Rtelligent R86 User manual

R86 User Manual
Digital Stepper Driver R86
User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

R86 User Manual
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
3.1Port function description.......................................................................................................... 3
3.2Power supply input................................................................................................................... 4
3.3Motor connection...................................................................................................................... 5
3.4Control signal connection........................................................................................................ 5
3.4.1 PUL, DIR Port: connection for pulse command...........................................................5
3.4.2 ENA port: enable/disable.................................................................................................6
3.4.3 Examples for control signal connection........................................................................ 6
4.The setting of DIP switches and operating parameters........................................................... 7
4.1The setting of current............................................................................................................... 8
4.2The setting of pulse per revolution.........................................................................................8
4.3The selection of Half/Full Current.......................................................................................... 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
drives 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.
R86 driver can select the current and subdivision through the DIP switch. There are16
subdivisions and 8 current selections. It has over-voltage, under-voltage, and over-current
protection. Its input and output control signals are optically isolated.
Power supply
20 - 80 VAC / 24 – 100VDC
Output Current
Up to 7.2 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
Direction & pulse, CW/CCW double pulse
Pulse filtering
2MHz digital signal processing filter
Neutral current
Automatically halve the current after the motor stopping
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
2.1Environmental requirement
Item
Rtelligent R86
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 drives 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
3.1Port function description
Function
Grade
Definition
Remarks
Power supply input
port
AC
Input AC power
supply
AC 20~80V
DC 24~100V
AC
Input AC power
supply
Motor connection port
B-
connect two terminals
of motor’s phase-B
winding
B+
A-
connect two terminals
of motor’s phase-A
winding
A+
Enable connection
ENA+
Enable control
interface
3.3 ~ 24V level
compatible
ENA-
Pulse connection
PUL+
Pulse input interface
PUL-
DIR+
Direction input
interface
DIR-

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3.2Power supply input
The power supply of the driver can be both AC power and DC power, and the input voltage
range is 20V~80VAC or 24V~100VDC.
Please be minded that AC power cannot exceed 80VAC. and do not connect to commercial
electricity(220VAC) directly!
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 drive.
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.
Stepper servo has a higher speed and torque output than ordinary stepper. Therefore, if
you want to get better high-speed performance, you need to increase the power supply
voltage of the driver.
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 drive or
power supply.
When the drive is powered off, you will see the drive's LED indicator on when the load is
pulled to make the motor move, which is also affected by this.

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3.3Motor 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 R86 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 signal interface of standard R series driver is in the form of pulse, and the R86 can
receive two kinds of pulse command signals.
4-wire motor
8-wire series
8-wire parallel
6-wire series
6-wire center shaft head

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The upper controller can be the pulse signal generating device, such as PLC, MCU, control
card and controller.
The pulse level that R86 driver can be used: 3.3V-24V (no need to connect resistor)
Pulse and direction (PUL + DIR)
正 转 反 转
P U L
D I R
Double pulse (CW +CCW)
正 转 反 转
P U L
D I R
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 error state, ENA input can be used to restart the drive. 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
Reverse
Reverse
Forward
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
The setting of current Half/Full current option The setting of pulse per revolution
Controller
Controller
Driver
Driver

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4.1The setting of current
Peak Current Average Current SW1 SW2 SW3 Remarks
2.4A 2.0A on on on
Other
Current
can be
customiz
ed
3.1A 2.6A off on on
3.8A 3.1A on off on
4.5A 3.7A off off on
5.2A 4.3A on on off
5.8A 4.9A off on off
6.5A 5.4A on off off
7.2A 6.0A 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 1.5 times over than the rated current.
4.2 The setting of pulse per revolution
Steps/revolution Remarks
Default on on on on
Other subdivisions can be
customized.
800 off on on on
1600 on off on on
3200 off off on on
6400 on on off on
12800 off on off on
25600 on off off on
51200 off off off on
1000 on on on off
2000 off on on off
4000 on off on off
5000 off off on off
SW5 SW6 SW7 SW8

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8000
on
on
off
off
10000
off
on
off
off
20000
on
off
off
off
40000
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
4.3The selection of Half/Full Current
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

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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.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.
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.: