R325PE Single Axis Driver Manual V.3
Contents
1. SV 250 15 000 VL 250 50 000 VM 50 000 RMS Technologies ASB Moves one step back HASF Moves one step forward ASM Stops any Position or Velocity move in progress ASV500 Start velocity set to 500 PPS AVL5000 Sets the velocity limit to 5000 steps sec AVM1000 Starts a velocity move of 1000 steps per second Use this to jog continuously in one direction Page 18 R325PE Single Axis Closed loop Driver Indexer Manual 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 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 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 Start Velocity Command or Query Default 1000 Reads or sets the velocity used for the first step in a position move in steps sec2. Function Query Command Code Value Minimum Maximum Default Acceleration Q C AC Numeric 1 250 10 Hold Current Q C HI Numeric 0 3000 300 Hold Timeout Q C HT Numeric 100 5000 500 Min Velocity Q C MV Numeric 250 15 000 250 Percent Fast Decay Q C PF Numeric 0 3 2 Run Current Q C RI Binary 300 3000 1000 Read Switches Q RS Numeric 0 1023 Step Resolution Q C SR Numeric 1 256 8 Start Velocity Q C SV Numeric 250 15 000 1000 Velocity Limit Q C VL Numeric 250 50 000 15 000 Zero Position C ZP None Table 7 2 RMS Technologies Page 13 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 General Operation Commands Query Command Code Minimum Maximum Default Function Absolute Position C Current Position Q C Current Velocity Q Direction Velocity C Firmware Revision Q Home Axis C Move Status Q Position Move C Step Back C Step Forward C Stop Motion C Velocity Move Q AP Numeric CP Numeric CV Numeric DV Numeric FR Numeric HA Numeric MS Numeric PM Numeric SB None SF None SM None VM Numeric Table 7 3 2 147 483 646 2 147 483 646 0 50 000 0 0 2 000 000 000 50 000 Velocity Moves in the range 249 to 249 are not legal except zero Encoder Commands Function Query Command Code Value Current Encoder Q CE Numeric Error Action Q C EA Numeric Encoder Installed Q C El Boolean Encoder Lines Q C EL Numeric Encoder Mode Q C EM Numeric Error Permitted Q C EP Numeric Erro
3. TECHNOLOGIES R325PE Single Axis Driver with Indexer and Encoder Reader User Manual And Commands Guide Version 3 00 RMS Technologies 2533 N Carson St 4698 Carson City NV 89706 0147 RMS Technologies Page 1 Version 3 0 R325PE Single Axis Driver Manual 9 29 2014 Thank you for purchasing the R325PE Single Axis Driver with Indexer 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 DISCLAIMER The information provided in this document is believed to be reliable However no responsibility is assumed for any possible inaccuracies or omissions Specifications are subject to change without notice RMS Technologies reserves the right to make changes without further notice to any products herein to improve reliability function or design RMS Technologies does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights nor the rights of others Special Symbols Indicates a WARNING and that this information could prevent injury loss of property or even death in extreme cases RMS Technologies Page 2 Version 3 0 R325PE Single Axis
4. ACCELERATION Cuarta A tiro n ea nas ds a 16 SETTING CURRENT atra dada 19 STORAGE GRECALE ai na ii is 19 MICROSTEPPING ico te bito ae acie deri d ac Eee ais can ada Sois E 20 QUERY COMMANDS cia Rape iura sheet a te ar d ota a ded as accu i cac CS Caen der c come GR ac Hon Gra icones 21 ENCODER VERSION COMMAND 51s eric ac td rite ral UR DA CN rate 22 10 Tro bleshootihE aia 24 11 Append A nia 25 11 ADDED 29 RMS Technologies Page 4 Version 3 0 R325PE Single Axis Driver Manual 9 29 2014 1 FEATURES e Single Axis Driver with indexer for Bipolar step motors e Encoder readout function available e Operates from 12 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 Step 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 R325P Controller A USB connection can be used by using the USB485 Converter Card sold separately 2 ELECTRICAL SPECIFICATIONS Supply Voltage 12 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 sur
