RMS R325I Manuale utente

R325I Single Axis Controller/Driver

User Manual

And Commands Guide

Version 1.20

RMS Technologies

2533 N. Carson St. #4698, Carson City, NV 89706-0147

1-877-301-3609

www.rmsmotion.com [email protected]

RMS Technologies Page 2 Version 1.20

R325I Single Axis Controller/Driver Manual 02/13/2006

Thank you for purchasing the R325I 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.

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

Note: This equipment has been tested and found to comply with the limits for a

Class (A) digital device, pursuant to part 15 of the FCC Rules. These Limits are

designed to provide reasonable protection against harmful interferences when the

equipment is operated in its installation. This equipment generates, uses and can

radiated radio frequency energy and, if not installed and used in accordance with the

instruction manual, may cause harmful interference to radio communications. If this

equipment does cause harmful interference the user will be required to correct the

interference.

This Class (A) digital apparatus complies with Canadian ICES-003

Cet appareil numérique de la classe (A) est conforme à la norme NMB-003 du Canada

Special Symbols

Indicates a WARNING and that this information could prevent

injury, loss of property, or even death (in extreme cases).

RMS Technologies Page 3 Version 1.20

R325I Single Axis Controller/Driver Manual 02/13/2006

R325I User Manual

Product: R325I

Version: 1.20

Date: 02/13/2006

Version History

Version Date Description of Changes

1.20 02/13/2006 New Formatting

RMS Technologies Page 4 Version 1.20

R325I Single Axis Controller/Driver Manual 02/13/2006

Table of Contents

1. FEATURES......................................................................................5

Pole Damping Technology™............................................................................... 5

Optically Isolated Inputs and Output................................................................. 5

2. ELECTRICAL SPECIFICATIONS.......................................................6

3. OPERATING SPECIFICATIONS .......................................................6

4. COMMUNICATION SPECIFICATIONS..............................................6

5. MECHANICAL SPECIFICATIONS.....................................................7

Dimensions ..................................................................................................................7

6. PIN ASSIGNMENTS........................................................................8

7. CONNECTION SPECIFICATIONS.....................................................9

Connecting the Power ..................................................................................... 10

HyperTerminal Configuration .......................................................................... 10

Setting the Current ......................................................................................... 11

Setting Step Resolution................................................................................... 11

Saving the Configuration................................................................................. 11

Connecting the Motor...................................................................................... 11

Configure the R325I using the DIP Switch....................................................... 12

DIP Switch Run Current Settings................................................................................ 12

DIP Switch Hold Current Settings............................................................................... 12

DIP Switch Step Resolution Settings .......................................................................... 12

8. BASIC STEP AND DIRECTION OPERATION...................................13

9. COMMAND TABLES.......................................................................14

Basic Configuration Commands ....................................................................... 14

Axis Configuration Commands......................................................................... 14

General Operation Commands......................................................................... 14

10. COMMANDS ...............................................................................15

Protocol Syntax............................................................................................... 15

HOMING & POSITIONING................................................................................ 16

VELOCITY & ACCELERATION............................................................................ 16

SETTING CURRENT.......................................................................................... 18

STORAGE & RECALL......................................................................................... 18

MICROSTEPPING............................................................................................. 19

QUERY COMMANDS ......................................................................................... 19

11. RS485 Communication ..............................................................20

12. Troubleshooting ........................................................................22

13. Appendix A ................................................................................23

RMS Technologies Page 5 Version 1.20

R325I Single Axis Controller/Driver Manual 02/13/2006

1. FEATURES

•Single Axis Driver for Bipolar step motors

•Operates from +15 to 48 VDC

•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.

•Hold current reduction capability with adjustable current and timeout settings

•Selectable Step Resolution from Full Step to 256x Microstepping

•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.

• Configuration Parameters stored in non-volatile memory.

• Multiple module control through software assigned single character addresses

• Built-in control routines for trapezoidal position and velocity moves

• Absolute position can be tracked and reported in step resolution increments

• Pole Damping Technology™ implemented within driver board

Dip switches and a RS485 interface are built-in to the R325 Controller. A USB

connection can be used by using the USB485 Converter Card (sold separately).

Pole Damping Technology™

Pole Damping Technology™ (PDT) enhances step motor performance by dampening

each full step in order to create a more accurate and smooth motion profile.

Microstepping the step motor will optimize Pole Damping Technology™. PDT outputs

the correct amount of run and hold currents to the motor, at the right time. Thus, it

will overcome the step motor’s natural tendency to want to forcefully pull towards

the full step ON position.

Optically Isolated Inputs and Output

The default usage of the three optically isolated inputs is Step, Direction and Disable.

The assignment of Disable is fixed; however the other two inputs can be assigned to

other functions as part of software customization. For example one can be used for

Go-Resume and the other for Stop-Quit.

