Rtelligent R Series User manual

R130 User Manual
szruitech.com
Digital Stepper Driver R130
User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

R130 User Manual
szruitech.com
Contents
1. Product overview...........................................................................................................................1
2. Application environment and installation.................................................................................. 2
2.1Environmental requirement.....................................................................................................2
2.2Driver installation dimensions.................................................................................................2
2.3Driver installation requirements..............................................................................................3
3. Driver port and connection..........................................................................................................3
3.1 Port function description........................................................................................................3
3.2 Power supply input.................................................................................................................4
3.3 Motor connection.......................................................................................................4
3.4 Control signal connection......................................................................................................5
3.4.1 PUL, DIR Port: connection for pulse command...........................................................5
3.4.2 ENA port: enable/disable................................................................................................ 5
3.4.3 Input IO signal: IN1, IN2..................................................................................................6
3.4.4 Output IO signal: ALM, RDY...........................................................................................6
3.4.5 Examples for pulse enable signal connection............................................................. 6
4. The setting of DIP switches and operating parameters......................................................... 7
4.1The setting of current...............................................................................................................7
4.2 The setting of pulse per revolution....................................................................................... 8
4.3 Filter selection..........................................................................................................................9
4.4 Bandwidth selection................................................................................................................ 9
5. Driver working status LED indication........................................................................................ 9
6. Common faults and troubleshooting........................................................................................ 10
7. Guarantee clause.......................................................................................................................11

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1. Product overview
Thank you for choosing Rtelligent R series digital stepper driver.
R series stepper driver, which surpasses the performance of common analog stepper driver
comprehensively based on the new 32-bit DSP platform developed by TI, and adopting the
micro-stepping technology and PID current control algorithm design. The R series stepper
drivers have the features of low noise, low vibration, low heating and high-speed high
torque output, it is suitable for most stepper motors by integrated with the micro-stepping
technology.
R130 driver has built-in pulse command S-type acceleration/deceleration function and limit
frequency optional function, which is set by DIP switches.
In addition, you can select the current and subdivision through the DIP switch. There are16
subdivisions and 16 current selections. It has over-voltage, under-voltage, and over-current
protection. Its input and output control signals are optically isolated.
We hope that our products with excellent performance can help you to complete the sports
control program successfully.
Please read this technical manual before using the products.
Power supply
110 - 230 VAC
Output Current
Up to 7.0 amps（peak value）
Current control
PID current control algorithm
Micro-stepping settings
DIP switch settings, 16 options
Speed range
Use the suitable motor，up to 3000rpm
Resonance suppression
Automatically calculate the resonance point and inhibit the
IF vibration
Parameter adaption
Automatically detect the motor parameter when driver
initialize, optimize the controlling performance
Pulse mode
Direction & pulse, CW/CCW double pulse
Pulse filtering
2MHz digital signal processing filter
Neutral current
Automatically halve the current after the motor stopping

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2. Application environment and installation
2.1Environmental requirement
Item
Rtelligent R130
Installation environment
Avoid dust, oil and corrosive environment
Vibration
0.5G（4.9m/s2）Max
Operating temperature/humidity
0℃~ 45℃/ 90% RH or less (no condensation)
Storage and transportation
temperature:
-10℃~ 70℃
Cooling
Natural cooling / away from the heat source
Waterproof grade
IP54
2.2Driver installation dimensions

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2.3Driver installation requirements
Please install the driver vertically or horizontally, with its front facing forward, top facing
upward to facilitate cooling.
During assembly, avoid drillings and other foreign matters falling inside the driver.
During assembly, please use M3 screw to fix.
When there is vibration source (such as a driller) close to the installation position, please
use a vibrating absorber or a vibration resistant rubber gasket.
When multiple drivers are installed in the control cabinet, please pay attention to reserve
enough space for sufficient heat dissipation. If necessary, you can configure cooling fans to
ensure good heat dissipation conditions in the control cabinet.
3. Driver port and connection
3.1 Port function description
Function
Grade
Definition
Remarks
Power supply input
port
AC
AC power supply
input
AC 110~230V
AC
AC power supply
input
PE
Earth Wire
Motor connection
port
A+
connect two
terminals of motor’s
phase-A winding
A-
B+
connect two
terminals of motor’s
phase-B winding
B-
Pulse connection
1
PUL+
Pulse input interface
3.3 ~ 24V level
compatible
2
PUL-
3
DIR+
Direction input
interface
4
DIR-
Enable connection
7
ENA+
Enable control
interface
8
ENA-

