R325 Single Axis Driver User Manual
Contents
1. EP TII 2 5 5 hh eaaa t ENEE Page 21 Version 1 23 7 7 20102. Shield Shielded Twisted Pair Wire Size from i 2 pae Supply Cable AWG Table Cable Length less then 50 Feet DC Voltage from Power Supply Shield to Earth Ground on Supply End Only 500 uf Per Amp Example A Cabling Under 50 Feet DC Power Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet long If cabling of 50 feet or longer is required the additional length may be gained by adding an AC power supply cable Correct AWG wire size is determined by the current requirement plus cable length Please see the Driver Supply Cable AWG Table in this Appendix RMS Technologies Page 16 Version 1 23 R325 Single Axis Driver Manual 7 7 2010 NOTE These recommendations will provide optimal protection against EMI and RFI The actual cable type wire gauge shield type and filtering devices used are dependent on the customer s application and system Driver Supply Cable AWG Table 1 Amp Peak Length Feet 10 25 50 75 100 Minimum AWG 20 20 18 18 16 2 Amps Peak Length Feet 10 25 50 75 100 Minimum AWG 20 18 16 14 14 3 Amps Peak Length Feet 10 25 50 75 100 Minimum AWG 18 16 14 12 12 Use the alternative methods illustrated in Examples B and C when the cable length is 2 50 feet Also use the same current rating when the alternate AC power is used
3. Driver Supply Cable Wire Size NOTE Always use Shielded Twisted Pairs for the Driver DC Supply Cable the AC Supply Cable and the Driver to Motor Cable RMS Technologies Page 17 R325 Single Axis Driver Manual Version 1 23 7 7 2010 Recommended Cable Configurations Driver to Motor Cable length wire gauge and power conditioning devices play a major role in the performance of your Driver and Motor NOTE The length of the DC power supply cable between the Driver and the Motor should not exceed 50 feet Example A demonstrates the recommended cable configuration for the Driver to Motor cabling under 50 Feet long Correct AWG wire size is determined by the current requirement plus cable length Please see the Driver to Motor Cable AWG Table in this Appendix Phase A Em Phase B Ferrite Beads Braided Shield Cable Length less than 50 Feet Two Shielded Twisted Pairs Wire Size from Driver to Motor Cable AWG Table Phase A Mist Shield to Earth Ground aso on Supply End Only Phase B Example A Cabling Under 50 Feet Driver to Motor If cabling of 50 feet or longer is required the additional length can be gained by adding Common Mode Line Filters 2x L 2 0 5 MH 0 5 MH is a typical starting point for the Common Mode Line Filters By increasing or decreasing the value of L you can set the drain current to a minimum to meet your requirements RMS Technologies P
4. Feed respectively These are NOT characters to be typed in For direct keyboard users these values are executed when the Return key is pressed For programmers a Carriage Return and Line Feed also known as a New Line command needs to be executed after each command RMS Technologies Page 13 Version 1 23 R325 Single Axis Driver Manual 7 7 2010 Command Operand Example Description Case Sensitive HT 100 5000 AHT100 Hold Timeout Command or Query Default 5000 Sets the Hold Reads or sets the time interval in milliseconds after any Timeout to 100 motor movement before the motor current is changed from mS Run Current to Hold Current PF 0 3 ACD1 Percent Fast Decay Command or Query Default 2 Sets Mixed Mode damping Allows the Damping Mode of the driver IC to be set to 15 0 Fast Decay 1 Mixed Mode 15 2 Mixed Mode 48 3 100 The optimum setting will vary with motor inductance and step rate however the default Mixed Mode setting will work well with almost all motors FR AFR Firmware Revision Query Only Returns 3 digit part code followed by 3 digit firmware revision value Reply AFR325100 R325 firmware revision 1 00 RMS Technologies Page 14 Version 1 23 R325 Single Axis Driver Manual 7 7 2010 10 Troubleshooting R325 is not functioning correctly Try putting the R325 into TEST mode by placing a jumper on Pins 9 amp 10 of JP1 The motor shou
