R256 Controller - Lin Engineering
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1. TECHNOLOGIES R256 Controller with built in 256 Microstepping Driver User Manual Version 1 08 Occ c emcee eee e ee eee eee eee eee eee ORO ERE EEO E ERE OEE DEERE ERODES ROSE ORO R OOH ODODE OOOO EOE E TEESE EEE EEE EEE EE DEES EE SESS ESSE SEE DEERE DEES ODEO REDE ESE SEDO ESE ESTES EEE D SESE ESTEE DEEDES SESE OSOESSO DEEDES ES SEE SESSE DEEDES STE DE EEESSE LET EE ETE LE SSH LEEHESENSE ESE SEE SEBS EEEDEEDOEEEESED SEES EEO O LES RMS Technologies 2533 N Carson St 4698 Carson City NV 89706 0147 Thank you for purchasing the R256 Controller with Microstepping Driver This product is warranted to be free of manufacturing defects for one year from the date of purchase PLEASE READ BEFORE USING Before you begin ensure there is a suitable DC Power Supply Do not disconnect the DB 9 cable while power is still being applied to the controller This will damage the board Under any circumstances do not exceed 40 VDC DISCLAIMER The information provided in this document is believed to be reliable However no responsibility is assumed for any possible inaccuracies or omissions Specifications are subject to change without notice RMS Technologies reserves the right to make changes without further notice to any products herein to improve reliability function or design RMS Technologies does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any l2. Red switch push button RS485 to RS232 new converter card RMS Technologies Page 5 Version 1 08 R256 Controller Manual 9 23 2009 Default Settings Function command Description 30 of 2 0 Amps 0 60 Amps Holding Current h 10 of the max current of 2 Amps Step Resolution j 256x BEES Top Velocity V 305175 pps microsteps sec Position Microstep smoothness o 1500 Outputs J Both are turned off JO Baud Rate 9600 bps Table 1 Default Settings Acceleration L L 1000 6103500 usteps sec PO 2 ELECTRICAL SPECIFICATIONS Supply Voltage 12 to 40 VDC Peak Current 0 1 to 2 0 Amps Digital I O Specifications Number of I O 2 Number of Inputs 2 Input Voltage 0 VDC to 5 VDC 0 to 24V tolerant but 5V recommended Input Current 700 mA Pull up Resistors 10k Q Protection Static Protection to the microprocessor LED output Pin 9 max of 20mAmps with 200 ohm internal resistor 3 OPERATING SPECIFICATIONS Maximum Step Frequency 224 pps or 16 7MHz Operating Temperature Range 0 to 50 C Storage Temperature Range 20 to 70 C Communication Specifications Interface Type RS485 RS232 or USB with a converter card Baud Rate 9600 19200 or 38400 bps Bits per character 8 Data Parity None Stop Bit 1 Flow Control None 4 MECHANICAL SPECIFICATIONS Size 1 932 x 2 192 x 1 228 49 07 mm x 55 68 mm x 31 19 mm Weight 3 6 oz 100 gm Mounting Four 6 32 screws 1 622 x 1 992 41 2
3. Peak current 1 4 times Anps Ph Average or RMS da Pt pM e Is only 1 Amp Ph 100 Jet yd dada dh da dace The position versus time graph just above plots only the A Phase following the eight different steps the motor will make Current is changing with each position Recall that a negative in electronics simply means reverse direction of current flow Take a look at position 7 If we were to draw the arrow 1 41 AMP at position 7 as the hypotenuse of a triangle it would v2 look like the triangle to our left Recall from geometry a 90 45 45 triangle is a 1 1 V2 combination The v2 or 1 4 value is also the radius of the dotted circle shown above Therefore during certain steps Phases A or B will receive 1 4 Amps of current But the average or RMS current throughout these 8 steps is only 1 0 Amps RMS and Amps Phase is the same meaning The 1 4A along this hypotenuse is also known as the 2 Phase On position since both A and B Phases are On and receive current It is also known as the peak current As we see the waveform that s plotted for the A Phase the highest value on the curve is known as the peak value Motors have a rated current or average RMS value since in operation the current is continuously changing The most logical way to describe a rating is to take an average or RMS root means squared value But drivers understand current in terms of peak current therefore the conversion is Amps Ph