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Input signal
5
IN1+
Universal input 1
3.3 ~ 24V level
compatible
6
IN1-
13
IN2+
Universal input 2
14
IN2-
Output signal
9
ALM+
Alarm Output
24V, below
40mA
10
ALM-
11
RDY+
Ready output
12
RDY-
15
NC
No definition
3.2 Power supply input
The driver's working power is AC power, and the input voltage range is between 110V ~
230V. Please pay attention to confirm the local grid voltage, and do not exceed the
maximum voltage of the driver.
The specifications of power supply are single-phase AC power. Please install an EMI
device in front of the driver terminals to filter out electromagnetic interference from the
power grid.
3.3 Motor connection
4线电机
A+
A -
B+
B-
8线串联
A+
A -
B+
B-
8线并联
A+
A -
B+
B-
6线串接
A+
A -
B+
B-
NC
NC
6线中心抽头
B+
B-
A+
A -
NC
NC
4-wire motor
8-wire series
8-wire parallel
6-wire series
6-wire center shaft head

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The R130 driver can drive two-phase hybrid stepping motors below 130 frames.
The common 2-phase stepper motor’s lead number are 4, 8 and 6.
There is only one connection mode for 4 leads motor.
Series and parallel connection mode are used by 8 leads motor:
When series used, the winding inductance increased. The set of Driver current should be
about 0.7times than before. This is suitable for low speed required.
When parallel used, the winding inductance decreased. The set of Driver current should be
about 1.4times than before. This is suitable for high speed required.
Parallel and central tapping connection mode are used by 6 leads motor:
When parallel used, all the winding connected, and the inductance was higher. This is
suitable for low speed required.
When central tapping used, half of the winding connected, and the inductance was lower.
This is suitable for high speed required.
3.4 Control signal connection
3.4.1 PUL, DIR Port: connection for pulse command
The signal interface of standard R series driver is pulse-shaped, and the R130 can receive
two types of pulse command signals.
The upper controller can be the pulse signal generating device, such as PLC, MCU, control
card and controller.
The pulse level that R130 driver can be used: 3.3V-24V (no need to connect resistor)
Pulse and direction (PUL + DIR)
Double pulse (CW +CCW)
3.4.2 ENA port: enable/disable
By default,when the internal optocoupler is off, the driver outputs current to the motor;
When the internal optocoupler is on, the driver will cut off the current of each phase of the
motor to make the motor free, and the step pulse will not be responded.
When the motor is in an error state, it is automatically turned off. The level logic of the
enable signal can be set to the opposite.
Forward
Reverse
Reverse
Forward

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3.4.3 Input IO signal: IN1, IN2
IN1, IN2 are input signals with optocoupler isolation and can accept differential or
single-ended switch value inputs. This signal is the input logic and input pin of the driver,
which increases the trigger condition of the driver motion. For specific use, please contact
Rtelligent engineer.
3.4.4 Output IO signal: ALM, RDY
ALM and RDY are logic output pins of the driver. By default, they are defined as ALM alarm
output and RDY ready signal output. The alarm state and ready state of the driver can be
output to the external upper computer system. The output signal can also be defined as
other logic outputs. For specific use, please contact Rtelligent engineers.
3.4.5 Examples for pulse enable signal connection
Common Anode
Pul+
Pul-
Dir+
Dir-
Ena+
Ena-
Vcc
Common Cathode
Vcc
Pul+
Pul-
Dir+
Dir-
Ena+
Ena-
Vcc
Vcc
Controller
Controller
Driver
Driver

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Difference
Pul+
Pul-
Dir+
Dir-
Ena+
Ena-
Pul+
Pul-
Dir+
Dir-
Ena+
Ena-
4. The setting of DIP switches and operating parameters
The setting of current The setting of pulse per revolution Filtering Bandwidth
4.1The setting of current
Average Current SW1 SW2 SW3 SW4 Remarks
0.7A on on on on
Other
current
can be
customiz
ed.
1.1A off on on on
1.6A on off on on
2.0A off off on on
2.4A on on off on
2.8A off on off on
3.2A on off off on
3.6A off off off on
4.0A on on on off
4.5A off on on off
5.0A on off on off
SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 SW9 SW0
Controller Driver