5. Value based on motor performance This command must be used with Position Move PM command Velocity Limit Command or Query Default 15000 Reads or sets the velocity used for Velocity Moves and the constant velocity portion of a Position Move Velocity Move Command Only The sign of the value determines the direction positive for forward and negative for backward 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 Used for jogging in 1 direction Changes to new velocity values from new VM commands will also occur at the rate set by Acceleration AC Note No value is returned Zero velocity makes an abrupt stop Version 3 0 9 29 2014 Command c Example ase Operand Description Sensitive SETTING CURRENT AAA Hold Current Command or Query 0 to 3000 Default 300 Reads or sets the motor Holding Current in 100 milliamps increments The value does not round 0 3000 FAHI300 Sets the Hold Current to 300mA 0 3A 300 3000 HARI1000 Sets the run current to 1000 mA 1 0 Amp HT 100 5000 AHT100 Sets the Hold Timeout to 100 mS Run Current Command or Query Default 1000 Sets the motor Phase Current for any form
6. 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 RMS Technologies Page 8 Version 1 00 R325P Single Axis Driver Manual 1 31 2013 Pin 6 Phase A Motor Connection CAUTION Connecting Motor phases A A Bar B B Bar Pin 7 Phase A Motor Connection to the incorrect location while the R325P is powered will cause the board to burn Be sure to insert motor Pin 8 Phase B Motor Connection phases into Pins 6 through 9 in the order of A A Bar B and B Bar It is recommended that power is connected Pin 9 Phase B Motor Connection last so that all connections can be checked before power up Pin 10 When using the R325PE in Full Step mode this output goes high 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 R325P 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 Gro
7. and deceleration VL Velocity Limit sets the max speed the motor will rotate during a VM PM or DV move command VM Velocity Mode rotates the motor at a fixed speed for continuous motion use this to jog 1 direction only DV Direction Velocity rotates the motor at a fixed speed for continuous motion but allows the motor to change direction of rotation smoothly Use this command rather than the VM command if jogging CW and CCW RMS Technologies Page 23 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 9 Troubleshooting R325P is not functioning correctly Try putting the R325P into TEST mode by placing a jumper on Pins 3 amp 4 of J1 as shown below The motor should twitch back and forth slightly if the R325P is functioning properly Pin 1 R325P not moving the motor Step Dip Verify that the 5V is being supplied to Pin 1 The R325P 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 Monday Friday 8 00 AM 5 00PM Pacific On the Web www linengineering com Our
8. of motion in milliamps 300 300mA 0 3 Amp 2500 2500mA 2 5 Amp The last two numbers of the value are not read 350 300mA 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 NOTE Current of 2 7 Amp and above REQUIRES an additional heatsink make sure the temperature of the bracket does not exceed 45 C Hold Timeout Command or Query Default 500 Reads or sets the time interval in milliseconds after any motor movement before the motor current is changed from Run Current to Hold Current STORAGE amp RECALL E LD Loads all the default values RMS Technologies Page 19 R325PE Single Axis Closed loop Driver Indexer Manual Load Defaults Command Only 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 Default values are My Address 65 A Acceleration 10 Absolute Position O Percent Fast Decay 2 Hold Current 300 0 3A Hold Timeout 500 Minimum Velocity 250 Run Current 1000 1 0A Step Resolution 8 Start Velocity 1000 Velocity Limit 15000 Version 3 0 9 29 2014 Command Case Sensitive MISC AA 0 1 2 3 ZACD1 Percent Fast Decay Command or Query Default 2 Sets Mixed Allows the Damping Mode of the driver IC to be set Mode 0 Fast Decay damping to 1 Mixed Mode 15 15 2
9. 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 24 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 10 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 TT Type RFI Filter _ gt Required Current Ferrite Beads shield Shielded Twisted Pair Wire Size from Driver 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 25 Version 3 0 R325PE Single Axis Closed loop Driver Ind
10. Driver Manual 9 29 2014 R325PE User Manual Product R325PE Version 3 0 Date 9 29 2014 Version History 1 100 01 31 2013 New User NewUserManual description on page 8 0 9 29 2014 Updated default Baud rate to 57600 typo RMS Technologies Page 3 Version 3 0 R325PE Single Axis Driver Manual 9 29 2014 Table of Contents 1 FEATURES SANA AA 5 Z ELECTRICAL SPECIFICATION Sa 5 3 OPERATING SPECIFICATIONS Aa 6 4 MECHANICAL SPECIFICATIONS aiii 6 6 CONNECTION SPECIFICATIONS ss c nori NR dk AAA AAA 8 Connecting the POWBE cero iof ono ro A rr a Rare EA Dto M x o dti a au 9 Connecting the Motor oori e ev PEPrvb LEER vba iS utero vate eed e v loce iplc erect elt bei Sl te ded nei 9 Configure the R325 using the DIP Switch eren 11 DIP SWIECR Run Current SeEEITIBS soi co aar Eoo nex a lbs a dx t p vei SU ROO rus dier ledit RC Rb E A RU 11 DIP Switch Hold Current Settings eme nana nana ras 11 DIP Switch Step Resolution Settings 4 s naa ren 11 8 COMMAND TABLES iaa AAA 13 Basic Configuration Commands Axis Configuration COMMANGS uteri Cerrar d Ur camur EI DUE iS 13 General Operation Commands 55 xe dE a Fe epe edd Sa a RR M 14 General Operation Commands ee nasa raa nae ra nnn 14 10 COMMANDS unta 15 HOMING S POSITIONING ES Nan at bord a pedet De on epa 16 VELOCITY amp
11. Interface IC A value of 1 returns one Encoder Count per Encoder Mode Encoder Line A value of 2 returns 2 Encoder Counts per to 2 Encoder Line Only 1 and 2 are valid 3x or Quadrature 4x is not permitted on this device This is the first encoder setting to use AEI1 Encoder Installed Command or Query Default 1 Read or set TRUE 1 or FALSE 0 This is the second Encoder encoder setting to enter in order to get started Installed True 0 16777215 HAEL400 Encoder Lines Command or Query Default 400 Encoder lines per motor revolution Sets the Reads or sets the encoder line count This is used in encoder line conjunction with Encoder Mode to calculated motor count to 400 positions Use EL with EM Encoder Mode For example if EM 2 default and if your encoder is 400 CPR then EL should be 2 x 400 800 16777215 ACE Current Encoder Query Only Motor Returns a 16 bit signed value corresponding to the Position in ACE12345 current motor position in encoder count See Encoder Encoder Mode This is the main usage of the encoder A separate counts PLC or controller can query the encoder position and compare it to the Current Position CP and issue adjusted moves based on the error seen HAEA2 Error Action Command or Query Default 2 Reads or sets a value that determines the action to be Sets Error taken when an encoder error is found Action to 1 The error is reported and the motor is stopped Correct Mod
12. Manual 9 29 2014 Table 8 1 List of Commands Command Case Sensitive HOMING amp POSITIONING o 0 Forward AHA1 Home Axis Command Only 1 Reverse Causes the motor to move at the preset Start Velocity Motor turns in SV in the direction set by the command value Motion the reverse stops when the index input of a device on the input pin direction goes TRUE then stops and sets Absolute Position and Current Encoder 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 P1 3 is set TRUE or there is no connection to this input P2 Configuration Pin No Function Operand Example Description Table 8 2 ACP1000 Current Position Command or Query Sets the Returns the absolute position of the axis if no value is current passed Valid after power cycles if a Save Data Command is position to be issued before power down Can be used to set current 1000 position value The units are steps at the current step resolution value ACP becomes invalid with step resolution changes The Returns the absolute position scale is set to zero by the Zero Position current command ZP or the execution of a Home Axis HA position of the command motor AZP Zero Position Command Only Sets the Current Position and the Encoder Position to zero Note This command functions differently between R3251 and R325IE VELOCITY amp ACCELE
13. 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 MICROSTEPPING PA 1 2 4 8 16 ASR4 Step Resolution Command or Query 32 64 128 Default 8 256 Sets the step Reads or sets the current step resolution resolution to Allowed values are 4x 256 for 256x 128 for 128x 64 for 64x Operand Example Description ASD Save Data Command Only 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 Fast Decay Saves data 32 for 32x 16 for 16x or 8 for 1 8 stepping 4 for 1 4 stepping 2 for Half Stepping 1 for Full Stepping RMS Technologies Page 20 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 Command Case Sensitive QUERY COMMANDS A HAFR Firmware Revision Query Only Returns 3 digit part code followed by 3 digit firmware revision value Reply AFR325PEV100 R325PE firmware revision 1 00 65 90 ZAMAS88 My Address Command or Query Default 65 Sets the unit Reads or sets the unit address The value re
