Kalatec Automacao STR6-RS485 User manual

1
STR6-RS485
RS485 OPEN LOOP STEP MOTOR DRIVE User's Manual

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Preface
Foreword.........................................................................................................................................................................3
1Overview.............................................................................................................................................................4
1.1 Product Introduction............................................................................................................................................4
1.2 Characteristics......................................................................................................................................................4
1.3 Application areas..................................................................................................................................................5
2 Performance Index......................................................................................................................................... 5
2.1 Electrical characteristics................................................................................................................................... 5
2.2 Use environment.................................................................................................................................................6
3 Installation......................................................................................................................................................... 6
3.1 Mounting dimensions..........................................................................................................................................6
3.2 Installation method.............................................................................................................................................7
3.3 4 Driver ports and wiring......................................................................................................................... 7
4.1 Schematic diagram of wiring............................................................................................................................. 7
4.2 Port Definition....................................................................................................................................................8
5Instructions for setting the dial switch............................................................................................. 12
6Communication and communication protocol description.......................................................13
6.1 Network layout................................................................................................................................................ 14
6.2 Communication protocol..................................................................................................................................14
6.3 Return to zero function.....................................................................................................................................20
6.4 MODBUS Common function code.....................................................................................................................21
6.5 CRC Validation routines.................................................................................................................................... 23
7Warranty and after-sales service......................................................................................................... 24

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Foreword
Thank you for using our open step drive.
Before using this product, please read this manual carefully to understand the necessary safety information, precautions,
and operation methods.Incorrect operation can have extremely serious consequences.
This product is designed and manufactured without the ability to protect personal safety from mechanical system threats.
Users are advised to consider safety precautions during mechanical system design and manufacturing to prevent accidents
caused by improper operation or product abnormalities.
Due to product improvements, the contents of this manual are subject to change without notice. Our company will not be
responsible for any modification of the product by the user.
When reading, please pay attention to the following signs in the manual:
Note: To draw your attention to the main points in the text.
Caution: Indicates that improper operation can result in personal injury and damage to equipment.
This product has passed the national mandatory 3C certification, CE certification, ROHS certification
1 Overview
1.1 Product Introduction
RS485 Bus driver of Modle Bus Standard introduced by our company. It adopts the latest
32-bit DSP digital processing technology. The driver control algorithm adopts advanced
variable current technology and advanced frequency conversion technology. The driver
generates less heat and them or vibrates less,smooth operation.The user can set any IDaddres
swithin 1-255 and any current value within the rated current, which can meet the needs of
most applications. The bus driver can drive two-phase open-loop stepper motor, three-phase
open-loop stepper motor, hybrid servo motor, brushless DC servo motor, etc... Due to the use
of built-in micro-subdivision technology, even in the conditions of low subdivision, but
also can achieve high subdivision effect, low, medium and high-speed operation is very
smooth, ultra-low noise. The auto-tuning functionis integrated in the driver, which can
automatically generate the optimal operating parameters for different motors and maximize
the performance of the motors.

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1.2 Characteristics
●New 32-bit DSP technology
●1 way 0-5V analog input
●Four-way optocoupler isolated OC output
●Automatic parameter power-on setting function
●Variable current control greatly reduces the heat generation of the motor.
●The current is automatically halved at rest
●Can drive a variety of loop stepper motor
●5 photoelectricity isolation signal inputs, 2 of which are high-speed optocoupler
isolation
●COMMUNICATION FREQUENCY UP TO 1MHZ (factory Default 9600HZ)
●Easy to set the current, can be in between
0.1-8.0 a arbitrary choice
●With over-voltage, under-voltage, over-current and other protection functions
1.3 Application areas
Suitableforallkindsofsmallandmedium-sizedautomaticequipmentandinstruments,such as AGV,
speed door, engraving machine, marking machine, cutting machine, laser phototypesetting,
plotter, CNC machine tools, automatic assembly equipment, etc... It works especially well
on devices that users expect to have low noise and high speed.
2 Performance Index
2.1 Electrical characteristics
Account for
RSO872
Minimum value
Typical value
Maximum value
Unit
Output Current (peak)
0.1
-
7.2
A
Input Power Supply
Voltage (DC)
24
24/36/48
75
VDC
Control signal input
current
6
10
16
mA
Control signal
interface level
5
5
24
Vdc