4. 22 Lk APPENDIX EE 24 CONNECTING TO THE RS232 CARD OLD NON ROHS VERSION cccceeeeeeeeeeeeeeees 24 RMS Technologies Page 4 Version 1 08 R256 Controller Manual 9 23 2009 1 FEATURES Controller with built in Microstepping Driver Operates from 12V to 40V Single 2 wire bus linking up to 16 stepper motors 2 0 Amp Chopper PWM Driver Full step 1 2 1 4 1 8 1 16 1 32 1 64 1 128 1 256 step resolution Stand alone operation with no connection to a PC Execution Halt pending switch push button Pre wired for Opto Switch inputs Homes to an Opto or Switch closure with a single command Fully programmable ramps and speeds Two digital I O and two fixed input channels External switch for selectable addresses Software selectable Move and Hold currents Hold Current automatically selected upon move completion Simple DB9 connection Designer e Kit with USB communication Here is the list of components if you have purchased the optional Designer s Kit e USB to RS485 converter card e A switch push button e Opto Sensor A USB 6 foot long cable Lin part number USBKIT 6 foot USB cable Red switch push button USB to RS485 converter card Designer s Kit with RS232 communication Here is the list of components if you have purchased the optional Designer s Kit e RS485 to RS232 converter card e A switch push button e Opto Sensor e A 3 pin cable optional usage Lin part number RS232KIT 3 Pin cable Opto Sensor
5. 0 mm x 50 60 mm Cover Aluminum Anodized Plate Aluminum Hard Anodized Color Black exterior RMS Technologies Page 6 Version 1 08 R256 Controller Manual 9 23 2009 Dimensions 2 192 Figure 1 Dimensions Diagram 5 PIN ASSIGNMENTS A DB 9 female connector cable receives power and provides the control connections for the R256 Controller The DB 9 cable has a 3 pin connector provided for the converter card in order for the controller to communicate with the PC via RS232 or USB The remaining 6 wires are for power amp controls allowing the user to solder and program the switch push button and the Opto Sensor enabling several options The I O s will allow for options such as solenoids relays opto isolators LED s and many other input and output connections See Table 2 below for details Pin Color Function Input Black TETEYSN White White Opto Sensor Phototransistor IN Blue Table 2 Pin Assignments 6 a Inputs are labeled 1 2 3 and 4 for programming the Halt and Skip Commands 12946 Ooo 6789 Figure 2 DB 9 Female Cable Connector When viewing R256 DB 9 RMS Technologies Page 7 Version 1 08 R256 Controller Manual 9 23 2009 Connecting to the USB485 card R256 pin R256color USB485pin 4 EV white 1 RS485A 2 GND connect to Power Supply Ground Brown 3 RS485B Table 4 Where Pin 1 is located here RS485 Connection View Figure 4 The USB
6. 485 converter card does not require power it receives power from the PC Power is still needed for the R256 controller driver Connecting to the RS232 card ROHS version See Section 11 Appendix B for connecting to old non ROHS version using a red 4 pin connector R256 pin R256 color RS232 card pin A ER White 1 RS485A 2 GND connect to Power Supply Ground 3 RS485B Brown 3 RS485B Table 3 Pin 1 Figure 3 RMS Technologies Page 8 Version 1 08 R256 Controller Manual 9 23 2009 6 CONNECTION SPECIFICATIONS Quick Start DO APPLY POWER UNTIL EVERYTHING IS CONNECTED USB 485 converter card Bipolar step DB 9 cable k connection R256 RO Figure 6 1 The USB485 converter card connects to the R256 using the DB 9 cable that is provided to you The 3 Pin connector is placed onto the converter card 2 You can refer to the pin assignments on pages 7 and 8 3 Your power supply will be connected to the R256 controller driver directly The USB485 card is powered via the PC _R256 s pin1 Red wire is 12 40VDC pin 6 Green wire is Ground 4 The motor is connected to the R256 using the other cable that is provided It is a white 4 pin connector The Red wire is A Blue is A Bar Green is B and Black is B Bar 5 Connect the USB485 card to your PC using the USB cable provided to you You can download the driver for the USB485 at http www linengineering com accessories USB485 aspx 6 Turn your pow
