R701/R710 Microstepping Driver User Manual
Contents
1. 5 Phase B 6 Phase B 7 Enable Disable Input 8 Direction Input 9 Step Clock 10 Opto Supply 11 Current Set 12 Current Set DESCRIPTION The ground or return of power supply connects here Motor Supply Voltage 24 to 80 VDC A of the stepping motor A of the stepping motor B of the stepping motor B of the stepping motor Used to ground to the logic functions i e step pulses or direction This input is used to change the rotation direction of the motor Negative falling going edge on this input advances the motor one increment The size of the increment is depending on the image set 5 VDC input used to supply power to the isolated logic inputs A resistor must be used if the supply is greater than 5 VDC Connects to the open collector drive Connects to the open collector drive Table 1 Pin Assignments 6 CONNECTION SPECIFICATIONS List of Parts Connection of the R701 R710 is simple Here is what you need e External Main Power Supply 24 to 80 VDC 5 VDC Power Supply used as the Opto Supply See Table 2 e A Function Generator An appropriate Bipolar Stepper Motor RMS Technologies R701 R710 User Manual WARNING Power supply voltage in excess of 80 VDC will damage the R701 R710 Do not short the motor leads to each other or to ground This will also damage the board WARNING Do not shut off the power while the motor is moving this could result in a catastrophic failure of the drive Page Versi2. Opto Isolator socket Figure 4 Standard Current Disable Note The jumper options for jumper positions 1 2 5 amp 6 are options for run and hold current capabilities The jumper options for position 4 5 7 amp 8 are for the mid band or normal setting RMS Technologies Page 11 Version 6 31 R701 R710 User Manual 08 23 2010 Main Connector The R701 R710 uses a 2 piece modular main connector The connector is split into two pieces Terminals 1 through 6 power supply and motor leads and Terminals 7 through 12 control interface Each can be removed separately by pulling the connector body upwards and off of the mating header pins on the R710 You may need to remove the connectors to mount the R701 R710 properly to a chassis 8 MOTOR CONNECTIONS Step Motors have 4 6 or 8 wires To better understand how to connect your step motor with your R701 R710 Driver 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 5 1 4 Lead Wire Motor Connection 6 Lead Wire Motor Connection Half Winding Six wire
3. User Manual Version 6 31 RMS Technologies 2533 N Carson St 4698 Carson City NV 89706 0147 RMS Technologies Page 1 Version 6 31 R701 R710 User Manual 08 23 2010 Thank you for purchasing the R701 R710 Driver This product is warranted to be free of manufacturing defects for one year from the date of purchase 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 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 motor s rated phase current must be between 1 Amps and 7 Amps or between 0 3 Amps and 2 Amps for the low current range The power supply voltage must be between 4 times and 20 times the motor s rated voltage The current set resistor may be a Watt 5 part Finally have a STEP and DIRECTION pulse source available 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
4. connected Be sure that the step pulses are a 0 to 5V squarewave with even on and off time My step motor requires 0 95 amp phase which setting should I use 1 7 amp or 0 3 2 amp Can I use the 1 7 amp setting It is not recommended that you use the 1 7 Amp setting given that your motors are rated at 0 95 amp phase We always recommend that the user use the recommended current or lower I did the resistor calculation but there is no standard resistor at that value Is it better to use the higher or lower value resistor We recommend that you use the resistor that will give you the lower current output to be on the safe side What is the difference between the blue terminal connectors versus the new green terminal connectors Physically the difference between the blue versus green connectors is that the blue ones require a flat heat screw driver to screw wires into the terminals The green connectors require a Phillips screw driver The blue connectors became unavailable and therefore we changed over to the Phoenix connectors which are green in color During this transition there were black connectors used as well temporarily RMS Technologies Page 14 Version 6 31 R701 R710 User Manual 08 23 2010
