R364 3-Axis Controller/Driver User Manual - 1 of 2
Contents
1. TECHNOLOGIES R364 3 Axis Controller Driver User Manual 1 of 2 Reference Guide Version 2 34 RMS Technologies 2533 N Carson St 4698 Carson City NV 89706 0147 Thank you for purchasing the R364 3 Axis Controller Driver This product is warranted to be free of manufacturing defects for one year from the date of purchase Technical Support for Lin Engineering a distributor of RMS Technologies 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 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 d2. amp OUTPUTS Analog VCC A filtered output from the on board voltage regulator 0 5 mA max Analog Inputs Voltage signals in the range 0 to 5 VDC can be read via the microcontroller 10 bit ADC or these pins can be set for logic signal input by user software CON J6 Ref Function 1 AVCC Analog VCC 5v Ref 2 GND Ground 3 ADCO Analog In O Or TTL Logic In 4 ADC1 Analog In 1 Or TTL Logic In 5 ADC2 Analog In 2 Or TTL Logic In 6 ADC3 Analog In 3 Or TTL Logic In 7 ADC4 Analog In 4 Or TTL Logic In 8 ADC5 Analog In 5 Or TTL Logic In 9 ADC6 Analog In 6 Or TTL Logic In 10 ADC7 Analog In 7 Or TTL Logic In Logic VCC A direct output from the on board voltage regulator Maximum current draw should be less than 150 mA Digital Out Logic level outputs under user software control CON J 7 Ref Function 1 VCC Logic VCC 2 GND Ground 3 OUTO Digital Out 0 4 OUT1 Digital Out 1 5 OUT2 Digital Out 2 6 OUT3 Digital Out 3 7 OUT4 Digital Out 4 8 OUT5 Digital Out 5 9 OUT6 Digital Out 6 10 OUT7 Digital Out 7 RMS Technologies Page 10 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 8 CONNECTION SPECIFICATIONS List of Parts R364 3 Axis Controller Driver RS232 Serial Cable DB9 male to female cable and Motor Cables PC Power supply 15 to 48 VDC 1 3 Bipolar 2 phase step motors Follow the schematic for correct connection Streets a ee step Motor 1 B otep Motor 2 E
3. 8 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 Limit Switches The limit switch inputs can be from mechanical switches Contact closure to ground with 10K pull ups or from optical or magnetic sensors with logic level outputs CON J1 Ref Function 1 AVCC 5VDC 2 RS1 Right Switch 1 3 LS1 Left Switch 1 4 GND Ground 5 M1B Motor 1 Phase B 6 M1A Motor 1 Phase A 7 M1B Motor 1 Phase B 8 M1A Motor 1 Phase A 1 AVCC 5VDC 2 RS2 Right Switch 2 3 LS2 Left Switch 2 4 GND Ground 5 M2B Motor 2 Phase B 6 M2A Motor 2 Phase A 7 M2B Motor 2 Phase B 8 M2A Motor 2 Phase A CON J3 Ref Function 1 AVCC 5VDC 2 RS3 Right Switch 3 3 LS3 Left Switch 3 4 GND Ground 5 M3B Motor 3 Phase B 6 M3A Motor 3 Phase A 7 M3B Motor 3 Phase B 8 M3A Motor 3 Phase A NOTE In order to first get the R364 running all limit switches must be timed to ground On all 3 axes tie pins 2 3 and 4 together Location of Pinl The location of pin 1 is always where the silkscreen label is located Follow image below m I eee hme ree eet GOCCE 4 tll ypa Se e AN i ee 1 p zs 3 7 ier 2 N Eg LEi n F i f s x gt ADE 12 RE 4 lt lt o ED i fee aT oN NG ga ai pt sare i ti a AR h 2 s as lt T w z J afe Se gt i s a i F amp RMS Technologies Page 9 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 7 INPUTS
