R525P Single Axis Driver, Closed-Loop Driver
Contents
1. mH 17 mec H M TD ERN 17 Exariples of Step Responses senec tenderet nde dro id eeu ee seb ules daga EEE used Ne de ir Red neu PT a RES 18 10 ENCODER STU cs 19 11 STALL DETECTION sy iiec eo ier terere Pe ites o voce che ue pex ER DU ue e Ve eR ee RE RYE Vo RE EE a e e exo Rinen cae teenies 20 12 OUTPUT EDI ccc Hc e 20 13 Using Analog Input ADC Settings enne thnnnn nennen tete nn nnns esse neta nass eset setas aas seen tana 21 14 Open Loop Velocity Mode SETTINGS cccccccccccccssesscesecececsessesececececsesssaeceeceecsensaeeeeececsesesseeeeeeceeseaeaeseeseeesenees 22 15 Open Loop Position Mode SETTINGS ccccecssscecesssscecsesececsnececessaececsssaececseeecsesaeeecseseeeecueeecsesaesecseseeeesseeeeenenaes 23 16 Closed Loop Torque Mode SETTINGS ccccscsccccecsessssececececsesssesecececcesenseseseceseeaaeseseceesensuasseseeseeeseaeaeseeeeeeeenees 24 17 Closed Loop Velocity Mode SETTINGS ccccssccessscecsssseeesseececssseececseneeceseeeecseaaececeneecesaeeecsesaeeecseeeeeeesnseeeneaaes 25 Setting Kp and Ki for Closed Loop VelOCItY ccccccccssessssecececseseeseesececeeseeaesesececeeseseesesecsceseesesaeseeececsesesaeseaseseeeseea 25 18 Closed Loop Position Mode SETTINGS sssssssssseseseeeeeeeeennee enne enne ener nien tenir enne nnns innen innen aS i nnns 26 Setting Kp and Ki for Close2. TECHNOLOGIES R525P Single Axis Driver Closed Loop Driver Simple Speed Controller User Manual And Commands Guide Version 1 00 RMS Technologies 2533 N Carson St 44698 Carson City NV 89706 0147 Thank you for purchasing the R525P Single Axis Step amp Direction Driver This driver also operates as a closed loop driver or a simple speed controller 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 and 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 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 R525P User Manual amp Commands Page 2 of 49 12 8 2
3. 5000 5000 in milliamps Default Value N A Example AQT Query the Torque current QV Query Velocity Description Read and returns the actual velocity In open loop Velocity is the frequency that is generated internally to drive the motor in Hertz In closed loop Velocity is measured from the encoder Encoder Counts Seconds Related Commands MV VL ST TV AP PM Command Syntax address QV value Response QV lt value gt Command Range 2147483647 2147483647 Default Value N A Example AQV Query Actual velocity R525P User Manual amp Commands Page 41 of 49 12 8 2014 Version 1 0 RI Run Current Description Sets the peak current of motor phase when motor is in motion Related Commands HI HT ST Command Syntax address Rl value Response RlI value Command Range 0 5000 in milliamps Default Value 1000 Example ARI2000 Set Run current to 2000 milliamps SD Save Data Description Stores all parameters to the Flash Memory Related Commands LD Command Syntax lt address gt SD lt value gt Response SD Command Range N A Default Value N A Example ASD Save All Data SE Step Edge Description Sets the Step input pulse edge detection to either falling or rising edge Command Step Edge SE 0 Falling Edge SE 1 Rising Edge Image 19 5 Step Edge Values Related Commands N A Command Syntax lt address gt SE lt value gt Response SE lt value gt
4. Communication Speed Baud Rate 57600 Data Bit 8 Stop Bit 1 Parity None Table 19 0 Communication Settings To write data lt Address gt lt Command gt lt Value gt r n To Read data Address Command r n Device Response lt Command gt lt value gt r n Example To Set Run Current with Device Address of A ARI1000 r n To Query Run Current with Device Address of A ARI r n R525P User Manual amp Commands Page 27 of 49 12 8 2014 Version 1 0 Each command will be explained in detail in the following pages The examples always assume that your device address is A For the command range we denote as min max but if there are specific values then we denote as 1 2 3 4 AC Acceleration Deceleration Description Sets a trapezoidal motion profile Acceleration is equal to deceleration Value is in Pulse per Second Square Related Commands PM AP TV VL VM Related Mode Velocity Position Mode Command Syntax lt address gt AC lt value gt Response AC value Command Range 1 500000 Default Value 5000 Example AAC10000 Set acceleration to 10 000 AVL51200 1 RPS for a 1 8 degree motor at 256 microstepping APM51200 Move the motor 51200 steps or 1 full revolution AD ADC Hysteresis Dead Band Description Sets the ADC hysteresis Dead Band Each increment is equal to 5 millivolts Related Commands AO AF Command Syntax address AD value Response
5. address AO value Response AO lt value gt Command Range 0 512 Default Value 0 Example ADMO Set Mode to Open loop Velocity mode ADI1 Set Input source to Analog input AAO512 Set ADC offset to 512 ATV10000 Set Max velocity to 10000 pulse sec Set the ADC range from 10000 10000 pulse sec R525P User Manual amp Commands Page 29 of 49 12 8 2014 Version 1 0 AP Move to Absolute Position Description Moves the motor to an absolute position AP unit is number of steps in open loop mode In closed loop AP unit is Encoder counts Post Quadrature Related Commands ZP Command Syntax lt address gt AP lt value gt Response AP lt value gt Command Range 2147483647 2147483647 Default Value 0 Example AAP1000 Move motor to absolute position 1000 AAPO Moves motor to absolute position O CI Current loop KI Parameter Description Sets the KI parameter of Current Loop Related Commands CP RI Command Syntax lt address gt Cl lt value gt Response Cl lt value gt Command Range 0 32767 Default Value 10 Example ACI20 Set the KI parameter to 20 CP Current loop KP Parameter Description Sets the KP parameter of Current Loop Related Commands Cl RI Command Syntax lt address gt CP lt value gt Response CP lt value gt Command Range 0 32767 Default Value 500 Example ACP800 Set the KP parameter to 800 R525P User Manual amp Commands Page 30 of 49 12 8 2
6. AD value Command Range 0 50 Default Value 0 Example AAD5 Set the ADC Hysteresis to 25mV AF ADC Filter Description Sets the cut off frequency of the digital Low pass filter for analog input The cut off 10000 1001 AF frequency can be calculated from the following equation Cuff of Frequency Related Commands AO AF Command Syntax lt address gt AF lt value gt Response AF lt value gt Command Range 0 1000 Default Value 0 Example AAF747 Set the cut off frequency to 39 Hz R525P User Manual amp Commands Page 28 of 49 12 8 2014 Version 1 0 AH Anti Hunt Position Dead Band Description Sets the target dead band in closed loop position mode to prevent oscillation when motor reaches the target Related Commands AP PM Command Syntax address AH value Response AH lt value gt Command Range 0 100 Default Value 10 Example AAH20 Set anti hunt dead band to 20 encoder counts AO ADC Offset Description Sets the ADC offset ADC Offset sets the range of ADC input ADC range can be calculated from the following equation 1024 x neon 1 1024 ADC_Offset l ADC Range Target Min Target Max where Analogy 0 5 Volts Target Min Target Max 1 Target Maxc Target Velocity TV in velocity mode Target Max Target Torque ST in Torque mode Target Maxc Target Position TA in Position mode Related Commands AO AF TA ST TV Command Syntax
