Rtelligent EP Series Manuale utente

EP Series User Manual

EP Series

Modbus TCP User Manual

EP Series User Manual

1. Driver hardware manual

1.1. Product profile

Thank you for purchasing Rtelligent stepper driver based on Ethernet technology. I

hope that our products can help you successfully complete your motion control project.

The EP series product is a stepper motor driver based on MODBUS/TCP

communication protocol, which integrates intelligent motion control functions, built-in

trapezoidal acceleration/deceleration curve, and can independently set acceleration

and deceleration. The driver adopts standard Ethernet interface and is compatible with

10M/100M bps network interface. Compared with MODBUS/RTU products (NT60,

maximum speed 115200 bps), the communication speed is greatly improved. At the

same time compatible with standard Ethernet layout, low cost.

1.2. Features

Power supply 18 - 50VDC.

Output current Maximum 6.0A (Peak).

Current control SVPWM algorithm and PID control.

Revolution setting 200 ~ 4,294,967,295.

Matched motor 2 phase / 3 phase stepper motor.

System self-test Detect motor parameters during driver power-on

initialization and optimize current control gain

based on voltage conditions.

Instruction smoothing Trapezoidal curve optimization, 1~512 levels can

be set.

Input port There are 6 input ports, of which 2 can receive

differential signals of 5V~24V level for Orthogonal

encoder signal access (EPT60), and 4 receive

5V/24V signal-ended signal.

Output port 2 photoelectric isolation output, the maximum

withstand voltage is 30V, and the maximum sink

current or source current is 100mA.

Communication interface 1 RJ45 network port for bus communication, 1 USB

port for firmware upgrade.

Motion control Acceleration, deceleration, speed,stroke can be set,

homing function.

EP Series User Manual

1.3. Electrical index

Table 1-1 Electrical index

Driver parameter

Minimum

Typical

Maximum

Unit

Power supply

VDC

Output current (Peak)

0.5

6.0

Control signal breakover current

Under-voltage protection point

VDC

Over-voltage protection point

VDC

Input signal voltage

3.3

VDC

Driver initialization time

1.4. Safety instructions

The transportation, installation, use or maintenance of this product must be

carried out by persons with professional qualifications and familiar with the

above operations.

In order to minimize potential safety hazards, you should comply with all local

and national safety regulations when using this device. Different regions have

different safety regulations. You should ensure that the installation and use of

the device conform to your region. specification.

System errors may also cause equipment damage or personal injury. We do

not warrant that this product is suitable for your particular application, nor can

we assume responsibility for the reliability of your system design.

Be sure to read all relevant documents before installation and use. Improper

use may cause equipment damage or personal injury. Please strictly abide by

the relevant technical requirements during installation. Be sure to confirm the

grounding of each device in the system. Ungrounded systems cannot

guarantee electrical safety.

Some components inside this product may be damaged by external static

electricity. Operators should ensure that they are free of static electricity before

touching the product, and avoid touching objects that are prone to static

electricity (chemical fibers, plastic films, etc.).

If your equipment is placed in the control cabinet, please close the cover or

door of the control cabinet during operation, otherwise it may cause equipment

damage or personal injury.

It is strictly forbidden to hot-plug the cable when the system is running. The arc

generated by the hot-plug may cause harm to operators and equipment.

EP Series User Manual

Please wait at least 3 seconds after turning off the power before touching the

product or removing the wiring. Capacitive devices may still store dangerous

electrical energy after a power outage, and it will take a certain amount of time

to release it. To be on the safe side, use a multimeter to measure before

touching the product.

Please follow the important safety tips in this manual, including clear warning

symbols for potential safety hazards, and read and familiarize yourself with

these instructions before installation, operation and maintenance. The purpose

of this paragraph is to inform users of necessary safety precautions and to

reduce the risk of endangering personal and equipment safety. A

miscalculation of the importance of safety precautions can result in serious

damage or render the equipment unusable.

EP Series User Manual

2. Hardware connection

2.1. Hardware connection diagram

The following sections provide a detailed description of the hardware and how to

use it. The hardware diagram is as follows:

Figure 2-1 Hardware diagram

2.2. Power supply connection

Connect the driver to DC power supply: V+ is connected to the positive of the

DC power supply, V- is connected to the negative of the DC power supply.

The maximum input voltage of the EPR60/EPT60 is 18~50VDC, do not exceed

this specification.

If your power output does not have a fuse or other device that limits the

short-circuit current, you can place an appropriately sized fast-blow fuse (no

more than 10Amps) between the power supply and the driver to protect the

driver and the power supply, please connect this fuse in series between the

EP Series User Manual

positive of the power supply and the V+ of the driver.

Please be careful not to reverse the connection, the damage to the driver

caused by the reverse connection of the power supply cannot be covered by

warranty. Please select the appropriate power supply

A. Voltage

When the chopper driver is working, the magnitude and the direction of the motor

winding terminal voltage are constantly changed, and the current is detected to obtain

the accurate phase current.

If you want to ensure high efficiency and low noise at the same time, the power

supply voltage of the driver should be at least 5 times the rated phase voltage of the

motor (that is, motor rated phase voltage = motor rated phase current * phase

resistance.).

If you need better high speed performance from the motor, you will need to

increase the driver supply voltage. If a regulated power supply is used, the power

supply voltage should not exceed 50V.

If using an unregulated power supply, the required voltage should not exceed 34V.

B. Current

The maximum supply current should be the sum of the two phase currents.

Typically, the current you need depends on the motor model, voltage, speed and load

conditions. The actual power supply current value is much lower than this maximum

current value, because the driver uses a switching amplifier to convert high voltage and

low current into low voltage and high current. The more the power supply voltage

exceeds the motor voltage, the less power supply current is required. When the motor is

connected to the 48V power supply, the output current of the power supply is half of the

output current of the 24V power supply.

2.3. Motor connection

If the motor you are using is our brand stepping motor, please connect the red,

blue, green and black wires to the A+, A-, B+, B- ports of the driver in sequence.

The default motor type driven by the driver is a two-phase stepping motor. If the

user needs to match a three-phase stepping motor, please modify the motor type

through the debugging software before connecting the three-phase stepping motor.

EP Series User Manual

2.4. Digital input and output interface

The EP series driver has 6 digital input ports and 2 digital output ports. The digital

input and output ports can be freely configured with various functions according to their

own application requirements.

2.4.1. Pin definition

Table 2-1 Pin definition of CN

Name

Description

EXT5V

The driver outputs a 5V power supply for external

signals.Maximum load: 150mA.

It can be used for power supply of optical encoder.

EXTGND

IN6+/EA+

Differential input signal interface, 5V~24V compatible.

In open-loop external pulse mode, it can receive direction.

In closed-loop mode, this port is used to receive quadrature

encoder A-phase signal.

Note:The closed-loop mode is only applicable to the EPT60.

IN6-/EA-

IN5+/EB+

Differential input signal interface, 5V~24V compatible.

In open-loop external pulse mode, it can receive direction.

In closed-loop mode, this port is used to receive quadrature

encoder B-phase signal.

Note:The closed-loop mode is only applicable to the EPT60.

IN5-/EB-

IN3

Universal input port 3, default to receive 24V/0V level signal.

IN4

Universal input port 4, default to receive 24V/0V level signal.

IN1

Universal input port 1, default to receive 24V/0V level signal.

IN2

Universal input port 2, default to receive 24V/0V level signal.

COM24V

External IO signal power supply 24V positive.

12，14

COM0V

Internal power supply output GND.

COM5V

External IO signal power supply 5V positive.

OUT2

Output port 2, open collector, output current capability up to

100mA.

OUT1

Output port 1, open collector, output current capability up to

30mA.

EP Series User Manual

2.4.2. Input

The schematic diagram of the input port is shown in Figure 2-2 below, and the user

can perform system wiring according to the schematic diagram.

Figure 2-2 Input port schematic diagram

A. IN1, IN2, IN3, IN4 single-ended input signal

IN1, IN2, IN3 , IN4: Photoelectric isolation, signal-ended input, minimum pulse

width 100us, maximum pulse frequency 5KHz. The high level can directly receive 5V or

24V signal, 5V signal and 24V signal use different common input ports, namely COM5V

and COM24V.

Since the input circuit is an optocoupler isolation circuit, a 5~24VDC power supply

is required. For example, when connected to a PLC, the power supply of the PLC can

be used; when using a relay or mechanical switch, an external power supply is required.

COM5V and COM24V are the common terminals of single-ended input signals. The

commonly used wiring methods are shown in Figure 2-3 below.

EP Series User Manual

Figure 2-3 single-ended input

Please use RTConfigurator software to configure the functions of IN1, IN2, IN3 and N4.

B. IN5, IN6 differential input signal

IN5 and IN6 are used to receive the encoder differential signal. The wiring method

is shown in Figure 2-4 below, and can also be used for other single-ended signals.

Compatible with 5~24V signals.

Figure 2-4 Differential input

2.4.3. Output

The EP series driver contains two photoelectric isolation output signals.

The output current capability of OUT1 is up to 30mA, and the output current

capability of OUT2 is up to 100mA.

All digital output ports are normally open by default, and the polarity of the

output ports can be changed with the RTConfigurator debugging software.

A. The schematic diagram of the single-ended input interface of the output port is

shown in Figure 2-5 below.

EP Series User Manual

Figure 2-5 Output port single-ended input

B. Connect OUT1/OUT2 as sinking type output and connect it to the PLC input, as

shown in Figure 2-6 below.

Figure 2-6 Connect with PLC

C. Connect OUT1/OUT2 as sinking type output and connect it to the relay, as

shown in Figure 2-7 below.

Figure 2-7 Connect with relay

2.5. Network connection and IP address settings

Before you start, please confirm that you have the following fittings.

A stepper motor matching the driver.

A small straight screwdriver for tightening the connector screws.

A computer.

RTConfigurator software(It can be download from: http://www.rtelligent.net/).

A network cable is used for the driver parameter configuration, or for the

connection between the driver and the controller.

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