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.



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



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

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