5. The following values indicate the choices for Percent Fast Decay PF Values 0 through 4 0 Fast Decay 1 Mixed Mode 15 2 Mixed Mode 48 3 10096 Generally speaking applications that run at slow speeds are recommended to use a PF value of 1 or less Fast speeds should use a PF value of 2 or more Since the best PF value is dependent on the motor winding loads power supply voltage and other factors it is best to use an oscilloscope and a current probe device to view the current waveform and try different PF values The following examples show good and bad waveforms when choosing different PF values e PF value 1 e Slow speeds e Good waveform Tek MN Stop M Pos 0 000s CH2 g Coupling SS S SS SESS RAS SRN R SA RME SN AS p A a DC sf Volts Diwv CHT S dmV M 230ms Cit OO0V RMS Technologies Page 20 Version 1 23 R325 Single Axis Driver Manual 7 7 2010 e PF value 2 e Slow speeds e Bad waveform e PF value 1 e Fast speeds e Bad waveform RMS Technologies R325 Single Axis Driver Manual CH2 TD D AE E E Coupling KK Aka AE kih eee eS ee CDD H axe H DPI TII Volts Div Tit CH1 TD M 1 00ms CH1 7 0 00V Tek JL Stop M Pos 0 000s CH2 i0 o d 1 1 i f Coming EELER d Reesen EN DEENEN NENT OECD EE Volts Div per TEDSTER Ee eee eee E ERR ER OEOEX EO Fg gn gr og WARAK EE
6. does not exceed 45 C I O Specifications 3x Optically Isolated Inputs 1 fixed 1x Optically Isolated Output Minimum Motor Impedance 1 5 mH Note The drive may behave unpredictably if the motor you are using has an inductance less than 1 5 mH RMS Technologies Page 5 Version 1 24 R325 Single Axis Driver Manual 5 29 2013 3 OPERATI NG SPECIFI CATI ONS Maximum Step Frequency 2 5 MHz Operating Temperature Low end 0 C High end Dependent on case temperature bracket temperature must not exceed 45 C Automatic Motor Holding Current reduction available from 0 3 to 2 5 Amps Logic Timing Minimum Step Pulse Width 200 nanoseconds Minimum Step Low Time 200 nanoseconds Maximum Power Down Recovery Time 20 milliseconds 4 MECHANI CAL SPECIFI CATI ONS Size 3 00 x 2 94 x 1 42 Weight 4 8 oz Mounting Four 6 32 screws 2 42 x 2 45 Plate Aluminum Hard Anodized Dimensions 3 00 2 42 2x 0 29 4x n 0 15 4 2 45 2x oo RMS Technologies Page 6 Version 1 24 R325 Single Axis Driver Manual 5 29 2013 5 PIN ASSIGNMENTS A 12 pin pluggable terminal strip connector P1 provides power and the step and direction control functions for the module All of these signals are optically isolated Open collector drives are required to provide pulses for Step levels for Direction and Disable The common ve supply can be ve 5 to 30 VDC with respect to the signal input however if the supply is gr
7. ES an additional heatsink make sure Hold Current Percent of Run Current Function SW5 SW6 096 ON ON 3396 OFF ON 6696 ON OFF 10096 OFF OFF Step Resolution Function SW7 Sws SW9 SW10 Full Step OFF OFF OFF OFF 2X ON OFF OFF OFF 4X ON ON OFF OFF 8X ON OFF ON OFF 16X ON ON ON OFF 32X ON OFF OFF ON 64X ON ON OFF ON 128X ON OFF ON ON 256X ON ON ON ON The power must be turned OFF when switching in and out of Full Step mode Notes 1 Installing a jumper on JP1 pins 9 and 10 runs the factory test routine RMS Technologies Page 10 Version 1 23 R325 Single Axis Driver Manual 7 7 2010 7 BASIC STEP AND DI RECTI ON OPERATI ON The four control signals Step Direction Disable and Fault Out are optically isolated with a common positive connection usually 5 VDC The common positive connection Pin 1 is typically 5 VDC Each of the inputs is set to TRUE by supplying a signal level 5V below the common positive connection powering the optical isolators The input is set FALSE by putting the signal within 0 5 VDC below the common positive value Example If 5 VDC is supplied to Pin 1 common positive connection TRUE is OV and FALSE is any value between 4 5 VDC to 5 VDC For test purposes and some applications where input isolation is not required the internal 5 VDC supply at Pin 4 of the I O connector can be used as the common positive connection by linking p
