encoder I nstalled Command or Query Default 1 Encoder Read or set TRUE 1 or FALSE 0 Installed True EL 0 16777215 AEL400 Encoder Lines Command or Query Default 400 Sets the Encoder lines per motor revolution encoder line Reads or sets the encoder line
33. towards the full step ON position Optically Isolated Inputs and Output The default usage of the three optically isolated inputs is Step Direction and Disable The assignment of Disable is fixed however the other two inputs can be assigned to other functions as part of software customization For example one can be used for Go Resume and the other for Stop Quit The normal usage of the single optically isolated output is to indicate motion by sending a pulse every time a step is made RMS Technologies Page 5 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 R3251I E Encoder Features Static encoder feedback with a full set of parameters to configure a wide variety of motor and encoder combinations Homing on encoder index Eight user presetable target positions Encoder Feedback Each time the motor stops and times out ready to drop into the Hold current mode a test is run to determine if the motor Absolute Position register and the Encoder Position register values correspond to the same position The motor Absolute Position register holds a measure of motor position in Steps at the current Step Resolution To translate this value into an actual position requires the motor resolution to be also known The Encoder Position register holds a measure of encoder position in either Encoder Lines or Encoder Lines times two depending on the setting of the Encoder Mode parameter If the units used to measure motor p
34. tting the Run Current RI to 1500mA 1 5A ARI1500 Sent Command ARI1500 Received Reply RMS Technologies Page 11 Version 1 22 R325IE Single Axis Controller Driver Manual 08 23 2007 Setting the Current There are two current settings on the R325IE 1 Run Current RI The peak current that the motor will be run at while in motion NOTE Current of 2 7 Amp and above REQUIRES an additional heatsink make sure the temperature of the bracket does not exceed 45 C 2 Hold Current HI The current that the motor will receive when idle The default board address of A is used in all examples please see MA command for more detail on addresses Examples To set Run Current to 2000mA 2 0A ARI2000 To set Hold Current to 300mA 0 3A AHI300 Setting Step Resolution The R325IE is capable of full stepping or 2 4 8 16 32 64 128 and 256 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 The command to store these settings is SD Save Data Example To save settings ASD Connecting the Motor WARNING Make sure the power is OFF when connecting or disconnecting motors from the R325IE 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
35. ty with adjustable current and timeout settings e Selectable Step Resolution from Full Step to 256x Microstepping e Has three optically isolated control inputs and one optically isolated control output e Software configurable by the temporary use of a plug in USB module and text commands from HyperTerminal or any similar terminal emulation software Configuration Parameters stored in non volatile memory Multiple module control through software assigned single character addresses Built in control routines for trapezoidal position and velocity moves Absolute position can be tracked and reported in step resolution increments Static Encoder Feedback with a full set of parameters to configure a wide variety of motor and encoder combinations e Homing on Encoder Index e Eight user presetable target positions e Pole Damping Technology implemented within driver board Dip switches and a RS485 interface are built in to the R325 Controller A USB connection can be used by using the USB485 Converter Card sold separately Pole Damping Technology Pole Damping Technology PDT enhances step motor performance by dampening each full step in order to create a more accurate and smooth motion profile Microstepping the step motor will optimize Pole Damping Technology PDT outputs the correct amount of run and hold currents to the motor at the right time Thus it will overcome the step motor s natural tendency to want to forcefully pull
36. uns over 20 ft twisted pair cable with a characteristic impedance of approximately 100 to 200 ohms and the far end of the run should be terminated by a 150 ohm resistor across the line pair For runs under 20ft almost any wire can be used 2 The Protocol One node on the bus is designated Master and all other nodes on the bus Slaves The Master only initiates communication and does so by sending a message that includes the address of a specific Slave All Slaves read the message but only the addressed Slave replies The outgoing message from the Master is framed by always starting the message with the character 0x23 and ending with the linefeed character 0x0A The reply from the Slave is framed by always starting with the character 0x2A and ending with the linefeed character 0x0A 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 Again for ease of use RMS Technologies restricts the other characters in the message to ASCII printable characters This enables the default Windows terminal emulation program HyperTerminal to be used for configuring and testing modules However this restriction and the restricted address range are not an official part of the protocol Any of the 8 bit cha
37. wer and the step and direction control functions for the module All of these signals are optically isolated Open collector drives are required to provide pulses for Step levels for Direction and Disable The common ve supply can be ve 5 to 30 VDC with respect to the signal input however if the supply is greater than 5 VDC then a resistor must be inserted in series with each signal line to limit the current to 10 mA P1 Configuration __ Pin No Function Common ve External Step in Direction in 5 VDC Internal Disable in Motor A out Motor A out Motor B out Motor B out P1 Connector Pin 1 Location Fault out Power Ground Power Positive Pin 1 m e NM HBle eo ojnasuN H CAUTI ON Connecting Motor phases A A Bar B B Bar to the incorrect location while the R325 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 A separate three pin connector P3 is provided for the RS485 bus interface P3 Configuration Mating Connectors Pin No Function P1 Phoenix Contact 1803675 1 A Input ve P2 Amp 640441 5 a J Ground P3 Amp 640441 3 3 B Input ve PIN 7 amp 8 Jumper on PIN 4 I JP1 Jumper on Pins 7 amp 8 Default RMS Technologies Page 9 Version 1 2
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