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.

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2.5.1. Download RTConfigurator
Download and unzip the RTConfigurator file；
Open RTConfigurator software/select communication driver
model/communication settings.
2.5.2. Connect your driver and computer using Ethernet
The RJ-45 connector on the EP series driver is a 100BASE-TX (100Mbps)
compliant interface that can be connected using a standard network cable. Please use
CAT5 or CAT5e (or higher) network cable.
Connecting the driver to the computer involves three steps:
Step 1: Connect the driver to your network from the physical layer
(1) Connection method 1: Connect the driver to your LAN(local area network).
If you have a spare port attached to a switch or router, you can set the driver's IP
address and be compatible with your network, which is an easy way to connect. This
technique also allows you to connect multiple drivers to your computer.
(2) Connection method 2: Connect the driver to your computer
The specific operation is: connect one end of the network cable to the network
card of the computer, and the other end to the driver.
Step 2: Set the IP address of the driver
Every device on an Ethernet network must have a unique IP address. If two
devices need to communicate with each other, they must both be connected to the
network, and both must have IP addresses under the same subnet. A Subnet is a
logical partition in a large network. Devices on one subnet cannot generally
communicate with devices on another subnet unless they are connected through
special network devices (such as routers). A subnet consists of a selected IP address
and a subnet mask.
If you want to know your computer's IP address and subnet mask, select
Start...Run. Then enter "cmd", then enter "ipconfig /all" and press Enter. You should
see something like Figure 2-8 below:

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Figure 2-8 IP address and subnet mask
If your computer’s subnet mask is set to 255.255.255.0, such a setting is called
a Class C subnet mask, and your machine can only communicate with another
network device that has the same first three bytes of its IP address..
Note: The numbers between IP address data points are called bytes.
You can refer to the following two situations:
(1) Class C subnet mask
If your computer has a class C subnet mask and the IP address is 192.168.0.20,
then it can communicate with the device whose IP address is 192.168.0.40, but cannot
communicate with the device whose IP address is 192.168.1.40.
(2) Class B subnet mask
If you change your subnet mask to 255.255.0.0, such a setting is called a class B
subnet mask, then your device can communicate with any device with the same first 2
bytes of the subnet mask.
Step 3: Set the appropriate network properties on your computer
Set the drive's two rotary DIP switches to 0 and the IP address to 10.10.10.10.
(1) In Windows XP, right-click "My Network" and select "Properties". Windows 7,
click Computer. Scroll down until you see "Network" in the left pane. Right-click and
select “Properties”. Select “Change Adapter Settings”.

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(2) You should see an icon for your network interface card (NIC). Right-click and
select “Properties”.
(3) Scroll down until you see "Internet Protocol (TCP/IP)." Select this item and click
the "Properties" button. windows 7 and vista, look for "(Transmission Control
Protocol/IP v4)"
(4) Select the option "Use the following IP address". Enter the address
"10.10.10.11". This will give your computer an IP address similar to that of drivers on
the same subnet.
(5) Next, enter the subnet mask as "255.255.255.0".
(6) Be sure to leave "Default Gateway" blank. This will prevent your computer from
looking for routers from this subnet.
(7) Because the driver is directly connected to the computer, your computer will
have a message bubble in the corner of the screen indicating that the network cable is
unplugged when the driver is powered off.
2.5.3. IP setting
The IP setting address format is: IPADD0. IPADD1. IPADD2. IPADD3
Default: IPADD0=192, IPADD1=168, IPADD2=0; The EP series driver has
two10-bit rotary DIP switches, the combination setting is IPADD3 in the IP address,
IPADD3 = (S1*10)+S2+10.
The factory default addresses are listed in Table 2-2 below:
Table 2-2 Factory default address
DIP Combination Value
IP address
0
10.10.10.10
1
192.168.0.11
2
192.168.0.12
3
192.168.0.13
4
192.168.0.14
5
192.168.0.15
...
192.168.0. IP low address
99
192.168.0.109
The switch 0 bit is always "10.10.10.10", and is the universal recovery address. If
someone wants to change another IP address but it is not recorded, once the address
is forgotten. Then only through the universal recovery address to connect.