4. otep Motor 3 Power Tt olen tee Figure 3 Connection Diagram RMS Technologies Page 11 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 9 HYPERTERMI NAL CONFIGURATION Using HyperTerminal to first get motors running go to Windows 98 or newer Start Menu gt Programs gt Accessories gt Communications gt HyperTerminal Connection Description Ax 1 Name your new connection and i l select an icon Ta Men Connection Click OK Enter a name and choose an icon for the connection Hame B64 l cor Connect To 2 Then select the correct connection that the R364 is connected to i e D COM1 54 Click OK Enter details for the phone number that wou want to dial Country region Area code Phone number Connect using COM iw RMS Technologies Page 12 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 COM1 Properties Ax 3 Select the correct settings Fort Settings Bits per second 57600 E Data bits 8 Bits per second 57600 w Parity None ae O Flow Con oe aa Flow Control None Parity None sw Click OK Stop bits 2 tiae aiena E A A a a Hoa a Nene SSE x Restore Defaults 4 Now go to File gt Properties Connect To settings Click the Settings tab p ASCII Setup ASCII Sending Send line ends with line feeds Check the Send lin
5. 232 RMS Technologies Page 6 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 5 MECHANICAL SPECIFICATIONS Size amp Weight 3 209 x 6 398 81 50 mm x 162 50 mm 3 6 oz 100 gm Mounting Four 6 32 screws 2 700 x 6 100 68 58 mm x 154 94 mm Connectors 1 RS232 is a DB9 female connector A DB 9 to DB 9 male to female cable is required to plug this into a PC 2 RS485 SA CTL amp Fault stand alone control Motors 1 2 3 are IDC insulation displacement connector Pin headers with 0 1 2 54 mm pin to pin pitch Use AMP part number 770602 XX where the XX stands for the of pinouts For motor connectors there are 8 pins so part number is 770602 8 3 Power is a 3 81 mm Pluggable Terminal 4 Digital outputs and digital analog inputs J6 and J 7 use an AMP part number 770602 10 for the connector and 770666 1 for the pins 5 A jumper is provided for the RS232 485 selection but no jumper is provided in the RS485 Terminal If you only have one unit no jumper is needed If you have multiple units a jumper will be needed on the last module Dimensions RS2321 F RS485 p4 jpg RS485 SELECT TERM ISP Aa use j4 T Reset Button EO Ca iH JP2 5 ae JP3 5 i 5 g6 jl T a3 o o J2 J3 J5 O P 68 58 2 700 61 50 3 209 Figure 2 Dimensions Diagram RMS Technologies Page 7 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 6 PIN ASSIGNMENTS Main Power The lower lim
6. e dots indicate the starting position of the wires when wound 4 Lead Wire Motor Connection Connect one set of windings to the A terminals Connect the other set of windings to the B terminals If the set of windings is unclear take a pair of wires use an ohmmeter to check for continuity When you find the first two wires that have continuity connect it to the A terminals Connect the other two to the B terminals Figure 8 1 4 Lead Wire Motor Connection 6 Lead Wire Motor Connection Half Winding Six wire motors can be wound in two ways Half Winding and Full Winding Six wire motors contain a center tap on each of the two windings For a half winding connection the center tap and one end of the wires are used Also called Half coil Figure 8 2 6 Lead Wire Half Winding Connection 6 Lead Wire Motor Connection Full Winding RMS Technologies Page 15 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 For a full winding connection use both end wires the center tap is ignored NC No Connection Also known as series connection Figure 8 3 6 Lead Wire Full Winding Connection 8 Lead Wire Motor Connection Parallel Connection Eight wire motors can be connected in two ways Parallel and Series When in parallel the wires are simply connected such that the beginning of each winding are connected together ja au l a Figure 8 4 8 Lead Wire Parallel Connection 8 Lead Wire Motor Connection Series Connection Be sure