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5.4A off off on off
5.8A on on off off
6.2A off on off off
6.6A on off off off
7.0A off off off off
4.2 The setting of pulse per revolution
Steps/revolution SW5 SW6 SW7 SW8 Remarks
400 on on on on
Other
pulse per
revolution
can be
customiz
ed.
500 off on on on
600 on off on on
800 off off on on
1000 on on off on
1200 off on off on
2000 on off off on
3000 off off off on
4000 on on on off
5000 off on on off
6000 on off on off
10000 off off on off
12000 on on off off
20000 off on off off
30000 on off off off
60000 off off off off
DIP SW5, SW6, SW7, and SW8 are used to set the pulse per revolution required by the
motor.
Motor speed = command pulse frequency ÷ pulse per revolution
Motor stroke = number of command pulses ÷ pulse per revolution
DIP SW1, SW2, SW3 , SW4 are used to set current which is output from driver to motor.
Generally, the current is set to not exceed the rated current of the motor (effective value). If
your system has high request to the heating, please decrease the current properly to lower
the motor’s heating.

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4.3 Filter selection
DIP SW9 is used to select the pulse smoothing filter function of the driver.
off means that the driver's internal S-type pulse smoothing function is not applied when the
driver receives an external command;
On means that when the driver receives an external command, the internal S-type pulse
smoothing function of the driver is added.
4.4 Bandwidth selection
DIP SW0 is used to select the input pulse frequency range of the driver.
off means that the maximum frequency of the external pulse received by the driver is
200KHz.
On means that the maximum frequency of the external pulse received by the driver is
1MHz.
5. Driver working status LED indication
LED Status
Driver Status
Green indicator is on for
long time
Driver not enabled󳮂 󳮂
Green indicator is flickering
Driver working normally󳮂
One green indicator and
one red indicator󳮂
Driver overcurrent󳮂
One green indicator and
two red indicators
Driver input power
overvoltage󳮂
One green indicator and
three red indicators󳮂
The internal voltage of the
driver is wrong
One green indicator and
seven red indicators
Motor phase loss

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6. Common faults and troubleshooting
Phenomenon
Possible situations
Solutions
Motor does not
work
Power indicator is off
Check the power supply circuit for
normal power supply
The motor rotor is locked but
the motor does not work
Pulse signal is weak; increase the
signal current to 7-16mA
The speed is too slow
Select the right micro-stepping
Driver is protected
Solve the alarm and re-power
Enable signal problem
Pull up or disconnect the enable
signal
Command pulse is incorrect
Check whether the upper computer
has pulse output
The steering of
motor is wrong
The rotary direction of motor is
reverse
Adjust the DIP SW5
The motor cable is
disconnected
Check the connection
The motor has only one
direction
Pulse mode error or DIR port
damaged
Alarm indicator
is on
The motor connection is wrong
Check the motor connection
The motor connection and
encoder connection are wrong
Check the sequence of encoder
connection
The voltage is too high or too
low
Check the power supply
The position or
speed is wrong
The signal is disturbed
Eliminate interference for reliable
grounding
The command input is incorrect
Check the upper computer
instructions to ensure the output is
correct
The setting of Pulse per
revolution is wrong
Check the DIP switch status and
correctly connect the switches
Encoder signal is abnormal
Replace the motor and contact the
manufacturer
The driver
terminal burned
Short circuit between terminals
Check power polarity or external
short circuit

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up Internal resistance between
terminals is too large
Check whether there is any solder
ball due to excessive addition of
solder on the wire connections
The motor is out
of tolerance
Acceleration and deceleration
time is too short
Reduce command acceleration or
increase Driver filtering parameters
Motor torque is too low Select the motor with high torque
The load is too heavy Check the load weight and quality
and adjust the mechanical structure
The current of power supply is
too low
Replace the appropriate power
supply
7.1 Warranty period: 12 months
We provide quality assurance for one year from the date of delivery and free maintenance
service for our products during the warranty period.
7.2 Exclude the following:
■Improper connection, such as the polarity of the power supply is reversed and
insert/pull the motor connection when the power supply is connected.
■Beyond electrical and environmental requirements.
■Change the internal device without permission.
7.3 Maintenance process
For maintenance of products, please follow the procedures shown below:
(1) Contact our customer service staff to get the rework permission.
(2) The written document of the driver failure phenomenon is attached to the goods, as
well as the contact information and mailing methods of the sender.
Mailing address:
Post code:
Tel.:
7. Guarantee clause