Rtelligent Ruitech R Series User manual

3R60 User Manual
szruitech.com
3 Phase Stepper Motor Driver 3R60
User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

3R60 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
3.1Port function description.......................................................................................................... 3
3.2Power supply input................................................................................................................... 3
3.3Motor connection...................................................................................................................... 4
3.4Control signal connection........................................................................................................ 5
3.4.1 PUL, DIR port: connection for pulse command........................................................... 5
3.4.2 ENA port: used to enable or disable..............................................................................5
3.4.3 Examples for control signal connection........................................................................ 5
4.1The setting of current............................................................................................................... 7
4.2 The setting of pulse per revolution........................................................................................7
4.3Half / full flow selection............................................................................................................ 8
5.Driver working status LED indication...........................................................................................8
6. Common faults and troubleshooting...........................................................................................8
7.Guarantee clause......................................................................................................................... 10

3R60 User Manual
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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.
3R60 is a digital driver for hybrid three-phase stepper motors below 60 bases.
The 3R60 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 – 50VDC
Output current
DIP switch setting, 8 options, Up to 5.6 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 3R60
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. Driver port and connection
3.1 Port function description
Function
Grade
Definition
Remarks
Power
supply input
port
V+
Input DC power positive
DC 24~50V
V-
Input DC power negative
Motor
connection
port
U
Motor UVW interface
V
W
NC
No definition
Pulse
connection
PUL+
Pulse input interface
3.3 ~ 24V level
compatible
PUL-
DIR+
Direction input interface
DIR-
Enable
connection
ENA+
Enable control interface
ENA-
3.2 Power supply input
The driver's working power is DC power, and the input voltage range is between 24V ~ 50V.
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.

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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.
3.3 Motor connection
The stepping motor that the 3R60 driver can match is a three-phase hybrid stepping motor with low
resistance and low inductance.
The common 3-phase stepper motor’s lead number are 3 and 6.

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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 3R60 can receive two kinds 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 3R60 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-
控制器
驱动器
Vcc
Forward
Forward
Reverse
Reverse

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

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4.1 The setting of current
Peak Current
Average Current
SW1
SW2
SW3
Remarks
1.4A
1.0A
on
on
on
Other
current can
be
customized
.
2.1A
1.5A
off
on
on
2.7A
1.9A
on
off
on
3.2A
2.3A
off
off
on
3.8A
2.7A
on
on
off
4.3A
3.1A
off
on
off
4.9A
3.5A
on
off
off
5.6A
4.0A
off
off
off
DIP SW1, SW2, SW3 are used to set current which is output from driver to motor.
Generally, the current setting is the motor rated current. 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
Other subdivisions can be customized
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 / pulse per revolution
Motor stroke = number of command pulses / pulse per revolution

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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
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

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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 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
drive 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

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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.: