RMS R101 Istruzioni per l'installazione

R101 Single Axis Driver/Indexer

User Manual

And Commands Guide

Version 1.20

RMS Technologies

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

RMS Technologies Page 2 Version 1.20

R101 Single Axis Driver/Indexer Manual May 31, 2005

Thank you for purchasing the R101 Single-Axis Driver/Indexer. This product is

warranted to be free of manufacturing defects for one (1) 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 power supply voltage must be between 4

times and 20 times the motor's rated voltage. The current set resistor may be a ¼

Watt, 5% part.

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

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R101 Single Axis Driver/Indexer Manual May 31, 2005

Table of Contents

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

2. ELECTRICAL SPECIFICATIONS.......................................................5

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

Communication Specifications........................................................................... 6

4. MECHANICAL SPECIFICATIONS.....................................................6

Figure 1: Dimensions Diagram ..........................................................................................6

5. PIN ASSIGNMENTS........................................................................7

Figure 2: R101 Pin Usage Diagram ....................................................................................7

6. CONNECTION SPECIFICATIONS.....................................................8

Connecting the Power ....................................................................................... 8

HyperTerminal Configuration ............................................................................ 8

Setting the Current ........................................................................................... 9

Setting Step Resolution..................................................................................... 9

Saving the Configuration................................................................................... 9

Connecting the Motor...................................................................................... 10

8. BASIC STEP AND DIRECTION OPERATION...................................11

9. COMMAND TABLES.......................................................................12

Basic Configuration Commands ....................................................................... 12

Axis Configuration Commands......................................................................... 12

General Operation Commands......................................................................... 12

10. COMMANDS ...............................................................................13

AC Acceleration............................................................................................... 14

AP Absolute Position ....................................................................................... 15

CP Current Position......................................................................................... 16

CV Current Velocity ......................................................................................... 17

FR Firmware Revision...................................................................................... 18

HA Home Axis ................................................................................................. 19

HI Hold Current............................................................................................... 20

HT Hold Timeout ............................................................................................. 21

LD Load Defaults............................................................................................. 22

MA My Address................................................................................................ 23

MS Move Status............................................................................................... 24

MV Minimum Velocity ...................................................................................... 25

PF Percent Fast Decay..................................................................................... 26

PM Position Move............................................................................................ 27

RI Run Current................................................................................................ 28

RS Read Switches............................................................................................ 29

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SB Step Back................................................................................................... 30

SD Save Data .................................................................................................. 31

SF Step Forward.............................................................................................. 32

SM Stop Motion ............................................................................................... 33

SR Step Resolution.......................................................................................... 34

SV Start Velocity ............................................................................................. 35

VL Velocity Limit ............................................................................................. 36

VM Velocity Move ............................................................................................ 37

ZP Zero Position.............................................................................................. 38

11. RS485 Communication ..............................................................39

12. Troubleshooting & FAQ..............................................................41

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1. FEATURES

•Single Axis Driver/Indexer for Bipolar Step Motors

•Operates from +15 to 30 VDC

•Phase currents between 0.2 to 2.5 Amp Peak

•Automatic Motor Holding Current reduction available from 0.2 to 2.5 Amps

•Selectable Step Resolution From Full Step, 2x, 4x, and 8x Microstepping

•Optically Isolated Step, Direction, Disable, and Zero Set Inputs

•Programmable trapezoidal profiles for position moves and ramped velocities

•Communications via RS485 Bus to connect multiple modules

•Command format – ASCII Character Strings

•Memory storage of all user configurable parameters after power recycling

capabilities

The R101 is a ‘Step and Direction’ driver for bipolar step motors.

Limited controller functions are provided that allow trapezoidal profile position moves

and ramped velocity moves to be made.

Provision is made to reduce motor current when just holding in a fixed position after

a preset time.

The module can be configured and controlled via a simple RS485 communications

bus. Multiple modules each set with a different address code can be controlled on the

same bus.

All of the user configurable parameter values can be saved to a non-volatile memory

and automatically restored after a power down power up cycle.

2. ELECTRICAL SPECIFICATIONS

Supply Voltage: +15 to 30 VDC

Phase Current: 0.2 to 2.5 Amps Peak in 0.1 increments (Software

Programmable)

I/O Specifications

4x Optically isolated inputs: Step, Direction, Disable, and Zero Set.

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3. OPERATING SPECIFICATIONS

Maximum Step Frequency 15 kHz

Operating Temperature

Automatic Motor Holding Current reduction available from 0.2 to 2.5 Amps

Logic Timing

Minimum Step Pulse Width 33 microseconds

Minimum Step Low Time 33 microseconds

Maximum Power-Down Recovery Time 20 milliseconds

Communication Specifications

Address bytes in the RS485 commands allow multiple units (26 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

4. MECHANICAL SPECIFICATIONS

Figure 1: Dimensions Diagram

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5. PIN ASSIGNMENTS

A 12 pin pluggable terminal strip connector JP1 provides power and the step and

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

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

Disable, and Zero Set. 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.

JP1 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 Zero Set (in)

11 Power Ground

12 Power Positive

A separate three pin connector JP3 is provided

for the RS485 bus interface

JP3 Configuration

Pin No Function

1 A Input (-ve)

2 Ground

3 B Input (+ve)

Figure 2: R101 Pin Usage Diagram

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6. CONNECTION SPECIFICATIONS

To begin using the R101 Driver/Indexer we must first connect a power supply. Then

a few basic settings must be made to setup the R101 for basic operation. These

settings are typically made using Windows HyperTerminal. The R101 is connected to

a PC by using the RS485 Converter Card connected to JP3 (See Section 5 for Pin

Assignments) with 15-30 VDC being applied to the board. The converter card allows

the R101 to connect to the PC via a standard serial port. It is good practice to

connect the motor last after the driver current has been set properly.

Connecting the Power

The R101 requires a supply voltage between 15-30 VDC. Connect the positive end of

the power supply to positive terminal (Pin 12) on the R101. And connect the

negative of the power supply to the Ground (Pin 11) on the R101.

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

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.

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Example

Setting the Run Current (RI) to 1500mA (1.5A)

#ARI1500 //Sent Command

*ARI1500 //Received Reply

Setting the Current

There are two current settings on the R101.

1. Run Current (RI) – The peak current that the motor will be run at while in

motion.

2. Hold Current (HI) – The current that the motor will receive when idle.

*The default board address of ‘A’ is used in all examples, please see “MA” command for more

detail on addresses.

Examples:

To set Run Current to 2000mA (2.0A):

#ARI2000

To set Hold Current to 300mA (0.3A):

#AHI300

Setting Step Resolution

The R101 is capable of full stepping or 2x, 4x, and 8x microstepping.

Example:

To set Step Resolution to 4x microstepping:

#ASR4

Saving the Configuration

In order to have these settings retained upon a power cycle, the data must be saved.

The command to store these settings is “SD” (Save Data).

Example:

To save settings:

#ASD

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Connecting the Motor

WARNING! Make sure the power is OFF when connecting or disconnecting

motors from the R101. 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 R101.

Using the R101

If using the R101 in Step/Direction mode, please proceed to Section 8 – Basic Step

and Direction Operation.

If using the R101 as a simple controller, please see the Command Tables in Section 9

and more detailed descriptions of the Commands in Section 10.

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