7. Commands Page 22 of 49 12 8 2014 Version 1 0 15 Open Loop Position Mode SETTINGS This mode requires no encoder This mode will allow users to send position moves i e rotate motor to 1000 steps 1 Revolution 200 steps revolution x microstep 1 8 stepper 1 Revolution 400 steps revolution x microstep 0 9 stepper Select the source e Internal the R525P will supply step pulses to the motor e Analog input the R525P will use Pin 8 as the pulse source e External the R525P will use the step and direction pins Pin 9 and 7 respectively R525P GUI 1 0 wre OO oo 9 Ml File Graph Tools Help Main Menu Open Loop Position Mode Input Source Internal Absolute Move lio Send Target Settings Output Function Input Source Analog Input Position igo Position Range 0 to 0 Negative value specifies the direction Communication Internal pulse source Analog input pulse source Pin 8 Open Loop Velocity Mode Open Loop Position Mode C Loop loupe Mode Input Source External External pulse Closed Loop Velocity Mode Step Edge Falling Rising source Pin 9 7 Closed Loop Position Mode UAI 500 ATIS UU du MEN 25600 Acceleration PPS S 50000 Parameters that apply to either source Device Monitor Current mA 1049 Encoder Velocity lo Status Position Counter o ove ow UNV STALL HOLD Busy DIS Change Mode Encoder Count EM hd oo Ret Save All Settings Active Mode Open Loo
8. TE lt value gt Command Range 2147483647 2147483647 Default Value 0 Example ATE10000 Set target position E to 10000 TF Target F Description Sets the target position F Motor can be commanded to move to target position by issuing GF command Related Commands GF Command Syntax lt address gt TF lt value gt Response TF lt value gt Command Range 2147483647 2147483647 Default Value 0 Example ATF10000 Set target position F to 10000 R525P User Manual amp Commands Page 45 of 49 12 8 2014 Version 1 0 TV Target Velocity Description Sets the target velocity in velocity mode In open loop the target velocity unit is in Hertz In closed loop velocity unit is in Encoder Count Seconds Negative sign indicates direction of the motor Related Commands MV VL Command Syntax address TV value Response TV lt value gt Command Range 5000000 5000000 Default Value 0 Example ADMO Set mode to open loop velocity mode ATV10000 Set target Velocity to 10 KHz in open loop mode VI Velocity Loop KI Parameter Description Sets KI parameter of the Velocity Loop Controller Related Commands VP Command Syntax lt address gt Vl lt value gt Response Vi lt value gt Command Range 0 32767 Default Value 0 Example AVI20 Set the KI parameter of velocity loop to 20 VL Velocity Limit Description Sets the maximum velocity that motor can reach in pulse per seconds for
9. 12 Pin I O Cable Mini USB Cable 090 00340 090 00353 Motor Cable aes Encoder Cable 090 00338 NS 090 00339 Image 5 4 Cable set NOTE All 4 cables shown above are included with each R525P RO purchase R525P User Manual amp Commands Page 9 of 49 12 8 2014 Version 1 0 6 CONNECTION SPECIFICATIONS The R525P can be used in many different modes Follow the basic setup first Basic Setup Things you ll need Download USB Driver files from the R525P webpage Download the GUI from the R525P webpage 3 cables included with the unit Motor Cable 12 PIN I O Cable Mini USB Cable R525P RO A Step Motor 5 Amps or less Power Supply 12 to 48VDC Step pulse generator 12 Pin Connector Pin 1 5V Vout connect to Pin 2 Pin 2 5V COM connect to Pin 1 Pin 3 Disable Pin 5 PWR Ground Pin 6 PWR VE Pin 7 Direction a Pin 9 Step CILI1TL Motor Connection Connect Mini USB cable from R525P to your PC Image 6 0 Basic connection setup Step 1 Download two files from the download section of the R252P website USB Driver files and GUI Step 2 Connect your step motor to the R525P unit Step 3 Connect Mini USB cable from R525P to your PC Step 4 On the 12 PIN I O Connector Connect Pins 1 and 2 to each other in order to feed the 5V COM with the internal 5V supply Connect a step input on Pin 9 either a controller or a function generator Connect a direction input
10. Example AGF Move motor to Position F R525P User Manual amp Commands Page 35 of 49 12 8 2014 Version 1 0 HI Hold Current Description Sets motor s hold current when motor is stopped Hold current can be set on scale of 0 to 10096 of run current Related Commands RI HT Command Syntax lt address gt Hl Response HI value Command Range 0 100 Default Value 50 Example AHI50 Set hold current to 50 of run current HT Hold Timeout Description Sets the time interval in milliseconds after any motor movement before the motor current is changed from Run to Hold Current Related Commands RI HI Command Syntax lt address gt HT Response HT lt value gt Command Range 100 5000 Default Value 1000 Example AHT500 Switch to hold current 500 milliseconds after motor stopped LD Load Defaults Description Loads and Saves default factory settings Related Commands None Command Syntax lt address gt LD Response LD Command Range N A Default Value N A Example ALD Load and save default settings R525P User Manual amp Commands Page 36 of 49 12 8 2014 Version 1 0 MA Module Address Description Reads or sets the drive address A Z The value read or entered is the decimal value of the ASCII character designated as the unit address 65 A and 90 Z The change to a new address is immediate in that the command response will use the new address Related Commands No
11. Step Input and Step Response Gradually increase KP gain just before an overshoot is observed 5 Increase KI until steady state error gets close to zero For Closed Loop Only Below shows an ideal Step Response Waveform with the correct KP setting for this particular motor VE Current Loop Seting RR ace Phase Current Current mA toto SES S 3 4 5 Time mS Step Input Current Loop Settings Test Parameters Current Kp EX Tank Current Ki lo Capture Every ns CS n Image 9 2 ideal Kp Note Driver uses P controller for open loop mode and Pl controller for closed loop See table below for Controller Type Open Loop Velocity Mode P controller KI parameter will not be used Open Loop Position Mode P controller KI parameter will not be used Closed Loop Torque Mode Pl controller Both KP and KI is used Closed Loop Velocity Mode Pl controller Both KP and KI is used Closed Loop Position Mode PI controller Both KP and KI is used Table 9 0 Kp and Ki functionality Capture The Capture Every mS feature is a way to zoom in and out on the graph Ki The current loop Kp settings are dependent on the inductance of the motor Ki will help reduce the noise for closed loop only Start with O Increment by 10 until the slight overshoot is at an optimal R525P User Manual amp Commands Page 17 of 49 12 8 2014 Version 1 0 Examples of Step Responses The following are some ex
12. indication in the Output Settings select Close if motor has stalled Section 10 By doing so the status bar LED in the GUI will automatically be triggered as well Set the stall detection threshold default 10 This is the maximum full steps that the motor will take before stall detection will become activated Stall Detection Stall Detection Disabled SetFlag Set Flag and Stop Maximum Deviation Full Step Image 11 1 Stall Detection Section of GUI 12 OUTPUT SETTINGS The P4 connector 12 Pin I O Cable has 1 output pin Pin 11 Black wire Select from the following e The output is disabled or unused default e Motor direction if rotating clockwise the output is OPEN If counter clockwise output is closed e Close on a hardware fault e Toggle when encoder s index is detected e Close if motor has stalled through stall detection e Close when motor is moving e Close when motor is holding T R525P GUI 10 File Graph Tools Help Main Menu Output Function Motor Direction Open gt CW Closed gt CCW Close on Hardware Fault Encoder Settings Toggle When Index Detected Close when Motor is Stalled E E Close when Motor is Holding Open Loop Velocity Mode Image 12 0 R525P User Manual amp Commands Page 20 of 49 12 8 2014 Version 1 0 13 Using Analog Input ADC Settings All modes will allow a user to connect a 0 to 5VDC signal to the R525P and control velocity position or torq