5
OC output pull-up
voltage
5
-
24
Vdc
RS485 frequency
1
1000
KHz
Analog voltage input
0
5
Vdc
Insulation Resistance
100
MΩ
2.2 Use environment
Cooling Mode
Natural Cooling or forced air cooling
Service
Environment
Occasion
Cannotbeplacednexttootherheatingequipment,toavoiddust, oil
mist, corrosive gases, humidity is too large and strong
vibration sites, prohibited combustible gases and conductive
dust。
Temperature
-10℃ ～ +50℃
Humidity
40 ～90%RH
Vibration
5.9m/s2MAX
Storage temperature
-20℃～60℃
Use Elevation
1000 米以下
Below 1000 meters
Weight
0.2KG

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3 Installation
3.1 Mounting dimensions
3.2 Installation method
Thereliableoperatingtemperatureofthedriverisusuallywithin60，andthe motor operating
temperature is within 80℃。
It is recommended to use the automatic semi-flow mode when using the motor. When the
motor stops, the current is automatically reduced by half to reduce the heat of the motor
and the drive.
Install the drive with vertical side mounting so that the heat dissipating teeth
form a strong air convection。
Install a fan near the drive when necessary to force heat dissipation to ensure that
the drive works within a reliable operating temperature range.

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4 Driver ports and wiring
4.1 Schematic diagram of wiring
4.2 Port Definition
4.2.1LED Lamp status indication
The blue LED on the left is the power indicator, which is always on when the driver is
poweredon,and goes outwhen the driver cut soff the power. The blue LED is the fault indicator,
When there is a fault,the indicator lamp for 3 seconds cycle flashing; When the fault is
cleared by the user, the blue LED often out. Red Led flashes in 3 seconds represent different
failure information, as shown in the table below:
No.
The number
of flashes
Red LED flashes waveform
Description of the problem
1
1
Overcurrent or interphase short
circuit fault
2
2
Overvoltage fault
3
3
Under voltage fault

8
4
7
Over-tolerance alarm
4.2.2 Control Signal Input Port
Control Signal interface
Name
Function
PL+
HIGH-SPEED SIGNAL: Pulse rising edge is effective, PL highlevel 5 ~ 24
VDC,
PL-
Low Level 0 ~ 0.5 v. In order to respond reliably to the pulse signal, the
pulse width should be greater than 1.5 s.
DR+
HIGH-SPEED SIGNAL: Pulse rising edge is effective, PL highlevel 5 ~ 24
VDC,
Low Level 0 ~ 0.5 v. In order to respond reliably to the pulse signal, the
DR-
pulse width should be greater than 1.5 s.
IN+
Low speed signal: IN1, IN2, IN3 common anode input, level 5-24V compatible
IN1
Negative input of low speed signal IN1
IN2
Negative input of low speed signal IN2
IN3
Negative input of low speed signal IN3
OT-
Common Cathode OC emitter output,OT1,OT2 emitter OC output common terminal
OT1
OT1 emitter output, maximum pull-up voltage 24VDC, pull-up resistance 2K,
maximum output current 100mA
OT2
OT2 emitter output, maximum pull-up voltage 24VDC, pull-up resistance 2K,
maximum output current 100mA
10V
Reserve
AIN2
Reserve

9
GND
Reserve
AIN
Reserve
5V
Reserve
4.2.3 Encoder signal and Houle signal interface
Name
Function
EA+
Closed-loop step-by-step encoder reservation
EA-
EB+
Closed-loop step-by-step encoder reservation
EB-
EZ+
Closed-loop step-by-step encoder reservation
EZ-
EU+
Brushless reserve
EU-
EV+
Brushless reserve
EV-
EW+
Brushless reserve
EW-
5V
It supplies the motor's encoder and Houle element with a DC voltage of 5V and
a current of 100mA.
GND
5V Reference Terminal Negative
4.2.4 Output ports of power supply and motor
Power supply and motor power interface.
Name
Function
GND
DC power source

