R325 Single Axis Controller/Driver User Manual
Contents
1. oi ibo A hostitusan esie ccs 35 SR Step Resolution sssssssssssssssssssssse eI sme e mens e eh ne eren enne 36 SV Start Velocity i ee xe Eta ete ened ty eS needed te 37 TI Test Inputs errata A RR ERR ees 38 VL Velocity LIMIT coccion e enin IER ee ir i eve eel ER 39 VM Velocity Move ssssssssssssssssss eem e he hehe ee en en e ehh he nnne nens 40 ZP Ze r Position oontra a Cia ba eei onda 41 11 RS485 Communication iii 42 12 TroubleshOooEtlHg uns tenn su nrinn aiaiai iniaa EE E 44 RMS Technologies Page 4 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 1 FEATURES e Single Axis Driver for Bipolar step motors e Operates from 12 to 48 VDC e Phase currents from 0 25 to 3 0 Amp Peak 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 Step to 256x Microstepping e Has three optically isolated control inputs and one optically isolated control output Software configurable by the temporary use of a plug in USB module and text commands from HyperTerminal or any similar terminal emulation software e Configuration Parameters stored in non volatile memory Multiple module control through software assigned single character addresses e Built in control routines for trapezoidal po2. User Manual And Commands Guide Version 1 02 RMS Technologies 2533 N Carson St 4698 Carson City NV 89706 0147 1 877 301 3609 www rmsmotion com sales rmsmotion com Thank you for purchasing the R325 Single Axis 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 a DC power supply suitable for the motor and a current resistor The power supply voltage must be between 4 times and 20 times the motor s rated voltage DI SCLAI MER The information provided in this document is believed to be reliable However no responsibility is assumed for any possible inaccuracies or omissions Specifications are subject to change without notice RMS Technologies reserves the right to make changes without further notice to any products herein to improve reliability function or design RMS Technologies does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights nor the rights of others RMS Technologies Page 2 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 Table of Contents l1 FEATURES 0000 5 Optically Isolated Inputs and Output ooocoooccccccccccco cnn cnn n nn nn 5 2 ELECTRICAL SPECI FI CATI ONS 4222222 222222222222222252222
3. 9 and more detailed descriptions of the Commands in Section 10 RMS Technologies Page 11 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 Using the Plug Ins to Configure the R325 R325 DIP Switch Settings When using the DIP Switch module the R325 comes shipped with a jumper on Pins 7 amp 8 on JP2 which configures the R325 for DIP Switch operation Run Current Function SW1 EP 0 3A ON ON 0 4A 0 5A ON OFF oer ON ON 0 8A ON ON OFF ON 1 0A ERES AE NE AER ME ONE 1 28 ON OFF ON 14A 1 6A ON ON ON OFF oO 1 ON 0 ON 2 0A ON OFF ON OFF 2 2A ERA EE eee i 2 4A ON ON OFF 2 6A 2 8A ON OFF OFF OFF 3 0A WARNING 2 7 Amp and above REQUIRES an additional heatsink make sure the temperature of the bracket does not exceed 45 C Hold Current Percent of Run Current Function SW5 SW6 0 33 66 100 Full Ste OFF OFF OFF OFF 4X ON ON OFF OFF 16X ON ON ON OFF 64X ON ON OFF ON 128X 256X ON ON ON ON The power must be turned OFF when switching in and out of Full Step mode Notes 1 An ON switch generates a zero in the firmware 2 All switches must be set to OFF to set the Step Resolution by firmware This is in addition to installing the jumper on JP1 pins 9 and 10 3 Installing a jumper on JP1 pins 7 and 8 runs the factory test ro
4. 222552222552 6 3 OPERATING SPECIFICATIONS anannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnunnnnnnnnnn 6 4 COMMUNI CATION SPECI FI CATIONS c neuen 6 5 MECHANICAL SPECI FI CATIONS 2222222222252222552222255222255522 22555 7 Dimensions REEL ESTEE AS ERR SET ERR weet aA FINDE LEVE DEEST ER AETERNE 7 6 PIN ASSIGNMENTS A ee eee ERE Ran ERE 8 7 CONNECTION SPECI FI CATIONS annnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnunnnnnnnnnn 8 Connecting the Power oooocococcccccccocconcnnnnnn cnc nn rnnr nn rtnn he ee e heh rennen nennen 9 HyperTerminal Configuration sssssssssssssssssssm eme men 10 Setting the Current ui sane ei eee sed en eee IRE XR ERRARE ee 11 Setting Step Resolution sssssssssssssssssssssssme mem mener 11 Saving the Configurati0N oooococcocccccccoccoccnnnncnnccnncn nc nn cnn a me eme eher 11 Connecting the Motor oo e enden de ducet sept tabe baec deb eres 11 Using the Plug Ins to Configure the R325 ssseesesesees eae teenies 12 DI P Switch Run Current SettiOgS ooooococcccccccoccncoccnnnnconnnnnnnn sme nnns 12 DIP Switch Hold Current Settings sssssssssssss nee nnn 12 DIP Switch Step Resolution Settings ssssssssssss nmm nnn 12 8 BASIC STEP AND DIRECTION OPERATION coco 13 9 COMMAND TABLES ie ae eee eee eee 14 Basic Configuration Commands ccc ccc eee cnn eee neces eee eeneeaee