13. open loop and encoder counts per seconds for closed loop Related Commands TV PM AP Command Syntax address VL value Response VL lt value gt Command Range 100 5000000 Default Value 20000 Example AVL10000 Set the Velocity Limit to 10000 R525P User Manual amp Commands Page 46 of 49 12 8 2014 Version 1 0 VP Velocity Loop KP Parameter Description Sets KP parameter of Velocity Loop controller Related Commands VI Command Syntax address VP value Command Range 0 32767 Response VP lt value gt Default Value 1000 Example AVP500 Set the KP parameter to 500 ZP Zero Position Counter Description Resets position counter and encoder count Related Commands PM AP Command Syntax address ZP Response ZP Command Range N A Default Value N A Example AZP Reset position counter and Encoder counts to zero Status LED R525P driver has two on board status LED that can report status of the driver visually The LED is located in between connectors P2 and P3 See table below for details Condition LED Status Driver Disabled Flashing Green Over Current Over Voltage Under Voltage Slow Flashing RED Stall Condition Slow Flashing Green Red Motor is in holding mode Flashing Yellow Bad Firmware Solid Red Firmware is update in progress Solid Yellow Communication busy Fast Flashing Red Burst Image 19 6 Status LED on R525P Board R525P User Ma
14. the direction Analog input pulse source Pin 8 Input Source External External pulse Falling Risin i Step Edge 2 3 source Pin 9 7 Position Kp Minimum Velocity PPS son Device Monitor Position Ki iso Velocity Limit PPS Current mA E Anti Hunt Acceleration PPS S Encoder Velocity lo Status Position Counter MI ovc ow UNV STALL HOLD Busy DIS Encoder Count los Active Mode Closed Loop Position Mode Connected Device A Connection RS485 Parameters that apply to either source Image 18 0 Be sure to Save All Settings before closing GUI R525P User Manual amp Commands Page 26 of 49 12 8 2014 Version 1 0 19 COMMANDS SET CONTROLLER MODE For advanced controller operation Click on Tools at the top menu bar and then Debug Mode This will bring up a simple terminal where you can enter commands in order to control the R525P unit As you are using the GUI the command will execute in this terminal r R525P GUI 1 0 Download Firmware Firmware Version Load Default Debug Window Driver Addr Select Devic Change Dev Device Monitor Current mA lo Encoder Velocity jo Position Counter lo Encoder Count lo Zero Position Active Mode Connected Device Syntax of Commands Connection Not Connected Image 19 0 If commands are sent to the R525P via PLC or other controller or PC Software an ASCII command should be sent with the following format
15. 00 VL30000 PM10000 PM 20000 APO Driver mode should be in velocity or position mode Sets the acceleration to 1000 pps Sets the minimum velocity Starting velocity to 1500 pps Sets the velocity to 30 000 pps Sets the velocity for velocity mode TV should be less than VL Driver mode should be in velocity or position mode Sets the acceleration to 1000 pps Sets the minimum velocity starting velocity to 1500 pps Sets the velocity to 30 000 pps Move motor to absolute position 10000 Move motor to absolute position 20000 Move motor to absolute position 0 R525P User Manual amp Commands Page 49 of 49 12 8 2014 Version 1 0
16. 0000 steps PP Position Loop KP Parameter Description Sets the KP parameter of Position Loop controller Related Commands PI Command Syntax address PP value Response PP value Command Range 0 32767 Default Value 1000 Example APP5000 Set the Position KP parameter to 5000 QE Query Encoder Description Read and returns encoder counts Post Quadrature counts Related Commands EL ZE AP PM Command Syntax address QE value Response QE lt value gt Command Range 2147483647 2147483647 Default Value Zero at Start up Example AQE Get encoder position in post Quadrature AX R525P User Manual amp Commands Page 39 of 49 12 8 2014 Version 1 0 QF Query Status Flag Description Read and returns the Status flag Status flag is an 8 bit register that contains status of the driver See table below for detail information Bit Number Flag Name Description Bit 7 Over Current This Bit sets if over current occurs It resets automatically if over current resolves Bit 6 Over Voltage This Bit sets if the bus voltage goes above 60 volts It resets automatically if voltage falls below 55 volts Motor will be disabled if voltage is too high Bit 5 Under Voltage This Bit sets if the bus voltage is below 11 0 volts Motor will be disabled if voltage is low Bit 4 Stall This Bit sets if Stall detection is enabled and stall condition is detected Stall flag can be cleared by issuing CS Com
17. 014 Version 1 0 CS Clear Stall Flag Description Clears the stall Flag Related Commands ES MD Command Syntax lt address gt CS lt value gt Response CS Command Range N A Default Value N A Example ACS Reset Stall Flag DI Drive Input Source Description Selects the Driver s input command source Depending on the mode Torque Velocity and position commands can be set internally or externally Command Open Loop Mode Closed Loop Mode DI 0 External Source Step Direction External Source Step Direction Position Position mode only mode only DI 1 Velocity and position can be set using Torque Velocity and position can be Analog input controlled via Analog input DI 2 Velocity and position can be set using Torque Velocity and position can be RS485 or USB controlled via RS485 or USB Table 19 1 Drive Input Source Related Commands DM TV ST TA SE Command Syntax address Dl value Response Dl lt value gt Command Range 0 2 Default Value 0 Example ADIO Set Drive input source to use external inputs R525P User Manual amp Commands Page 31 of 49 12 8 2014 Version 1 0 DM Drive Mode Description Selects the Driver Mode Command Open Loop Mode DM 0 Open Loop Velocity Mode DM 1 Open loop Position Mode DM 2 Closed Loop Torque Mode DM 3 Closed Loop Velocity Mode DM 4 Closed Loop Position Mode Table 19 2 Drive Mode Related Command
18. 014 Version 1 0 R525P User Manual Product R525P Version 1 00 Date 12 8 2014 Version History 1 00 12 8 2014 New User Manual R525P User Manual amp Commands Page 3 of 49 12 8 2014 Version 1 0 Table of Contents Contents MIS II 5 2 ELECTRICAL iguelie yenit LEER 5 3 OPERATING SPECIFICATIONS e tee reae ro ete nete pete eee Fenton ee erre heb eda a eode ee san P ERR ee vede e ere TERN 6 4 MECHANICAL SPECIFICATIONS 2 oi red ero repo netu ktue ne ae eenean a uero ra bee nes eaa an be cen e A oe Da ee rebels Ee e Peu RES ER Ee REPRE ue 6 Se PIN ASSIGNMENTS EP 7 6 CONNECTION SPECIFICATIONS onecie nena eee EEEE AEE EE AE E EN 10 Basic SetU nrnna aen E Aa ae EEEa EN aE RE AO Eae RAER AEE 10 RS4S5 COMMECTIO M prerane Raae E E A e E A ar ER A E ARON a Aa a PRENER AEE PRERE 12 PIS ETU ST qae DT REO ESEE AEA A E EE EAE A E 12 VZeGUDINTERERACE ern e E a sauce eres eneuesucnneuresseneuaeeccccseeseunereecaucneests 13 Changing Modes imthe GUI iioc honor oi etr han E EYES SEXE RARE e RAS cutgensansuanads obadssssesawenicanseonsessoaeneces 14 Status LED M 14 MBs SM ICcoE n 15 9 CURRENT LOOP TUNING PROCEDURE sssesesesseeeeeeeeeeeee een entere eren enne te nenr seen E sese ener tete n n sese eren entente nennen 16 CAPTURE T