7. NT In order to set the correct current for your motor you must program the specified current in LinCommand Current is set based on the Maximum amount of current the controller board can output which is 2 0 Amps Peak Since all drivers only speak in terms of Amps Peak current we must translate from the motor s rated current Amps Phase or Amps RMS to peak current Below is a table of how much current will be applied to your motor for each setting Motor s Current Rating Driver s Equivalent _ Amps Phase Current Amps Peak Table 6 Desired Current To achieve the equivalent Driver Current Amps Peak multiply your motor s rated current by 1 4 see examples on following page Motor s Rated Current x 1 4 Driver Peak Current RMS Technologies Page 12 Version 1 08 R256 Controller Manual 9 23 2009 Example One You have a motor that is rated at 0 85 Amps 0 85 Amps x 1 4 1 2 Amps Peak Using Table 3 we would see that 1 2 Amps is 60 of the driver s maximum output current Assuming the R256 Controller is addressed to Number 1 this is what you d program 1m60R Example Two You have a motor that is rated at 1 0 Amps and your Controller is addressed to Number 1 this is what you d program 1m70R This will set the controller to 1 4 Amps Peak How did we get 1 4 Amps gt 1 0 Ampsx1 4 1 4A WARNINGI Setting the Current to a value greater than 1 4 times the Motor s rated current will damage your m
8. ase x 1 4 Amps Peak RMS Technologies Page 23 Version 1 08 R256 Controller Manual 9 23 2009 11 Appendix B Connecting to the RS232 card old non ROHS version R256 pin R256color RS232 card pin d IB White A RS485A B RS485B PWR The RS232 card requi 8 The RS232 converter card connects to the R256 using the DB 9 cable that is provided to you The red 4 Pin connector is placed onto the converter card 9 Your power supply will be connected to the RS232 card where the green header is located is for 12 40VDC is for the Power Supply Ground 10 The motor is connected to the R256 using the other cable that is provided It is a white 4 pin connector The Red wire is A Blue is A Bar Green is B and Black is B Bar 11 Connect the RS232 card to your PC using a standard female to female DB 9 cable 12 Turn your power supply on and follow instructions for using Lin Command RMS Technologies Page 24 Version 1 08 R256 Controller Manual 9 23 2009 If you have the old 4 pin connector below describes how to retrofit your cable in order to work with the new converter card Old 4 Pin cable Connect New 3 Pin cable Color function to Color function Red PWR Connect to main power CS suppl Green GND Green GND Brown RS485 B Brown RS485 B Black white RS485 A Black white RS485 A Pini Note Be sure to send power to the R256 unit via Pins 1 and 6 PWR and GND respectively Technical S
9. e instructions please refer to the LinCommand Manual 8 To operate in the Advanced mode Choose Options and select Advanced mode 9 Select your COM port and baud rated and then click Connect 10 Enter command strings on one of the 7 lines in the Send window and click Send to send command line to the controller 11 For a complete list of commands and their definitions refer to the R256 Commands manual RMS Technologies Page 11 Version 1 08 R256 Controller Manual 9 23 2009 Example command 1A10000R e This will run unit 1 to the Absolute position 10000 e You can check the address of your driver by checking the dial at the top of the driver See the following page for Changing the Address e A full list of commands is available in the Silverpak 17C R256 Command List e Most common commands to change are o Step resolution 1j2R sets it to half stepping Velocity in pulses sec 1V1000R sets the speed to 1000 pps Run current 1m30R sets the run current to 30 Hold current 1h10R sets the hold current to 10 Move the motor 1P800R moves the motor 2 revs if half stepping O O O Responses 0 indicates good command and that it was received correctly O0Ob indicates bad command OC indicates that the command is out of range 0 indicates that the command is terminated 0 a Overflow Setting the Current CAUTION DO NOT SET THE CURRENT 1 4 TIMES ABOVE THE MOTOR S RATED CURRE