5. R701 R710 User Manual 08 23 2010 3 OPERATING SPECIFICATIONS Step frequency O to 200 kHz Step Pulse Time on falling edge 0 0 5 microseconds uS minimum Step Pulse Time on rising edge 1 4 0 uS minimum Direction Setup 1 uS minimum 20 uS minimum hold time after Step edge Operating Temperature 0 to 70 Celsius Humidity Range 0 to 95 non condensing Power Dissipation 1 to 12 Watts 1 to 7 Amps Heatsinking The R701 R710 needs an additional heatsink for current settings greater than 3 Amps The case temperature measured from the bottom plate should not exceed 70 C For best results use heatsink compound between the R701 R710 and the heatsink 4 MECHANICAL SPECIFICATIONS Size 2 5 x 2 5 x 0 826 63 5 mm x 63 5 mm x 21 0 mm Weight 3 6 oz 100 gm Mounting Four 6 32 screws 1 75 x 2 372 44 5 mm x 60 2 mm Cover Aluminum Anodized Plate Aluminum Hard Anodized Color Black exterior Blue or White Text Dimensions 2 90 63 5 mm 1 75 Y 1 IR ADJUST Big 1A ka 2A 18K JA 46K 4A 62K RMS TECHNOLOGIES A SAH 6A 270K TA OPEN 2 R 701 STEP DRIVE 2 50 M 63 5 mm 2 E a o S 2 15 0 180 4 6mm _ 0 150 a _ 54 6 mm 3 8 mm 0 826 21 mm 0 450 11 4 mm Figure 2 Dimensions Diagram RMS Technologies Page 6 Version 6 31 R701 R710 User Manual 08 23 2010 5 PIN ASSIGNMENTS PIN FUNCTION 1 Power Ground 2 V 3 Phase A 4 Phase A
6. Values uueeesseeesseeeennnesnnnennnnnennnnnnnnnennnnn 9 Table 3 Current 0 3 to 2 Amps Resistor ValU S 2 0 0 eee ccceecessseceessecesssessseeeens 9 Figure 37 Connections DIagfaMa nun nr 9 Resistor Values for the Opto Supp Iy 220222000000neeenssesennennsnnnnnneneennennn 10 7 CONFIGURING AND CONTROL OF THE R701 R710 10 ye AUT oid Ball 9 nenne ers ore ane e ner Sener neers rere 10 Auto Current REGUCTION cinco ee ie eas 10 3 MOTOR CONNECTIONS 3 in 12 4 Lead Wire Motor Connection cccccccececeeeeeceueeeueueeeeueueeeueusnauuuenauuns 12 6 Lead Wire Motor Connection ccccccecccceeeeseeeseceeeeceeeeueeeuueeeauenaunsnanees 12 8 Lead Wire Motor Connection ccccccecccceeeeceeeseceeeeceenaueeeuuuseeueneuuenannes 13 9 TROUBLESHOOTING amp FAQ zunnnunnunnnunnnunnunnnunnnnnnnnnnunnnnnnnnnn 14 RMS Technologies Page 3 Version 6 31 R701 R710 User Manual 08 23 2010 1 FEATURES R701 10 microstepping driver Optically isolated Step Direction and Disable Enable inputs Automatic Current Reduction Adjustable trimpot for noise and vibration reduction Operates from 24 to 80 VDC Selectable Driver Peak Current Ranges 1 to 7 Amps OR 0 3 to 2 Amps Low Power Dissipation from 1 to 12 Watts 1 to 7 Amps Excellent sinusoidal current waveform for smooth operation Low current ripple for low noise Low Cost High Efficiency R710 Built in step pulse multip
7. 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 The exclamation mark indicates a WARNING and that this information could prevent injury loss of property or even death in extreme cases RMS Technologies Page 2 Version 6 31 R701 R710 User Manual 08 23 2010 TABLE OF CONTENTS Te PEA GU RES siscddassdentduaddunsduwsse a ee 4 ROT een RER 4 RI ee A A ERRA 4 I nput Option Header easiness tee ate ata 4 Multiplier Option Heager u 22a tel 5 Figure 1 R710 Input Option and Multiplier Header ccc ccessecessseeeeeeens 5 Using the Common Ground for Optos 00000000000 cccccceessesesssecesseeeesseeeesaeeens 5 2 ELECTRICAL SPEEIFICATIONS 34 5 3 OPERATING SPECIFICATIONS z uunnnunnunnnunnnunnnnnnunnnunnnnnnunnnn 6 Operating Temper ture 00220000002esenseeenneennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnsnnnnnnnnn 6 FIEBESITK ee a re ee 6 4 MECHANICAL SPECI FICATION uz 2uunn0nnunnnunnunnnunnnnnnunnnnnnunn 6 DIMENSIONS un See ee einer 6 5 PIN ASSIGNMENTS u 7 6 CONNECTION SPECI FI CAT TIONS nnssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 7 LISCO Parts een nern 7 HOW TO CONNEEL eoria eee ee ea ea ace ees 8 Table 2 Current 1 to 7 Amps Resistor
8. alue when the motor is holding To disable this feature remove the cover and adjust jumper JP1 see Figure 4 Choices for hold current are 33 or 100 of the set run current RMS Technologies Page 10 Version 6 31 R701 R710 User Manual 08 23 2010 Reduced Current Range By not placing any jumpers in positions 1 2 5 or 6 the R701 will operate over a reduced current range 0 3A to 2 0A This should be used when using motors rated at 1 Amp or less Holding current is at 100 of the run current during this setting Mid Band Compensation Some step pulse sources generate very ragged timing If the pulse to pulse period varies by more than 30 at the default jumper setting at 7 amp 8 the drive may have problems counting that step pulse By disabling the mid band option and placing the jumper across 4 amp 8 this will make the driver insensitive to this timing restriction But as a result the motor might exhibit mid band instability problems also Known as resonance 12434 opgjoo 1 to 7 Amps sjo Q o olg 33 hold current default PPF 1 to 7 Amps Midband Disabled ia aaa a 7 Ea 12 i ih z par ool o oO SE Car y el noo 100 hold current 1 Tea ar es EEE oooo 0 3 to 2 Amps as B aa a ae ee po ay pboono 100 hold current mi HD ak 1g T N eel ss Pye ooon Midband compensation ai aa a DO um default ui yo en afrrr r 2 rn 5678