19. Always use an encoder with indexer 1000 CPR is ideal 2 Thenclick on the button Initialize Encoder This aligns the index pulse of the encoder to a rotor tooth Warning Disconnect load from motor when initializing the encoder Motor will turn 1 revolution in order to initialize the encoder After Encoder has been initialized the Measure Counts will display the post quadrature count and an Index offset value RS25P GUL 10 File Graph Tools Help Main Menu Encoder Settings Com ER Encoder Encoder Lines Initialize Encoder 1000 Measure Counts 4000 Nj Index Offset Stall Detection Image 10 0 Encoder Initialized OK If there is an error the R525P GUI will let you know Check wiring connections of both the encoder and motor RS2SP GULLO tJ ee Lec t Ew File Graph Tools Help Main Menu Encoder Settings jm Encoder Lines Initialize Encoder Open Loop Velocity Mode Index Offset Image 10 1 Encoder Initialized Failed R525P User Manual amp Commands Page 19 of 49 12 8 2014 Version 1 0 11 STALL DETECTION In the Encoder Settings the bottom portion is where one can select the stall detection Choose to disable it default set a flag or set a flag and stop motion This flag refers to the status bar LED s at the bottom of the GUI Status OVC OVV UNV STALL HOLD BUSY DIS Image 11 0 Example of STALL LED On If the R525P s output signal is to be used for stall
20. CS Command Syntax lt address gt OE lt value gt Response OE lt value gt Command Range 0 6 Default Value 0 Example AOE5 Pull the output to low state when motor is moving PI Position Loop KI Parameter Description Sets the KI parameter of Position Loop controller Related Commands PP Command Syntax address PI value Response Pl lt value gt Command Range 0 32767 Default Value 50 Example API2000 Set the Position KI parameter to 2000 PL Motor Poles Description Sets the Motor poles This command is used for stall detection calculations PL must be set to 200 for 1 8 degree motor and 400 for 0 9 degree motor Related Commands ES MD Command Syntax lt address gt PL lt value gt Response PL lt value gt Command Range 200 or 400 Default Value 200 Example APL200 Set the poles to 200 1 8 degree motor R525P User Manual amp Commands Page 38 of 49 12 8 2014 Version 1 0 PM Relative Move Description Commands a Relative Move in Position mode using an approximately trapezoidal profile The initial velocity is defined by Minimum Velocity MV the profile ramp is defined by Acceleration AC and the Constant Velocity step rate by Velocity Limit VL Related Commands AP Command Syntax lt address gt PM lt value gt Response PM lt value gt Command Range 2147483647 2147483647 Default Value N A Example APM20000 move the motor 2
21. Command Range 0 1 Default Value 0 Example ASE1 Set Step input detection to rising edge R525P User Manual amp Commands Page 42 of 49 12 8 2014 Version 1 0 SR Step Resolution Description Sets the step resolution in open loop mode Related Commands SS Command Syntax lt address gt SR lt value gt Response SR lt value gt Command Range 1 2 4 5 8 10 16 25 32 50 64 100 125 128 250 256 Default Value 256 Example ASR8 SetStep resolution to 8 micro step SS Step Smoothening Filter Description Shapes the current waveform to generate smoother edges for smoother motion and less vibration Smoothening filter can be disabled by setting SS command to zero Related Commands SR Command Syntax lt address gt SS lt value gt Response SS lt value gt Command Range 0 127 Default Value 0 Example ASS100 Set Step smoothening value to 100 ST Set Torque Description Sets the torque current when driver is set to torque mode DM 2 Related Commands DM RI Command Syntax lt address gt ST lt value gt Response ST lt value gt Command Range RI RI Default Value 0 Example AST1000 Set Step the torque current to 1000 mA R525P User Manual amp Commands Page 43 of 49 12 8 2014 Version 1 0 TA Target A Description Sets the target position A Motor can be commanded to move to target position by issuing GA command Related Commands GA Command Syntax address TA val
22. Commands TB PM AP Command Syntax address GB Response GB value Command Range N A Default Value N A Example AGB Move motor to Position B GC Go to Position C Description Commands the motor to move to Position C in position mode Preset position can be set with TC command Related Commands TC PM AP Command Syntax address GC Response GC value Command Range N A Default Value N A Example AGC Move motor to Position C R525P User Manual amp Commands Page 34 of 49 12 8 2014 Version 1 0 GD Go to Position D Description Commands the motor to move to Position D in position mode Preset position can be set with TD command Related Commands TD PM AP Command Syntax address GD Response GD value gt Command Range N A Default Value N A Example AGD Move motor to Position D GE Go to Position E Description Commands the motor to move to Position E in position mode Preset position can be set with TE command Related Commands TE PM AP Command Syntax address GE Response GE lt value gt Command Range N A Default Value N A Example AGE Move motor to Position E GF Go to Position F Description Commands the motor to move to Position F in position mode Preset position can be set with TF command Related Commands TF PM AP Command Syntax address GF Response GF lt value gt Command Range N A Default Value N A
23. Counter o ovc ow UNV STALL HOLD BUSY DIS Change Mode Save All Settings Active Mode Closed Loop Torque Mode Connected Device A Image 16 0 Closed Loop Torque Settings Be sure to Save All Settings before closing GUI R525P User Manual amp Commands Page 24 of 49 12 8 2014 Version 1 0 17 Closed Loop Velocity Mode SETTINGS This mode requires an encoder with indexer First initialize the encoder by going to Encoder Settings Section 8 This mode will keep constant speed Speed is in encoder steps second Select the speed input source Internal will use the driver s internal clock Analog will expect to read a signal from the analog input Pin 48 Setting Kp and Ki for Closed Loop Velocity Warning When tuning Kp and Ki the load must be connected Take caution when tuning the motor and load Motor will excite by a few pulses and will move slightly during tunig First set Kp This velocity loop shall be larger than the Kp set in the Current Settings Start at 1000 Increase by 1000 You will visually see oscillation on the motor Continue increasing If you hear audible noise the Kp is too large Example Kp set to 6000 motor is no longer oscillating seems to sound and look OK Kp set to 7000 motor has audible noise Decrease by 3096 This is your ideal Kp setting 4900 to 6000 ideal range Next set Ki Start at O Increment by 10 Go to the Tools menu bar and view the velocity graph to see how quickly the mot
24. EL EA Command Syntax lt address gt EO lt value gt Response EO lt value gt Command Range 100 100 Default Value N A Example AEO60 Set Encoder offset to 60 ES Enable Stall Detection Description Stall detection can be enabled by setting ES to 1 or 2 Stall detection threshold can be set via MD command ES 1 sets the Status Flag when motor stalls and ES 2 sets the flag and stops the motor Motor can be reinitialized by issuing CS command Related Commands MD CS Command Syntax lt address gt ES lt value gt Response ES lt value gt Command Range 0 2 Default Value 0 Example AES2 Set the flag and stop motor if motor stalled FR Firmware Version Description Returns Firmware Version Related Commands None Command Syntax lt address gt FR Response FR Firmware version Command Range N A Default Value R525P V100 Example AFR Get firmware Version R525P User Manual amp Commands Page 33 of 49 12 8 2014 Version 1 0 GA Go to Position A Description Commands the motor to move to Position A in position mode Preset position can be set with TA command Related Commands TA PM AP Command Syntax lt address gt GA Response GA value Command Range N A Default Value N A Example AGA Move motor to Position A GB Go to Position B Description Commands the motor to move to Position B in position mode Preset position can be set with TB command Related
