Moons' Lin Engineering R701P User manual

LIN ENGINEERING Page 1 Version 6.70
R701P User Manual 02/15/2022
R701P
MICROSTEPPING DRIVER
USER MANUAL
VERSION 6.70
16245 VINEYARD BLVD, MORGAN HILL, CA 95037
TEL. [phone] FAX. [phone]
WWW.LINENGINEERING.COM

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TABLE OF CONTENTS
Technical Support.............................................................................................................. 1
1. FEATURES...................................................................................................................... 4
Input Option Header ........................................................................................................................................ 4
Using +5V, Common Ground, and Disable for Optos........................................................................... 4
2. ELECTRICAL SPECIFICATIONS ................................................................................ 4
3. OPERATING SPECIFICATIONS................................................................................. 4
Heatsinking......................................................................................................................................................... 5
4. MECHANICAL SPECIFICATIONS ............................................................................. 5
Dimensions.......................................................................................................................................................... 5
5. PIN ASSIGNMENTS...................................................................................................... 6
6. CONNECTION SPECIFICATIONS ............................................................................. 6
List of Parts......................................................................................................................................................... 6
How to Connect ................................................................................................................................................ 7
Optional:............................................................................................................................................................... 7
Resistor Values to set the Current .............................................................................................................. 8
Resistor Values for the Opto Supply .......................................................................................................... 9
7. CONFIGURING AND CONTROL OF THE R701P ...............................................10
Adjust Trimpot .................................................................................................................................................10
Auto Current Reduction................................................................................................................................10
NEMA 34 and NEMA 42 Motor ..................................................................................................................10
Option Set Switches ......................................................................................................................................11
Main Connector ...............................................................................................................................................12
8. MOTOR CONNECTIONS...........................................................................................12
4 Lead Wire Motor Connection..................................................................................................................12
6 Lead Wire Motor Connection (Half Winding)....................................................................................12
6 Lead Wire Motor Connection (Full-Winding) ....................................................................................13
8 Lead Wire Motor Connection (Parallel Connection)........................................................................13
8 Lead Wire Motor Connection (Series Connection) ..........................................................................13
9. TROUBLESHOOTING & FAQ...................................................................................14

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Thank you for purchasing the R701P Driver. This product is warranted to be free of
manufacturing defects for one year from the date of purchase.
Technical Support
By Telephone: [phone]
(Mon.-Fri., 8:00 a.m.-5:00 p.m.)
By Email: [e-mail]
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 READ BEFORE USING
Before you start, you must have a suitable step motor, a DC power supply suitable for the motor and
an optional current resistor. The motor’s rated phase current must be between 0.8 Amps and 7 Amps
when using the dip switches, or between 0 Amps to 7 Amps when using the 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. Finally have a STEP and DIRECTION pulse source available.
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.
Lin Engineering reserves the right to make changes without further notice to any products herein to
improve reliability, function, or design. Lin Engineering 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.
Special Symbols
The “exclamation mark” indicates a WARNING and that this information could prevent
injury, loss of property, or even death (in extreme cases).

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1. FEATURES
R701P
•10 microstepping driver
•Common Ground or Common + 5 Volts Input Option Available
•Optically isolated Step, Direction, and Disable/Enable inputs
•Automatic Current Reduction
•Adjustable trimpot for noise and vibration reduction
•Operates from 18 to 80 VDC
•Selectable Driver Peak Current Ranges: 0 to 7 Amps
•Low Power Dissipation from 1 to 12 Watts (1 to 7 Amps)
•Excellent sinusoidal current waveform for smooth operation
•Low current ripple for low noise
•Low Cost
•High Efficiency
Input Option Header
The R701P has no internal jumpers for input options. The inputs can be driven by a source where
+5V, + 3.3V or ground is only available.
Using +5V, Common Ground, and Disable for Optos
Your negative 5V supply will connect to the “+5 VDC” line, Pin 10. The negative side of your step
pulses should then connect to your “Step” line, Pin 9. The positive side of your +5V and the positive
side of your step pulses should be tied together.
To disable the drive, connect the disable pin to Pin 12, the end of the current set resistor pin. To
change direction of rotation, connect the direction pin to the +5V and + step pulse connection.
2. ELECTRICAL SPECIFICATIONS
R701P
Supply Voltage: +18 to 80 VDC
Peak Current: 0 to 7 Amps
Auto Current Reduction: 70% of set current, 1 second after last Step Pulse
Quiescent Current: 15 mAmps or less
Resolution: 10 microstepping
Motor Inductance: 1-50 mH
3. OPERATING SPECIFICATIONS
Step Pulse Time on falling edge (0) (COMMON 3.3V-5V): 0.5 μS minimum
Step Pulse Time on rising edge (1) (COMMON 3.3V-5V): 3.0 μS minimum
Step Pulse Time on falling edge (0) (GND): 3 μS minimum
Step Pulse Time on rising edge (1) (GND): 0.5 μS minimum
Direction Setup: 0 μS minimum
Operating Temperature: 0° to 70° Celsius
Humidity Range: 0 to 95% (non-condensing)
Power Dissipation: 1 to 13 Watts (1 to 7 Amps)