10. eaniaaaciaciemaaiiacuataeminatia un A A 7 Ss PEN re E r NEE NEE 7 CONNECTING TO THE USB485 Cap 8 THE USB485 CONVERTER CARD DOES NOT REQUIRE POWER IT RECEIVES POWER FROM THE PC POWER IS STILL NEEDED FOR THE R256 CONTROLLER DRIVER NN 8 CONNECTING TO THE RS232 CARD ROHS VERSION ccceeeeeeeeeeeeeeeeeeeeeeeaaaees 8 QUICK START oeri iurare inneni e aa a a aaa aea anA 9 USB 485 converter Card 9 RS232 485 converter card ME 10 w l ltekee Vie e TEE 11 7 CONFIGURING AND CONTROLLING THE R256 ccsccessennees 11 LINCOMMAND ECHTEN 11 SETTING THE CURRENT et eet eege e 12 CONNECTING MULTIPLE R256 CONTROLLERS cccccsecceeecceseueeeeaueeeeueessaueenaueegs 13 CHANGING THE ADDRESS OF THE LONTROLLER 14 CONNECTING THE ACCESSORY PIECES cccccccccccescceceeeuceueeeuueueeeeueueensauuuensauens 15 Pash BUTON RE EE 15 LED r oth r OU CD U Civic ee E a a EE eae 16 3 MOTOR CONNECTIONS e ugegv gege ege ENEE eg 19 4 LEAD WIRE MOTOR CONNECTION 19 6 LEAD WIRE MOTOR CONNECTION HALF WINDING cccceeeeeeseeeeeeeeeeeeeenees 19 6 LEAD WIRE MOTOR CONNECTION FULL WINDING sssosssssssnssrnnnsrrnnsrrsrerrenne 20 8 LEAD WIRE MOTOR CONNECTION PARALLEL CONNECTION 20 8 LEAD WIRE MOTOR CONNECTION SERIES CONNECTION 20 9 TROUBLESHOOTING SEA veuve KENE KKNKREKNNREKRNER ERR KKNKRKKNKR 21 10 APPENDIX iere EE rar 22 PEAK CURRENT VERSUS AMPS PHASE cccccceccecccecuueeuueeuueeeuueeuueuueeauteauuenunes
11. ent being supplied to the Motor Use the m command to change the current or run the Motor at a Lower Speed V command Or make the motor accelerate slower using the L command Halt Command H01 Issues There are known issues involving the Halt command e H01 when stored in memory location zero Upon power up the remaining command string after the Halt command might be executed if the user types in a new command If memory location zero is not being used the user is advised to always clear everything in memory by typing 1 9 Otherwise the user may terminate the remaining command string in the buffer by issuing a 1T RMS Technologies Page 21 Version 1 08 R256 Controller Manual 9 23 2009 I want to use one of the I Os to turn on a LED to confirm that the motor has finished moving or moved to a certain position How do I do it To turn on a LED to confirm that the motor finished moving you must use the J command in the command list section On Off Drivers We are assuming the unit executes the command sent We cannot detect skipping because the set up is open loop Example 1P200J10R is a position move 200 steps then turn on driver 2 What s the minimum and maximum voltage the RS485 to RS 232 Converter Card can handle Min and Max voltage levels 7 to 40 VDC Using a PLC to communicate with board After the command you need to issue a carriage return and linefeed Example 1A1000R absolute position move 1000 After the R se
12. er supply on and follow instructions for using LinCommand RMS Technologies Page 9 Version 1 08 R256 Controller Manual 9 23 2009 RS232 485 converter card R 485 232 card d Bipolar step Motor fi ditt PC Motor connection R256 RO Figure 5 1 The RS232 converter card connects to the R256 using the DB 9 cable that is provided to you The white 3 Pin connector is placed onto the converter card 2 Your power supply will be connected to the RS232 card where the green header is located is for 12 40VDC is for the Power Supply Ground 3 You may refer to the pin assignments on pages 7 and 8 4 The 3 pin connector has a green wire for ground Tie this to power supply ground 5 The motor is connected to the R256 using the other cable that is provided It is a white 4 pin connector The Red wire is A Blue is A Bar Green is B and Black is B Bar 6 Connect the RS232 card to your PC using a standard male to female DB 9 cable 7 Turn your power supply on and follow instructions for using LinCommand RMS Technologies Page 10 Version 1 08 R256 Controller Manual 9 23 2009 Mating Connectors A mating D Sub connector and crimp style connector are provided Color Function eem dl A Phase A Phase Figure 8 The table to the B Phase right depicts the function Black B Phase Part 90 018 Table 5 Fig 7 Part 90 044 is the DB 9 cable with 3 pin header for communication See page 8 for pin assignment