25. UNICATION Click on the Communication tab select the port name and click Connect Then select the driver address CURRENT LOOP SETTINGS Once driver is connected click on Driver settings Enter the peak current by multiplying the motor s rated current x 1 4 Click on Current loop Settings R525P GUI LO EN File Graph Tools Help Ls Menu Motor Settings RMS Current mA lo Encoder Setti Current Loop Settings Open Loop Velocity Mode en toop Poston Mode NA Open Loop Position Mode Hold Current 76 lo ES Image 9 0 Current Loop Settings Button TRIGGER THE TUNING Set the Test current to the same as the motor s peak current Set the Ki integral gain to zero and enter a small number for the Kp Proportional Gain 100 is a good starting point Click on Trig button Now driver excites the motor winding and plots the current response Warning Always start with the small number to prevent permanent damage to the motor and driver Phase Current Current mA a rq T 7 T1 0 1 1 0 20 40 60 80 100 120 Time mS Step Input I Current Loon Settinas Test Parameters _ ____ Current rey od a Test Current mA Current Ki Capture Every mS 4 Step Response Image 9 1 Current Loop Tuning R525P User Manual amp Commands Page 16 of 49 12 8 2014 Version 1 0 4 Oncethe current response is plotted compare the
26. amples for the current loop responses KP VALUE TOO LOW 3 Time mS Step Response Current Loop Settings Test Parameters RET ISTIS Curent ki EN Capture Every ms ee Image 9 6 R525P User Manual amp Commands Page 18 of 49 Phase Current e Kp gain is too low e Low torque e Slow Response e Less vibration Test Parameters Test Current mA capture ve oos I Image 9 3 KP VALUE TOO HIGH e Kp gain is too high e Oscillation and audible noise e Possible damage to the motor and driver Current Loop Settings Test Parameters Current Kp ENIM TET 3000 Current ki CX Copture Every ms ER M rud trig ECT KP VALUE GOOD Phase Current e Ideal Kp e Slight overshoot Good e Fast response e Good for Open loop Velocity ees and Position Mode Current Loop Settings Test Parameters Current Kp EX Test Curent mA Current ki EE Capture Every ms SE E close 3 Image 9 5 KP amp KI VALUES GOOD Phase Current e Ideal Kp and Ki EU e Slight overshoot Good E e Fast response Ex e Good for Closed loop Velocity Torque and Position Mode 12 8 2014 Version 1 0 10 ENCODER SETTINGS 1 Toset up your encoder simply go to the Encoder Settings portion of the GUI Enter you Encoder Lines The R525P only works with the following Counts Per Revolution pre quadrature counts 500 1000 1250 2000 2500 4000 5000 NOTE
27. closing GUI Status LED If the following occurs the status light will Show on the GUI OVC over current OVV over voltage UNV under voltage STALL motor stalls HOLD Motor is operating in open loop holding mode BUSY motor is executing a trapezoidal move accel decel DIS disable pin activated Status OVC OVV UNV STALL HOLD BUSY DIS Reset Save All Settings Image 7 1 Status LED Bar R525P User Manual amp Commands Page 14 of 49 12 8 2014 Version 1 0 8 DRIVER SETTINGS e This is where all parameters can be set e Enter the peak current or scroll the bar to the desired value RMS current will automatically be calculated Note that RMS current is the motor s rated current RMS Current x 1 4 Peak Current e Choose the step angle 0 9 or 1 8 This is required for either open or closed loop modes e Choose the hold current It is a percentage of the peak current This is the amount of current that will be used during idle operation no pulses sent to the motor e Hold timeout msec is to determine the length of time motor will output run current before switching to hold current Sometimes the momentum of the load still continues 1 or 2 seconds after the last step pulse is sent By immediately cutting it off and using less current during holding your load may slip e Step resolution this divides one full step into smaller steps e Smoothening filter this reduces the motor s vibration and
28. d Operates in both open loop and closed loop modes Programmable analog input to change velocity and position control Programmable digital output for feedback WhisperDrive Technology for super smooth and quiet operation Os LF ons 2 ELECTRICAL SPECIFICATIONS Supply Voltage 12 to 48 VDC Phase Current 0 1 to 5 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 fixed Step Direction Disable Enable 1x Analog input 1x Digital Output which can output one of the following via GUI interface Output disabled open not used Motor direction detection Open CW Closed CCW Closed on Hardware Fault Toggle when Index on Encoder is detected Close when motor is stalled Close when motor is moving Close when motor is holding R525P User Manual amp Commands Page 5 of 49 12 8 2014 Version 1 0 3 OPERATING SPECIFICATIONS Maximum Step Frequency 1 MHz Operating Temperature Low end O C High end Dependent on case temperature bracket temperature must not exceed 45 C Automatic Motor Holding Current reduction available from O to 5 Amps Logic Timing Minimum Step Pulse Width 200 nanoseconds Maximum Power Down Recovery Time 500 milliseconds 4 MECHANICAL SPECIFICATIONS Approximate Size 2 21 x 2 21 x 1 27 height Weight 4 6 oz Mounting Four Through hole locatio
29. d Loop Position cccccccecsssscecececseseeaeeecececsesseaesecececessesaeeesececesseseeseseeecesseaeaeseeeeeeseseea 26 19 COMMANDS SET CONTROLLER MODE ccccceeseccececececeensenececececeesnnaececececeeseaaececececesseanaecececesnesnnaeseeeeeeneaes 27 Syntax or Comimahdsa sis oec etit da en eU A RESI ERI ED teansaanauetacteavasneenansuantasesuanceav sactineastesdeatenaccieris 27 STATUSILED 47 APPENDIX A Graphing Capabilities With GUI seen enne enne enne rennen enne enne nennen 48 APPENDIX B Example Prograrmimling x ere ten bc EE Fe PETERE alah antics ellen eee as 49 R525P User Manual amp Commands Page 4 of 49 12 8 2014 Version 1 0 1 FEATURES Single axis driver for bipolar step motors GUI interface that enables users to choose the following operational modes o Open Loop Velocity Mode Open Loop Position Mode Closed Loop Torque Mode Closed Loop Velocity Mode Closed Loop Position Mode o Analog input Mode Operates from 12 to 48VDC Software selectable run currents from 0 1 to 5 0 Amps Peak in 0 05 A increments Software selectable hold currents from 0 to 5 0 Amps Peak in 0 05 A increments Software selectable step resolutions from Full step 2x 4x 5x 8x 10x 16x 25x 32x 50x 64x 125x 128x 250x 256x microstepping Communication via RS485 and USB automatically available on the R525P driver itself no converter card require
30. e Internal the R525P will supply step pulses to the motor e Analog input the R525P will use Pin 8 as the pulse source e External the R525P will use the step and direction pins Pin 49 and 7 respectively Setting Kp and Ki for Closed Loop Position Warning When tuning Kp and Ki the load must be connected Take caution when tuning the motor and load Motor will excite by a few pulses and will move slightly during tunig First set Kp This velocity loop shall be larger than the Kp set in the Current Settings Start at 1000 Increase by 1000 You will visually see oscillation on the motor Continue increasing If you hear audible noise the Kp is too large Example Kp set to 6000 motor is no longer oscillating seems to sound and look OK Kp set to 7000 motor has audible noise Decrease by 3096 This is your ideal Kp setting 4900 to 6000 ideal range Next set Ki Start at O Increment by 10 Go to the Tools menu bar and view the velocity graph to see how quickly the motor reaches the desired velocity The quicker it reaches the more ideal Ki value Ro25PGUIL0 ae wp eic ce Pe ee me File Graph Tools Help Main Menu Closed Loop Position Mode Input Source Internal 100000 Send Note a motor with a high CPR gt 1000 Counts will provide better position accuracy Internal pulse source Relative Move xd Absolute Move o Send roters i Position lo Position Range O to 0 Negative value specifies
31. elocity Mode o Set the target velocity and acceleration R525P will maintain this velocity o Select analog input source 0 to 5VDC o Setthe Velocity Kp and Ki Closed Loop Settings This is different than the Current Amps settings of Kp and Ki Closed Loop Position Mode O Setthe target position Set the analog input source 0 to 5VDC Set whether the R525P will read the step pulse signal on the rising or falling edge Select a basic trapezoidal acceleration deceleration profile Set the Position Kp and Ki Closed Loop Settings This is different than the Current Amps settings of Kp and Ki and is also different than the Velocity Kp and Ki OO0o00 0000 R525P User Manual amp Commands Page 13 of 49 12 8 2014 Version 1 0 Changing Modes in the GUI First choose the Mode Then click Change Mode T R525P GUI 1 0 a ellis e Grap Tools Help Main Menu Open Loop Velocity Mode E Target Velocity PPS Acceleration PPS S Encoder Settings hd a a a Maximum Velocity PPS Velocity Range 0 to 0 Negative value specifies the direction Communication Open Loop Velocity Mode Open Loop Position Mode Closed Loop Torque Mode Minimum Velocity PPS Closed Loop Velocity Mode Closed Loop Position Mode Device Monitor Position Counter BM ovc ow UNV STALL HOLD Busy DIS Encoder Count is o Connected Device Connection Not Connected Image 7 0 GUI Be sure to always Save All Settings before
32. ff one end of the connector Then follow the table below to connect the wires from the 12 PIN I O cable to this 3 PIN cable 12 Pin I O Cable 3 Pin USB cable Pin Color Pin Color d asd Pin 4 Black White Pin 1 Red RS485A Pin 12 Green Pin 2 Black Ground Pin 10 Brown Pin 3 Green RS485B Table 6 0 RS485 Connection Diagram Default Settings If you want to get up and running quickly without connection to a PC the following are the default settings for the motor parameters e Step Resolution 256 microstep e Run Current 1000 1 0 Amps Peak e Hold Current 5096 0 5 Amps e Hold Timeout 1000 msec 1 second delay when changing from run current to hold current e Stall Detection Off e Driver mode Open Loop Position Mode ready for step amp direction input R525P User Manual amp Commands Page 12 of 49 12 8 2014 Version 1 0 7 GUI INTERFRACE A computer connection via USB or RS485 is required in order to use the GUI Interface The following can be done in this GUI Setaunique address to each R525P for daisy chaining purposes Select motor parameters for optimal performance o Motor s run current 0 to 5 Amps Peak o Motor s hold current a percentage of run current up to 100 or 5A o Motor Step Angle 0 9 or 1 8 used for encoder tuning o Hold Timeout msec used for determining the length of time to switch between run current to hold current after the last step pulse is seen o Step Res
33. is is a SVDC input in order to optically isolate the logic signals step Yellow direction disable pins If no isolation is required you can connect this pin Opto COM to Pin 1 the 5VDC output 3 Enable Disable pin When pin is low or touching Pin 12 Ground the driver Blue Disable pin is disabled If left alone high driver is enabled 4 Communication line for RS485 connection Used for daisy chaining multiple Black White RS485 A units 5 Ground Power Supply Ground Green White 6 POWER VE Motor Power Supply Voltage 12 to 48VDC Red 7 Direction input Default connection will rotate the motor CCW If this input Orange Direction is low or touching Pin 12 Ground rotation will be CW 8 Analog White input This input can take a potentiometer 9 Step pulse input The step clock input will receive a clock pulse input TTL Blue White squarewave signal 0 to 5VDC where one pulse will move the motor one Step input step 10 Communication line for RS485 connection Used for daisy chaining multiple Brown RS485 B units 11 Via the GUI user can choose to disable the unit change motor direction Black close upon fault toggle when index is detected on the encoder close when Output motor is stalled moving or holding 12 Ground Signal ground also known as digital ground Green R525P User Manual amp Commands Table 5 2 P4 I O Pin Out Table Image 5 3 P4 I O Pin Out Location Page 8 of 49 12 8 2014 Version 1 0
34. ll that it can in order to keep torque constant If the load is too much a stall will occur A negative value will indicate the opposite direction of rotation ADC Settings ADC Offset V ADC DeadBand V ADC Filter Hz Image 13 3 ADC Settings R525P User Manual amp Commands Page 21 of 49 12 8 2014 Version 1 0 14 Open Loop Velocity Mode SETTINGS This mode requires no encoder Set your input source either internal from the R525P or an analog input Set your target velocity and acceleration R525P GUI 1 0 o lt lM _ l 0 ma E File Graph Tools Help Main Menu Open Loop Velocity Mode Input Source Internal Communication Internal pulse Target Velocity PPS 35600 ees eS Me 50000 source Encoder Settings Input Source Analog Input Output Function Ee oe GNE 35600 Analog input ADC Settings pulse source Open Loop Velocity Mode Pin 8 Velocity Range 35670 to 35600 Negative value specifies the direction Open Loop Position Mode Closed Loop Torque Mode Minimum Velocity PPS 500 Parameters Closed L Velocity Mode that apply to Closed Loop Position Mode either source Device Monitor Current mA 2099 Encoder Velocity lo Status M M 293292 OVC OVV UNV STALL HOLD BUSY DIS Encoder Count Ic Active Mode Open Loop Velocity Mode Connected Device A Image 14 0 Open Loop Velocity Settings Be sure to Save All Settings before closing GUI R525P User Manual amp
35. mand Bit 3 Hold This Bit sets if motor is in holding mode Open loop Mode only Bit 2 Busy This Bit sets if trapezoidal motion is in progress Bit 1 Disable This Bit sets when Driver is disabled Bit O Communication 0 RS485 Communication Type 1 USB Communication Table 19 4 Query Flags Related Commands CS Command Syntax lt address gt QF lt value gt Command Range 0 255 Response QF lt value gt Default Value N A Example Assuming USB in connected and motor is in holding mode Bit7 MSB Bit6 BitS Bit4 Bit3 Bit2 Bit1 Bit O LSB AQF Query status flag QF9 R525P User Manual amp Commands Page 40 of 49 12 8 2014 Version 1 0 QP Query Position Counter Description Read and returns the absolute position from internal position counter Related Commands AP PM ZP Command Syntax address QP value Response QP lt value gt Command Range 2147483647 2147483647 Default Value Zero at Start up Example AQP Query the position from position counter QT Query Torque Description Read and returns the Torque current In open loop torque current is the peak coil current set by RI when motor is running or hold current when motor is stopped In closed loop torque current is the RMS value of Phase A and B currents Negative sign indicates direction of the motor Related Commands RI HI ST Command Syntax address QT value Response QT lt value gt Command Range
36. n Choose your Peak Current Step Angle Hold Current Hold Timeout the amount of time to switch from run current to hold current after the last step step resolution and smoothness filter TE R525P GUI LO File Graph Tools Help Main Menu Motor Settings Driver Settings rm Encoder Settings Step Angle Output Function Current Loop Settings Open Loop Velocity Mode Open Loop Settings Open Loop Position Mode Hold Current Loop Torque Mode Closed Loop Velocity Mode Hold Timeout mS Step Resolution Smoothening filter Image 6 5 In order to get the optimal current feedback click on the button labeled as Current Loop Settings go to Section 9 for the Current Loop Tuning Procedure Your R525P unit shall be ready as an open loop position mode device receives step and direction inputs R525P User Manual amp Commands Page 11 of 49 12 8 2014 Version 1 0 RS485 Connection In order to daisy chain multiple R525P units you must utilize the RS485 connection If you already have a way to communicate directly via RS485 you can connect Pins 4 and 10 RS485 A and B to your communication line If you require a converter card please purchase the USB485 Converter Kit LIN P N USB485 3 Pin to 3 Pin cable for communication USB485 converter card 6 foot long USB cable Image 6 6 RS485 Kit Connection to converter card The converter card will be supplied with a 3 Pin to 3 Pin cable Cut o
