Rtelligent R42 User manual

R42 User Manual
szruitech.com
Digital Stepper Driver R42
User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

R42 User Manual
szruitech.com
Contents
1. Product overview...........................................................................................................................1
2.Application environment and installation.................................................................................... 2
2.1 Environmental requirement...................................................................................................2
2.2 Driver installation dimensions...............................................................................................2
2.3 Driver 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..................................................................................................................... 5
3.4 Control signal connection.......................................................................................................5
3.4.1 PUL, DIR port: connection for pulse command........................................................... 5
3.4.2 ENA port: used to enable or disable............................................................................. 6
3.4.3 Examples for control signal connection........................................................................ 6
4.The setting of DIP switches and operating parameters........................................................... 7
4.1 The setting of current............................................................................................................. 8
4.2 The setting of pulse per revolution....................................................................................... 8
4.3 Half / full flow selection.......................................................................................................... 9
5. Driver working status LED indication........................................................................................ 9
6. Common faults and troubleshooting..........................................................................................9
7. Guarantee clause.......................................................................................................................10

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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.
The R42 driver can select the running current and subdivision through the DIP switch.
There are 16 subdivisions and 8 current selections. It has overvoltage, undervoltage and
overcurrent protection. Its input and output control signals are optically isolated.
Power supply
24 – 48VDC
Output Current
Up to 2.2 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
Support direction & pulse, CW/CCW double pulse,
Pulse filtering
2MHz digital signal filter
Idle current
The current is automatically halved after the motor stops
running
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.

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2. Application environment and installation
2.1 Environmental requirement
Item Rtelligent R42
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
2.2 Driver installation dimensions

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2.3 Driver 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.
3.1 Port function description
Function Grade Definition Remarks
Power supply input
port
V+ Input DC power positive
DC 24~48V
V- Input DC power
negative
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
PUL+ Pulse input interface
3.3 ~ 24V
level
compatible
PUL-
DIR+ Direction input interface
DIR-
Enable connection ENA+ Enable control interface
ENA-
3. Driver port and connection

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3.2 Power supply input
The driver's working power is DC power, and the input voltage range is between 24V ~ 48V.
Input power polarity should not be reversed!!!
The driver’s work mode is constant current control. The driver output the voltage to motor
by changing the input power into PWM chopping wave when it is working. In this case, the
input power will affect the performance of driver.
Power selection reference:
Voltage:
Stepper motor has the characteristics of torque decrease with the increase of motor speed,
and the input voltage will affect the amplitude of high-speed torque reduction. Properly
increasing the voltage of the input power supply can increase the output torque of the motor
at high speed.
Therefore, if you want to get better high-speed performance, pls increase the power supply
voltage of the driver; and for low-speed applications, choosing a slightly smaller voltage can
appropriately reduce the heat of the motor.
Current:
The working process of the driver is to convert the input high-voltage and low-current power
supply into the low-voltage and high-current at both ends of the motor winding. In actual
use, the appropriate power supply should be selected according to the motor model, load
torque and other factors.
The effects of regeneration voltage:
When the stepper motor is working, it also retains the characteristics of the generator.
When decelerating, the kinetic energy accumulated by the load will be converted into
electrical energy and superimposed on the driver circuit and input power supply.
Pay attention to the setting of acceleration and deceleration time to protect the driver or
power supply.
When the driver is powered off, you will see the driver's LED indicator on when the load is
pulled to make the motor move, which is also affected by this.

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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
The matching motor of the R42 driver is the low resistance and low inductance hybrid
stepper motor.
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 standard R series driver signal interface is in the form of pulse, and R42 can receive
4-wire motor
8-wire series
8-wire parallel
6-wire series
6-wire center shaft head

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two 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 R42 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: used to enable or disable
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 error state, ENA input can be used to restart the driver. Firstly, the fault
is eliminated, and then a falling edge signal is input to the ENA terminal. The driver can
restart the power part and the motor is excited.
The level logic of the ENA signal can be set to the opposite, with the logic being opposite to
the above.
3.4.3 Examples for control signal connection
Common Anode
Pul+
Pul-
Dir+
Dir-
Ena+
Ena-
Vcc
Forward
Forward
Reverse
Reverse
controller driver

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Common Cathode
Vcc
Pul+
Pul-
Dir+
Dir-
Ena+
Ena-
Vcc
Vcc
Difference
Pul+
Pul-
Dir+
Dir-
Ena+
Ena-
Pul+
Pul-
Dir+
Dir-
Ena+
Ena-
4.The setting of DIP switches and operating parameters
SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8
controller
controller
driver
driver
The setting of current Half/ Full current option The setting of pulse per revolution

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4.1 The setting of current
Peak Current Average Current SW1 SW2 SW3 Remarks
0.3A 0.2A on on on
0.5A 0.3A off on on
0.7A 0.5A on off on
1.0A 0.7A off off on
1.3A 1.0A on on off
1.6A 1.2A off on off
1.9A 1.4A on off off
2.2A 1.6A off off off
DIP SW1, SW2, SW3 are used to set current which is output from driver to motor.
Generally, the current is set to the rated current of the motor. If your system has high
request to the heating, please decrease the current properly to lower the motor’s heating,
but at the same time, the output torque will be lower. If you don’t need the motor running
continuous, you can increase the current to higher the torque. But be minded that the
current can not be 1.5times over than the rated current.
4.2 The setting of pulse per revolution
Steps/revolution SW5 SW6 SW7 SW8 Remarks
200 on on on on
Customizable other pulse per
revolution
400 off on on on
800 on off on on
1600 off off on on
3200 on on off on
6400 off on off on
12800 on off off on
25600 off off off on
1000 on on on off
2000 off on on off
4000 on off on off
5000 off off on off
8000 on on off off
10000 off on off off
20000 on off off Off
25000 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 / per revolution pulse
Motor stroke = number of command pulses / pulse per revolution
Other
Current
can be
customiz
ed

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4.3 Half / full flow selection
DIP SW4 is used to set the static current value when the motor is stopped
Off means that when the driver's power-on pulse stops, the driver switches the current
output to the motor to half (half current) when it is rotating;
On means that when the driver's power-on pulse stops, the driver maintains the same
current output to the motor as the rotation (full current) ). In general use, SW4 should be set
to off, so that the heat of the motor and driver is reduced, and the reliability is improved.
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
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 The motor connection is wrong Check the motor connection
6. Common faults and troubleshooting

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indicator is
on
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 up
Short circuit between terminals Check power polarity or external short
circuit
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
7.2 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
7.Guarantee clause
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.

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well as the contact information and mailing methods of the sender.
Mailing address:
Post code:
Tel.: