R325 Single Axis Driver User Manual And Commands Guide Version 1.21 RMS Technologies 2533 N. Carson St.
Thank you for purchasing the R325 Single-Axis Driver. This product is warranted to be free of manufacturing defects for one (1) year from the date of purchase. Technical Support for RMS Technologies By Telephone: 877-301-3609 (Mon.-Fri., 8:00 a.m.-5:00 p.m.) On the Web: www.rmsmotion.com Via Email: support@rmsmotion.com 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.
R325 User Manual Product: Version: Date: R325 1.21 10/1/2007 Version History Version Date Description of Changes 1.10 02/13/2006 New Formatting 1.20 6/7/2007 Added minimum inductance 1.21 10/1/2007 Added info on internal resistors and recommended resistors for opto-isolated inputs. Added Appendix B: PF Value RMS Technologies R325 Single Axis Driver Manual Page 3 Version 1.
Table of Contents 1. FEATURES ...................................................................................... 5 Pole Damping Technology™ ............................................................................... 5 Optically Isolated Inputs and Output................................................................. 5 2. ELECTRICAL SPECIFICATIONS ....................................................... 5 3. OPERATING SPECIFICATIONS ....................................................... 6 4.
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.
3. OPERATING SPECIFICATIONS Maximum Step Frequency: Operating Temperature: 2.5 MHz 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 Minimum Step Low Time Maximum Power-Down Recovery Time 200 nanoseconds 200 nanoseconds 20 milliseconds 4. MECHANICAL SPECIFICATIONS Size: 3.00” x 2.94” x 1.42” Weight: 4.8 oz Mounting: Four #6-32 screws, 2.42” x 2.
5. 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.
6. CONNECTION SPECIFICATIONS When using the Driver Only portion of the R325, use the dip switches for step resolution and current settings. Using the R325 as a Driver Unit Only If using the R325 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 I/O’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.
Connecting the Power The R325 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 R325. 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.
Configure the R325 using the DIP Switch R325 DIP Switch Settings Function 0.3A 0.4A 0.5A 0.6A 0.8A 1.0A 1.2A 1.4A 1.6A 1.8A 2.0A 2.2A 2.4A 2.6A 2.8A 3.0A SW1 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Run Current SW2 ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF SW3 ON ON ON ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF SW4 ON ON ON ON ON ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF WARNING: Current of 2.
7. BASIC STEP AND DIRECTION OPERATION The four control signals Step, Direction, Disable, and Fault Out are optically isolated, with a common positive connection (usually 5 VDC). The common positive connection (Pin 1) is typically 5 VDC. Each of the inputs is set to TRUE by supplying a signal level 5V below the common positive connection powering the optical isolators. The input is set FALSE by putting the signal within 0.5 VDC below the common positive value.
8. COMMAND TABLES Axis Configuration Commands Function Hold Timeout Percent Fast Decay Query/New Q/N Q/N Code HT PF Value Numeric Numeric Minimum 100 0 Maximum 5000 3 Default 5000 2 Maximum - Default - General Operation Commands Function Firmware Rev. Query/New Q Code FR Value Numeric Minimum - Communicating with the R325 1. Place a jumper on pins 7 and 8 of JP1. 2. Communicate via RS485 with P3. 3. Set up HyperTerminal by selecting correct COM port 4.
9. COMMANDS (Page per Command Listing) Protocol Syntax Command Format: #
Example: #AHT1000 Sets the Hold Timeout for Driver A to 1000 To query a command use the following format Query Format: # Example: #AFR Queries Driver A for the current Firmware Revision The response would be in the following format Response Format: * Example: *AFR325100 R325 firmware revision 1.10. Troubleshooting R325 is not functioning correctly Try putting the R325 into TEST mode by placing a jumper on Pins 9 & 10 of JP1. The motor should twitch back and forth slightly if the R325 is functioning properly. R325 not moving the motor (Step/Dip) Verify that the 5V is being supplied to Pin 1. The R325 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.
11. 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. Example A – Cabling Under 50 Feet, DC Power Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet long.
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.
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 A 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.
Driver to Motor Cable AWG Table 1 Amp (Peak) 5 Amp (Peak) Length (Feet) 10 25 50 75 100 Length (Feet) 10 25 50 75 100 Minimum AWG 20 20 18 18 16 Minimum AWG 16 16 14 12 12 2 Amp (Peak) 6 Amp (Peak) Length (Feet) 10 25 50 75 100 Length (Feet) 10 25 50 75 100 Minimum AWG 20 18 16 14 14 Minimum AWG 14 14 14 12 12 3 Amp (Peak) 7 Amp (Peak) Length (Feet) 10 25 50 75 100 Length (Feet) 10 25 50 75 100 Minimum AWG 18 16 14 12 12 Minimum AWG 12
12. Appendix B: PF Value For applications requiring ultimate smoothness of motion and extreme accuracy, the R325 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.
• • • PF value 2 Slow speeds Bad waveform • • • PF value 1 Fast speeds Bad waveform RMS Technologies R325 Single Axis Driver Manual Page 20 Version 1.