7. e ends with line Echo typed characters locally feeds box Click OK Line delay OU millizeconds Then click on ASCII Setup Character delay 0 rollizeconds Now you are ready to program the R364 controller ASCH Receiving When finished using HyperTerminal _ Append line feeds to incoming line ends YOu Can Save your settings when Force incoming data to 7 bit ASCII prompted Wrap lines that exceed terminal width 10 MULTIPLE R364 BOARDS Multiple R364 modules can be controlled from a single computer port Each module is assigned a unique address character and the RS485 bus ports are wired in parallel The individual can be widely distributed up to 500 ft or stacked side by side RS232 to RS485 and USB to RS485 adapters are available from several sources WISE R954232 TO R5465 BUS COMVERTOR OR oo INSTALL R5485 VO CARD IM COMPUTER INSTAL BUS DAISY CHAIN THE R5465 TERMINATOR CONNECTORS P2 OM LNK OM LAST ALL MODULES MODULE SET JP4 FOR R5465 la OM ALL MODULES as ae ni T ee H i a te wey ey ee re MULTIPLE MICRO3 64 CONFIGURATION Figure 4 Multiple R364 Configuration Diagram RMS Technologies Page 14 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 11 MOTOR CONNECTIONS Step Motors have 4 6 or 8 wires To better understand how to connect your step motor with your R364 Driver follow the Figures below for the corresponding motor NOTE Th
8. escribed herein neither does it convey any license under its patent rights nor the rights of others RMS Technologies Page 2 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 R364 User Manual Product R364 Version 2 34 Date 1 22 2008 Version History 2 32 09 27 2006 Old user Manual 2 33 02 28 2007 Standardization of user manuals 01 22 2008 Updated typographical errors RMS Technologies Page 3 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 Table of Contents 1 FEATURES 5 2 ELECTRICAL SPECIFICATIONS 6 I O Specifications 6 Limit Switches 6 3 OPERATING SPECIFICATIONS 6 4 COMMUNI CATION SPECI FI CATIONS 6 5 MECHANICAL SPECI FI CATIONS 7 Connectors 7 Dimensions 7 6 PIN ASSIGNMENTS 8 Location of Pinl 9 8 CONNECTION SPECIFICATIONS 11 9 HYPERTERMI NAL CONFIGURATION 12 10 MULTIPLE R364 BOARDS 14 11 MOTOR CONNECTIONS 15 4 Lead Wire Motor Connection 5 6 Lead Wire Motor Connection Half Winding 5 6 Lead Wire Motor Connection Full Winding 5 8 Lead Wire Motor Connection Parallel Connection 6 8 Lead Wire Motor Connection Series Connection 6 12 TROUBLESHOOTING 17 RMS Technologies Page 4 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 1 FEATURES 3 Axis Step Motor Controller and Driver PCB Control up to three 2 Phase step motors Operates from 15 to 48 VDC at up to 4 5 Amps Phase currents between 0 2 to 1 5 Amp Phase Software Programmable Step profiles Tra
9. it of 15V is set by the driver IC ratings The on board voltage regulator determines the upper limit of 48V The maximum current draw with all three motors shutdown zero current is less than 100 mA CON J5 Ref Function 1 GND Power Return 2 VDD Main Power 15 to 48 VDC RS232 The baud rate for either RS232 or RS485 can be set at standard rates in the range 9 600 to 57 600 baud The format used is 8 data bits no parity 2 stop bits CON J4 Ref Function 2 TXD RS232 TXD 3 RXD RS232 RXD 5 GND Signal GND RS485 Both RS232 and RS485 are supported but only one can be used Address bytes in the RS485 commands allow multiple units 30 axis max to be controlled from a single host port 1 RS485 RS485 TX RX A 2 GND Signal GND 3 RS485 RS485 TX RX B RS232 RS485 Terminal Place the jumper on Pins 1 amp 2 if you want to communicate via RS485 and place a jumper on JP5 for the last board in the line Place the jumper on Pins 2 amp 3 if you are communicating on RS232 CON J4 Ref Function 1 RS485 Use pins 1 amp 2 for RS485 2 Comm 3 RS232 Use pins 2 amp 3 for RS232 Opto Isolators Provision is made to accept Step and Direction inputs via standard opto isolators Requires 10 to 15 mA from a 5 VDC supply for each input CON J P3 Ref Function 15 OI 1G Opto Isolator 1 Ground 16 OI1S Opto Isolator 1 Signal 17 OI2G Opto Isolator 2 Ground 18 OI 2S Opto Isolator 2 Signal 19 GND Signal GND 20 FLT Fault RMS Technologies Page
10. n board voltage regulator determines the upper limit of 48V The maximum current draw with all three motors shutdown zero current is less than 100 mA I O Specifications Analog Digital Inputs Eight inputs 0 to 5 VDC analog or eight inputs TTL Digital Digital Outputs Seven open collector relay or solenoid drivers and one TTL output Limit Switches There are left and right limit switches for each axis The limit switches must be pulled to ground in order to begin using the axes Motors will not respond to moves if limit switches are high 3 OPERATING SPECIFICATIONS Maximum Step Frequency Up to 15 6 kHz Full Step frequency all motors moving Operating Temperature 0 to 50 Celsius ambient 4 COMMUNI CATION SPECIFICATIONS Both RS232 and RS485 are supported but only one can be used at a time Address bytes in the RS485 commands allow multiple units 30 axis max to be controlled from a single host port Interface Type RS232 or RS485 Baud Rate Standard rates in the range 9600 to 57600 bits per second Bits per character 8 data bits Parity None Stop Bit 2 Flow Control None Note JP4 must be switched to the corresponding communication specification either RS232 or RS485 When using RS485 with multiple modules be sure to terminate the last board using a jumper on JP5 JP4 needs to have a jumper on Pins 1 amp 2 if you are communicating via RS485 JP4 needs to have a Jumper on Pins 2 amp 3 if you are communicating via RS
11. pezoidal Velocity Smooth Stop Up to 15 6 kHz Full Step Frequency All motors moving Full Step Half Step 1 4 1 8 1 16 1 32 and 1 64 step resolution Three level smart current control Accelerating Decelerating Constant Speed Zero Speed Operating modes Host Control or J oystick Command format ASCII Character Strings All configuration parameters and a Script of up to 1 750 commands Limit switches Left and Right switch inputs for all motors Home reference Commanded automatic sequence for each motor The Left Limit Switch is found The motor then moves to a user given offset position and then sets the current position to be zero e Analog Digital Inputs Eight inputs 0 to 5 VDC analog or eight inputs TTL digital e Digital Outputs Seven open collector relay or solenoid drivers and one TTL output e Stores parameters such as current microstep top speed in a non volatile memory location a MOTOR 1 DRIVER B E MOTOR 2 ANALO GIDIGITAL MOTOR f DRIVER 0 7 gt LIMIT SWITCHES 15 TO 48 VDC POWER IN R364 SIMPLIFIED BLOCK DIAGRAM DIGITAL OUTPUTS 0 7 Figure 1 R364 Simplified Block Diagram RMS Technologies Page 5 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 2 ELECTRICAL SPECIFICATIONS Supply Voltage 15 to 48 VDC up to 4 5 Amps Peak Current 0 2 to 1 5 Amps for each axis Software Programmable Main Power The lower limit of 15V is set by the driver IC ratings The o
12. to set the drive current to exactly half of the motor s rated parallel current rating when using the series connection faa r I Figure 8 5 8 Lead Wire Series Connection RMS Technologies Page 16 Version 2 34 R364 3 Axis Controller Driver 1 22 2008 12 TROUBLESHOOTING Why aren t my motors spinning Make sure that if you are not using the reference switches that you have them tied to ground Page 17 Version 2 34 RMS Technologies 1 22 2008 R364 3 Axis Controller Driver
Download Pdf Manuals
Related Search