Rtelligent EP Series User manual

EP Series User Manual
1
EP Series
Modbus TCP User Manual

EP Series User Manual
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1. Driver hardware manual
1.1. Product profile
Thank you for purchasing Rtelligent stepper driver based on Ethernet technology. I
hope that our products can help you successfully complete your motion control project.
The EP series product is a stepper motor driver based on MODBUS/TCP
communication protocol, which integrates intelligent motion control functions, built-in
trapezoidal acceleration/deceleration curve, and can independently set acceleration
and deceleration. The driver adopts standard Ethernet interface and is compatible with
10M/100M bps network interface. Compared with MODBUS/RTU products (NT60,
maximum speed 115200 bps), the communication speed is greatly improved. At the
same time compatible with standard Ethernet layout, low cost.
1.2. Features
Power supply 18 - 50VDC.
Output current Maximum 6.0A (Peak).
Current control SVPWM algorithm and PID control.
Revolution setting 200 ~ 4,294,967,295.
Matched motor 2 phase / 3 phase stepper motor.
System self-test Detect motor parameters during driver power-on
initialization and optimize current control gain
based on voltage conditions.
Instruction smoothing Trapezoidal curve optimization, 1~512 levels can
be set.
Input port There are 6 input ports, of which 2 can receive
differential signals of 5V~24V level for Orthogonal
encoder signal access (EPT60), and 4 receive
5V/24V signal-ended signal.
Output port 2 photoelectric isolation output, the maximum
withstand voltage is 30V, and the maximum sink
current or source current is 100mA.
Communication interface 1 RJ45 network port for bus communication, 1 USB
port for firmware upgrade.
Motion control Acceleration, deceleration, speed,stroke can be set,
homing function.

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1.3. Electrical index
Table 1-1 Electrical index
Driver parameter
Minimum
Typical
Maximum
Unit
Power supply
18
-
50
VDC
Output current (Peak)
0.5
-
6.0
A
Control signal breakover current
6
10
15
mA
Under-voltage protection point
-
20
-
VDC
Over-voltage protection point
-
60
-
VDC
Input signal voltage
3.3
5
7
VDC
Driver initialization time
5
-
9
S
1.4. Safety instructions
The transportation, installation, use or maintenance of this product must be
carried out by persons with professional qualifications and familiar with the
above operations.
In order to minimize potential safety hazards, you should comply with all local
and national safety regulations when using this device. Different regions have
different safety regulations. You should ensure that the installation and use of
the device conform to your region. specification.
System errors may also cause equipment damage or personal injury. We do
not warrant that this product is suitable for your particular application, nor can
we assume responsibility for the reliability of your system design.
Be sure to read all relevant documents before installation and use. Improper
use may cause equipment damage or personal injury. Please strictly abide by
the relevant technical requirements during installation. Be sure to confirm the
grounding of each device in the system. Ungrounded systems cannot
guarantee electrical safety.
Some components inside this product may be damaged by external static
electricity. Operators should ensure that they are free of static electricity before
touching the product, and avoid touching objects that are prone to static
electricity (chemical fibers, plastic films, etc.).
If your equipment is placed in the control cabinet, please close the cover or
door of the control cabinet during operation, otherwise it may cause equipment
damage or personal injury.
It is strictly forbidden to hot-plug the cable when the system is running. The arc
generated by the hot-plug may cause harm to operators and equipment.

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Please wait at least 3 seconds after turning off the power before touching the
product or removing the wiring. Capacitive devices may still store dangerous
electrical energy after a power outage, and it will take a certain amount of time
to release it. To be on the safe side, use a multimeter to measure before
touching the product.
Please follow the important safety tips in this manual, including clear warning
symbols for potential safety hazards, and read and familiarize yourself with
these instructions before installation, operation and maintenance. The purpose
of this paragraph is to inform users of necessary safety precautions and to
reduce the risk of endangering personal and equipment safety. A
miscalculation of the importance of safety precautions can result in serious
damage or render the equipment unusable.

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2. Hardware connection
2.1. Hardware connection diagram
The following sections provide a detailed description of the hardware and how to
use it. The hardware diagram is as follows:
Figure 2-1 Hardware diagram
2.2. Power supply connection
Connect the driver to DC power supply: V+ is connected to the positive of the
DC power supply, V- is connected to the negative of the DC power supply.
The maximum input voltage of the EPR60/EPT60 is 18~50VDC, do not exceed
this specification.
If your power output does not have a fuse or other device that limits the
short-circuit current, you can place an appropriately sized fast-blow fuse (no
more than 10Amps) between the power supply and the driver to protect the
driver and the power supply, please connect this fuse in series between the

