R356 Manual - Lin Engineering
Contents
1. 6 3 OPERATING SPECIFICATIONS Communication Specifications 6 4 MECHANICAL SPECIFICATIONS Dimensions 7 5 PIN ASSIGNMENTS BD 15Pin Assignments 8 Connecting to the USB485 Card 9 Connecting to the RoHS RS232 485 Card 9 6 CONNECTION SPECIFICATIONS Quick Start USB 485 Converter Card 10 Quick Start RS232 485Converter Card 11 Mating Connectors 12 7 CONFIGURING AND CONTROLLING THE R356 LinCommand Setup 13 Setting the Current 14 Connecting Multiple R356 Units 15 Changing the Address of the Controller 16 Connecting Accessories 16 Push Button 16 LED or other ou2. Figure 2 DB 15 Female Cable Connector Rear View of R356 unit Cable 90 096 connects with either RS485 232 or USB485 Card R356 Controller amp Driver Page 9 Version 1 08 RMS Technologies 8 19 2014 Connecting to the USB485 card R356 pin R356 color USB485 pin 8 Black white 1 RS485A 1 Green 2 GND connect to Power Supply Ground 15 Brown 3 RS485B Table 3 Pinouts for using USB485 Where Pin 1 is located here Figure 3 USB to RS485 converter card p n USB485 The USB485 converter card does not require power it receives power from the PC Power is still needed for the R356 controller driver Connecting to RoHS version RS232 card R356 pin R356 color USB pin 8 Black white 1 RS485A 1 Green 2 GND connect to Power Supply Ground 15 Brown 3 RS485B Table 4 Pinouts for using RS232 Figure 4 RS232 to RS485 converter card p n 083 00050 The RS232 card requires power 7 40VDC Pin 1 R356 Controller amp Driver Page 10 Version 1 08 RMS Technologies 8 19 2014 6 CONNECTION SPECIFICATIONS DO NOT PLUG IN POWER SUPPLY UNTIL EVERYTHING IS CONNECTED Quick Start USB 485 converter card Figure 6 Connection using USB 1 The USB485 converter card connects to the R356 using the DB 15 cable that is provided to you The 3 Pin connector is placed onto the converter card 2 You may refer to the pin assignments on pages 8 and 9 3 Connect the motor and o
3. CPR 4 1000 This must be a whole number after you multiply by 1000 For example a 1 8 motor set to 256x microstepping with a 1000 count encoder Encoder ratio 200 256 1000 4 1000 12800 Set encoder ratio 1aE12800R If Encoder Ratio is Unknown Follow these steps 1 Issue a 1n0R to clear any special modes 2 Issue a 1z0R to set position of encoder and controller to zero 3 Issue a 1A100000R and ensure the move completes at a velocity that does not stall 4 Issue a 1 0 to read current position This should be 100000 5 Issue a 1 8 to read the encoder position 6 Issue a 1aE0R which auto divides these two numbers 7 Issue a 1 aE which read backs the encoder ratio computed 8 This value is a rough guide and may be a few counts off due to inaccuracies in the motor position and run out of the encoder but use the EXACT number that was returned and set it with a 1aEXXXXR Or please contact Lin Engineering and provide us with your motor part number and we can look up the encoder CPR for you R356 Controller amp Driver Page 20 Version 1 08 RMS Technologies 8 19 2014 Second Set the Error in Quadrature Encoder Ticks allowed before correction begins 1aC50R default is 50 Motor will move 50 encoder ticks away from desired position before position correction takes place If aC is set to too small of a value the motor may oscillate back and forth trying to locate the exact position Use a larger aC value
4. R356 Controller With built in 256x Microstepping Driver and encoder feedback for position correction User Manual Version 1 08 RMS Technologies 2533 N Carson St 4698 Carson City NV 89706 0147 R356 Controller amp Driver Page 2 Version 1 08 RMS Technologies 8 19 2014 Thank you for purchasing the R356 Controller with Microstepping Driver This product is warranted to be free of manufacturing defects for one year from the date of purchase PLEASE READ BEFORE USING Before you begin ensure there is a suitable DC Power Supply Do not disconnect the DB 15 cable while power is still being applied to the controller This will damage the board Under any circumstances do not exceed 40 VDC 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 This manual revision is provided for distribution with R356 controllers sold through Lin Engineering Special Symbols Indicates a WARNING and that this information could pre