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Heatsinking
The R701P needs an additional heatsink for current settings greater than 3 Amps. The case
temperature (measured from the bottom plate) should not exceed 70° C. For best results, use
heatsink compound between the R701P and the heatsink.
4. MECHANICAL SPECIFICATIONS
Size: 2.5” x 2.5” x 0.838” (63.5 mm x 63.5 mm x 21.3 mm)
Weight: 3.6 oz (100 gm)
Mounting: Four #6-32 screws, 1.75” x 2.372” (44.5 mm x 60.2 mm)
Cover: Aluminum, Anodized
Plate: Aluminum, Hard Anodized
Color: Blue exterior, White Text
Dimensions
Figure 1: Dimensions Diagram

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5. PIN ASSIGNMENTS
PIN # FUNCTION DESCRIPTION
1Power Ground
The ground or return of
power supply connects
here.
2+V
Motor Supply Voltage. +18 to +80
VDC
3Phase A
A of the stepping motor
4Phase A-
A
- of the stepping motor
5Phase B
B of the stepping motor
6Phase B-
B
- of the stepping motor
7Enable/Disable
Input
Used to
ground to the logic functions (i.e. step
pulses or direction)
8Direction Input
This input is used to change the rotation
direction of the motor
9 Step Clock
Negative (falling) going edge on this input
advances the motor one
increment. The size of
the increment is depending on the image set.
10 Opto Supply
+5 VDC input used to supply power to the
isolated logic inputs. A
resistor must be used if
the supply is greater than 5 VDC.
11 Current Set
Connects to the open
-collector drive.
12 Current Set
Connects to the open
-collector drive.
Table 1: Pin Assignments
6. CONNECTION SPECIFICATIONS
List of Parts
Connection of the R701 is simple. Here is what you need:
•External Main Power Supply (+18 to +80 VDC)
•+5 VDC Power Supply used as the Opto Supply (See Table 2)
•A Function Generator
•An appropriate Bipolar Stepper Motor
WARNING! Power supply voltage in excess of +80 VDC will damage the R701P. Do not
short the motor leads to each other or to ground. This will also damage the board.
WARNING! Do not shut off the power while the motor is moving, this could result in a
catastrophic failure of the drive.

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How to Connect
For safety reasons, please connect the power supply (Terminal 2) last.
Terminal 1: Power Ground - Connect the power supply ground here.
Terminal 2: +18 to 80 VDC -Connect the positive (+) end of the power supply here.
The maximum power supply current required is 67% of the motor’s rated phase current. An
unregulated power supply may be used as long as the voltage stays between the limits; keep the
ripple voltage to 10% or less for best results. The drive has a 2 second power-on reset time before
the motor is energized.
Optional:
If the power supply is more than 1 foot (300 mm) away from the driver, a 470 μF capacitor can be
connected across the R701P power supply terminals. Keep the capacitor lead length to 1 inch (25
mm) or less. Note: If using multiple drives daisy chained on a single power supply you will need a
capacitor for each drive.
The choice of power supply voltage depends on the high speed performance required of the motor.
Doubling the voltage doubles the motor’s high speed power. In all cases the power supply voltage
should be no less than 4 times or no more than 25 times the motor’s rated voltage. The motor may
not run as smoothly as possible if it is too low, and the board may be damaged if it is run too high.
Terminal 3: Phase A Terminal 4: Phase A
Terminal 5: Phase B Terminal 6: Phase B
Connect one motor winding to terminals 3 & 4. Connect the other winding to terminals 5 & 6. Turn
the power supply off when connecting or disconnecting the motor. If the motor turns in the wrong
direction, reverse the motor windings for terminal 3 & 4. Please see the “8. Motor Connections”
section for connecting 4, 6, or 8 wire motors.
Terminal 7: Disable –Short this pin to filter ground (pin 12, end of current set resistor slot) to disable
the unit. Shorting it to this ground forces winding currents to zero and stops all output switching
activity. The R701P will continue totalizing step and direction inputs if any are sent. The power
supply current drops to less than 15mAmps. The motor will return to its original position when the
disable input is released if no step pulses have been sent and the motor has not been moved more
than 20 microsteps (2 full steps).
Terminal 8: Direction Input -Closing this connection to signal ground will change the direction of the
rotating motor
Terminal 9: Step Input -Connect the positive (+) terminal of the function generator to this terminal. If
you have an alternative pulse generator, connect it to this terminal.
Terminal 10: +3.3VDC, +5VDC, GND -Connect the +3.3VDC, +5VDC, or GND