8. Ko v 1 e 4 W e i d User Manual C And Commands Guide Version 1 24 RMS Technologies 2533 N Carson St 4698 Carson City NV 89706 0147 Thank you for purchasing the R325 Single Axis Driver This product is warranted to be free of manufacturing defects for one 1 year from the date of purchase PLEASE READ BEFORE USING Before you start you must have a suitable step motor a DC power supply suitable for the motor and a current resistor The power supply voltage must be between 4 times and 20 times the motor s rated voltage DISCLAI 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 described herein neither does it convey any license under its patent rights nor the rights of others Note This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These Limits are designed to provide reasonable protection against harmful interferences when the equipment is operated in its installation This equipment generates uses an
9. ONS enn nennen 6 Dimensi ns arenda NATE ANG NG SA e het Poftea ordres e toe 6 PIN ASSI GNMENTS iii iexi duree isa cEasdaukscksiceS cias dauEi ra ise uc Duis a neces 7 CONNECTI ON SPECI FI CATIONS geess ege ee ENEE Eau Ur E EPA 8 Connecting the Power cose eedem e Seba een ht Na teeing ve due 9 Connecting the Motor ENNEN ER ied ceed eee ede Ree uix EN ENNEN XR ER EIER RUE IR AN ENER 9 Configure the R325 using the DIP Switch 10 DIP Switch Run Current Settings siaran aaa aa ana anana anaa Kaanan eaaa EEEn EEEn 10 DIP Switch Hold Current Settings teenies 10 DIP Switch Step Resolution Settings renea tener 10 BASIC STEP AND DIRECTION OPERATION nnn nnnm 11 COMMAND LABRESSE ada suERRRERXAERRERASER EVRSEEPARKASEEERAMREEE 12 Axis Configuration Commandes 12 General Operation Commande 12 COMMAND Sia esis crx enc a E rica ra RC Rn a n RR RR e enc e n E Rc TR 13 RMS Technologies Page 4 Version 1 24 R325 Single Axis Driver Manual 5 29 2013 1 FEATURES e Single Axis Driver for Bipolar step motors e Operates from 15 to 48 VDC e Phase currents from 0 3 to 3 0 Amp Peak NOTE Phase current of 2 7 Amp and above REQUIRES an additional heatsink make sure the temperature of the bracket does not exceed 45 C e Hold current reduction capability with adjustable current and timeout settings e Selectable Step Resolution from Full S
10. age 18 Version 1 23 R325 Single Axis Driver Manual 7 7 2010 Driver to Motor Cable AWG Table Length Feet Minimum AWG Length Feet Minimum AWG Length Feet Minimum AWG Length Feet Minimum AWG 1 Amp Peak 10 25 50 20 20 18 2 Amp Peak 10 25 50 20 18 16 3 Amp Peak 10 25 50 18 16 14 4 Amp Peak 10 25 50 18 16 14 75 18 75 14 75 12 75 12 100 16 100 14 100 12 100 12 Length Feet Minimum AWG Length Feet Minimum AWG Length Feet Minimum AWG 5 Amp Peak 10 25 50 16 16 14 6 Amp Peak 10 25 50 14 14 14 7 Amp Peak 10 25 50 12 12 12 Driver to Motor Supply Cable Wire Size 75 100 12 12 75 100 12 12 75 100 12 12 NOTE These recommendations will provide optimal protection against EMI and RFI The actual cable type wire gauge shield type and filtering devices used are dependent on the customer s application and system NOTE Always use Shielded Twisted Pairs for the Driver DC Supply Cable the AC Supply Cable and the Driver to Motor Cable RMS Technologies R325 Single Axis Driver Manual Page 19 Version 1 23 7 7 2010 12 Appendix B PF Value For applications requiring ultimate smoothness of motion and extreme accuracy the R325 driver can be programmed via RS485 to change the Percent Fast Decay rate or the PF value The Percent Fast Decay default is 2 or a mixed mode of 4896 Mixed mode is a damping technique done to the driver IC