10
+VDC
DC Power Supply Positive Pole, supply voltage range: DC 24 ~ 75VDC, recommended
24VDC or 36VDC work.
A+
A phase winding interface for stepper motor,Open-loop steppingand closed-loop
stepping are used, DC servo is not used for this interface
A-
A-phase winding interface
of stepper motor
B+
B phase winding interface
for stepper motor
B-
B-phase winding interface
of stepper motor
The power supply voltage can work normally between the specified ranges. The driver is
prefer ably powered by naun regulated DC power supply,or a transformer buck+bridge rectifier
+ capacitor filter. Note, however, that the peak voltage ripple after rectification should
not exceed its specified maximum voltage. It is recommended that the user supply power with
a DC voltage lower than the maximum voltage to prevent the grid from fluctuating beyond the
operating range of the driver voltage.
If using a regulated switching power supply, be aware that the output current range of the
switching power supply must be set to maximum.
Please note:
When wiring,pay attention to the positive and negative poles of the power supply,do not
reverse connection;
It is better to use an unstable power supply;
The output capacity of the power supply current should be greater than 60% of the set current
of the driver when an unstable power supply is used;
When a regulated switching power supply is adopted, the output current of the power supply
shall be greater than or equal to the working current of the driver;
To reduce costs, two or three drives can share a power supply, but the power supply should
be large enough.
4.2.5 RS485 bus communication interface
The RS485 port is a duplex with shielded RJ45 terminals (16 pins near the driver terminal
side)

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Pin Number
Signal
Function description
1
RS485-
RS485-SIGNAL, or B
2
RS485+
RS485 signal, or A
3
NC
No, hold
4
EGNG
Signal ground
5
EGNG
Signal ground
6
NC
No, hold
7
EGNG
Signal hot ground shielding technology, used in
strong interference
8
EGNG
Signal ground
9
RS485-
RS485-SIGNAL, or B
10
RS485+
RS485 signal, or A
11
RS232-RXD
RS232 serial port, TTL-3.3 V level, serial debugging
settings
12
EGNG
Signal ground
13
EGNG
Signal ground
14
RS232-TX
RS232 serial port, TTL-3.3 V level, serial debugging
settings
15
EGNG
Signal hot ground shielding technology, used in
strong interference
16
NC
No, hold

12
Note: the above diagram is the definition diagram of network communication signal pin, the
input/output is the same
5 Instructions for setting the dial switch
RSO872 bus-type drive motor adopts 8-bit dial switch to set RS485 address, Baud rate
and terminal matching resistance selection function, as follows:
Note: Low 5-bit RS485 address is set by dialing, high 2-bit RS485 address is set by host
computer.
RS485 ID Table
ID
S1
S2
S3
S4
S5
Reserved
On
On
On
On
On
1
Off
On
On
On
On
2
On
Off
On
On
On
3
Off
Off
On
On
On
4
On
On
Off
On
On
5
Off
On
Off
On
On
……
……
……
……
……
……
30
On
Off
Off
Off
Off
31
Off
Off
Off
Off
Off
Note: The formula for calculating the value of the RS485 ID table is: ID = 1 * S 1 + 2
* s 2 + 4 * s 3 + 8 * s 4 + 16 * S 5. The Default ID value is 0,0 is the broadcast address,
and other higher addresses can be set through the host computer.
RS485 Baud Rate Table
Baud Rate
SW6
SW7

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Default (9600HZ, set by PC)
On
On
19200Hz
Off
On
38400Hz
On
Off
57600 Hz
Off
Off
SW8：off=RS485 R off,(Default to)off；on= RS485 R on
Note: The drive at the end of the network requires SW8 = on.
6 Communication and communication protocol description
6.1 Network layout
Built-in trapezoidal acceleration and deceleration curve generator, can trapezoidal
acceleration and deceleration, through communication commands to achieve fixed-length
operation, continuous operation, deceleration stop, immediately stop. Internal operation
supports absolute position mode and relative position mode control, built-in common return
to zero function, simplify the development. The internal pulse generator uses 32-bit speed,
acceleration, and stroke to achieve wide range of trajectory generation.

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6.2 Communication protocol
The communication adopts the standard Modbus protocol,which supports0x03(readregister),
0x06(writesingleregister),0x10(16)(writemultipleregisters).Serialcommunicationformat: baud
rate 9600 ~ 115200,8 data bits, no parity check, 1 stop bit.
6.2.1 MODBUS Register address definition
The parameter
attri
The
The range
Register description
site
name
bute
defaul
t
value
of values
0
Peak current
R/W/S
5000
1～6000
Unit: Ma
1
The fine
fraction
R/W/S
6000
200～
51200
The number of pulses required to
run a motor in one turn.
2
Standby time
R/W/S
300
100～
10000
The time the drive is on
standby, unit: ms
3
Percentage of
standby current
R/W/S
50
0～100
Unit: %
4
Dial the code
state
R
10
Filtering
time
R/W/S
4000
50～25600
Set the filtering time of the
filter:us
15
Current Kp
loop
R/W/S
1000
100~32767
When self-setting
enabled, the item
is
read-only;The user
can