37. ne Command Syntax address MA value Response MA lt value gt Command Range 65 90 Default Value 65 Example AMA66 Set the Address to B 66 B MD Stall Detection Maximum Deviation Description Sets the maximum deviation in full step for stall detection Driver uses encoder to compare the actual position to commanded position to detect if motor is stalled If MD is set to a small value Stall flag can be set during acceleration or deceleration Related Commands ES EL OE CS Command Syntax address MD value Response MD lt value gt Command Range 0 5000 Default Value 10 Example AMD100 Set the maximum deviation to 100 full steps MV Minimum Velocity Description Sets the minimum velocity of trapezoidal motion Related Commands VL TV AP MV Command Syntax address TV value Response VM lt value gt Command Range 100 15000 Default Value 1500 Example AMV2000 Set the minimum velocity to 2000 R525P User Manual amp Commands Page 37 of 49 12 8 2014 Version 1 0 OE Output Enable Description Sets the output pin action according to the table below OE 0 Output Disabled Pulled High OE 1 Motor Direction OE 2 Low when over voltage under voltage or phase over current detected OE 3 Toggles at encoder index OE 4 Low when motor is stalled OE 5 Low when motor is moving OE 6 Low when motor is holding Table 19 3 Outputs Related Commands ES
38. ns 1 860 x1 860 Maximum slot size 0 15 AX Housing and Base Plate Aluminum Hard Anodized 02 21 1 860 2X 0 176 2X 0 176 2X I 1 860 2X nanana SIS 0 125 Image 4 0 Mechanical Dimensions R525P User Manual amp Commands Page 6 of 49 12 8 2014 Version 1 0 5 PIN ASSIGNMENTS 12 Pin I O Connector P4 Mini USB Connector P3 Encoder Connector P2 Image 5 0 Overall Connector Location and Label P1 Motor Connector Pin Outs Pin Function Color 2i Motor Phase A Red A A CS Motor Connector P1 eS Motor Phase A Blue BlWlN r Motor Phase B Green A Motor Phase B Black a fa Table 5 0 P1 Pin out Table M R Image 5 1 P1 Pin Out Location P2 Encoder Connector Pin Outs Pin Function Color 1 ChannelB Blue 2 5V input Red 3 ChannelA Yellow 4 Index White 5 Ground Green Table 5 1 P2 Encoder Pin out Table Image 5 2 P2 Pin Out Location R525P User Manual amp Commands Page 7 of 49 12 8 2014 Version 1 0 CAUTION Connecting Motor phases A A Bar B B Bar to the incorrect location while the R525P is powered will cause the board to burn It is recommended that power is connected last so that all connections can be checked before power up P4 I O Connector Pin Outs Pin Function Description Color 1 5 Vout 5VDC output Red White 2 Th
39. nual amp Commands Page 47 of 49 12 8 2014 Version 1 0 APPENDIX A Graphing Capabilities with GUI The GUI is equipped with 4 different real time graphing modes Current Graph ommunication Port Velocity Graph m Position Graph Port Name Encoder Graph _oxteuoncon a O Function Select Device or Find All Devices Open Loop Velocity Mode Encoder Velocity Position Counter OVC OVV UNV STALL HOLD BUSY DIS Active Mode Connected Device Connection Not Connected Current Graph graphs the current output Amps Velocity Graph graphs the velocity stability of the motor Use this while setting the closed loop velocity settings for Kp and Ki Position Graph graphs the position of the motor Encoder Graph graphs the encoder response R525P User Manual amp Commands Page 48 of 49 12 8 2014 Version 1 0 APPENDIX B Example Programming Setting up the Encoder EL1000 EA SD ZE Sets the number of encoder lines The R525P aligns the encoder It counts and returns an actual encoder line If it returns a negative motor phase wires should be switched Save Data Reset the encoder position zero encoder Setting up Stall Detection ES1 MD50 RS Enable stall detection ES2 stops the motor if stall is detected Sets the maximum encoder deviation in full steps Clear the Stall condition Basic Move Command DMO DI2 AC1000 MV1500 VL30000 TV10000 DM1 DI2 AC1000 MV15
40. olution microstepping o Smoothing filter to reduce vibration and resonance This smoothens the step edges Current Loop Setting for current tuning to motor characteristics used in any mode open or closed o Live graphing of motor s current vs time behavior and tuning Kp and Ki for optimal performance Encoder settings o Input encoder lines and initialize the encoder o Set Stall Detection to output a flag or to set a flag and stop motion Select the output function Pin 11 o Have Pin 11 show the motor direction Open is Clockwise Closed is Counter Clockwise Close on Hardware Fault Toggle when index is detected requires a motor with an encoder with index pulse Close when motor is stalled stall detection Close when motor is moving o Close when motor is holding Open Loop Velocity Mode o Set your target velocity and acceleration Upon power recycle motor shall rotate to this velocity o Setananalog input source by selecting the Velocity Range and if unit shall rotate in both directions 0 to 5VDC Open Loop Position Mode o Set the unit to rotate to a target position o Set the analog input source 0 to 5VDC o Setwhether the R525P will read the step pulse signal on the rising or falling edge o Select a basic trapezoidal acceleration deceleration profile Closed Loop Torque Mode o Set the max current you will allow the motor to draw from in order to maintain constant torque o Set analog input source 0 to 5VDC Closed Loop V
41. on Pin 7 either controller or toggle between Ground Pin 12 Connect Main Power Supply to Pins 5 and 6 with Power Ground and Power VE respsectively Step 5 Setting up the GUI R525P User Manual amp Commands Page 10 of 49 12 8 2014 Version 1 0 Download the GUI from the website Click on setup exe Name B jS R525P GULmsi Image 6 1 Click Run to install the GUI After installation is complete click Close Hessu lag Lol me sal T Installation Complete P c vu The publisher could not be verified Are you sure you want to run this software Name AppData Local Temp RarSEXa0 792 setup ex hdd MN a D lame g Appl ocal Temp Rar 5 up exe SES i Publisher Unknown Publisher Type Application From C Users mcheng AppData Local Temp RarSEXa0 I Please use Windows Update to check for any citical updates to the NET Framework This file does not have a valid digital signature that verifies its x publisher You should only run software from publishers you trust How can decide what software to run Do Gack tee Image 6 2 Image 6 3 Open the GUI Select the correct COM Port and click Connect R525P GUI LO a ai pa File Graph Tools Help Main Menu Communication Port Communication Port Name Driver Address Output Functi SETTA Change Device Address E to Image 6 4 Select Driver Settings on the Left Colum