5. ATI ONS Address bytes in the RS485 commands allow multiple units 32 units max to be controlled from a single host port Interface Type RS485 Baud Rate 57600 bits per second bps Bits per character 8 data bits Parity None Stop Bit 2 Flow Control None RMS Technologies Page 6 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 5 MECHANICAL SPECIFICATIONS Size 3 00 x 2 94 x 1 42 Weight 4 8 oz Mounting Four 6 32 screws 2 42 x 2 45 Plate Aluminum Hard Anodized Dimensions 3 00 2 42 2x 0 29 4x E 0 15 4 2 45 2x Che a RMS TECHNOLOGIES I Umm es T RMS Technologies Page 7 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 6 PIN ASSIGNMENTS A 12 pin pluggable terminal strip connector JP1 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 greater than 5 VDC then a resistor must be inserted in series with each signal line to limit the current to 10 mA P1 Configuration Function Common ve External Step in Direction in 5 VDC Internal Disable in Motor A out Motor A out Motor B out 3 Motor B out 4 Fault out Power Ground Power Posit
6. Current There are two current settings on the R325 1 Run Current RI The peak current that the motor will be run at while in motion NOTE 2 7 Amp and above REQUI RES an additional heatsink make sure the temperature of the bracket does not exceed 45 C 2 Hold Current HI The current that the motor will receive when idle The default board address of A is used in all examples please see MA command for more detail on addresses Examples To set Run Current to 2000mA 2 0A FARI2000 To set Hold Current to 300mA 0 3A AHI300 Setting Step Resolution The R325 is capable of full stepping or 2 4 8 16 32 64 128 and 256 microstepping Example To set Step Resolution to 4x microstepping ASR4 Saving the Configuration In order to have these settings retained upon a power cycle the data must be saved The command to store these settings is SD Save Data Example To save settings ASD Connecting the Motor WARNING Make sure the power is OFF when connecting or disconnecting motors from the 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 Using the R325 If using the R325 in Step Direction mode please proceed to Section 8 Basic Step and Direction Operation If using the R325 as a simple controller please see the Command Tables in Section
7. Velocity Move Command Example AMS cr If2 Queries the current status Page 26 Version 1 02 RMS Technologies January 24 2004 R325 Single Axis Controller Driver Manual MV Minimum Velocity value Command or Query 250 to 50 000 Reads or sets the minimum velocity for both Position and Velocity command moves The units are steps at the current Step Resolution per second Command Example ZAMV500 cr If Sets Minimum Velocity to 500 SPS Default value is 250 RMS Technologies Page 27 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 PF Percent Fast Decay value Command or Query O 1 or 2 Allows the Damping Mode of the driver IC to be set Fast Decay Mixed Mode 1596 Mixed Mode 4896 0 1 2 The optimum setting will vary with motor inductance and step rate however the default Mixed Mode setting will work well with almost all motors Command Example ACD1 lt cr gt lt lf gt Sets Mixed Mode Damping to 15 Default value is 2 RMS Technologies Page 28 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 PM Position Move lt value gt Command Only 2 000 000 000 Causes a Relative Motion Position Move using an approximately trapezoidal profile The initial velocity is defined by Start Velocity SV the profile ramp is defined by Acceleration AC and the Constant Velocity step rate by Velocity Limit VL Minimum Velocity MV is us
8. ard in which the velocity move is made The value sets the step rate in steps per second at the current step resolution Velocity cannot exceed Velocity Limit The move begins at the set Minimum Velocity MV with the speed ramping to the command velocity at the rate set by Acceleration AC Changes to new velocity values from new VM commands will also occur at the rate set by Acceleration AC Command Example FAVM1000 lt cr gt lt If gt Starts a velocity move of 1000 steps per second Note No value is returned Zero velocity makes an abrupt stop RMS Technologies Page 40 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 ZP Zero Position Command Only Sets the current value of the Absolute Position scale to zero Command Example AZP lt cr gt lt lf gt Sets Absolute Position to zero RMS Technologies Page 41 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 11 RS485 Communication 1 The Interface The ElA specification RS485 defines an integrated circuit that is to be used to connect up to 32 nodes to a two wire party line bus that does not exceed 4 000 ft in length and for use with data rates up to 10M Baud The two wire bus must be terminated at one end for short wire runs and at both ends if the runs exceed 20 ft One of the two wires must be biased positive with respect to the other by approximately 700 millivolts A single 5VDC supply can be used to power the in