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The user can set the upper three bits of the IP address, subnet mask, gateway and
other parameters through the "10.10.10.10" address. The details are shown in Table
2-3 below, among which:
The IP setting address format is: IPADD0. IPADD1. IPADD2. IPADD3
Default: 192.168.0. IPADD3
The gateway setting format is: GW0. GW1. GW2. GW3
Default: 192.168.0.1
The subnet mask format is: MSK0. MSK1. MSK2. MSK3
Default: 255.255.255.0
Table 2-3 IP address setting
MODBUS address
Bits
Property
Default
Range
Description
170
8
R/W
192
[0,255]
IPADD0
171
8
R/W
168
[0, 255]
IPADD1
172
8
R/W
0
[0, 255]
IPADD2
173
8
R/W
192
[0, 255]
GW0
174
8
R/W
168
[0, 255]
GW1
175
8
R/W
0
[0, 255]
GW2
176
8
R/W
1
[0, 255]
GW3
177
8
R/W
255
[0, 255]
MSK0
178
8
R/W
255
[0, 255]
MSK1
179
8
R/W
255
[0, 255]
MSK2
180
8
R/W
0
[0, 255]
MSK3
2.6. Alarm code
Table 2-4 Alarm code
LED status
Driver status
Green indicator is on for long time
Disabled
Green indicator is flickering
Working normally
One green indicator, one red indicator
Overcurrent
One green indicator, two red indicators
Overvoltage
One green indicator, three red indicators
Internal voltage error
One green indicator, four red indicators
Encoder out of tolerance
alarm

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One green indicator, five red indicators
Encoder error
One green indicator, six red indicators
Parameter validation
error
One green indicator, seven red indicators
Motor phase loss alarm
2.7. Mechanical dimensions
Figure 2-9 Driver dimensions

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3. Communication
3.1. Modbus/TCP introduction
Modbus is a communication protocol developed by MODICON in 1979 and is an
industrial field bus protocol standard. In 1996, Schneider introduced the MODBUS
protocol based on Ethernet TCP/IP-ModbusTCP. Modbus is an application layer
messaging protocol used for client/server communication between devices connected
on different types of buses or networks.
MODBUSTCP is a transmission protocol running on TCP/IP, (IANA-Internet
Assigned Numbers Authority) assigned port 502 for MODBUS/TCP, which is the only
port assigned in the instrumentation and automation industry at present.
It is usually used in the following media:
TCP over Ethernet;
Various asynchronous serial transmission media: RS-232, RS-422, RS-485.
Figure 3-1 Modbus application layer

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The MODBUS protocol allows easy communication in all types of network
architectures.
Figure 3-2 Modbus communication
A. Function code supported by Modbus/TCP
EP series drivers currently support the following Modbus function codes:
a. 0x03: Read Holding Registers
b. 0x06: Write Single Register
c. 0x10: Write Multiple Registers
B. Modbus/TCP register
a. Register address description
The MODBUS register starts with 0, while in the touch screen and PLC, the
address of the register is usually expressed as 400x type, starting with 1. So: PLC
address = MODBUS address + 1.
b. Register operation type
R-Read-only
W-Write-only
R/W-Read/Write
c. Data type
MODBUS defaults a register to 16 bits. Two consecutive registers Form a 32-bit
data, the lower 16 bits are first, and the higher 16 bits are last.
SHORT —— 16bit
LONG —— 32bit

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3.2. Register summary
Note: The register addresses in the following register summary table are all decimal.
Table 3-1 Register summary
Register
address
Operation
type
Data
type
Function description
Remark
0
R
SHORT
Alarm Code, warning mark
1
R
SHORT
Status Code, driver status flag
2
R
SHORT
Current input port value
3
R
SHORT
Current output port value
4
R
SHORT
Input port on edge latch register
5
R
SHORT
Input port shutdown edge latch register
6
W
SHORT
Input port on edge clear register
7
W
SHORT
Input port shutdown edge clear register
8
R
SHORT
Current absolute position in internal pulse
mode, low 16 bits
Form a
long data
9
R
SHORT
Current absolute position in internal pulse
mode, high 16 bits
10
R
SHORT
Given speed (RPM)
11
R
SHORT
BUS voltage (mV)
12
R
SHORT
Motor tracking error in closed-loop mode, low
16 bits
Form a
long data
13
R
SHORT
Motor tracking error in closed-loop mode, high
16 bits
14
R
SHORT
External pulse counter, low 16 bits
Form a
long data
15
R
SHORT
External pulse counter, high 16 bits
16
W
SHORT
Clear external pulse counter
17
R/W
SHORT
Command working mode: internal command
pulse or external command pulse
18
R/W
SHORT
Control command in internal pulse mode
19
R
SHORT
Pulse command mode in external pulse
20
R/W
SHORT
Application Mode Selection in Internal Pulse
Mode
21
R/W
SHORT
Motor type selection: two-phase or three-phase
22
R/W
SHORT
Motor running mode selection:

