Rtelligent R60-AL User manual

R60-AL User Manual
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Contents
1.Product Overview............................................................................................................................3
1.1 Characteristic.........................................................................................................................3
2. Application Environment and Installation......................................................................................3
2.1 Environmental requirement.....................................................................................................3
2.2 Drive installation dimensions................................................................................................... 4
3. Drive Port and Connection............................................................................................................. 4
3.1 Port function description......................................................................................................... 4
3.1.1 Power input....................................................................................................................... 4
3.2 Control signal connection........................................................................................................5
3.2.1 PUL、DIR port: connection for pulse instructions............................................................6
3.2.2 ENA port: used to enable or disable..................................................................................7
3.2.3 ALM port: for alarm output...............................................................................................7
3.3 USB port................................................................................................................................ 7
4. The setting of DIP switches and operating parameters................................................................. 8
4.1 The setting of current..............................................................................................................8
4.2 Stand-by current......................................................................................................................8
4.3 The setting of pulse per revolution......................................................................................... 8
5. Drive working status LED indication...............................................................................................9
6. Low speed vibration...................................................................................................................... 9
7. Phase loss alarm.......................................................................................................................... 11
8. Internal motion control function................................................................................................ 11
8.1 Communication control mode............................................................................................ 11
8.1.1 Point control mode..........................................................................................................11

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8.1.2 Jog control mode............................................................................................................. 13
8.2 IO control: start / stop + direction...................................................................................... 14
8.3 IO control: forward + reverse..............................................................................................14
9. Common Faults and Troubleshooting......................................................................................... 15

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1. Product Overview
R60-AL is a high-performance digital stepper motor driver with integrated intelligent motion
controller function and built-in S-shaped acceleration and deceleration instructions. Through
the USB port, you can easily configure the driver and expand the application of the driver.
1.1 Characteristic
Programmable small size stepper motor driver
Working voltage: 24 ～48V DC
Communication method: USB to COM
Maximum phase current output: 5.6A / phase (sinusoidal peak value)
Low-speed vibration harmonic algorithm, which greatly optimizes the specific low-speed
vibration of the motor
Phase loss alarm function
Digital IO port:
3 optically isolated digital signal inputs, high level can directly receive 24V DC level;
1 optically isolated digital signal output, maximum withstand voltage 30V, maximum sink or draw
current 50mA.
8 levels of user-definable current
16 levels of user-defined subdivisions, supporting any resolution in the range of 200 ～
65535
IO control mode, support 16 speed customization
Programmable input port and output port
2. Application Environment and Installation
2.1 Environmental requirement
Item
R60-AL
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

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2.2 Drive installation dimensions
3.
Drive Port and Connection
3.1 Port function description
Function
Grade
Definition
Remarks
Motor
B-
Two-phase stepping motor B-
phase winding
Reversing any set of
windings will change the
running direction of the
motor
B+
A-
Two-phase stepping motor A-
phase winding
A+
Power supply
V+
Positive pole of power supply
Pls do not connect reverse
the power
V-
Negative pole of power supply
3.1.1 Power input
The driver's working power is DC power, and the input voltage range is between 18V ~ 50V.
Power selection reference:
Voltage：
The stepping motor has the characteristic that the torque decreases with the increase of the
motor speed, and the input power voltage will affect the magnitude of the high-speed torque
drop of the motor. Properly increasing the voltage of the input power can increase the output

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torque of the motor at high speed.
Stepping servo has higher speed and torque output than ordinary stepping. Therefore, if better
high-speed performance is desired, the power supply voltage of the driver needs to be increased.
Current：
The driver works by converting the input high-voltage and low-current power supply to the low-
voltage and high-current across the motor windings. In actual use, select a suitable power source
according to the motor model, load torque and other factors.
Effect of regeneration voltage：
The stepper motor also retains the characteristics of the generator when it is working. During
deceleration, the kinetic energy accumulated by the load will be converted into electrical energy
and superimposed on the driver circuit and input power. When using, pay attention to the setting
of acceleration and deceleration time to prevent the protection of the driver or power supply.
When the drive is powered off, when the load is pulled to make the motor move, you will see that
the drive LED is on, which is also affected by this.
3.2 Control signal connection
Function
Grade
Description
Pulse/IN1
PUL+
Receive 24V signal by
default, please use -5V for
5V signal
PUL-
Direction/IN2
DIR+
DIR-
Enable/IN3
ENA+
ENA-
Alarm/OUT1
ALM+
Photocoupler isolation, open
collector output
ALM-

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3.2.1 PUL、DIR(IN1，IN2) port：
When working in external pulse command mode by default, R60-AL can receive two pulse
command signals: PUL + DIR, CW + CCW.
External pulse command form through debugging software
脉冲&方向（PUL +
DIR）
PUL
DIR
Forward
Reverse
双脉冲（CW +CCW）
PUL
DIR
Forward
Reverse

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3.2.2 ENA（IN3）port：
The default ENA port is the drive offline (enabled) function:
When the internal photocoupler is turned off, the driver outputs current to the motor;
When the internal photocoupler is turned on, the driver will cut off the current of each
phase of the motor to make the motor in a free state. At this time, the step pulse is not
responded.
When the motor is in an error state, the enable is automatically disconnected.
The level logic of the enable signal can be set to the opposite.
At the same time, this port can be multiplexed with other functions like IN1 and IN2.
3.2.3 ALM（OUT1）port：
The driver includes an optically isolated output port ALM. By default, the ALM port is an alarm
output. When the driver is in an error state and a normal working state, the ALM outputs
different optocoupler levels.
At the same time, it can be reused for other functions, as shown below:
3.3 USB port
The USB is a micro usb portand a USB driver needs to be installed.

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4. The setting of DIP switches and operating parameters
The setting of current stand-by current The setting of pulse per revolution
SW1
SW2
SW3
SW4
SW5
SW6
SW7
SW8
4.1 The setting of current
Current
SW1
SW2
SW3
Remarks
1.4
on
on
on
8 levels of current
can be set by the
debugging software
2.1
off
on
on
2.7
on
off
on
3.2
off
off
on
3.8
on
on
off
4.3
off
on
off
4.9
on
off
off
5.6
off
off
off
4.2 Stand-by current
SW4 is used to set the current percentage when the driver is in standby,
SW4 = ON, as long as the driver is in the enabled state, the current remains at the set current
SW4 = OFF, after the driver stops receiving pulses for a certain period of time, it enters the
standby state, and the current drops to a certain percentage of the set current
The default setting is: After stopping receiving pulses for 1 second, the motor winding current
will be 50%.
4.3 The setting of pulse per revolution
Stepping
count/revolution
SW5
SW6
SW7
SW8
Remarks
200
on
on
on
on
16 levels of
subdivision can
be set through
the debugging
software
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

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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
5.
Drive working status LED indication
LED status
Drive status
Green indicator is on
for long time
Drive not enabled
Green indicator is
flickering
Drive working normally
One green and one red
indicator
Drive overcurrent
One green and two red
indicators
Drive input power
overvoltage
One green and three
red indicators
The internal voltage of
the drive is wrong
One green and seven
red indicators
Motor phase loss
6.
Low speed vibration
Aiming at the resonance problem of two-phase stepper motors in the low speed
region, R60-AL uses a harmonic algorithm to effectively reduce the resonance of the motor.
Generally, the first resonance point speed V1 of a two-phase stepping motor is around
1 rps, and the second resonance point speed V2 is around 2 rps. The specific resonance
speed of the motor is directly related to the inertia and current of the motor. It needs to be
tested to find the resonance point under different conditions.
The velocity relationship between the two resonance points is as follows:
V2 = 2 x V1
To debug resonance,
In the first step, you need to find the resonance point. You can use an external pulse or
an internal pulse to find the first resonance point by comparison, and then maintain the
current speed.

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The second step is to adjust the amplitude and phase of the first resonance point, and
the resonance of the motor will be significantly reduced.
The third step is to let the motor run at the second resonance point and maintain the current speed.
The fourth step is to adjust the amplitude and phase of the second resonance point. The resonance of
the motor will be significantly reduced. The debugging interface is as follows:

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7. Phase loss alarm
The driver has a motor phase loss alarm function, which can detect the phase loss
state that occurs when the motor is stationary and in motion. During the operation of the
stepper motor, due to mechanical reasons, the motor winding wire may be loosened and
disconnected. At this time, the driver will output an alarm signal to prevent the device from
making wrong actions.
Because this function depends on the current detection of the motor winding, when the
motor current is too small (less than 300mA), this function has a false alarm. At this time, the
user can turn off this function. Set parameter 188: Phase loss detection enable, set it to 0.
8. Internal motion control function
When working in the internal pulse command mode, the PUL and DIR ports are used as IO
input signals. The IO functions need to be set through the debugging software RStepper
Configurator. As shown below:
8.1 Communication control mode
In this mode, the user can make the motor run the specified pulse stroke or jog operation by
communicating with the given running command. Specific instructions are as follows:
8.1.1 Point control mode
It has the function of communication control motor running the specified pulse stroke.
The specific modes and parameters that need to be set are as follows (the register
address is a decimal number unless otherwise noted or described):
（1）Set the register address 20 (selected by the preset application program in the
internal pulse mode) to 0 (communication control, respond to the instruction of register
address 18);
（2）Set the functions of the digital input and output ports according to the application
needs and the actual wiring terminals;