9. and must be connected to the 5 VDC supply of your indexer or pulse generator These inputs are meant to be driven by standard TTL logic or other driver capable of sinking 16 mA of current The minimum logic 0 time is 5 usec while the minimum logic 1 time is 4 usec Microstepping occurs on the falling edge of the step input Terminal 11 Current Set Connect one end of the resistor to this terminal Terminal 12 Current Set Connect the other end of the resistor to this terminal This terminal is a filter ground Resistor Values to set the Current Please use the corresponding resistor for the correct current setting for your motor If you are using the driver with currents of 1 to 7 Amps R 47 1 7 D If you are using the driver with currents of 0 3 to 2 Amps R 47 1 2 R Resistor in kQ Current Amps Resistor Value Current Amps Resistor Value Ohms 5 Ohms 5 1 8200 0 3 8200 2 18000 0 5 15000 3 36000 1 0 47000 4 62000 1 5 130000 5 120000 2 0 Open 6 270000 Table 3 Current 0 3 to 2 Amps Resistor Values 7 Open Table 2 Current 1 to 7 Amps Resistor Values CONTROLLER Ei DRIVER POWER GROUND 24 TO 80 VDC DISABLE SIGNAL GND DIRECTION STEP gt VDC SIGNAL GND CURRENT SET CURRENT SET Figure 3 Connections Diagram RMS Technologies Page 9 Version 6 31 R701 R710 User Manual 08 23 2010 Resistor Values for the Opto Supply The optocouplers must be powered by an external power supply t
10. he motor turns in the wrong direction reverse the motor windings for terminal 3 amp 4 Please see the 8 Motor Connections section for connecting 4 6 or 8 wire motors Terminal 7 Disable Short this pin to filter ground pin 12 end of current set resistor slot to disable the unit Shorting it to this ground forces winding currents to zero and stops all output switching activity The R701 will continue totalizing step and direction inputs if any are sent The power supply current drops to less than 15mAmps The motor will return to its original position when the disable input is released if no step pulses have been sent and the motor has not been moved more than 20 microsteps 2 full steps Terminal 8 Direction Input Closing this connection to signal ground will change the direction of the rotating motor Terminal 9 Step Input Connect the positive terminal of the function generator to this terminal If you have an alternative pulse generator connect it to this terminal Terminal 10 5VDC Connect the positive end of the external 5 V Power Supply to this terminal Then connect the negative of this power supply to the negative of the pulse generator The two negative connections are considered signal ground RMS Technologies Page 8 Version 6 31 R701 R710 User Manual 08 23 2010 These inputs are optically isolated from the rest of the drive Terminal 10 is the common anode connection for the opto isolators
11. lier 1 2 5 and 10 Common Ground or Common 5 Volts Input Option Available 10 microstepping driver Optically isolated Step Direction and Disable Enable inputs Automatic Current Reduction Adjustable trimpot for noise and vibration reduction Operates from 24 to 80 VDC Selectable Driver Peak Current Ranges 1 to 7 Amps OR 0 3 to 2 Amps Low Power Dissipation from 1 to 12 Watts 1 to 7 Amps Excellent sinusoidal current waveform for smooth operation Low current ripple for low noise Low Cost High Efficiency R710 OPTIONS The R710 contains an additional board compared to the R701 This step pulse multiplier board contains two more features that the R701 does not offer Input Option Header If the R710 inputs are driven by a source where ground is only available such as a PC parallel port then move the four jumpers on the header so it looks like the COMMON GROUND setting in Figure la Then proceed to connect the input driver ground to Terminal 10 on the main connector If the R710 inputs are driven by open collector transistors or standard TTL gates move the four jumpers so it looks like the COMMON 5 VDC setting Then proceed to connect the input driver 5VDC in Terminal 10 on the main connector RMS Technologies Page 4 Version 6 31 R701 R710 User Manual 08 23 2010 Multiplier Option Header R710 only The Multiplier Option Header allows the R710 driver to always output 10 microstepping The benefit of this is that i
12. 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 5 2 6 Lead Wire Half Winding Connection RMS Technologies Page 12 Version 6 31 R701 R710 User Manual 08 23 2010 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 5 3 6 Lead Wire Full Winding Connection 8 Lead Wire Motor Connection Parallel Connection Eight wire motors can be connected in two ways Parallel and Series When in parallel the wires are simply connected such that the beginning of each winding are connected together fan mn It af Figure 5 4 8 Lead Wire Parallel Connection 8 Lead Wire 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 5 n IT i Figure 5 5 8 Lead Wire Series Connection RMS Technologies Page 13 Version 6 31 R701 R710 User Manual 08 23 2010 9 Troubleshooting amp FAQ The Motor is in Holding Position but does not rotate This means that Power is being supplied to the driver and motor so the power Supply is OK However the signal generator might be causing the problem Try changing the signal to TTL If this doesn t help is the external 5 VDC Power