15
rewrite when it is
enabled.
not
16
Current loop
Ki
R/W/S
200
0～32767
When self-setting
s
enabled, the item
is
read-only;The user
can
rewrite when it is
enabled.
not
18
Baud rate
selection
R/W/S
96
96~1152
96 said 9600
22
Effective
current value
R/W/S
3500
1～4200
Unit: Ma
31
Device ID no.
R
39
R
Total number
pulses L
of
16bit
The number of external
pulsesreceivedis16bit
lower
40
Total number
pulses H
of
R/W
16bit
The number of external
pulsesreceivedis16bit
higher
Write: Write 1 to clear
the counter
48
Bus voltage
R
Return bus voltage unit
0.1V

16
51
Motor running
direction
R/W/S
1
0/1
0:Therunningdirection of
the motor remains
unchanged
1: the motor running
direction is reversed
60
Back to zero
velocity
R/W/S
200
0～65535
pulse/s
62
Acceleration
reduction is
lower 16bit
R/W/S
3200
0～65535
pulse/s^2
63
Deceleration
height 16bit
R/W/S
0
0～65535
pulse/s^2
64
16bit
Low speed
R/W/S
1600
0～65535
pulse/s
65
16bit
High speed
R/W/S
0
0～65535
pulse/s
66
16bit
Low acceleration
R/W/S
3200
0～65535
pulse/s^2
67
16bit
High
acceleration
R/W/S
0
0～65535
pulse/s^2
68
Low 16 bit
R/W/S
1600
0～65535
pulse
69
High 16 bit
R/W/S
0
0～65535
pulse
70
Sports
R/W
0
0~5

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instruction
Trigger the
corresponding motion,
and then the address
changes to 6
0-- Slow down to a stop
1-- Forward constant
length motion
2-- Reverse fixed
length movement
3-- Forward continuous
motion
4-- Continuous reverse
motion
5-- Stop immediately
6-- Default value,
meaningless
71
Back to the
zero
R/W
0
0~2
0-- Exit back to zero
1-- Zero to zero with
theforwardlimitsignal
2-- Zero to zero with
negative limit signal
72
Fixed length
movement
working mode
R/W
0
0/1
0: Incremental mode
1: Absolute mode

18
73
device control
register
R/W/S
See 2.2.1 for the
specific bit definition
74
R/W/S
10
0~65535
1 said 50 us
Return to zero
limit filtering
time
75
device status
register
R
See 2.2.2 for the
specific bit definition
90
Save the
parameters
R/W
0
0/1
Read the address:
Return 0: Save
incomplete
Return 1: The save is
complete
91
Restore factory
default
parameters
R/W
0
0/1
Write 1 to start the
cleanup;
Read the address:
Return 0: Clear
unfinished
Return 1:The cleanup
is complete
92~150
reserved
R
reserved

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A definition
Name & Description
The
default
value
description
7~15
reserved
0
No
6
IO triggers motion
enablement
(In1 is the default
trigger port)
0
0-- The trigger port
is inactive
1-- The trigger port
can trigger the motion
2~5
Reserved
0
No
1
Negativelimitsignal
level
(default IN3 is
negative)
1
Negative limit occurs
when
0-- optocoupler is
turned off
1-- Negative limit
occurs when the
optocoupler is on
0
Positivelimitsignal
level
(In2 is a positive
limit by default)
1
Positive limit occurs
when
0-- optocoupler is
turned off
1-- Positive limit
occurs when the
optocoupler is on
6.2.2 Driver status register
A definition
Name &
Description
The default
value
explain
8~15
retain
0
retain

20
7
Movement to
complete
1
1——内部脉冲发送
完成 0——内部脉冲
未完成
1 -- Internal
pulse transmission
completed
0 -- Internal pulse
is incomplete
6
retain
0
0
5
Negative limit
0
0——No negative
limit signal 1-—
a negative limit
signal
4
positive limit
0
0 -- No positive
limit signal 1 --
Positive limit
signal
2~3
retain
0
1
overpressure
0
0 - no overvoltage
1 -- Overpressure
occurs
0
Over current
0
0 - no flow
1 -- Overflow
occurred