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 sales@rmsmotion.com www.rmsmotion.
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.
R325I User Manual Product: Version: Date: R325I 1.20 02/13/2006 Version History Version Date Description of Changes 1.20 02/13/2006 New Formatting RMS Technologies R325I Single Axis Controller/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.......................................................6 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.
2. ELECTRICAL SPECIFICATIONS Supply Voltage: Phase Current: +15 to 48 VDC 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.
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 R325I Single Axis Controller/Driver Manual Page 7 Version 1.
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.
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.
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.
Setting the Current There are two current settings on the R325I. 1. Run Current (RI) – The peak current that the motor will be run at while in motion. NOTE: Current of 2.7 Amp and above REQUIRES an additional heatsink, make sure the temperature of the bracket does not exceed 45° C. 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.
Configure the R325I using the DIP Switch R325I DIP Switch Settings In addition to the Jumper on Pin 7 & 8 on JP1, the Switches 8, 9, and 10 must be “OFF” in control mode. If using Step & Direction mode remove the jumper. 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.
8. 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.
9. COMMAND TABLES To begin using the R325I in command mode, insure that the jumper is located on Pin 7 & 8 of 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.
10.
Command Operand (Case Sensitive) HOMING & POSITIONING HA 0 = Forward 1 = Reverse Example #AHA1 Motor turns in the reverse direction CP ZP +/– 2,147,483,646 - #ACP1000 Sets the current position to be 1000 #ACP Returns the current position of the motor #AZP Sets absolute position to zero Description Home Axis - Command Only - Causes the motor to move at the preset Start Velocity (SV) in the direction set by the command value.
Command Operand (Case Sensitive) Example Description VELOCITY & ACCELERATION (cont.
Command Operand (Case Sensitive) SETTING CURRENT HI 0-3000 RI 300 - 3000 Example #AHI300 Sets the Hold Current to 300mA (0.3A) #ARI1000 Sets the run current to 1000 mA (1.
Command Operand (Case Sensitive) Example Description MISC PF 0-3 #ACD1 Sets Mixed Mode damping to 15% MICROSTEPPING SR 1, 2, 4, 8, 16, 32, 64, 128, 256 QUERY COMMANDS FR - MA 65 - 90 #ASR4 Sets the step resolution to 4x #AFR #AMA88 Sets the unit address to 88 (‘X’) RS - #ARS Reads the switch inputs TI - #ATI Reads the switch inputs Percent Fast Decay - Command or Query Default = 2 - Allows the Damping Mode of the driver IC to be set.
11. RS485 Communication 1. The Interface The EIA specification RS485 defines an integrated circuit that is to be used to connect up to 32 nodes to a two-wire party line bus that does not exceed 4,000 ft. in length, and for use with data rates up to 10M Baud. The two-wire bus must be terminated at one-end for short wire runs and at both ends if the runs exceed 20 ft. One of the two wires must be biased positive with respect to the other by approximately 700 millivolts.
Apart from the leading ‘#’ being replaced by a ‘*’, the Slaves response to a Command should be an exact copy of the command message. In the case of a Query the query message is also echoed but the value or other requested information is added into the reply. A one character time interval has to be allowed between outgoing and incoming messages, to allow for line turn-around (Switching between Transmit and Receive).
12. Troubleshooting R325I is not functioning correctly Try putting the R325I 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. R325I not moving the motor (Step/Dir) Verify that the 5V is being supplied to Pin 1 of P1.
13. Appendix A 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 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