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positive of the power supply and the V+ of the driver.
Please be careful not to reverse the connection, the damage to the driver
caused by the reverse connection of the power supply cannot be covered by
warranty. Please select the appropriate power supply
A. Voltage
When the chopper driver is working, the magnitude and the direction of the motor
winding terminal voltage are constantly changed, and the current is detected to obtain
the accurate phase current.
If you want to ensure high efficiency and low noise at the same time, the power
supply voltage of the driver should be at least 5 times the rated phase voltage of the
motor (that is, motor rated phase voltage = motor rated phase current * phase
resistance.).
If you need better high speed performance from the motor, you will need to
increase the driver supply voltage. If a regulated power supply is used, the power
supply voltage should not exceed 50V.
If using an unregulated power supply, the required voltage should not exceed 34V.
B. Current
The maximum supply current should be the sum of the two phase currents.
Typically, the current you need depends on the motor model, voltage, speed and load
conditions. The actual power supply current value is much lower than this maximum
current value, because the driver uses a switching amplifier to convert high voltage and
low current into low voltage and high current. The more the power supply voltage
exceeds the motor voltage, the less power supply current is required. When the motor is
connected to the 48V power supply, the output current of the power supply is half of the
output current of the 24V power supply.
2.3. Motor connection
If the motor you are using is our brand stepping motor, please connect the red,
blue, green and black wires to the A+, A-, B+, B- ports of the driver in sequence.
The default motor type driven by the driver is a two-phase stepping motor. If the
user needs to match a three-phase stepping motor, please modify the motor type
through the debugging software before connecting the three-phase stepping motor.

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2.4. Digital input and output interface
The EP series driver has 6 digital input ports and 2 digital output ports. The digital
input and output ports can be freely configured with various functions according to their
own application requirements.
2.4.1. Pin definition
Table 2-1 Pin definition of CN
Pin
Name
Description
1
EXT5V
The driver outputs a 5V power supply for external
signals.Maximum load: 150mA.
It can be used for power supply of optical encoder.
2
EXTGND
3
IN6+/EA+
Differential input signal interface, 5V~24V compatible.
In open-loop external pulse mode, it can receive direction.
In closed-loop mode, this port is used to receive quadrature
encoder A-phase signal.
Note:The closed-loop mode is only applicable to the EPT60.
4
IN6-/EA-
5
IN5+/EB+
Differential input signal interface, 5V~24V compatible.
In open-loop external pulse mode, it can receive direction.
In closed-loop mode, this port is used to receive quadrature
encoder B-phase signal.
Note:The closed-loop mode is only applicable to the EPT60.
6
IN5-/EB-
7
IN3
Universal input port 3, default to receive 24V/0V level signal.
8
IN4
Universal input port 4, default to receive 24V/0V level signal.
9
IN1
Universal input port 1, default to receive 24V/0V level signal.
10
IN2
Universal input port 2, default to receive 24V/0V level signal.
11
COM24V
External IO signal power supply 24V positive.
12，14
COM0V
Internal power supply output GND.
13
COM5V
External IO signal power supply 5V positive.
15
OUT2
Output port 2, open collector, output current capability up to
100mA.
16
OUT1
Output port 1, open collector, output current capability up to
30mA.

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2.4.2. Input
The schematic diagram of the input port is shown in Figure 2-2 below, and the user
can perform system wiring according to the schematic diagram.
Figure 2-2 Input port schematic diagram
A. IN1, IN2, IN3, IN4 single-ended input signal
IN1, IN2, IN3 , IN4: Photoelectric isolation, signal-ended input, minimum pulse
width 100us, maximum pulse frequency 5KHz. The high level can directly receive 5V or
24V signal, 5V signal and 24V signal use different common input ports, namely COM5V
and COM24V.
Since the input circuit is an optocoupler isolation circuit, a 5~24VDC power supply
is required. For example, when connected to a PLC, the power supply of the PLC can
be used; when using a relay or mechanical switch, an external power supply is required.
COM5V and COM24V are the common terminals of single-ended input signals. The
commonly used wiring methods are shown in Figure 2-3 below.

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Figure 2-3 single-ended input
Please use RTConfigurator software to configure the functions of IN1, IN2, IN3 and N4.
B. IN5, IN6 differential input signal
IN5 and IN6 are used to receive the encoder differential signal. The wiring method
is shown in Figure 2-4 below, and can also be used for other single-ended signals.
Compatible with 5~24V signals.
Figure 2-4 Differential input
2.4.3. Output
The EP series driver contains two photoelectric isolation output signals.
The output current capability of OUT1 is up to 30mA, and the output current
capability of OUT2 is up to 100mA.
All digital output ports are normally open by default, and the polarity of the
output ports can be changed with the RTConfigurator debugging software.
A. The schematic diagram of the single-ended input interface of the output port is
shown in Figure 2-5 below.

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Figure 2-5 Output port single-ended input
B. Connect OUT1/OUT2 as sinking type output and connect it to the PLC input, as
shown in Figure 2-6 below.
Figure 2-6 Connect with PLC
C. Connect OUT1/OUT2 as sinking type output and connect it to the relay, as
shown in Figure 2-7 below.
Figure 2-7 Connect with relay
2.5. Network connection and IP address settings
Before you start, please confirm that you have the following fittings.
A stepper motor matching the driver.
A small straight screwdriver for tightening the connector screws.
A computer.
RTConfigurator software(It can be download from: http://www.rtelligent.net/).
A network cable is used for the driver parameter configuration, or for the
connection between the driver and the controller.