14. NNECTION SPECIFICATIONS When using the Driver Only portion of the R325PE use the dip switches for step resolution and current settings Using the R325PE as a Driver Unit Only Step 1 Take off the jumper located on J1 Do LJ orn eE gt Bl E LE aj Bee f coles pl H m un LLX L RS y L 1 t 1 C g a astra gt 819070NH921 SNY gy ME Ne C E az CIT Remove the jumper from J1 in qm tor the R325PE to The jumper can be placed on 1 pin so that it is not function as a driver ONLY misplaced Image 6 1 Inage 6 2 If using the R325PE 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 internal 5VDC the 1 0 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 R325P 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
15. RATION EE AC 1 250 HAAC Acceleration Command or Query Default 10 Sets Used to shape the acceleration and deceleration ramps of Acceleration position moves and the rate of velocity change for velocity to 1000 PPS 2 moves Does not affect any of the basic step and direction move operations Acceleration Factor 1000 Pulses per Second RMS Technologies Page 16 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 2 147 483 646 Command Case Operand Example Description Sensitive VELOCITY amp ACCELERATION cont AAP1000 2 147 483 646 CV 50 000 DV 50 000 ZADV1000 ZADV 1000 Rotates CW at 1000 pps then CCW at 1000 pps Usethis to rotate CW amp CCW 250 15 000 ZAMV500 Sets minimum velocity to 500 SPS ZAPM1000 Moves to the 1000 position Makes a 1000 step move from the current position lt Absolute Position Command Only Used to make an absolute position move in step resolution units Current Velocity Query Only Used when a Position Move PM or Velocity Move VM is in progress Otherwise returns zero Direction Velocity Command Only This command is the exact same as Velocity Move VM with the addition of being able to ramp up and down when making moves from Positive to Negative In the given example it will rotate at 1000 pps When issued ADV 1000 it will ramp down to O then back up to 1000
16. ad or entered address to 88 isthe decimal value of the ASCII character designated as X 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 0 1023 ZARS Read Switches Query Only Reads the TRUE 1 or FALSE 0 state of the three Reads the optically coupled inputs combined into a single three bit switch inputs 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 TI ZATI Test Inputs Query Only Step Direction and Disable all return a value in decimal Reads the form switch inputs 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 Reply ATI3 3 011 9600 57600 ZABR9600 Baud Rate Query and Command Sets or reads the baud rate Sets the Baud Rate to 9600 bps RMS Technologies Page 21 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 Operand Example Description Command Case Sensitive ENCODER VERSION ENCODER VERSION COMMANDS AEM2 Encoder Mode Command or Query Default 2 Reads or sets the operating mode of the Encoder Sets the
17. e 2 The error is reported and the correction move is made IN 0 16777215 ZAEP10 Error Permitted Command or Query Reads or sets the maximum error allowed before Error Action is taken Depending on the system configuration the value is given in either Encoder Counts or Steps at the current Step Resolution If the product of Encoder Lines and Encoder Mode is larger than the product of Motor Steps and Step Resolution then the value is in Encoder Counts Otherwise it is in Steps Note The minimum value is the number of the finer Operand Example Description resolution Encoder Counts or Steps required to make up one unit of the coarser resolution RMS Technologies Page 22 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 0 16777215 Error Read Query Only Returns the current Encoder Error value If the product of Encoder Lines and Encoder mode is larger than the product of Motor Steps and Step Resolution then the error is in Encoder Counts Otherwise it is in Steps ZAMF200 Motor Fullsteps per revolution Command or Query Default 200 Sets Motor Reads or sets the number of Fullsteps per motor Fullsteps to revolution i e A 1 8 motor will have a Fullstep count of 200 200 Motion Profile Commands Velocity DV Graph 8 1 SV Start Velocity the very first step it takes begins with the start velocity value must be gt MV MV Minimum Velocity AC Acceleration