5. Third Set the Overload Timeout Value This is the number of re tries allowed under a stall condition 1au10000R default is 10 Fourth Enable the Feedback mode Zero the positions prior to enabling the feedback mode 1z0R Issue 1n8R to enable the feedback mode Overload Report Mode Overload report mode when enabled will compare the encoder value to the commanded position at the end of a move and report an error if the two values do not match within the range given by aC When this error occurs the drive will exit from any loops or strings it may be executing Overload report mode is enabled by 1n16R and requires the encoder ratio to be entered correctly via the aE command Issue a 1zR to zero both the encoder and position counter just prior to issuing 1n16R Only the Position Correction mode or the Overload Report mode may be turned on at one time Notes 1 When any command is received by the drive it will always respond with its status The drive will only accept a command when it is not busy This status byte received must be checked to ensure that the unit was not busy and that the command was accepted This is especially important when position correction mode is enabled because the drive may be attempting to correct position all by itself and will reject an externally via RS232 received command if it is busy in the middle of a correction move 2 When position correction mode is enabled 1n8R then the drive will
6. 20 50 1 07 1 50 60 1 29 1 80 70 1 50 2 10 80 1 71 2 40 90 1 93 2 70 100 2 14 3 00 Table 5 Desired Current To achieve the equivalent Driver Current Amps multiply your motor s rated current by 1 4 Follow these examples Example One You have a motor that is rated at 0 85 Amps 0 85 Amps x 1 4 1 2 Amps Using Table 5 we would see that 1 2 Amps is 40 of the driver s maximum output current Assuming the R356 is addressed to Number 1 this is what you d program 1m40R Example Two You have a motor that is rated at 1 0 Amps and your Controller is addressed to Number 1 this is what you d program 1m46R This will set the controller to 1 4 Amps Peak How did we get 1 4 Amps 1 0 Amps x 1 4 1 4 A Peak WARNING Setting the current to a value greater than the motor s rated current will damage your motor and may overheat the controller R356 Controller amp Driver Page 15 Version 1 08 RMS Technologies 8 19 2014 Connecting Multiple R356 Units Connect multiple units by using the Converter card shown below If using the RS232 to RS485 converter card daisy chain all four wires power ground RS485 and RS485 prior to plugging into the converter card Figure 7 Connection using RS232 Converter Card If using the USB485 converter card connect all the power and ground lines on the units to the main power supply Then daisy chain the RS485 and RS485 lines prior t
7. ASSIGNMENTS A DB 15 female connector cable comes with every R356 unit It receives power and provides the control connections for the R356 Unit On the opposite end of the DB 15 female connector cable there is a 3 pin connector provided for the converter card in order for the R356 to communicate with the PC The four I O wires are colored Orange Orange White White and Red White This will allow for options such as solenoids relays opto isolators LED s and many other input and output connections PIN COLOR FUNCTION I O or Function 1 Green Power Ground 2 Black 1A On Off Output Driver 2 3 White Green Direction Input see Appendix D 4 Yellow 5VDC Input for Opto Isolated STEP and DIR see Appendix D 5 Orange Input 2 2 Jog2 Input 6 Yellow White Internal Power for Opto Sensor 7 Orange White Input 3 Opto Input 3 Opto1 Input 8 Black White RS485 A 9 Red 12V TO 40V POWER 10 Blue 1A ON OFF Output Driver 1 11 Blue White Step Input see Appendix D 12 Green White Signal Ground 13 White Input 1 1 Jog1 Input 14 Red White Input 4 4 Opto2 Input 15 Brown RS485 B Table 2 Pin assignments Inputs are labeled 1 2 3 and 4 for programming the Halt Skip and special mode n commands
8. TTL step pulses Takes in single ended optical encoder input for position correction Hold Current automatically selected upon move completion Designer s Kit with USB communication Here is the list of components if you have purchased the optional Designer s Kit USB to RS485 converter card A switch push button Opto Sensor A USB 6 foot long cable 3 Pin cable optional usage Lin part number USBKIT Designer s Kit with RS232 communication Here is the list of components if you have purchased the optional Designer s Kit RS485 to RS232 converter card A switch push button Opto Sensor 3 Pin cable optional usage Lin part number RS232KIT R356 s Encoder Option A single ended optical encoder must be installed on your motor in order to have encoder feedback Position correction mode can be turned on such that it will continually send step pulses until the true desired position and actual position equals each other The option of simply sending an error report is also possible The R356 must first be set up to work with the encoder by understanding the CPR and calculating an encoder ratio See the Appendix B of this user manual R356 Controller amp Driver Page 6 Version 1 08 RMS Technologies 8 19 2014 Default Settings Function command Description Running Current m 25 of 3 0 Amps 0 75 Amps Holding Current h 10 of the run
9. how to connect your step motor with your R356 Controller follow the Figures below for the corresponding motor NOTE The 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 18 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 Figure 19 6 Lead Wire Half Winding Connection R356 Controller amp Driver Page 24 Version 1 08 RMS Technologies 8 19 2014 6 Lead Wire Motor Connection Full Winding For a full winding connection use both end wires the center tap is ignored NC No Connection Figure 20 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 Figure 21 8 Lead Wire Parallel Connection 8 Lead Wire
10. keep retrying any stalled moves and will NOT halt any strings or loops upon detection of a stall 3 During position correction mode 1T will halt any move but there is a possibility that the drive may instantly reissue itself a position correction command especially if it is fighting a constant disturbance It may be necessary to issue a 1n0R to positively halt a move in progress 4 Position correction mode is inhibited if the encoder underflows and goes negative but will automatically resume if a move is made into the positive range If position correction is required at the zero point please redefine zero to be a slightly positive number with the z command Eg 1z10000R 5 If the encoder ratio is changed from its default of 1000 the allowed max position will be decreased from 2 31 by the same ratio R356 Controller amp Driver Page 21 Version 1 08 RMS Technologies 8 19 2014 Appendix C Peak current versus Amps Phase Where does the 1 4 times come from Current is continuously changing when a motor steps If the motor is rated for 1 0 A Ph it may receive 0 Amps 1 Amp 1 4 Amps or anything in between if you are microstepping For ease of explanation we will look at the current waveform when we half step or set the driver controller to 2x microstepping If we take a look at both the A and B phases and plot on an X Y chart of when each phase receives current and how much it receives it will look like the ch
11. Motor Connection Series Connection Be sure to set the drive current to exactly half of the motor s rated parallel current rating when using the series connection Figure 22 8 Lead Wire Series Connection R356 Controller amp Driver Page 25 Version 1 08 RMS Technologies 8 19 2014 Appendix F Troubleshooting USB485 interface card driver not communicating Reinstall USB485 driver Disconnect the USB485 from the computer and driver Go to Windows Device Manager Uninstall USB485 RMS Tech Restart computer Go to www linengineering com Near bottom left choose Accessories then USB485 Converter Click Download tab Select the USB485 Driver Files that match your version of Windows Verify the USB485 diver folder is in the downloads folder Plug the USB485 back into the computer but not the driver Go to Device Manager expand Universal Serial Bus controllers Right Click USB485 Choose Properties Select Driver tab and choose Update Driver Browse to Downloads folder click USB485 and choose Next This should correct any USB485 driver problems Hardware Troubleshooting Carefully re check all instructions for hardware and wiring diagrams Many times problems are related to wiring and or connector issues Technical Support for Lin Engineering a distributor for RMS Technologies By Telephone 408 919 0200 Mon Fri 8 00 a m 5 00 p m Pacific Time By Email techsupport linengineering com On the
12. 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
13. art below Beginning at position 1 Phase A receives negative current and Phase B receives positive current Let s assume it is at coordinate 1 1 The position versus time graph just above plots only the A Phase following the eight different steps the motor will make Current is changing with each position Recall that a negative in electronics simply means reverse direction of current flow 1 3 7 5 1 2 3 4 100 100 0 HALF STEPPING Current Wave Form PHASE A Current POSITION PHASE B PHASE A 2 4 8 6 5 6 7 8 141 141 time Peak current 1 4 times Amps Ph Average or RMS Is only 1 Amp Ph R356 Controller amp Driver Page 22 Version 1 08 RMS Technologies 8 19 2014 Take a look at position 7 If we were to draw the arrow at position 7 as the hypotenuse of a triangle it would look like the triangle to our left Recall from geometry a 90 45 45 triangle is a 1 1 2 combination The 2 or 1 4 value is also the radius of the dotted circle shown above Therefore during certain steps Phases A or B will receive 1 4 Amps of current But the average or RMS current throughout these 8 steps is only 1 0 Amps RMS and Amps Phase is the same meaning The 1 4A along this hypotenuse is also known as the 2 Phase On position since both A and B Phases are On and receive current It is also known as the peak current As we see the waveform that s plotte
14. d for the A Phase the highest value on the curve is known as the peak value Motors have a rated current or average RMS value since in operation the current is continuously changing The most logical way to describe a rating is to take an average or RMS root means squared value But drivers understand current in terms of peak current therefore the conversion is Amps Phase x 1 4 Amps Peak Appendix D Step and Direction Mode The R356 unit can be configured as a driver only by first connecting it to your PC and saving the special mode n96 in program memory storage zero 1 First connect to your PC and save n96 in storage zero 1s0n96R 2 Next connect the positive side of a TTL squarewave for step pulses to Pin 11 Blue white wire 3 Connect a 5VDC supply to Pin 4 Yellow wire 4 Tie together the negative pin of the step pulse to the negative 5VDC supply This becomes your signal ground 5 Change direction of rotation on the fly by connecting or disconnecting Pin 3 White green wire to the signal ground that was just created in Step 4 The unit can still accept commands via RS485 when in step amp direction mode but move commands via RS485 will override step pulses 1 41 AMP 1 AMP 1 AMP 2 R356 Controller amp Driver Page 23 Version 1 08 RMS Technologies 8 19 2014 Appendix E Motor Connections Does not apply to SilverPak motors Step Motors have 4 6 or 8 wires To better understand