42. or reaches the desired velocity The quicker it reaches the more ideal Ki value Note a motor with a high CPR 1000 Counts will provide better velocity accuracy RS25P GULLO clt mama ote lati cot e el File Graph Tools Help Main Menu Closed Loop Velocity Mode TE Input Source Internal ache Velocity PPS Acceleration PPS S Driver Settings o Maximum Velocity PPS 35600 mm Internal pulse source Analog input pulse source Pin 8 Open Loop Velocity Mode Velocity Range 35670 to 35600 Negative value specifies the direction Open Loop Position Mode Kp and Ki settings Applies to both sources Velocity Kp f Closed Loop Torque Mode Velocity Ki lu Closed Loop Position Mode Device Monitor Current mA 2102 Encoder Velocity lo Status Position Counter o E ow UNV STALL HOLD BUSY DIS Encoder Count Zero Position Active Mode Closed Loop Velocity Mode Connected Device A Connection RS485 Image 17 0 Closed Loop Velocity Settings Be sure to Save All Settings before closing GUI R525P User Manual amp Commands Page 25 of 49 12 8 2014 Version 1 0 18 Closed Loop Position Mode SETTINGS This mode requires an encoder with indexer First initialize the encoder by going to Encoder Settings Section 8 This mode will keep constant speed This mode will allow users to send position moves i e rotate motor to 1000 steps Motor position is in encoder steps Select the source
43. p Position Mode Connected Device A Image 15 0 Open Loop Position Settings Be sure to Save All Settings before closing GUI R525P User Manual amp Commands Page 23 of 49 12 8 2014 Version 1 0 16 Closed Loop Torque Mode SETTINGS This mode requires an encoder with indexer First initialize the encoder by going to Encoder Settings Section 8 This mode will keep constant torque output regardless of load up to the motor s max torque output The R525P will slow down in speed and increase current up to the Maximum Torque Current mA in order to keep torque output constant In either mode set the max torque current Note that negative values will dictate direction of rotation Upon setting the max value motor will rotate and current draw will be minimal if there is no load R525P GUI 1 0 a X File Graph Tools Help Main Menu Closed Loop Torque Settings Input Source Internal Internal pulse Torque Current mA lio Peak Current mA 2100 source Communication Input Source Analog Input Maximum Torque Current mA 2100 Peak Current mA 2100 Analog input ADC Settings pulse source Pin 8 Torque Range 0 to 2100 Negative value specifies the direction Encoder Settings Output Function Open Loop Velocity Mode Open Loop Position Mode i Loop Torque Mode Closed Loop Velocity Mode Closed Loop Position Mode Device Monitor Curent n Encoder Velocity lo Status Position
44. resonance It smoothens step edges R525P GUI 1 0 Le nes File Graph Tools Help Main Menu Motor Settings Peak Current m a mscurentima BE Encoder Setti et T Current Loop Settings Open Loop Velocity Mode Open Loop Settings Open Loop Position Mode Hold Current Closed Loop Torque Mode Hold Timeout mS Closed Loop Velocity Mode Step Resolution Closed Loop Position Mode R a Smoothening filter Device Monitor Current mA lo l Encoder Velocity NEN as Position Counter BM ovc ow UNV sTALL HOLD Busy DIS hange Mode Encoder Count lo Reset perm Connected Device Connection Not Connected Image 8 0 Driver Settings of GUI R525P User Manual amp Commands Page 15 of 49 12 8 2014 Version 1 0 9 CURRENT LOOP TUNING PROCEDURE This procedure is for tuning the current Amps regardless of the operating mode for both open and closed loop In order to drive the motor properly the current loop parameters KP and KI must be set correctly The R525P user interface provides a tool to set Pl parameters and test the current loop response Warning Before connecting the driver to a power supply make sure the motor is disconnected from the load Warning Incorrect Values of Current KP and KI will result in either low performance or excessive noise and vibration to the motor or permanent damage to both motor and driver To tune the current follow the instructions below 1 CONNECTION COMM
45. s DI Command Syntax lt address gt DM lt value gt Response DM lt value gt Command Range 0 4 Default Value 1 Example ADMO Set drive mode to open Loop velocity mode EA Align Encoder Description Tests the encoder and detects the index offset from the rotor By issuing the EA command the motor will turn one full revolution This command must be issued one time after encoder installation This command will return the post quadrature count of the encoder For Example for 1000 Line Encoder EA will return 4000 Counts Related Commands EO EL Command Syntax lt address gt EA lt value gt Response EA lt value gt Command Range N A Default Value N A Example AEA Test and align encoder EL Encoder Line Description Sets the Encoder Line This tells the R525P what encoder count is mounted to your motor Related Commands EO EA Command Syntax lt address gt EA lt value gt Response EL lt value gt Command Range 500 1000 1250 2000 2500 4000 5000 Default Value N A Example AEL1000 Tells the driver that 1000 Line Encoder is mounted on the back to motor R525P User Manual amp Commands Page 32 of 49 12 8 2014 Version 1 0 EO Encoder Index Offset Description Sets the Encoder index offset respect to rotor teeth This variable will be set automatically via EA Command for bi directional motion Motor speed can be optimized for Uni directional by adjusting EO manually Related Commands
46. ue Response TA lt value gt Command Range 2147483647 2147483647 Default Value 0 Example ATA10000 Set target position A to 10000 TB Target B Description Sets the target position B Motor can be commanded to move to target position by issuing GB command Related Commands GB Command Syntax address TB value Response TB lt value gt Command Range 2147483647 2147483647 Default Value 0 Example ATB10000 Set target position B to 10000 TC Target C Description Sets the target position C Motor can be commanded to move to target position by issuing GC command Related Commands GC Command Syntax address TC value Response TC lt value gt Command Range 2147483647 2147483647 Default Value 0 Example ATC10000 Set target position C to 10000 R525P User Manual amp Commands Page 44 of 49 12 8 2014 Version 1 0 TD Target D Description Sets the target position D Motor can be commanded to move to target position by issuing GD command Related Commands GD Command Syntax lt address gt TD lt value gt Response TD lt value gt Command Range 2147483647 2147483647 Default Value 0 Example ATD10000 Set target position D to 10000 TE Target E Description Sets the target position E Motor can be commanded to move to target position by issuing GE command Related Commands GE Command Syntax lt address gt TE lt value gt Response
47. ue Use a potentiometer by connecting it to the R525P in the follow manner PA 12 Pin I O Pin 1 5Vout Red White Pin 12 GND Green Pin 8 Analog input White Analog input should connect to the Center Pin of Potentiometer Image 13 0 Potentiometer image courtesy of Wikipedia org In any mode select the input source to be Analog input Then click on the button called ADC Settings R525P GUI 1 0 Er c RS25P GUL 10 oa File Graph Tools Help File Graph Tools Help Main Menu Closed Loop Torque Settings Main Menu Closed Loop Torque Settings Input Source Internal Input Source Internal Torque Current mA Peak Current mA 1000 Torque Current mA lo Peak Current mA 2100 Maximum Torque Current mA 2100 Peak Current mA 1000 Maximum Torque Current mA 2100 Peak Current mA 2100 ADC eine Torque Range 0 to 2100 Negative value specifies the direction Torque Range 0 to 2100 Negative value specifies the direction Image 13 1 ADC Setting Button Image 13 2 example of negative current for direction change In the example above for Closed Loop Torque Mode by setting 2 10 Amps of Maximum Torque Current this will allow the driver to output up to 2 1 Amps of current if more load is detected on the motor Torque mode will allow the user to always maintain torque regardless of the load Motor will slow down current will increase and the driver will do a
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