11. and proceed to Section 7 Basic Step and Direction Operation Using the R325 with more than 5V You can choose to supply the optos with the R325 s internal 5V supply by jumping pins 1 to 4 But if you choose to use more than 5V for example a 24V supply and the step pulse train is also a O to 24V low high signal please use the following recommended resistor to limit the current to 10 mAmps Note no resistor will be needed on the actual opto supply line pin 1 Step amp Direction lines have a 470 ohm internal resistor Voltage 5V 10V 15V 24V Ohms needed 0 500 1000 2000 Wattage rating 0 Ya watt Ya watt Ya watt Disable line has a 1k ohm internal resistor Voltage 5V 10V 15V 24V Ohms needed 0 1000 2000 3800 Wattage rating 0 1 8 watt 1 8 watt Ya watt RMS Technologies Page 9 Version 1 23 R325 Single Axis Driver Manual Configure the R325 using the DIP Switch R325 DIP Switch Settings Run Current Function SW1 SW2 SW3 SW4 0 3A ON ON ON ON 0 4A OFF ON ON ON 0 5A ON OFF ON ON 0 6A OFF OFF ON ON 0 8A ON ON OFF ON 1 0A OFF ON OFF ON 1 2A ON OFF OFF ON 1 4A OFF OFF OFF ON 1 6A ON ON ON OFF 1 8A OFF ON ON OFF 2 0A ON OFF ON OFF 2 2A OFF OFF ON OFF 2 4A ON ON OFF OFF 2 6A OFF ON OFF OFF 2 8A ON OFF OFF OFF 3 0A OFF OFF OFF OFF the temperature of the bracket does not exceed 45 C WARNING Current of 2 7 Amp and above REQUI R
12. d can radiated radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications If this equipment does cause harmful interference the user will be required to correct the interference This Class A digital apparatus complies with Canadian I CES 003 Cet appareil num rique de la classe A est conforme la norme NMB 003 du Canada Special Symbols Indicates a WARNING and that this information could prevent injury loss of property or even death in extreme cases RMS Technologies Page 2 Version 1 24 R325 Single Axis Driver Manual 5 29 2013 R325 User Manual Product R325 Version 1 24 Date 5 29 2013 Version History 1 10 02 13 2006 New Formatting 1 20 6 7 2007 Added minimum inductance 1 21 8 23 2007 Added info on internal resistors and recommended resistors for opto isolated inputs Added Appendix B PF Value 1 22 3 30 2009 Added converter card connection 1 23 7 7 2010 Updated error on voltage page 8 1 24 5 29 13 Updated enable disable pin description on page 8 RMS Technologies Page 3 Version 1 24 R325 Single Axis Driver Manual 5 29 2013 Table of Contents Wal 5 Pole Damping Technology 5 Optically I solated Inputs and Output 5 ELECTRICAL SPECI FICATIONG cscccssescccssssccessssccsssescssssesussssss 5 OPERATING SPECIFICATIONS eene menn 6 MECHANICAL SPECI FI CATI
13. eater than 5 VDC then a resistor must be inserted in series with each signal line to limit the current to 10 mA P1 Configuration Power Ground Power Positive Pin No Function 1 Common ve External 2 Step in 3 Direction in 4 5 VDC Internal 5 Disable in 6 Motor A out 7 Motor A out 8 Motor B out Pin 1 9 Motor B out P1 Connector Pin 1 Location 10 Fault out 11 12 CAUTI ON Connecting Motor phases A A Bar B B Bar to the incorrect location while the R325 is powered will cause the board to burn Be sure to insert motor phases into Pins 6 through 9 in the order of A A Bar B and B Bar It is recommended that power is connected last so that all connections can be checked before power up A separate three pin connector P3 is provided for the RS485 bus interface P3 Configuration Pin No Function Mating Connectors P1 Phoenix Contact 1803675 l A E Lg P2 Amp 640441 5 roun P3 Amp 640441 3 3 B Input ve PIN1 JP1 Pin Header RMS Technologies Page 7 Version 1 24 R325 Single Axis Driver Manual 5 29 2013 6 CONNECTION SPECIFICATIONS When using the Driver Only portion of the R325 use the dip switches for step resolution and current settings Using the R325 as a Driver Unit Only If using the R325 as a Driver only be sure to connect the power supply last Pin 1 Connect Pin 1 to Pin 4 to use the internal 5VDC By using the i
