RMS R325P User manual

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R325PSingleAxisDriver
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UserManual
AndCommandsGuide
Version1.00
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RMSTechnologies
2533N.CarsonSt.#4698,CarsonCity,NV89706‐0147

R325PUserManual Page2of20 1/31/2013Version1.0
ThankyouforpurchasingtheR325PSingle‐AxisStep&DirectionDriver.Thisproductis
warrantedtobefreeofmanufacturingdefectsforone(1)yearfromthedateofpurchase.
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PLEASEREADBEFOREUSING
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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.
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DISCLAIMER
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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.
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RMSTechnologiesreservestherighttomakechangeswithoutfurthernoticetoanyproducts
hereintoimprovereliability,function,ordesign.RMSTechnologies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.
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SpecialSymbols
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IndicatesaWARNINGandthatthisinformationcouldpreventinjury,lossof
property,orevendeath(inextremecases).
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R325PUserManual Page3of20 1/31/2013Version1.0
R325PUserManual
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Product:R325P
Version:1.00
Date:1/31/2013
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VersionHistory
VersionDateDescriptionofChanges
1.0001/31/2013NewUserManual
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R325PUserManual Page4of20 1/31/2013Version1.0
TableofContents
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1.FEATURES ...........................................................................................5
2.ELECTRICALSPECIFICATIONS ......................................................................5
3.OPERATINGSPECIFICATIONS ......................................................................6
4.MECHANICALSPECIFICATIONS ....................................................................6
6.CONNECTIONSPECIFICATIONS ....................................................................8
ConnectingthePower ................................................................................................ 9
ConnectingtheMotor ................................................................................................ 9
ConfiguretheR325usingtheDIPSwitch.......................................................................... 10
DIPSwitchRunCurrentSettings ..............................................................................................10
DIPSwitchHoldCurrentSettings .............................................................................................11
DIPSwitchStepResolutionSettings..........................................................................................11
8.COMMANDTABLES ..............................................................................11
AxisConfigurationCommands..................................................................................... 11
GeneralOperationCommands..................................................................................... 11
9.COMMANDS ......................................................................................13
ProtocolSyntax ..................................................................................................... 13
10.Troubleshooting.................................................................................14
11.AppendixA......................................................................................15
11.AppendixB......................................................................................19
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R325PUserManual Page5of20 1/31/2013Version1.0
1.FEATURES
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SingleAxisDriverforBipolarstepmotors
Operatesfrom+12to48VDC
Phasecurrentsfrom0.3to3.0AmpPeak
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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.
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Holdcurrentreductioncapabilitywithadjustablecurrentandtimeoutsettings
SelectableStepResolutionfromFullStepto256xMicrostepping
Hasthreeopticallyisolatedcontrolinputsandoneopticallyisolatedcontroloutput
PoleDampingTechnology™integratedwithindriverboard
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DipswitchesandaRS485interfacearebuilt‐intotheR325PController.AUSBconnectioncan
beusedbyusingtheUSB485ConverterCard(soldseparately).
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2.ELECTRICALSPECIFICATIONS
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SupplyVoltage: +12to48VDC
PhaseCurrent:0.3to3.0AmpsPeak
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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.
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I/OSpecifications
3xOpticallyIsolatedInputs(1fixed)
1xOpticallyIsolatedOutput
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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.

R325PUserManual Page6of20 1/31/2013Version1.0
3.OPERATINGSPECIFICATIONS
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MaximumStepFrequency: 2.5MHz
OperatingTemperature:  Lowend–0°C
Highend–Dependentoncasetemperature,bracket
temperaturemustnotexceed45°C
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AutomaticMotorHoldingCurrentreductionavailablefrom0.3to2.5Amps
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LogicTiming
MinimumStepPulseWidth 200nanoseconds
MinimumStepLowTime  200nanoseconds
MaximumPower‐DownRecoveryTime20milliseconds
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4.MECHANICALSPECIFICATIONS
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Size:3.00”x2.75”x1.42”
Weight:3.2oz
Mounting:Four#6‐32screws,2.42”x2.45”
Plate:Aluminum,HardAnodized
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Figure3.1

R325PUserManual Page7of20 1/31/2013Version1.0
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5.PINASSIGNMENTS
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MatingConnectors
P1Amp  640441‐3
P3PhoenixContact1803675
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P1–RS485busInterface
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P1Configuration
PinNoFunction
1AInput(+ve)
2Ground
3BInput(‐ve)
Table5.1
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P1Connector–Pin1Location
Image5.1
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P3–Motor/Controls/PowerInterface
A12‐pinpluggableterminalstripconnectorP3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rangesfrom5VDC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.
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P3Configuration
PinNoFunction
1Common+veExternal
2Step(in)
3Direction(in)
4+5VDCInternal
5Disable(in)
6MotorA+(out)
7MotorA‐(out)
8MotorB+(out)
9MotorB‐(out)
10FullStepOutput
11PowerGround
12PowerPositive
Table5.2
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P3Connector–Pin1Location
Image5.2
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R325PUserManual Page8of20 1/31/2013Version1.0
CAUTION:ConnectingMotorphases(A,ABar,B,BBar)totheincorrectlocation
whiletheR325Pispoweredwillcausetheboardtoburn.Besuretoinsertmotor
phasesintoPins6through9,intheorderofA,ABar,B,andBBar.Itis
recommendedthatpowerisconnectedlast,sothatallconnectionscanbechecked
beforepowerup.
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6.CONNECTIONSPECIFICATIONS
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WhenusingtheDriverOnlyportionoftheR325P,usethedipswitchesforstepresolutionand
currentsettings.
UsingtheR325PasaDriverUnitOnly
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IfusingtheR325PasaDriveronly,besuretoconnectthepowersupplylast.
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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.TheNEGATIVEendwillconnect
withtheNEGATIVEendofyourpulsegenerator.
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Pin2:UseapulsegeneratororfunctiongeneratortoreceivepulsesintotheR325P.Connect
thePOSTIVEendofthepulsegeneratortoPin2.TheNEGATIVEendwillbeconnectedtothe
NEGATIVEendofthe+5VDCsupplyifusingaseparatepowersource.Ifusingtheinternal
+5VDCsupply,connecttheNEGATIVEendofthepulsegeneratortoPowerGROUND.
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Pin3:Toswitchthedirectionofmotorrotation,connectPin3withPin11,PowerGround.An
openorclosedconnectiontoPowerGroundwillchangethedirection.
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Pin4:Thisistheinternal+5VDC.Usethisfortestingpurposesorifopticalisolationoftheinputs
isnotdesired.Itcanoutputamaxof50mAmps.
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Pin5:ToenablethedriveleavethisPinopen,disablethedriveconnectPin5withPin11(Power
Ground).AnopenorclosedconnectiontoPowerGroundwillenableanddisablethedrive,
respectively.
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Pin6:PhaseAMotorConnection
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Pin7:PhaseAMotorConnection
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Pin8:PhaseBMotorConnection
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Pin9:PhaseBMotorConnection
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CAUTION:ConnectingMotorphases
(A,ABar,B,BBar)totheincorrect
locationwhiletheR325Pispowered
willcausetheboardtoburn.Besure
toinsertmotorphasesintoPins6through9,in
theorderofA,ABar,B,andBBar.Itis
recommendedthatpowerisconnectedlast,so
thatallconnectionscanbecheckedbefore
powerup.
Pin10:TheFullStepoutputisnotavailableforthebasicR325P.Thisfeatureisusedonthe
R325PE.
Pin11:ConnecttheNEGATIVEofthePowerSupplytothisterminal.
Pin12:ConnectthePOSITIVEofthePowerSupplytothisterminal.(+12to48VDC)

R325PUserManual Page9of20 1/31/2013Version1.0
ConnectingthePower
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TheR325Prequiresasupplyvoltagebetween12‐48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R325P.
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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.
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ConnectingtheMotor
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WARNING!MakesurethepowerisOFFwhenconnectingordisconnecting
motorsfromtheR325P.Damagewilloccurifthepowerisbeingsupplied.
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Pleaserefertoyourmotordocumentationforwiringcolorcode.
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ConnectthecorrespondingPhasefromthemotortotheproperpinontheR325P.
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MotorPhase P1Connector
PhaseA  Pin6
PhaseA‐  Pin7
PhaseB  Pin8
PhaseB‐  Pin9
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Figure6.1
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R325PUserManual Page10of20 1/31/2013Version1.0
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UsingtheR325Pwithmorethan5V
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YoucanchoosetosupplytheoptoswiththeR325P’sinternal5Vsupplybyjumpingpins1to4.
Butifyouchoosetousemorethan5V,forexample,a24Vsupplyandthesteppulsetrainisalso
a0to24Vlow‐highsignal,pleaseusethefollowingrecommendedresistortolimitthecurrentto
10mAmps.Note:noresistorwillbeneededontheactualoptosupplyline,pin1.

Step&Directionlineshavea470ohminternalresistor
Voltage:5V10V15V24V
Ohmsneeded:050010002000
Wattagerating:0¼watt¼watt¼watt
Table6.1

Disablelinehasa1kohminternalresistor
Voltage:5V10V15V24V
Ohmsneeded:0100020003800
Wattagerating:01/8watt1/8watt¼watt
Table6.2


ConfiguretheR325PusingtheDIPSwitch

R325PDIPSwitchSettings

RunCurrent
FunctionSW1SW2SW3SW4
0.3AONONONON
0.4AOFFONONON
0.5AONOFFONON
0.6AOFFOFFONON
0.8AONONOFFON
1.0AOFFONOFFON
1.2AONOFFOFFON
1.4AOFFOFFOFFON
1.6AONONONOFF
1.8AOFFONONOFF
2.0AONOFFONOFF
2.2AOFFOFFONOFF
2.4AONONOFFOFF
2.6AOFFONOFFOFF
2.8AONOFFOFFOFF
3.0AOFFOFFOFFOFF
Table6.3
WARNING:Currentof2.7AmpandaboveREQUIRESanadditionalheatsink;make
surethetemperatureofthebracketdoesnotexceed45°C

R325PUserManual Page11of20 1/31/2013Version1.0

HoldCurrent(PercentofRunCurrent)
FunctionSW5SW6
0%ONON
33%OFFON
66%ONOFF
100%OFFOFF
Table6.4

StepResolution
FunctionSW7SW8SW9SW10
FullStep*OFFOFFOFFOFF
2XONOFFOFFOFF
4XONONOFFOFF
8XONOFFONOFF
16XONONONOFF
32XONOFFOFFON
64XONONOFFON
128XONOFFONON
256XONONONON
Table6.5

*ThepowermustbeturnedOFFwhenswitchinginandoutofFullStepmode.


7.COMMANDTABLES

AxisConfigurationCommands

FunctionQuery/NewCodeValueMinimumMaximumDefault
HoldTimeoutQ/NHTNumeric1005000500
PercentFastDecayQ/NPFNumeric032
Table7.1

GeneralOperationCommands

FunctionQuery/NewCodeValueMinimumMaximumDefault
FirmwareRev.QFRNumeric‐ ‐ ‐
Table7.2










R325PUserManual Page12of20 1/31/2013Version1.0
CommunicatingwiththeR325P

1. ConnectP1toPCviaRS485‐232ConverterCardorUSB485ConverterCard.

2. SetupHyperTerminalbyselectingcorrectCOMport

3. SettingsforHyperTerminalisasfollows:57600,8bits,None,1,None

4. TheR325PDriveronlyversionallowsforchangingtheholdtimeoutsettings,the
amountofmixeddecay,andtocheckthefirmwarerevisionlevel.

RS485‐232ConverterCard

Image7.1

USB485ConverterCard

Image7.2

R325PUserManual Page13of20 1/31/2013Version1.0
8.COMMANDS

ProtocolSyntax

CommandFormat:#<Address><Command><value><CR><LF>
Example:#AHT1000<CR><LF>
SetstheHoldTimeoutforDriverAto1000


Toqueryacommandusethefollowingformat
QueryFormat:#<Address><Command><CR><LF>
Example:#AFR<CR><LF>
QueriesDriverAforthecurrentFirmwareRevision

Theresponsewouldbeinthefollowingformat
ResponseFormat:*<Address><value>
Example:*AFR325100
R325Pfirmwarerevision1.00

<CR><LF>standfor"CarriageReturn"and"LineFeed"respectively.TheseareNOTcharactersto
betypedin.Fordirectkeyboardusers,thesevaluesareexecutedwhenthe"Return"keyis
pressed.Forprogrammers,a"CarriageReturn"and"LineFeed"(alsoknownasa"NewLine")
commandneedstobeexecutedaftereachcommand.

Command
(CaseSensitive)OperandExampleDescription
HT100‐5000#AHT100

SetstheHold
Timeoutto100
mS
HoldTimeout‐CommandorQuery,Default=500
‐Readsorsetsthetimeintervalinmillisecondsafteranymotor
movement,beforethemotorcurrentischangedfromRunCurrent
toHoldCurrent.

PF0‐3#APF1

SetsMixed
Modedamping
to48%
PercentFastDecay‐CommandorQuery,Default=2
‐AllowstheDampingModeofthedriverICtobeset.
0=SlowDecay
1=MixedMode15%
2=MixedMode48%
3=100%FastDecay
Theoptimumsettingwillvarywithmotorinductanceandsteprate;
howeverthedefaultMixedModesettingwillworkwithmostmotors
FR‐ #AFRFirmwareRevision‐QueryOnly
‐Returns3digitpartcodefollowedby3digitfirmwarerevision.
Reply:*AFR325100//R325Pfirmwarerevision1.00
SD‐ #ASDSaveData–Afteralldesiredchangeshavebeenmade,type#ASDin
ordertosavethedatatomemory.
LD‐ #ALDLoadDefaultSettings–Usedtorevertbacktodefaultsettings.
TI‐ #ATITestInputs–QueryOnly
‐Thiscommandwillreturnavaluewhichcorrespondstothe
ON/OFFsequenceofall3inputs

R325PUserManual Page14of20 1/31/2013Version1.0

9.Troubleshooting

R325Pisnotfunctioningcorrectly

TryputtingtheR325PintoTESTmodebyplacingajumperonPins3&4ofJ1asshownbelow.
ThemotorshouldtwitchbackandforthslightlyiftheR325Pisfunctioningproperly.