13. gies Page 16 Version 1 08 R256 Controller Manual 9 23 2009 Optical Sensor Green White Pind DB 9 connection with the Opto Sensor Pins 1 6 3 4 4 Pin Connection Figure 16 Opto Sensor Connection Schematic The Opto Sensor uses Pins 6 7 and 9 Use the following table to solder the corresponding wires Optical Sensor DBO Cable Black gt White gt White Table 8 In order to program the motor to home towards your optical sensor simply use the Z command and state the max number of steps you want it to search for home The unit will either stop at the opto sensor or when it finishes moving your designated number of steps For example 1Z500000R Motor will take 500 000 steps and stop OR Motor will stop once the optical sensor has been interrupted Only input 3 can work with the optical sensor The LED output on pin 9 can output a max of 20mMAmps 200 ohms internal resistor and 5VDC output RMS Technologies Page 17 Version 1 08 R256 Controller Manual 9 23 2009 Encoder Usage The R256 can also be used as reference to home by connecting to an US Digital E2 Encoder The pinouts are as follows Ground Index Channel A 5 VDC Channel B Table 9 The E2 encoder requires a separate 5 Volt power supply as the R256 controller cannot provide a strong enough source of power ul B WN kA In order to use the Indexer as a reference to home connect Pin 2 from the encoder to one of the inputs on the co
14. icense under its patent rights nor the rights of others This manual revision is provided for distribution with R256 controllers sold through Lin Engineering Special Symbols Indicates a WARNING and that this information could prevent injury loss of property or even death in extreme cases RMS Technologies Page 2 Version 1 08 R256 Controller Manual 9 23 2009 R256 User Manual Product R256 Version 1 08 Date 9 23 2014 Version History 01 11 2006 New User Manual 1 OoOo L 08 18 2006 Typographical errors errors E Standardization SS User Manuals 10 26 2007 Updated description of RMS vs Amp Peak current and explanation of I O s 1 04 12 14 2007 Updated designer s kits descriptions of connection amp HyperTerminal card hook up information ere connection resolution option 9 23 2014 Replaced Hyper Terminal rw sain lr RMS Technologies Page 3 Version 1 08 R256 Controller Manual 9 23 2009 TABLE OF CONTENTS o ae EEN 5 DESIGNER S KIT WITH USB COMMUNICATION ccccccsccccceescccueeecucueenuuuuensaueueenegs 5 DESIGNER S KIT WITH RS232 COMMUNICATION cccccccceseceueeeeuceeensuueuensaueueenags 5 RIZZI e Ange Le EE 6 2 ELECTRICAL SPECIFICATIONS Ee 6 DIGITAL I O SPECIFICATIONG EN 6 3 OPERATING SPECIFICATIONS neuer kuk KN KEE KN KEE KEE KN KEE Ku D COMMUNICATION SPECIEICATIONS 6 4 MECHANICAL SPECIFICATIONS enk kuk kk KKK KN KEE KN KEE KEE KN KN D DIMENSIONS wisedidiouisaneicwinam
15. nd a Ox0Od in hex USB Converter card setup The USB converter card requires a driver installed on your computer The needed files can be found by selecting the Download tab at the following link http www linengineering com accessories USB485 aspx After installation you should be able to view the converter card if you go to Properties of My Computer gt Hardware gt Device Manager gt Ports Ports COM amp LPT Je Communications Pork COM F ECP Printer Port LPT1 jf RMS Motion USB485 COM The LED s on the USB485 converter card only light up during sending and receiving of a command 10 Appendix A Peak current versus Amps Phase Where does the 1 4 times come from Current is continuously changing when a motor steps If the motor is rated for 1 0 A Ph it may receive 0 Amps 1 Amp 1 4 Amps or anything in between if you are microstepping For ease of explanation we will look at the current waveform when we half step or set the driver controller to 2x microstepping If we take a look at both the A and B phases and plot on an X Y chart of when each phase receives current and how much it receives it will look like the chart below Beginning at position 1 Phase A receives negative current and Phase B receives positive current Let s assume it is at coordinate 1 1 RMS Technologies Page 22 Version 1 08 R256 Controller Manual 9 23 2009 Current Wave Form PHASE A PHASE A Current