14. ins 1 and 4 on the connector If this is done then each input is set TRUE by bringing the voltage level at the input equal to or more negative than the Power Supply negative connection at Pin 11 With this arrangement Direction Disable and Fault Out control can be effected by simple switch closure between the input and the power negative connection at Pin 11 If the Step input is obtained from a Function Generator then careful adjustment of the Offset control is needed to ensure that the negative level of the input signal is equal to or more negative than the power negative connection at Pin 11 The minimum duration of the active negative Step input signal level is 200 nanoseconds and also this is the minimum for the inactive positive level This limits the maximum usable step rate to 2 5 MHz The optimum operating arrangement minimum power usage is for a constant width negative going pulse of 200 nanoseconds with the pulse interval varying with pulse rate For test purposes setting the Function Generator duty cycle to 5096 and just varying frequency is satisfactory RMS Technologies Page 11 Version 1 23 R325 Single Axis Driver Manual 7 7 2010 8 COMMAND TABLES Axis Configuration Commands Function Query New Code Value Minimum Maximum Default Hold Timeout Q N HT Numeric 100 5000 5000 Percent Fast Q N PF Numeric 0 3 2 Decay Ge
15. ld twitch back and forth slightly if the R325 is functioning properly R325 not moving the motor Step Dip Verify that the 5V is being supplied to Pin 1 The R325 is causing the motor to vibrate and jitter back and forth Are the Motor phases switched Be sure to check that motor wires are connected to Pins 6 through 9 in the order of A A Bar B B Bar To check which wires belong to one phase take a Meter to measure resistance between any two wires If there is a finite value between two of them insert the wires into pins 6 and 7 OR pins 8 and 9 Insert the remaining two wires accordingly Technical Support By Telephone 408 919 0200 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 RMS Technologies Page 15 Version 1 23 R325 Single Axis Driver Manual 7 7 2010 11 Appendix A Recommended Cable Recommended Cable Configurations DC Supply to Driver Cable length wire gauge and power conditioning devices play a major role in the performance of your RMS Technologies Driver and Motor NOTE The length of the DC power supply cable to the Driver should not exceed 50 feet RMS Driver T Type RFI Filter E t gt Required Current Ferrite Beads
16. motor E phases into Pins 6 through 9 in the order Pin 9 Phase B Motor Connection of A A Bar B and B Bar It is recommended that power is connected last so that all connections can be checked before power up Pin 10 The Fault Output is not available for the basic R325 This feature is used on the R325I and R325IE Pin 11 Connect the NEGATIVE of the Power Supply to this terminal Pin 12 Connect the POSITIVE of the Power Supply to this terminal 15 to 48VDC RMS Technologies Page 8 Version 1 23 R325 Single Axis Driver Manual 7 7 2010 Connecting the Power The R325 requires a supply voltage between 15 48 VDC First connect the positive end of the power supply to positive terminal Pin 12 and then connect the negative of the power supply to the Ground Pin 11 on the R325 WARNI NG Be careful not to reverse the polarity from the power supply to the driver Reversing the connection will destroy your driver and void the warranty Connecting the Motor WARNI NG Make sure the power is OFF when connecting or disconnecting motors from the R325 Damage will occur if the power is being supplied Please refer to your motor documentation for wiring color code Connect the corresponding Phase from the motor to the proper pin on the R325 Motor Phase P1 Connector Phase A Pin 6 Phase A Pin 7 Phase B Pin 8 Phase B Pin 9 Using the R325 When using the R325 in Step Direction mode insure that there are no jumpers on JP1