9. ast Decay Command Example ASD lt cr gt lt lf gt Saves Data RMS Technologies R325 Single Axis Controller Driver Manual Page 33 Version 1 02 January 24 2004 SF Step Forward Command Only Makes a single step move at the current step resolution Forward is defined as the direction the motor moves with the Direction input in the FALSE state or with no connection Backwards is thus the direction the motor moves when the Direction input is in the energized or TRUE state Command Example ASF lt cr gt lt lf gt Moves one step forward RMS Technologies Page 34 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 SM Stop Motion Command Only This command can be used to affect an end to any Position Move or Velocity Move in progress It has no effect on motion produced by the Step and Direction inputs Command Example ASM lt cr gt lt lf gt Stops any Position or Velocity move in progress RMS Technologies Page 35 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 SR Step Resolution value Command or Query 1 2 4 8 16 32 64 128 or 256 Reads or sets the current step resolution Allowed values are 256 for 256x 128 for 128x 64 for 64x 32 for 32x 16 for 16x 8 for 8x 4 for 4x 2 for 2x 1 for 1x Command Example ASR4 lt cr gt lt lf gt Sets the step resolution to 4x Default value is 16 RMS Technologies Page 36 Version 1 02 R325 Single Axis Co
10. d Example AFR lt cr gt lt lf gt Reply AFR325100 R325 firmware revision 1 00 RMS Technologies Page 20 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 HA Home Axis lt value gt Command Only 0 Forward 1 Reverse Causes the motor to move at the preset Start Velocity SV in the direction set by the command value Motion stops when the index input of the encoder goes TRUE then stops and sets absolute position to zero Motion can also stop by the entry of a Stop Motion SM command Forward is defined as the direction the motor turns when the Direction input J P1 3 is set TRUE or there is no connection to this input Command Example AHA1 lt cr gt lt lf gt Motor turns in the Reverse direction RMS Technologies Page 21 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 HI Hold Current value Command or Query O to 3000 Reads or sets the motor Holding Current in 100 milliamps increments The value does not round Command Example ZAHI300 cr If2 Sets the Hold Current to 300mA 0 3 Amp Default value is 300 RMS Technologies Page 22 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 HT Hold Timeout lt value gt Command or Query 100 to 5000 Reads or sets the time interval in milliseconds after any motor movement before the motor current is changed from Run Current to Hold Current Command Example AHT1LOO lt cr gt lt lf g
11. ds Function Query New Code Value Minimum Maximum Default Absolute Position N AP Numeric 2147483646 2147483647 Current Position Q N CP Numeric 2147483646 2147483647 Current Velocity Q CV Numeric 0 50 000 Firmware Rev Q FR Numeric Home Axis N HA Numeric 0 1 Move Status Q MS Numeric 0 1 Position Move N PM Numeric 2000000000 2000000000 Step Back N SB None Step Forward N SF None Stop Motion N SM None Velocity Move Q VM Numeric 50 000 50 000 Velocity Moves in the range 249 to 249 are not legal except zero RMS Technologies Page 14 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 10 COMMANDS Page per Command Listing Command Format is Address Command value CR LF Response Format is Address Command value CR LF RMS Technologies Page 15 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 AC Acceleration value Initial Acceleration 1 to 255 steps Sec 2 Command or Query Used to shape the acceleration and deceleration ramps of position moves and the rate of velocity change for velocity moves Does not affect any of the basic step and direction move operations Command Example AAC10000 lt cr gt lt If gt Sets acceleration to 100 PPS 2 Default value is 50 RMS Technologies Page 16 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 AP Absolute Position lt value