16. ndicates it is waiting for Commands and power is OK Motor shaft should be difficult to rotate Check the Converter Card Use a voltmeter to measure if Power is coming into the card correctly and if power is being supplied to the Controller properly Check the LED on the top of the R256 unit If there is no LED lit the problem may be the Power Supply check the connections If you see one LED that flashes on and off about 5 seconds at a time then power is OK Is the R256 Controller set to the correct Address Check the Dial on the top of the controller The arrow should be pointing to the corresponding Address Make sure that the arrow is not between 2 Addresses Use a small screw to verify that it clicks in place Check the Converter Card Use a voltmeter to measure if Power is coming into the card correctly and if power is being supplied to the Controller Note the description of the following response strings 0 indicates that the command is terminated 0 indicates good command and that it was received correctly OC indicates that the command is out of range Ob indicates bad command If the unit is set to the default value of 256 microsteps Typing in a position move of 1P200R would be too small to see movement It would take 51 200 steps to make one revolution so try a large value like 1P100000R R256 Controller will accept commands but the Motor will stall in the middle of a command This means there is not enough curr
17. ntroller From the controller s side for best results use Pin 5 the switch closure to ground In addition use a pull down resistor 10k Q to ensure that the controller will recognize the difference between high and low 4 85V and 0 5V 5 VDC Encoder Controller Pin o GND Figure 17 Encoder Pin Connection Schematic After successfully connecting the encoder to the controller now you can program the controller to run continuously The motor will stop movement when the indexer goes high This will send the high signal to Pin 5 on the controller If using channel 1 use this command to start the homing routine 1POR RMS Technologies Page 18 Version 1 08 R256 Controller Manual 9 23 2009 8 MOTOR CONNECTIONS Step Motors have 4 6 or 8 wires To better understand how to connect your step motor with your R256 Controller follow the Figures below for the corresponding motor NOTE The dots indicate the starting position of the wires when wound 4 Lead Wire Motor Connection Connect one set of windings to the A terminals Connect the other set of windings to the B terminals If the set of windings is unclear take a pair of wires use an ohmmeter to check for continuity When you find the first two wires that have continuity connect it to the A terminals Connect the other two to the B terminals Figure 18 4 Lead Wire Motor Connection 6 Lead Wire Motor Connection Half Winding Six wire motors can be wound in two way
18. older the Push Button to Pin 5 which corresponds to Input 4 then solder Pin 6 Power Ground to the other side of the push button Table 7 Any of the four inputs can be connected to a push button In our example above pin 5 corresponds to input 4 therefore if you want to program the motor to wait until this button is pressed in order to begin movement your program would look something like this 1HO4P50000R HOA means to Halt until it sees a low or 0 on input 4 P5000 move the motor in the positive direction by 5000 steps R is to run this string of commands The motor should send the command P5000 once the button has been pressed otherwise it will continue to wait at H04 RMS Technologies Page 15 Version 1 08 R256 Controller Manual 9 23 2009 LED or other output The two I O lines pins 2 amp 8 can drive an external device such as solenoids LED s or switches The bidirectional I O s are switches that ground internally and therefore need to be connected to the V of the power supply Below is a recommended connection for lighting an LED with 20 mAmps Power Supply 24 Y DC 1 2k ohm resistor Silverpak Pin 2 ord output Upon entering command 1JOR both pins 2 amp 8 will output 1 Amps The 1 2k ohm resistor will limit the current to 20 mAmps into the LED Select any ohm value to limit your current based on the device that is connected to the output I O s are 24VDC tolerant RMS Technolo