17. neral Operation Commands Function Query New Code Value Minimum Maximum Default Firmware Rev Q FR Numeric Communicating with the R325 1 Place a jumper on pins 7 and 8 of JP1 2 Communicate via RS485 with P3 RS485 232 Converter Card E Deen _ RS485 232 Converter Card R325 Driver 3 pin to 3 pin cable RMS Technologies Page 12 Version 1 23 R325 Single Axis Driver Manual 7 7 2010 USB485 Converter Card USB Cable E Pc mmm R325 Driver e 3 pin to 3 pin cable 3 Set up HyperTerminal by selecting correct COM port 4 Settings for HyperTerminal is as follows 57600 8 bits None 1 None 2 The R325 Driver only version allows for changing the hold timeout settings the amount of mixed decay and to check the firmware revision level 9 COMMANDS Page per Command Listing Protocol Syntax Command Format Z Address Command value CR LF Example AHT1000 lt CR gt lt LF gt Sets the Hold Timeout for Driver A to 1000 To query a command use the following format Query Format lt Address gt lt Command gt lt CR gt lt LF gt Example AFR lt CR gt lt LF gt Queries Driver A for the current Firmware Revision The response would be in the following format Response Format lt Address gt lt value gt Example AFR325100 R325 firmware revision 1 00 lt CR gt lt LF gt stand for Carriage Return and Line
18. nternal 5VDC the I O s will no longer be optically isolated If optical isolation is still desired use a separate 5VDC supply and connect the POSITIVE end of the supply to Pin 1 The NEGATIVE end will connect with the NEGATIVE end of your pulse generator Pin 2 Use a pulse generator or function generator to receive pulses into the R325 Connect the POSTIVE end of the pulse generator to Pin 2 The NEGATIVE end will be connected to the NEGATIVE end of the 5VDC supply if using a separate power source If using the internal 5VDC supply connect the NEGATIVE end of the pulse generator to Power GROUND Pin 3 To switch the direction of motor rotation connect Pin 3 with Pin 11 Power Ground An open or closed connection to Power Ground will change the direction Pin 4 This is the internal 5VDC Use this for testing purposes or if optical isolation of the inputs is not desired It can output a max of 50 mAmps Pin 5 To enable the drive leave this Pin open disable the drive connect Pin 5 with Pin 11 Power Ground An open or closed connection to Power Ground will enable and disable the drive respectively A closed connection will remove all power to the output motor leads Pins 6 through 9 Pin 6 Phase A Motor Connection CAUTI ON Connecting Motor phases A A Bar B B Bar to Pin 7 Phase A Motor Connection the incorrect location while the R325 is powered will cause the Pin 8 Phase B Motor Connection board to burn Be sure to insert
19. tep to 256x Microstepping e Has three optically isolated control inputs and one optically isolated control output e Pole Damping Technology integrated within driver board Dip switches and a RS485 interface are built in to the R325 Controller A USB connection can be used by using the USB485 Converter Card sold separately Pole Damping Technology Pole Damping Technology PDT enhances step motor performance by dampening each full step in order to create a more accurate and smooth motion profile Microstepping the step motor will optimize Pole Damping Technology PDT outputs the correct amount of run and hold currents to the motor at the right time Thus it will overcome the step motor s natural tendency to want to forcefully pull towards the full step ON position Optically Isolated Inputs and Output The default usage of the three optically isolated inputs is Step Direction and Disable The assignment of Disable is fixed however the other two inputs can be assigned to other functions as part of software customization For example one can be used for Go Resume and the other for Stop Quit The normal usage of the single optically isolated output is to indicate motion by sending a pulse every time a step is made 2 ELECTRICAL SPECIFICATIONS Supply Voltage 15 to 48 VDC Phase Current 0 3 to 3 0 Amps Peak NOTE Phase current of 2 7 Amp and above REQUIRES an additional heatsink make sure the temperature of the bracket
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