15. gram 2 Choose your model controller R256 or R356 from the drop down box and then click OK 3 LinCommand opens in Normal mode with a GUI interface for controlling the stepper motor For Advance mode skip to step 8 below 4 To continue in the Normanl mode choose your COM port baud rate and controller address See Figure 9 and then click Connect Note if you are using the USB485 converter card first download driver files for the USB485 5 Choose the Motor Settings tab Set the Run Current Hold Current Step Resolution Velocity and Acceleration then click Add Settings to Queue CAUTION Do Not Exceed Motors Peak Current or Damage to the Motor and Controller Could Result See Setting the Current on following page 6 Double click on the Click Here to Add Command to bring up the motor control menu 7 For a more instructions please refer to the LinCommand Manual 8 To operate in the Advanced mode Choose Options and select Advanced mode 9 Select your COM port and baud rated and then click Connect 10 Enter command strings on one of the 7 lines in the Send window and click Send to send command line to the controller 11 For a complete list of commands and their definitions refer to the R356 Commands manual Example command 1A10000R This will run unit 1 to the Absolute position 10000 You can check the address of your dr
16. iver by checking the dial at the top of the driver See Figure 9 A full list of commands is available in the Silverpak 23C R356 Command List Hint Most common commands to change are o Step resolution 1j2R sets it to half stepping o Velocity in pulses sec 1V1000R sets the speed to 1000 pps o Run current 1m50R sets the run current to 50 o Hold current 1h20R sets the hold current to 20 o Move the motor 1P800R moves the motor 2 revs if half stepping R356 Controller amp Driver Page 14 Version 1 08 RMS Technologies 8 19 2014 Responses 0 indicates good command and that it was received correctly 0b indicates bad command 0C indicates that the command is out of range 0 indicates that the command is terminated 0 a Overflow You may download Sample Programs for R256 and R356 controllers for additional program examples Setting the Current CAUTION DO NOT SET CURRENT ABOVE THE MOTOR S RATED CURRENT In order to set the correct current for your motor you must program the specified amount in LinCommand Current is set based on the maximum amount of current the controller board can output which is 3 0 Amps Peak Below is a table of how much current will be applied to your motor for each setting Percent Motor s Current Rating Amps Driver s Equivalent Current Amps 10 0 21 0 30 20 0 43 0 60 30 0 64 0 90 40 0 86 1
17. ler amp Driver Page 12 Version 1 08 RMS Technologies 8 19 2014 Mating Connectors The following cables are provided with the R356 unit Part 090 00096 DB 15 cable See page 8 for pin assignments 4 Pin cable for step motor One 4 pin cable is for the motor windings The table to the right depicts the function Part 090 00018 Color Function Red A Phase Blue A Phase Green B Phase Black B Phase Table 5 Pin description for Motor Encoder cable This is ideally for a US Digital E2 E5 or E3 encoder One side plugs into the R356 The opposite side has flying leads for connection to encoder Pin Color Function 1 Green Ground 2 White Index 3 Yellow Ch B 4 Red 5VDC 5 Blue Ch A 6 Table 6 Pinouts for encoder cable Part 090 00153 R356 Controller amp Driver Page 13 Version 1 08 RMS Technologies 8 19 2014 7 CONFIGURING AND CONTROLLING THE R356 LinCommand Setup For more detailed instructions please refer to the LinCommand Manual Follow these steps to set up and use LinCommand Note If LinCommand has not been installed on your computer you may download the program in 32 Bit or 64 Bit from the link below After downloading navigate to the Setup file and double click Setup to install http www linengineering com resources download aspx 1 After installation double click on the LinCommand icon to launch the LinCommand pro
18. ning current Step Resolution j 256x Top Velocity V 305175 pps microsteps sec Acceleration L L 1000 6103500 steps sec2 Position 0 Microstep smoothness o 1500 Outputs J Both are turned off J0 Outputs 1 amp 2 Baud Rate 9600 bps Table 1 Default Settings 2 ELECTRICAL SPECIFICATIONS Supply Voltage 12 to 40 VDC 3 Amps Peak Current 0 3 to 3 0 Amps Digital I O Specifications Number of I O 4 Number of Outputs 2 Input Voltage 0 VDC to 5 VDC 0 to 24V tolerant but 5V recommended Input Current 700 mA Pull up Resistors 20k Protection Static Protection to the microprocessor For a 1 8 stepper Steps per Revolution 200 400 800 1600 3200 6400 12800 25600 51200 Micro step size 1 2 4 8 16 32 64 128 256 3 OPERATING SPECIFICATIONS Maximum Step Frequency 2 24 pps or 16 7MHz Operating Temperature Range 0 to 50 C Storage Temperature Range 20 to 70 C Maximum surface temperature 70 C Communication Specifications Interface Type RS485 RS232 or USB with a converter card Baud Rate 9600 19200 or 38400 bps Bits per character 8 Data Parity None Stop Bit 1 Flow Control None default R356 Controller amp Driver Page 7 Version 1 08 RMS Technologies 8 19 2014 4 MECHANICAL SPECIFICATIONS Dimensions Figure 1 Dimensions R356 Controller amp Driver Page 8 Version 1 08 RMS Technologies 8 19 2014 5 PIN
19. o plugging into the USB485 card Be sure to also ground the USB485 card with Pin 2 ground Figure 8 Connection using USB485Converter Card R356 Controller amp Driver Page 16 Version 1 08 RMS Technologies 8 19 2014 Changing the Address of the Controller Use a small screwdriver to turn the dial so the arrow points to the desired Address Use this number when programming commands For example 1P1000R Figure 9 Address Dial Note New RoHS compliant boards have a Black dial instead of a Red one Connecting Accessories If you have purchased the Designer s Kit there is a Red Push Button and an Optical Sensor included Follow the schematics below in order to properly assemble accessory pieces Push Button Figure 10 Push Button Schematic Pins 5 7 13 and 14 can all be used with push buttons Below shows the corresponding input numbers for these pins Input 1 Pin 13 Input 2 Pin 5 Input 3 Pin 7 Input 4 Pin 14 Table 7 R356 Controller amp Driver Page 17 Version 1 08 RMS Technologies 8 19 2014 LED or other output The two driver outputs pins 2 amp 10 can drive an external device such as solenoids LED s or switches These outputs are switches that ground internally and therefore need to be connected to the V of the power supply Below is a recommended connection for lighting an LED with 20 mAmps Upon entering command 1J3R both pins 2 amp 10 will output 1 Amps The 1 2k ohm resistor
20. oder to the R356 10 Connect the RS232 card to your PC with a male to female DB 9 cable 11 Turn your power supply on and follow instructions for using LinCommand PC RS232 485 converter card Power Supply Motor with encoder R356 R356 Controller amp Driver Page 19 Version 1 08 RMS Technologies 8 19 2014 How to connect with old cable If you have a cable with a Red 4 Pin connector simply cut off this connector strip the wires and reconnect to a 3 Pin connector in the following manner Old 4 Pin cable Connect to New 3 Pin cable Pin Color function Color function Pin Pin 1 Red PWR Connect to main power supply Pin 2 Green GND Green GND Pin 2 Pin 3 Brown RS485 B Brown RS485 B Pin 3 Pin 4 Black white RS485 A Black white RS485 A Pin 1 Appendix B Encoder Usage The R356 can do closed loop position correction The encoder connects to the board internally Position Correction Mode Position correction mode when enabled will issue steps to the motor until the encoder reads the correct position Once enabled positions are given in Quadrature encoder counts of the encoder not in microsteps If the motor stalls during a move then this mode will reattempt the move until the encoder reads the correct number or until it has tried a certain number of times and times out First Set the Encoder Ratio Encoder ratio Microstep 200 steps rev
21. ptional encoder to the R356 4 Your power supply will be connected to the R356 directly The USB485 card is powered via the PC R356 s pin 9 Red wire is 12 40VDC pin 1 Green wire is Ground The USB485 converter card s Green wire needs to also connect to the power supply Ground 5 Connect the USB485 card to your PC using the USB cable provided to you You will need to download driver file You can find this at http www linengineering com line contents stepmotors USB485 aspx 6 Turn your power supply on and follow instructions for using Lin Command R356 Controller amp Driver Page 11 Version 1 08 RMS Technologies 8 19 2014 Quick Start RS232 485 converter card Figure 5 Connection using RS232 1 The RS232 converter card connects