18. e AC Supply Cable and the Driver to Motor Cable RMS Technologies R325PE Single Axis Closed loop Driver Indexer Manual Page 28 Version 3 0 9 29 2014 11 Appendix B PF Value For applications requiring ultimate smoothness of motion and extreme accuracy the R325P 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 48 Mixed mode is a damping technique done to the driver IC The following values indicate the choices for Percent Fast Decay PF Values 0 through 3 O Slow Decay 1 Mixed Mode 15 2 Mixed Mode 48 3 100 Fast Decay 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 Slow speeds e Good waveform e PF value 1 Tek Stop M Pos 0000s LHe Coupling T era LI RMS Technologies Page 29 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 e PFvalue3 e Slow speeds e Bad waveform o H Coupling Tek SN M Pos 0000s _ E sa a 0 08 ma D LII fe ed
19. e ee em ll ee k m m ko 4 Ko o R ho Rh os a boh d Ro Rh nos Rm on k E hk Ux h k hL O kh Lk T dm BR 4 Jd 4 Rh 9 Bh o4 h m ho kh 3 G CH2 e PFvalue1 e Fast speeds e Bad waveform Coupling E i Valte Div MU Fecaitt kiki Pade Page RMS Technologies Page 30 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014
20. e the temperature of the bracket 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 3 0 R325PE Single Axis Driver Manual 9 29 2014 3 OPERATING SPECIFICATIONS 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 MECHANICAL SPECIFICATIONS Size 3 00 x 2 75 x 1 42 Weight 3 2 oz Mounting Four H6 32 screws 2 42 x 2 45 Plate Aluminum Hard Anodized 3 00 242 2x 0 29 dx 0 15 4 2 45 2x 959 pe 2 75 E 3 CAT 7 0 185 de L Lp Figure 4 1 RMS Technologies Page 6 Version 3 0 R325PE Single Axis Driver Manual 9 29 2014 5 PIN ASSIGNMENTS Mating Connectors P1 AMP 640441 3 P1 Configuration P2 AMP 640441 5 Pin No Function P3 Phoenix 1803675 A Input ve o 2 Ground 73 5 input ve Table 5 1 Pin 1 P1 amp P2 Location of Pin 1 Inage 5 1 P2 Encoder Interface P2 Configuration A motor with a single ended optical enc
21. exer Manual 9 29 2014 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 nth Fee 2 Amps Peak 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 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 26 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 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 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 Ferrite Beads Braided Shield Cable Length less than 50 Feet Two Shielded Twisted Pairs Wire Size from Driver to Motor Cable AWG Table Phase de Shield to Earth G
22. l 9 29 2014 Communicating with the R325PE Step 1 Move all dipswitches to the OFF position Place jumper on Pins 1 amp 2 Jumper is placed closest to the LED Move ALL dipswitches to the OFF Position 1 Connect P1 to PC via RS485 232 Converter Card or USB485 Converter Card 2 Setup HyperTerminal by selecting correct COM port 3 Settings for HyperTerminal is as follows 57600 8 bits None 1 None 4 The R325P Driver only version allows for changing the hold timeout settings the amount of mixed decay and to check the firmware revision level RS485 232 Converter Card Serial Cable 3 pin to 3 pin cable Figure 6 2 RMS Technologies Page 12 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 USB485 Converter Card USB Cable b E pc AA uL LI USB4B5 Converter Card 3 pin to 3 pin cable Figure 6 3 7 COMMAND TABLES The R325PE can also be used as an indexer with closed loop controls Basic controller commands can be used but users cannot store programs to the unit This unit is commonly used with a user created GUI or PLC s that can communicate commands via ASCII and serial port Basic Configuration Commands Function Query Command ETT Minimum Maximum Default Load Defaults N LD None Save Data N SD None Module Address Q C MA Numeric 65 A 90 Z 65 A Baud Rate Q C BR Numeric 9600 57600 57600 Table 7 1 Axis Configuration Commands
23. oder Pin No Function must be used in order for the encoder feedback function to work Connect the 5 wires from the encoder into P2 using a 5 Pin to 5 Pin connector which is provided with the Designer s Kit purchased separately Table 5 2 P3 Motor Controls Power Interface A 12 pin pluggable terminal strip connector P3 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 ranges from 5 VDC 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 P3 Configuration Pin No Function a GStp n 3 Direction in 4 5VDCintemal 5 Disable in 6 MotorA r out Pin1 P3 Connector Pin 1 Location 8 MotorB out Inage 5 2 9 MotorB out Table 5 3 RMS Technologies Page 7 Version 3 0 R325PE Single Axis Driver Manual 9 29 2014 CAUTION Connecting Motor phases A A Bar B B Bar to the incorrect location while the R325P 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 6 CO