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These inputs are optically isolated from the rest of the drive. Terminal 10 is the common anode
connection for the opto-isolators and must be connected to the +3.3VDC,+5 VDC supply of your
indexer or pulse generator.
These inputs are meant to be driven by 3.3V to 5.5V logic capable of sourcing or sinking 2.5 mA of
current. The minimum logic “0” time is .5 usec while the minimum logic “1” time is 4 usec.
Microstepping occurs on the falling edge of the step input.
Terminal 11: Current Set (OPTIONAL) - Connect one end of the resistor to this terminal.
Terminal 12: Current Set (OPTIONAL) - Connect the other end of the resistor to this terminal.
This terminal is a filter ground.
Resistor Values to set the Current
DIP switches 1, 2, 3 ,4, and 5 must be set to ON if an external current set resistor is used.
Please use the corresponding resistor for the correct current setting for your motor.
If you are using the driver with currents of 1 to 7 Amps, R = 47*I/(7-I).
(R = Resistor in kΩ)
Current (Amps)
Resistor Value
(Ohms 5%)
1
8200
2
18000
3
36000
4
62000
5
120000
6
270000
7
Open

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Figure 3: Connections Diagram
Resistor Values for the Opto Supply
The optocouplers must be powered by an external power supply to maintain isolation. The Opto
Supply (Terminal 10) for the optocouplers can be between +5 to 24 VDC with respect to the signal
input. It is recommended to use a +5 VDC Opto Supply in order to limit the current going into the
optocouplers to 16 mA. However, if the supply is greater than +5 VDC then a resistor must be
connected in series with the STEP line and another one in series with the DIRECTION line to maintain
16 mA of current running through the optocouplers. Refer to Table 4 for the corresponding Resistor
Values.
The Resistor shall be put in series with the Positive Terminal of the Opto Supply and with Terminal 8
(Direction) and Terminal 9 (Step).
Opto Supply Resistor Value
(Ohms 5%)
5 V -
10 V 330 Ohm, 1/8 Watt
15 V 680 Ohm, 1/4 Watt
20 V 1.0K Ohm, 1/4 Watt
24 V 1.2K Ohm, 1/2 Watt
Table 4: Opto Supply Resistor Values

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7. CONFIGURING AND CONTROL OF THE R701P
Adjust Trimpot
This trimpot adjusts the motor for the smoothest possible low speed operation. Set the motor speed
to about ¼ revolutions per second, and then, using a flathead screwdriver turn the trimpot until a
distinct null is noted in the motor’s vibration. This will result in the most even microstep placement for
a given motor and power supply voltage. The trimpot is located on the opposite side of main
connector on the driver.
Auto Current Reduction
The R701P reduces motor phase current to 70% of the set value when the motor is holding. To
disable this feature, set SW9 “OFF”. Choices for hold current are 70% or 100% for the R701P.
NEMA 34 and NEMA 42 Motor
The R701P offers better performance options when using NEMA 34 or NEMA 42 sized motors. This
option will adjust the midband compensation circuit to optimize performance for larger frame size
motors. To enable this fuction, set SW10 to “OFF”. Size NEMA 17 and NEMA 23 motors should have
SW10 set to “ON”.

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Option Set Switches

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Main Connector
The R701P uses a 2-piece modular main connector. The connector is split into two pieces: Terminals
1 through 6 (power supply and motor leads) and Terminals 7 through 12 (control interface). Each can
be removed separately by pulling the connector body upwards and off of the mating header pins on
the R701P. You may need to remove the connectors to mount the R701P properly to a chassis.
8. MOTOR CONNECTIONS
Step Motors have 4, 6, or 8 wires. To better understand how to connect your step motor with your
R701P Driver, follow the Figures below for the corresponding motor. NOTE: The dots indicate the
starting position of the wires when wound.
4 Lead Wire Motor Connection
Connect one set of windings to the A terminals. Connect the other set of windings to the B terminals.
If the set of windings is unclear, take a pair of wires; use an ohmmeter to check for continuity. When
you find the first two wires that have continuity, connect it to the A terminals. Connect the other two
to the B terminals.
Figure 5.1: 4 Lead Wire Motor Connection
6 Lead Wire Motor Connection (Half Winding)
Six wire motors can be wound in two ways: Half Winding and Full Winding. Six wire motors contain
a center tap on each of the two windings. For a half-winding connection, the center tap and one end
of the wires are used.
Figure 5.2: 6 Lead Wire Half Winding Connection

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6 Lead Wire Motor Connection (Full-Winding)
For a full winding connection, use both end wires, the center tap is ignored. (NC: No Connection).
Figure 5.3: 6 Lead Wire Full Winding Connection
8 Lead Wire Motor Connection (Parallel Connection)
Eight wire motors can be connected in two ways: Parallel and Series. When in parallel, the wires are
simply connected such that the beginning of each winding are connected together.
Figure 5.4: 8 Lead Wire Parallel Connection
8 Lead Wire Motor Connection (Series Connection)
Be sure to set the drive current to exactly half of the motor’s rated parallel current rating when using
the series connection.
Figure 5.5: 8 Lead Wire Series Connection

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9. TROUBLESHOOTING & FAQ
The Motor is in Holding Position, but does not rotate:
This means that Power is being supplied to the driver and motor, so the power supply is OK.
However, the signal generator might be causing the problem. Try changing the signal to TTL. If this
doesn't help, is the external +5 VDC Power connected? Be sure that the step pulses are a 0 to 5V
squarewave with even on and off time.
I did the resistor calculation, but there is no standard resistor at that value. Is it better to use the
higher or lower value resistor?
We recommend that you use the resistor that will give you the lower current output to be on the safe
side.
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