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（3）Set motion parameters:
Address
Unit
Parameter Description
70
R/S^2
Acceleration of point motion
71
R/S^2
Deceleration of point motion
72
RPM
Speed of point motion
73
Command pulse
Low 16-bit register of instruction pulse for point motion
74
Command pulse
High 16-bit register of instruction pulse for point motion
78
R/S^2
Emergency stop deceleration
84
-
Set position operation mode:
0
Incremental
1
Absolute
（4）Communication given operation instruction: Start the point movement by writing
the values 1 (fixed length forward rotation) and 2 (fixed length reverse rotation) to register
18 (for details of this register, please refer to "Drive Control Mode" Set register 18 in [17 ～
23] ”;
（5）During operation, if stopping is required, you can write value 6 (deceleration stop,
deceleration is set value of register 71), value 5 (emergency stop stop, deceleration is set
value of register 78) into register .
Note:
When the motor is running, it only responds to the stop command (deceleration stop
or emergency stop). If you need to change the running direction of the motor by command,
you need to send a stop command and wait for the motor to stop before sending a start
signal in the other direction.
Change the acceleration (register 70), deceleration (register 71), and speed (register 72)
during the motor running, but the driver will not respond to these settings immediately.
The setting will only be set after the motor is stopped and restarted Value to run. It is
important to point out that the emergency stop deceleration (Register 78) is responded to
the emergency stop of the current motion, and there is no need to wait for the emergency
stop of the next motion.

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8.1.2 Jog control mode
It has the function of controlling the jog operation of the motor through communication.
The specific modes and parameters that need to be set are as follows (the register
address is a decimal number unless otherwise noted or described):
（1）Set the value of register address 20 (selected by the preset application program in
internal pulse mode) to 0 (communication control, respond to the instruction of register
address 18);
（2）Set the functions of the digital input and output ports according to the application
needs and the actual wiring terminals;
（3）Set motion parameters:
Address
Unit
Parameter Description
75
R/S^2
Acceleration of point motion
76
R/S^2
Deceleration of point motion
77
RPM
Speed of point motion
78
R/S^2
Emergency stop deceleration
（4）Communication given operation instruction: Start the point motion by writing the
values 3 (continuous forward rotation) and 4 (continuous reverse rotation) to register 18
(for details of this register, please refer to "Drive Control Mode Setting [ 17 to 23] "in
register 18);
（5）During operation, if stopping is required, you can write value 6 (deceleration stop,
deceleration to register 76 setting value) and value 5 (emergency stop stop, deceleration to
register 78 setting value) to register 18 .
Note:
When the motor is running, it only responds to the stop command (deceleration stop or
emergency stop). If you need to change the running direction of the motor by command,
you need to send a stop command and wait for the motor to stop before sending a start
signal in the other direction.
The acceleration (register 75) and deceleration (register 76) are changed during the
running of the motor, but the driver will not respond to these set values immediately. The
motor will run at the set values only after the motor is stopped and started again. It is
important to point out that the emergency stop deceleration (Register 78) is responded to
the emergency stop of the current motion, and there is no need to wait for the emergency

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stop of the next motion.
The speed can be changed during the running of the motor (register 77), and the driver
will respond immediately, that is, the motor will immediately run at the set speed value,
without the need to restart after stopping to respond.
8.2 IO control: start / stop + direction
In this mode, two IN ports are used to control the operation of the motor. One of the IN
terminals is used to control the start / stop of the motor, and one IN terminal is used to
control the running direction of the motor. The specific settings are as follows:
（1） Command working mode: 0-internal pulse mode
（2） Internal application mode: 2-IO speed control: start / stop + direction
（3） IO settings：
（4） The speed for this mode is the speed defined by the speedometer, selected by SW5, 6, 7,
8
（5） Set motion parameters, you can modify acceleration and deceleration
8.3 IO control: forward + reverse
Same as 8.2, only need to modify (2) to: 3-IO speed control: forward + reverse.

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9. 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
Drive 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 motor wiring, or change direction with
software
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 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
The drive
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