24. oltage Ohms needed 0 Wattage rating 00 Table 6 1 Disable line has a 1k ohm internal resistor Voltage 1 8 watt 1 8 watt Table 6 2 Ohms needed 0 Wattage rating 0 RMS Technologies Page 10 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 Configure the R325P using the DIP Switch R325P DIP Switch Settings Run Current Function SW1 SW2 SW4 SA ON ON O NN osm OFF ON ONT 05M ON OF ON ON 06 OF OF ON ON osa ON ON ON 10 OF ON OF ON 12 ON OF OF FON ta OF OF OF ON 166 ON ON ON OF 18 OF ON ON OF 20 ON OF ON OF 224 OF OF ON OF 244 ON ON OF OF 26 OF ON OF OF 284 ON OF OF OF Table 6 3 WARNING Current of 2 7 Amp and above REQUIRES an additional heat sink make sure the temperature of the bracket does not exceed 45 C Hold Current delenit of Run Current Function SW6 M ON T ON EE GENE CI 666 ON 9OF O Table 6 4 sd acion SW10 PA Step OFF OMR OM OM o L m ou o OFF OFF x ON ON OF OFF 83 ON OF ON OFF The power must be turned OFF when switching in and out of Full Step mode Table 6 5 RMS Technologies Page 11 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manua
25. pps but rotating in the opposite direction Note No value is returned Move Status Query Only Reads Motion Status Returns 0 for No Motion 1 for Position Move and 2 for Velocity Move Minimum Velocity Command or Query Default 250 Reads or sets the minimum velocity for both Position and Velocity command moves The units are steps at the current Step Resolution per second Position Move Command Only 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 used to ensure that the deceleration ramp does not set velocity to zero before the target position is reached t 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 Note This command does not return a value RMS Technologies Page 17 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 Command C Operand ase Example Description Sensitive VELOCITY amp ACCELERATION cont
26. r Read Q ER Numeric Home Axis HA Boolean Motor Full Steps Q C MF Numeric Zero Position ZP Table 7 4 RMS Technologies Page 14 R325PE Single Axis Closed loop Driver Indexer Manual Minimum 16 777 215 0 0 0 1 0 0 0 0 2 147 483 647 2 147 483 647 50 000 50 000 1 2 2 000 000 000 50 000 Maximum Default 16 777 215 2 2 1 1 TRUE 16 777 215 200 2 2 16 777 215 Encoder Count 16 777 215 1 0 FWD 16 777 215 A 200 Version 3 0 9 29 2014 8 COMMANDS Protocol Syntax Command Format H lt Address gt lt Command gt lt value gt lt CR gt lt LF gt Example HACP1000 lt CR gt lt LF gt Sets Driver A to the current position of 1000 To query a command use the following format Query Format lt Address gt lt Command gt lt CR gt lt LF gt Example HAAC lt CR gt lt LF gt Queries Driver A for the current Acceleration Value The response would be in the following format Response Format lt Address gt lt value gt Example AAC10 The Acceleration Value for Driver A is 10 lt CR gt lt LF gt stand for Carriage Return and Line 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 15 Version 3 0 R325PE Single Axis Closed loop Driver Indexer
27. round ase 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 0 5 MH RMS Technologies Page 27 Version 3 0 R325PE Single Axis Closed loop Driver Indexer Manual 9 29 2014 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 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 Driver to Motor Cable AWG Table 100 Length Feet Minimum s AWG 100 Length Feet Minimum di AWG 100 Length Feet Minimum e AWG 100 12 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 th
28. und Pin 11 on the R325P 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 Connecting the Motor WARNING Make sure the power is OFF when connecting or disconnecting motors from the R325P 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 R325PE Motor Phase P1 Connector Phase A Pin 6 Phase A Pin 7 Phase B Pin 8 Phase B Pin 9 RMS Technologies Page 9 Version 1 00 R325P Single Axis Driver Manual 1 31 2013 Pin 1 External Input R325PE Pin 2 Step in Pin 3 Dir in Pin 4 5VDC out Step amp Pin 5 Disable in Direction Pin 6 Motor A Pin 7 MotorA bar Driver Pin 8 Motor B Pin 9 MotorB bar Pin 10 Fault out POWER SUPPLY Pin 11 Power Ground Pin 12 Power 12 to 48VDC 15 48VDC Figure 6 1 Using the R325P with more than 5V You can choose to supply the optos with the R325P 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 V
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