12. eaneenneeneeaes 14 Axis Configuration Commands 1 1 sehen nnns 14 General Operation Commands ssesssssssssee eese mene 14 10 COMMANDS iii ii MER NER RR RH ERERRHREAEERA RR RHRRRRERKEE 15 AC Acceleration ssssssssssssss II eee esses esee er rennen 16 AP Absolute Position ooooccccccccccccccc cnn 17 CP Current Position ecce lacada 18 CV Current Velocity roe ere a 19 FR Firmware ReVISION ccc cece cece cece Ime imeem esee nennen 20 HA Honme AXIS 0 E eher es e E Eee aeree EY mie iaa 21 HI Hold Current aa ais 22 HT Hold TimeoUut esce cia 23 LD Load Defaultls eoe ree exe al EN Ee eed 24 MA My Address ron in aii Ep m ed tex E E Even Rb UE REN DR ER 25 MS Mowve Status ooi roa eso ee C d eoe bd o la e rati pi dta rj Rn 26 RMS Technologies Page 3 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 MV Minimum Velocity sssssssssssssssss III Ie n emen eren herren 27 PF Percent Fast esee a ai a ew ERA rct ew ide dob Ca i a a nA a 28 PM Position Move onsite Donat sed Par eU da p ERA Fa E ERE EDT Era 29 RI Run Current a dacs tana A RR an DEA SNC Is Da XY Y ia DOR KG DE 30 RS Read Switches oee dica d Oe ineat cad ae sioe e d son D 31 SB Step Back o oro oU bue Sube da 32 SD Save Data ose ER A a ale EVER Kev URDU eds 33 SF Step Forward oboe de teritur decet ute Me Pee 34 SM Stop MOtlION
13. ed to ensure that the deceleration ramp does not set velocity to zero before the target position is reached It should be remembered that while the Position Move value defines the number of steps to be made from the current position the value returned by Current Position CP both before and after a Position Move are on an Absolute step count scale CP readings can be used to determine PM values required to reach any given position on the Absolute step count scale Command Example FAPM1000 lt cr gt lt Ilf gt Makes a 1 000 step move from the Current Position Note This command does not return a value RMS Technologies Page 29 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 RI Run Current value Command or Query 200 to 3000 Sets the motor Phase Current for any form of motion in milliamps 200 200mA 0 2 Amp 2500 2500mA 2 5 Amp The last two numbers of the value are not read 250 200mA 2499 2400mA The set Run Current is maintained for a time set by Hold Timeout HT before dropping to the current set by Hold Current HI Command Example ZARI1000 cr If Sets the run current to 1000mA 1 0 Amp Default value is 1000 NOTE 2 7 Amp and above REQUIRES an additional heatsink make sure the temperature of the bracket does not exceed 45 C RMS Technologies Page 30 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 RS Read Switches Qu
14. el of the input signal is equal to or more negative than the power negative connection at Pin 11 The minimum duration of the active negative Step input signal level is 400 nanoseconds and also this is the minimum for the inactive positive level This limits the maximum usable step rate to 2 5 Mhz The optimum operating arrangement minimum power usage is for a constant width negative going pulse of 400 nanoseconds with the pulse interval varying with pulse rate For test purposes setting the Function Generator duty cycle to 5096 and just varying frequency is satisfactory RMS Technologies Page 13 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 9 COMMAND TABLES Basic Configuration Commands Function Query New Code Value Minimum Maximum Default Load Defaults N LD None Save Data N SD None Module Address Q N MA Numeric 65 A 90 Z 65 A Axis Configuration Commands Function Query New Code Value Minimum Maximum Default Acceleration Q N AC Numeric 1 256 50 Current Decay Q N CD Numeric 0 3 TBD Hold Current Q N HI Numeric 0 3000 300 Hold Timeout Q N HT Numeric 100 5000 5000 Min Velocity Q N MV Numeric 250 50 000 250 Run Current Q N RI Binary 200 3000 1000 Read Switches Q RS Numeric 0 15 Step Resolution Q N SR Numeric 1 256 16 Start Velocity Q N SV Numeric 250 50 000 1 000 Velocity Limit Q N VL Numeric 250 50 000 15 000 Zero Position N ZP None General Operation Comman
15. ery Only Reads the TRUE 1 or FALSE 0 state of the three optically coupled inputs combined into a single three bit value This command is used to check the correct operation of this interface The value order of the inputs is Direction Disable and Step in descending order Direction has the value 4 100 Disable has the value 2 010 Step has the value 1 001 Command Example ARS lt cr gt lt lf gt Reads the switch inputs RMS Technologies Page31 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 SB Step Back Command Only Makes a single step move at the current step resolution Forward is defined as the direction the motor moves with the Direction input in the FALSE state or with no connection Backwards is thus the direction the motor moves when the Direction input is in the energized or TRUE state Command Example ASB lt cr gt lt lf gt Moves one step back RMS Technologies Page 32 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 Save Data Command Only SD This command causes a set of parameter values to be written to non volatile memory On power up the last set of values written are set to be the parameter initial values The parameters whose values are thus saved are My Address Absolute Position Velocity Limit Minimum Velocity Start Velocity Acceleration Hold Timeout Step Resolution Run Current Hold Current Percent F