13. o maintain isolation The Opto Supply Terminal 10 for the optocouplers can be between 5 to 24 VDC with respect to the signal input It is recommended to use a 5 VDC Opto Supply in order to limit the current going into the optocouplers to 16 mA However if the supply is greater than 5 VDC then a resistor must be connected in series with the STEP line and another one in series with the DIRECTION line to maintain 16 mA of current running through the optocouplers Refer to Table 4 for the corresponding Resistor Values The Resistor shall be put in series with the Positive Terminal of the Opto Supply and with Terminal 8 Direction and Terminal 9 Step Opto Supply Resistor Value Ohms 5 5V 10 V 330 Ohm 1 8 Watt 15 V 680 Ohm 1 4 Watt 20 V 1 0K Ohm 1 4 Watt 24 V 1 2K Ohm 1 2 Watt Table 4 Opto Supply Resistor Values 7 CONFIGURING AND CONTROL OF THE R701 R710 Adjust Trimpot This trimpot adjusts the motor for the smoothest possible low speed operation Set the motor speed to about revolutions per second and then using a flathead screwdriver turn the trimpot until a distinct null is noted in the motor s vibration This will result in the most even microstep placement for a given motor and power Supply voltage The trimpot is located on the opposite side of main connector on the driver i bi F r z pae IMAMIT Jaime Leo SAH Auto Current Reduction The R701 R710 reduces motor phase current to 33 of the set v
14. on 6 31 08 23 2010 How to Connect For safety reasons please connect the power supply Terminal 2 last Terminal 1 Power Ground Connect the power supply ground here Terminal 2 24 to 80 VDC Connect the positive end of the power supply here The maximum power supply current required is 67 of the motor s rated phase current An unregulated power supply may be used as long as the voltage stays between the limits keep the ripple voltage to 10 or less for best results If the power supply is more than 1 foot 300 mm away from the driver a 470 uF capacitor must be connected across the R701 R710 s power supply terminals Keep the capacitor lead length to 1 inch 25 mm or less Note If using multiple drives daisy chained on a single power supply you will need a capacitor for each drive The choice of power supply voltage depends on the high speed performance required of the motor Doubling the voltage doubles the motor s high speed power In all cases the power supply voltage should be no less than 4 times or no more than 25 times the motor s rated voltage The motor may not run as smoothly as possible if it is too low and the board may be damaged if it is run too high Terminal 3 Phase A Terminal 4 Phase A Terminal 5 Phase B Terminal 6 Phase B Connect one motor winding to terminals 3 amp 4 Connect the other winding to terminals 5 amp 6 Turn the power supply off when connecting or disconnecting the motor If t
15. t allows the user to achieve 10 microstepping without having to change their original setup Simply select the desired step multiplier of 1 2 5 or 10 Figure 1b shows where the step pulse multiplier is located on the R710 board Use this multiplier header to select the desired resolution DO NOT operate the drive without a jumper Input Option Header Multiplier Header Cat Cat Cat Ca r Half Common Common F step 5 Volts Ground a zi 10 uS Step Figure 1a Figure 1 R710 Input Option and Multiplier Header Using the Common Ground for Optos If you change jumpers shown in Figure 1a to allow common ground as your opto input the following describes how to connect the rest of your inputs Your negative 5V supply will connect to the 5 VDC line Pin 10 The negative side of your step pulses should then connect to your Step line Pin 9 The positive side of your 5V and the positive side of your step pulses should be tied together To disable the drive connect the disable pin to Pin 12 the end of the current set resistor pin To change direction of rotation connect the direction pin to the 5V and step pulse connection 2 ELECTRICAL SPECIFICATIONS Supply Voltage 24 to 80 VDC Peak Current 1 to 7 Amps OR 0 3 to 2 Amps Auto Current Reduction 33 of set current 1 second after last Step Pulse Quiescent Current 15 mAmps or less Resolution 10 microstepping RMS Technologies Page 5 Version 6 31
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