R325Pnotmovingthemotor(Step/Dip)

Verifythatthe5VisbeingsuppliedtoPin1.


TheR325P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.Tocheckwhichwiresbelongtoonephase,takea
Metertomeasureresistancebetweenanytwowires.Ifthereisafinitevaluebetweentwoof
them,insertthewiresintopins6and7,ORpins8and9.Inserttheremainingtwowires
accordingly.

TechnicalSupport
ByTelephone:408‐919‐0200
(Monday‐Friday;8:00AM‐5:00PMPacific)
OntheWeb:www.linengineering.com
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calltechnicalsupportat408‐919‐0200.


R325PUserManual Page15of20 1/31/2013Version1.0
10.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.Ifcablingof50feetorlongerisrequired,theadditionallengthmaybe
gainedbyaddinganACpowersupplycable.

CorrectAWGwiresizeisdeterminedbythecurrentrequirementpluscablelength.Pleasesee
theDriverSupplyCableAWGTableinthisAppendix.



R325PUserManual Page16of20 1/31/2013Version1.0

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.

DriverSupplyCableAWGTable
1Amp(Peak)
Length(Feet)102550*75*100*
MinimumAWG2020181816

2Amps(Peak)
Length(Feet)102550*75*100*
MinimumAWG2018161414

3Amps(Peak)
Length(Feet)102550*75*100*
MinimumAWG1816141212

*UsethealternativemethodsillustratedinExamplesBandC
whenthecablelengthis≥50feet.Also,usethesamecurrent
ratingwhenthealternateACpowerisused

DriverSupplyCableWireSize

NOTE:AlwaysuseShielded/TwistedPairsfortheDriverDCSupplyCable,theACSupplyCable
andtheDrivertoMotorCable.


R325PUserManual Page17of20 1/31/2013Version1.0
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.Pleasesee
theDrivertoMotorCableAWGTableinthisAppendix.

ExampleA‐CablingUnder50Feet,DrivertoMotor

Ifcablingof50feetorlongerisrequired,theadditionallengthcanbegainedbyaddingCommon
ModeLineFilters(2x)

*L≈0.5MH

R325PUserManual Page18of20 1/31/2013Version1.0
*0.5MHisatypicalstartingpointfortheCommonModeLineFilters.Byincreasingor
decreasingthevalueofLyoucansetthedraincurrenttoaminimumtomeetyour
requirements.
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121212
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4Amp(Peak) 
Length(Feet)10255075100
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Minimum
AWG1816141212
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DrivertoMotorSupplyCableWireSize
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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.

NOTE:AlwaysuseShielded/TwistedPairsfortheDriverDCSupplyCable,theACSupplyCable
andtheDrivertoMotorCable.
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R325PUserManual Page19of20 1/31/2013Version1.0
11.AppendixB:PFValue
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Forapplicationsrequiringultimatesmoothnessofmotionandextremeaccuracy,theR325P
drivercanbeprogrammedviaRS485tochangethePercentFastDecayrate,or,thePFvalue.
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ThePercentFastDecaydefaultis2,oramixedmodeof48%.
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MixedmodeisadampingtechniquedonetothedriverIC.Thefollowingvaluesindicatethe
choicesforPercentFastDecay:

PFValues(0through3):
0=SlowDecay
1=MixedMode15%
2=MixedMode48%
3=100%FastDecay
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Generallyspeaking,applicationsthatrunatslowspeedsarerecommendedtouseaPFvalueof
1orless.FastspeedsshoulduseaPFvalueof2ormore.SincethebestPFvalueisdependent
onthemotorwinding,loads,powersupplyvoltage,andotherfactors,itisbesttousean
oscilloscopeandacurrentprobedevicetoviewthecurrentwaveformandtrydifferentPF
values.ThefollowingexamplesshowgoodandbadwaveformswhenchoosingdifferentPF
values.
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PFvalue1
Slowspeeds
Goodwaveform

R325PUserManual Page20of20 1/31/2013Version1.0
PFvalue3
Slowspeeds
Badwaveform
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PFvalue1
Fastspeeds
Badwaveform
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