16. gt Absolute Position 2 147 483 646 Command Only Used to make an absolute position move in step resolution units Command Example HFAAP1000 lt cr gt lt Ilf gt Moves to absolute position of 1000 RMS Technologies Page 17 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 CP Current Position lt value gt Current Position 2 147 483 646 Command or Query Returns the absolute position of the axis if no value is passed Valid after power cycles if a Save Data Command is issued before power down Can be used to set current position value The units are steps at the current step resolution Value becomes invalid with step resolution changes The absolute position scale is set to zero by the Zero Position command ZP or the execution of a Home Axis HA command Command Example ACP lt cr gt lt lf gt Returns the Current Position of the Motor FACP1000 lt cr gt lt lf gt Sets the Current Position to be 1000 RMS Technologies Page 18 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 Current Velocity Query Only 50 000 Only valid when a Position Move PM or Velocity Move VM is in progress Otherwise returns zero Command Example 3S ACV cr If RMS Technologies Page 19 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 FR Firmware Revision Query Only Returns 3 digit part code followed by 3 digit firmware revision value Comman
17. ive A separate three pin connector P3 is provided for the RS485 bus interface P3 Configuration Pin No Function 1 A Input ve 2 Ground 3 B Input ve 7 CONNECTI ON SPECIFI CATI ONS To begin using the R325 first determine how you will operate the unit Driver Only or Simple Controller Driver When using the Driver Only portion of the R325 use the dip switches for step resolution and current settings When using the Controller Driver setup must be made with an RS485 connection and communication can take place using Windows HyperTerminal RMS Technologies Page 8 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 Using the R325 as a Driver Unit Only If using the R325 as a Driver only be sure to connect the power supply last Pin1 Connect Pin 1 to Pin 4 to use the internal 5VDC By using the internal 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 NEGATI VE 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 Pi
18. les you will need to configure HyperTerminal to properly communicate with the R325 Please follow these steps to properly set up HyperTerminal 1 Open a terminal from your PC by following these steps Start Menu gt Programs gt Accessories gt Communications gt HyperTerminal 2 Assign a name for your New Connection Click Ok 3 Under Connect using select the COM connection that corresponds to your PC serial port i e COM 1 COM 2 etc then click OK 4 Set your Port Settings to Bits per second 57600 Data bits 8 Parity None Stop bits 2 Flow control None Click OK 5 Turn on local echo by going to File gt Properties gt Settings tab gt ASCII Setup Check the boxes for Send line ends with line feeds and Echo Typed Characters Locally These options will be useful when typing commands in HyperTerminal Click OK Click OK 6 HyperTerminal is ready to send commands The line turnaround from transmit to receive must be less than one character interval 191 uS The command syntax is as follows lt Board Address Command Value cr lf The reply syntax is lt Board Address Command Value cr lf Note Not all commands will return a value Example Setting the Run Current RI to 1500mA 1 5A ARI1500 Sent Command ARI1500 Received Reply RMS Technologies Page 10 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 Setting the
19. n 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 I O s is not desired Pin 5 To enable and disable the drive connect Pin 5 with Pin 11 Power Ground An open or closed connection to Power Ground will enable and disable the drive respectively Pin 6 Phase A Motor Connection Pin 7 Phase A Motor Connection Pin 8 Phase B Motor Connection Pin 9 Phase B Motor Connection Pin 10 The Fault Output is not available for this version of the R325 Future versions such as the R325 or R325IE will accommodate for the Fault Output Pin 11 Connect the NEGATIVE of the Power Supply to this terminal Pin 12 Connect the POSITIVE of the Power Supply to this terminal 12 to 48VDC Connecting the Power The R325 requires a supply voltage between 12 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 WARNING Be careful not to reverse the polarity from the power supply to the driver Reversing the connection will destroy your driver and void the warranty RMS Technologies Page 9 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 HyperTerminal Configuration If using the USB or RS485 plug in modu