The normal usage of the single optically isolated output is to indicate motion by

sending a pulse every time a step is made.

RMS Technologies Page 6 Version 1.20

R325I Single Axis Controller/Driver Manual 02/13/2006

2. ELECTRICAL SPECIFICATIONS

Supply Voltage: +15 to 48 VDC

Phase Current: 0.3 to 3.0 Amps Peak

NOTE: Phase current of 2.7 Amp and above REQUIRES an additional heatsink,

make sure the temperature of the bracket 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.

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. COMMUNICATION SPECIFICATIONS

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 7 Version 1.20

R325I Single Axis Controller/Driver Manual 02/13/2006

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

RMS Technologies Page 8 Version 1.20

R325I Single Axis Controller/Driver Manual 02/13/2006

6. PIN ASSIGNMENTS

A 12-pin pluggable terminal strip connector P1 provides power and the step and

direction control functions for the module. All of these signals are optically isolated.

Open-collector drives are required to provide pulses for Step, levels for Direction,

and Disable. The common +ve supply can be +ve 5 to 30 VDC with respect to the

signal input; however if the supply is 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

Pin No Function

1 Common +ve External

2 Step (in)

3 Direction (in)

4 +5 VDC Internal

5 Disable (in)

6 Motor A+ (out)

7 Motor A- (out)

8 Motor B+ (out)

9 Motor B- (out)

10 Fault (out)

11 Power Ground

12 Power Positive

P1 Connector – Pin 1 Location

CAUTION:Connecting Motor phases (A, A Bar, B, B Bar) to the incorrect location

while the R325 is powered will cause the board to burn. Be sure to insert motor

phases into Pins 6 through 9, in the order of A, A Bar, B, and B Bar. It is

recommended that power is connected last, so that all connections can be

checked before power up.

A separate three pin connector P3 is provided for the RS485 bus interface

P3 Configuration

Pin No Function

1 A Input (+ve)

2 Ground

3 B Input (-ve)

Mating Connectors

P1 Phoenix Contact 1803675

P2 Amp 640441-5

P3 Amp 640441-3

JP1 – Jumper on Pins 7 & 8 (Default)

RMS Technologies Page 9 Version 1.20

R325I Single Axis Controller/Driver Manual 02/13/2006

7. CONNECTION SPECIFICATIONS

To begin using the R325I, first determine how you will operate the unit: Simple

Controller/Driver or Driver Only. When using the Controller/Driver, insure that

the jumper is located on Pin 7 & 8 on JP1 and that switches 8, 9, and 10 are

in the OFF position, setup must be made with an RS485 connection and

communication can take place using Windows HyperTerminal. When using the Driver

Only portion of the R325I, first remove the jumper located on JP1, use the dip

switches for step resolution and current settings.

Using the R325I as a Driver Unit Only

If using the R325I as a Driver only, be sure to connect the power supply last.

Pin 1: Connect Pin 1 to Pin 4 to use the internal +5 VDC. By using the internal +5

VDC the I/O’s will no longer be optically isolated. If optical isolation is still desired,

use a separate +5 VDC 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 R325I.

Connect the POSTIVE end of the pulse generator to Pin 2. The NEGATIVE end will be

connected to the NEGATIVE end of the +5 VDC supply if using a separate power

source. If using the internal +5 VDC supply, connect the NEGATIVE end of the pulse

generator to Power GROUND.

Pin 3: To switch the direction of motor rotation, connect Pin 3 with Pin 11, Power

Ground. An open or closed connection to Power Ground will change the direction.

Pin 4: This is the internal +5 VDC. Use this for testing purposes or if optical

isolation of the I/O’s is not desired.

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.

Pin 6: Phase A Motor Connection

Pin 7: Phase A Motor Connection

Pin 8: Phase B Motor Connection

Pin 9: Phase B Motor Connection

CAUTION:Connecting Motor phases (A,

A Bar, B, B Bar) to the

incorrect location while the

R325I 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.

Pin 10: The Fault Output is not used in driver only mode. Sits 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. (+15 to 48VDC)

RMS Technologies Page 10 Version 1.20

R325I Single Axis Controller/Driver Manual 02/13/2006

Connecting the Power

The R325I requires a supply voltage between 15-48 VDC. First, connect the positive

end of the power supply to positive terminal (Pin 12), and then connect the negative

of the power supply to the Ground (Pin 11) on the R325I.

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.

HyperTerminal Configuration

Configure HyperTerminal needs to properly communicate with the R325I.

Please follow these steps to properly set up HyperTerminal:

1. Open a terminal from your PC by following these steps: Start Menu Æ

Programs ÆAccessories ÆCommunications ÆHyperTerminal

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 ÆProperties ÆSettings tab ÆASCII

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 µS).

The command syntax is as follows:

#<Board Address><Command><Value><cr><lf>

The reply syntax is:

*<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

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