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Open-loop, servo mode one, servo mode two
23
R/W
SHORT
Reverse the running direction of the motor
25
R/W
SHORT
Open-loop running current (mA)
26
R/W
SHORT
Standby Current Percentage (%)
27
R/W
SHORT
Time to enter standby after pulse stops (ms)
28
R/W
SHORT
Pulse command filter
29
R
SHORT
Encoder current position (number of pulses)
30
R/W
SHORT
Automatic PI enable function
31
R
SHORT
Automatically recognized resistance value
(mOhm)
32
R
SHORT
Automatically recognized inductance value
(mH)
33
R/W
SHORT
User-set resistance value
34
R/W
SHORT
User-set inductance value
35
R/W
SHORT
Reserve
36
R/W
SHORT
Current loop proportional gain
37
R/W
SHORT
Current loop integral gain
38
R/W
SHORT
Current loop phase lead gain
39
R/W
SHORT
Current loop step test
40
R/W
SHORT
Motor encoder resolution
41
R/W
SHORT
Tracking error alarm threshold
42
R/W
SHORT
Positioning completion accuracy
43
R/W
SHORT
Positioning completion duration
44
R/W
SHORT
Time from pulse stop to start detection of
positioning completion
45
R/W
SHORT
Closed-loop maximum current
46
R/W
SHORT
Basic current percentage (%)
47
R/W
SHORT
Level one speed feedback filter
48
R/W
SHORT
Level two speed feedback filter
49
R/W
SHORT
Servo mode one low speed anti-resonance
gain
50
R/W
SHORT
Servo mode two position loop proportional gain
51
R/W
SHORT
Servo mode two position loop integral gain
52
R/W
SHORT
Servo mode two speed loop damping 1

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53
R/W
SHORT
Servo mode two speed loop damping 2
54
R/W
SHORT
Servo mode two speed loop feedforward gain
55
R/W
SHORT
Servo mode two gravity compensation
56
R/W
SHORT
Servo mode two acceleration gain
57
R/W
SHORT
Servo mode two acceleration feedforward gain
58
R/W
SHORT
Servo mode two speed loop output filter
59
R/W
SHORT
Servo mode two acceleration feedforward filter
60
R/W
SHORT
Input port 1 function setting register
61
R/W
SHORT
Input port 2 function setting register
62
R/W
SHORT
Input port 3 function setting register
63
R/W
SHORT
Input port 4 function setting register
64
R/W
SHORT
Input port 5 function setting register
65
R/W
SHORT
Input port 6 function setting register
66
R/W
SHORT
Output port 1 function setting register
67
R/W
SHORT
Output port 2 function setting register
68
R/W
SHORT
Output state setting when OUT0 and OUT1 are
used as normal output
69
R
SHORT
Input function status
70
R/W
SHORT
Point-to-point motion acceleration (r/s^2)
71
R/W
SHORT
Point-to-point motion deceleration (r/s^2)
72
R/W
SHORT
Point-to-point motion maximum speed (rpm)
73
R/W
SHORT
Point-to-point motion stroke, low 16 bits (Pulse)
Form a
long data
74
R/W
SHORT
Point-to-point motion stroke, high 16 bits(Pulse)
75
R/W
SHORT
Jog acceleration (r/s^2)
76
R/W
SHORT
Jog deceleration (r/s^2)
77
R/W
SHORT
Jog speed (rpm)
78
R/W
SHORT
Emergency stop deceleration (r/s^2)
84
R/W
SHORT
Position mode selection
85
R/W
SHORT
Internal command counter clear
88
R/W
SHORT
Out of tolerance alarm is invalid
89
R/W
SHORT
Servo mode one integral gain
90
R/W
SHORT
Save parameters
91
R/W
SHORT
Reset
92
R
SHORT
Reserve