20. ntroller Driver Manual January 24 2004 SV Start Velocity value Command or Query 250 to 50 000 Reads or sets the velocity used for the first step in a position move in steps sec Value based on motor performance Command Example ASV500 lt cr gt lt If gt Sets Start Velocity to 500 PPS Default value is 1 000 RMS Technologies Page 37 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 TI Test Inputs Query only Step Direction and Disable Returns a value in decimal form The value order of the inputs is Direction Disable and Step in descending order Direction has the value 4 100 Disable has the value 2 010 Step has the value 1 001 Command Example ZATI cr If2 Reads the switch inputs Reply ATI3 32 O11 RMS Technologies Page 38 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 VL Velocity Limit lt value gt Command or Query 250 to 50 000 Reads or sets the velocity used for Velocity Moves and the constant velocity portion of a Position Move Command Example FAVL5000 lt cr gt lt If gt Sets the velocity limit to 5000 steps sec Default value is 15 000 RMS Technologies Page 39 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 Velocity Move lt value gt Command Only 250 to 50 000 250 to 50 000 or 0 The sign of the value determines the direction positive for forward and negative for backw
21. o the range of capital letters A to Z with A being the default Again for ease of use RMS Technologies restricts the other characters in the message to ASCII printable characters This enables the default Windows terminal emulation program HyperTerminal to be used for configuring and testing modules However this restriction and the restricted address range are not an official part of the protocol Any of the 8 bit character values other than the framing characters can be used for the address and as any other part of the message 3 Messages Messages should be transmitted as a continuous character stream with less than a half character time between characters Messages are classified as either Commands or Queries Commands instruct the designated Slave to do something Queries request the designated Slave to provide information Apart from the leading being replaced by a the Slaves response to a Command should be an exact copy of the command message In the case of a Query the query message is also echoed but the value or other requested information is added into the reply et RMS Technologies Page 42 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 A one character time interval has to be allowed between outgoing and incoming messages to allow for line turn around Switching between Transmit and Receive At 57 600 baud one character with 11 bits one start eight data and two stop bits tran
22. sition and velocity moves Absolute position can be tracked and reported in step resolution increments 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 Optically Isolated Inputs and Output The default usage of the three optically isolated inputs is Step Direction and Disable The assignment of Disable is fixed however the other two inputs can be assigned to other functions as part of software customization For example one can be used for Go Resume and the other for Stop Quit The normal usage of the single optically isolated output is to indicate motion by sending a pulse every time a step is made RMS Technologies Page 5 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 2 ELECTRI CAL SPECI FI CATI ONS Supply Voltage 12 to 48 VDC Phase Current 0 25 to 3 0 Amps Peak 2 7 Amp and above REQUI RES an additional heatsink make sure the temperature of the bracket does not exceed 45 C 1 O Specifications 3x Optically Isolated Inputs 1 fixed 1x Optically Isolated Output 3 OPERATI NG SPECIFI CATI ONS Maximum Step Frequency 2 5 MHz Operating Temperature Automatic Motor Holding Current reduction available from 0 2 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 COMMUNICATI ON SPECIFI C
23. smits in 191 uS 4 Validation Commands are validated by comparing the content of the reply with the content of the command message on a character by character basis Queries are partially validated in a similar manner but the information added by the Slave is only subjected to credibility tests When the information returned is deemed critical repeating the Query and comparing results can further validate communications 5 S Message Format A two character command query designator follows the single address character Depending on the nature of the command the command designator may be followed by a numeric ASCII character string No separator characters are used but a carriage return character OxOD is inserted before the termination character in both the outgoing message and the reply 6 Data Format Data is transmitted at 57 600 Baud with eight data bits no parity and two stop bits 7 Recommended Interface Device The RMS Technologies USB485 Converter Card converts the RS485 connection to a standard USB connection 1 1 and 2 0 compatible 8 HyperTerminal Operation In addition to setting the data format to match that specified in section 6 two settings must be made in the ASCII setup section Check Send Line Ends with Line Feeds and Echo Typed Characters Locally When typing by hand line turn around will occur between characters This is normally not a problem but if you slowly increase the character transmission rate you