19. otor and may overheat the controller Connecting Multiple R256 Controllers If using the RS232 to RS485 converter card daisy chain all four wires power ground RS485 and RS485 prior to plugging into the converter card i Power B nth Unit R5232 Serial fe U U Converter Card Figure 12 Connection using RS232 Converter Card RMS Technologies Page 13 Version 1 08 R256 Controller Manual 9 23 2009 If using the USB485 converter card connect all the power and ground lines on the units to the main power supply Then daisy chain the RS485 and RS485 lines prior to plugging into the USB485 card Be sure to also ground the USB485 card with Pin 2 ground USB Converter Card Figure 13 Connection using USB485Converter Card Changing the Address of the Controller Use a small screwdriver to turn the dial so the arrow points to the desired Address Use this number when programming commands For example 1P1000R Figure 14 Address Dial Note New RoHS compliant boards have a Black dial instead of a Red one RMS Technologies Page 14 Version 1 08 R256 Controller Manual 9 23 2009 Connecting the Accessory Pieces If you have purchased the Designer s Kit there is a Red Push Button and an Optical Sensor included Follow the schematics below in order to properly assemble accessory pieces Push Button DB 9 connection with the Push Button 4 Pin Connection Figure 15 Push Button Schematic It is best to s
20. s 7 CONFIGURING AND CONTROLLING THE R256 LinCommand Setup For more detailed instructions please refer to the LinCommand Manual Follow these steps to set up and use LinCommand Note If LinCommand has not been installed on your computer you may download the program in 32 Bit or 64 Bit from the link below After downloading navigate to the Setup file and double click Setup to install http www linengineering com resources download aspx 1 After installation double click on the LinCommand icon Un Command orem to launch the LinCommand program i 2 Choose R256 from the drop down box and then click OK LIN ENGINEERING 3 LinCommand opens in Normal mode with a GUI interface for controlling the stepper motor For Advance mode skip to step 8 below 4 To continue in the Normanl mode choose your COM port baud rate and controller address See Figure 9 and then click Connect Note if you are using the USB485 converter card first download driver files for the USB485 5 Choose the Motor Settings tab Set the Run Current Hold ee Current Step Resolution Velocity and Acceleration then oK click Add Settings to Queue E A CAUTION Do Not Exceed Motors Peak Current or Damage to the Motor and Controller Could Result See Setting the Current on following page 6 Double click on the Click Here to Add Command to bring up the motor control menu 7 For amor
21. s Half Winding and Full Winding Six wire motors contain a center tap on each of the two windings For a half winding connection the center tap and one end of the wires are used Figure 19 6 Lead Wire Half Winding Connection RMS Technologies Page 19 Version 1 08 R256 Controller Manual 9 23 2009 6 Lead Wire Motor Connection Full Winding For a full winding connection use both end wires the center tap is ignored NC No Connection Figure 20 6 Lead Wire Full Winding Connection 8 Lead Wire Motor Connection Parallel Connection Eight wire motors can be connected in two ways Parallel and Series When in parallel the wires are simply connected such that the beginning of each winding are connected together a mn I wi Figure 21 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 ja el Le I Figure 22 8 Lead Wire Series Connection RMS Technologies Page 20 Version 1 08 R256 Controller Manual 9 23 2009 9 Troubleshooting amp FAQ Is the correct COM Port selected Use an operating system of Windows 98 or higher Are you working on a Laptop Sometimes there is a shift in Ground on Laptop Serial Ports Pin 5 on the Serial Port is Ground Make sure that this is connected to a true ground Is the LED flashing on the R256 Controller A flashing light i
22. upport for Lin Engineering a distributor for RMS Technologies Telephone 408 919 0200 Mon Fr 8 00 a m 5 00 p m Pacific Time Email techsupport linengineering com On the Web www linengineering com Our technical support group is glad to work with you in answering your questions If you cannot find the solution to your particular application or if for any reason you need additional technical assistance please call technical support at 408 919 0200 RMS Technologies Page 25 Version 1 08 R256 Controller Manual 9 23 2009
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