to the R356 using the DB 15 cable that is provided to you The 3 Pin connector is placed onto the converter card R356 s pin 9 Red wire is 12 40VDC pin 1 Green wire is Ground The converter card s green wire needs to also connect to the power supply Ground 2 You may refer to the pin assignments on pages 8 and 9 3 Your power supply will be connected to the RS232 card where the green header is located is for 12 40VDC is for the Power Supply Ground 4 Connect the motor and optional encoder to the R356 5 Connect the RS232 card to your PC with a male to female DB 9 cable 6 Turn your power supply on and follow instructions for using LinCommand R356 Control
22. tput 17 Optical Sensors 17 8 APPENDIXES Appendix A Connecting to non RoHS RS232 485 with red 4 pin 18 Appendix B Encoder Usage 19 Appendix C Amps Phase VS Amps Peak 21 Appendix D Step and Direction Mode 22 Appendix E Motor Connections 23 Appendix F Troubleshooting 25 1 FEATURES Operates from 12VDC to 40VDC Single 2 wire bus linking up to 16 drive controls on RS485 bus 3 0 Amp Peak Chopper PWM Driver 2 14 A Ph Full step 1 2 1 4 1 8 1 16 1 32 1 64 1 128 1 256 step resolution Stand alone operation with no connection to a PC Execution Halt pending switch push button Pre wired internally for Opto Switch inputs Homes to an Opto or Switch closure with a single command Fully programmable ramps and speeds Four digital I O and two fixed output channels Switch selectable address Software selectable Move and Hold currents Two inputs can be used for left and right limit switches Option to use unit as a driver only and accept
23. vent injury loss of property or even death in extreme cases R356 Controller amp Driver Page 3 Version 1 08 RMS Technologies 8 19 2014 R356 User Manual Product R356 Version 1 08 Date 8 19 2014 Version History Version Date Description of Changes 1 00 7 01 2008 New User Manual 1 01 4 3 2009 Added new RS485 232 converter card info and color code for opto sensor connection page 18 1 02 8 11 09 Added max surface temperature Updated encoder cable image 1 03 9 16 09 Updated image for LED connection 1 04 9 18 09 Updated pinouts and Appendix for step dir mode 1 05 10 29 2009 Added full step as a resolution option 1 06 2 17 2010 Updated typo on page 6 for max step pulse rate 1 07 11 03 2010 Updated step frequency to 16 7MHz 1 08 8 19 2014 Driver outputs updated Replaced Hyper Terminal with LinCommand R356 Controller amp Driver Page 4 Version 1 08 RMS Technologies 8 19 2014 Table of Contents 1 FEATURES Designer s Kit with USB communication 5 Designer s Kit with RS232 communication 5 R356 s Encoder Option 5 Default Settings 6 2 ELECTRICAL SPECIFICATIONS Digital I O Specifications
24. will limit the current to 20 mAmps into the LED Select any ohm value to limit your current based on the device that is connected to the output Optical Sensor Figure 11 Opto Sensor Connection Schematic Use the following table to connect the corresponding wires Optical Sensor DB15 Cable Pin Green Green white 12 Black Green white 12 Red Yellow white 6 White Orange white 7 Table 8 Pin 2 or 10 output R356 Controller amp Driver Page 18 Version 1 08 RMS Technologies 8 19 2014 8 APPENDIXES Appendix A Connecting to the old style non RoHS RS232 card with Red 4 Pin If using the old non RoHS converter card here are the connection specifications for this converter card R356 pin R356 color RS232 card pin 8 Black white A RS485A 15 Brown B RS485B 1 Green GND 9 Red PWR Table 9 Pinouts for using RS232 RS232 to RS485 converter card p n 017 00024 The RS232 card requires power 7 40VDC Power is then sent to the motor via the Red 4 Pin connector Quick Start RS232 485 converter card Connection using RS232 7 The RS232 converter card connects to the R356 using the DB 15 cable that is provided to you The red 4 Pin connector is placed onto the converter card 8 Your power supply will be connected to the RS232 card where the green header is located is for 12 40VDC is for the Power Supply Ground 9 Connect the motor and optional enc
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