24. t Sets the Hold Timeout to 100 mS Default value is 5000 RMS Technologies Page 23 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 Load Defaults Command Only LD Loads all of the unit Default parameter values A save Data SD command must be issued to have these values retained during a power cycle Command Example ALD lt cr gt lt lIf gt Loads all default values Default values are Module Address Acceleration Absolute Position Current Decay Hold Current Hold Timeout Minimum Velocity Run Current Step Resolution Start Velocity Velocity Limit RMS Technologies 65 A 50 0 TBD 300 0 3A 5000 250 1000 1 04 16 1000 15000 Page 24 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 MA My Address value Command or Query 65 to 90 Reads or sets the unit address 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 Command Example AMA88 lt cr gt lt lf gt Sets the unit address to 88 X Default value is 65 NXxz cHuzmovozzrmX rommgogou Ko RMS Technologies Page 25 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 MS Move Status Query Only Reads Motion Status Returns O for No Motion 1 for Position Move and 2 for
25. terface IC and this same supply can be used to satisfy the bias and termination requirements A 681 ohm 1 resistor is connected between the 5VDC supply and the positive line A second 681 ohm 1 resistor is connected between ground and the negative line and a 220 ohm 1 resistor is connected across the two lines The transceiver A terminal is connected to the negative line and the B terminals to the positive line For wire runs over 20 ft twisted pair cable with a characteristic impedance of approximately 100 to 200 ohms and the far end of the run should be terminated by a 150 ohm resistor across the line pair For runs under 20ft almost any wire can be used 2 TheProtocol One node on the bus is designated Master and all other nodes on the bus Slaves The Master only initiates communication and does so by sending a message that includes the address of a specific Slave All Slaves read the message but only the addressed Slave replies The outgoing message from the Master is framed by always starting the message with the character 0x23 and ending with the linefeed character 0x0A The reply from the Slave is framed by always starting with the character 0x2A and ending with the linefeed character 0x0A The Slave address is the first character after the in the outgoing message and the first character after the in the reply For ease of use RMS Technologies restricts the range of address characters t
26. utine 4 Full Step is not implemented on the first prototypes RMS Technologies Page 12 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 8 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 pins 1 and 4 on the connector If this is done then each input is set TRUE by bringing the voltage level at the input equal to or more negative than the Power Supply negative connection at Pin 11 With this arrangement Direction Disable and Fault Out control can be effected by simple 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 lev
27. will find errors occurring until you reach a rate where the line is held in the transmit mode for the whole of the message Using HyperTerminal s file transfer system to send messages is not recommended 9 Reading Reply Messages The message read function on the RS232 side of the interface must make provision for discarding any characters read that proceed the character Line turn around can commonly generate false characters The function should have a time out associated with waiting for a reply to allow for a non operational Slave node The actual time required is system dependent but 20mS is a commonly used value RMS Technologies Page 43 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004 12 Troubleshooting R325 is not functioning correctly Try putting the R325 into TEST mode by placing a jumper on Pins 9 amp 10 of JP2 The motor should twitch back and forth slightly if the R325 is functioning properly R325 not moving the motor Step Dip Verify that the 5V is being supplied to Pin 1 RMS Technologies Page 44 Version 1 02 R325 Single Axis Controller Driver Manual January 24 2004
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