Rtelligent T86-IO User manual

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T86-IO Closed Loop Stepper Driver
User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

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Contents
1. Product overview .......................................................................................................................... 3
2.Application environment and installation ....................................................................................4
2.1 Environmental requirement ................................................................................................... 4
2.2 Driver installation dimensions ............................................................................................... 5
2.3 Driver installation requirements ............................................................................................ 5
3.Driver port and connection ........................................................................................................... 6
3.1 Port function description ........................................................................................................ 6
3.2 Power supply input ................................................................................................................. 7
3.3 Encoder connection ................................................................................................................ 7
3.4 Motor connection .....................................................................................................................8
3.5 Control signal connection...................................................................................................... 8
3.5.1 PUL, DIR Port: connection for start and stop command ............................................8
3.5.2 ENA port: enable/disable ................................................................................................ 8
3.5.3 ALM, Pend port: used for alarm and in place output. .................................................9
3.5.4 RS232 serial port ........................................................................................................... 10
4. The setting of DIP switches and operating parameters ........................................................10
4.1 The setting of speed ............................................................................................................. 10
4.2 Motor direction selection...................................................................................................... 11
4.3 Open/closed loop selection ................................................................................................. 11
5. Driver working status LED indication ....................................................................................... 12
6. Common faults and troubleshooting ........................................................................................ 12
Appendix A. Guarantee Clause .................................................................................................... 14

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1. Product overview
Thank you for choosing Rtelligent T series digital stepper servo driver.
Stepper servo is a stepper motor scheme formed based on the common open loop stepper motor in
combination with position feedback and servo algorithm, which features high speed, high torque,
high precision, low vibration, low heating and no loss of step.
Based on TI's new 32-bit DSP processing chip platform, T series stepper servo driver uses the field
oriented control (FOC) and vector field-weakening control algorithm in the servo driver, which has
the performance of surpassing the ordinary stepper in all aspects.
The built-in PID parameter adjustment function makes the motor better meet the application of
different kinds of loads.
The built-in field-weakening control algorithm makes the motor to reduce the magnetic field
characteristics and keep the power at high speed.
The built-in current vector control function makes the motor have the current characteristic of
servo and low heating.
The built-in micro-stepping command algorithm makes the motor can run while maintaining a
stable and low vibration at various speeds.
The encoder feedback with the built-in 4000 pulse resolution makes the positioning precision
increase and never loses the step.
In conclusion, the servo control scheme combined with the characteristics of the stepper motor
enables the T series stepper servo driver to better exert the performance of the stepper motor,
which can replace the servo application of the same power. It is a new choice of optimal cost
performance for automation equipment.

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T86-IO driver can set subdivision and other parameters through DIP switch and debugging software.
It has protection functions such as voltage, current and position, and adds alarm output interface. Its
input and output control signals are optically isolated.
Power supply
20 - 80 VAC / 24 –100VDC
Control precision
4000 Pulse/r
Current control
Servo vector control algorithm
Speed settings
DIP switch setting, or debugging software setting
Speed range
Conventional 1200 ~ 1500rpm, up to 4000rpm
Resonance suppression
Automatically calculate the resonance point and inhibit the IF
vibration
PID parameter adjustment
Test software to adjust motor PID characteristics
Pulse filtering
2MHz digital signal filter
Alarm output
Alarm output of over-current, over-voltage, position error, etc
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.
2. Application environment and installation
2.1 Environmental requirement
Item
Rtelligent T86-IO
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 Driver installation dimensions
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.

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3. Driver port and connection
3.1 Port function description
Function
Grade
Definition
Remarks
Power supply
input
AC
Input AC power supply
AC 20~80V
DC 24~100V
AC
Input AC power supply
Motor
connection
A+
Positive terminal of phase-A winding
Red
A-
Negative terminal of phase-A winding
Yellow
B+
Positive terminal of phase-B winding
Black
B-
Negative terminal of phase-B winding
Green
Encoder
connection
EB+
Positive terminal of Encoder phase B
Green
EB-
Negative terminal of Encoder phase B
Yellow
EA+
Positive terminal of Encoder phase A
Brown
EA-
Negative terminal of Encoder phase A
White
VCC
Encoder working power 5V positive
Red
GND
Encoder working power 5V ground terminal
Blue
Pulse
connection
PUL+
Start input interface
24V level
PUL-
DIR+
Direction input interface
DIR-
Enable terminal
ENA+
Enable control interface
ENA-
Alarm output
ALM+
Alarm output interface
24V, below
40mA
ALM-
In place output
Pend+
In place output interface
Pend-

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3.2 Power 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 do not connect to commercial electricity(220VAC) directly!
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 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 Encoder connection
The T86-IO encoder is A/B differential output and is connected in the corresponding order when
used.
EB+
EB-
EA+
EA-
VCC
GND
Green
Yellow
Brown
White
Red
Blue
Rtelligent is equipped with a certain length of encoder cable, Please purchase extension cables of
different lengths according to the installation needs.

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3.4 Motor connection
The matching motor of the T86-IO driver is the corresponding T series stepper servo motor, and its
corresponding motor connection order is fixed and unique.
3.5 Control signal connection
3.5.1 PUL, DIR Port: connection for start and stop command
Start and direction indication
1. At PUL on and DIR off, the motor is triggered to rotate
forward.When PUL is turned off, the motor decelerates and stops.
2. At PUL on and DIR on, the motor is triggered to rotate
reverse.When PUL is turned off, the motor decelerates and stops.
3.At PUL off, the motor stops.
3.5.2 ENA port: enable/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 an error state, it is automatically turned off. The level logic of the enable signal
can be set to the opposite.
4线电机
A+
A -
B+
B-
A+
Red
A-
Yellow
B+
Black
B-
Green
4-wire motor
Not rotate
Forward
Reverse
Not rotate

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3.5.3 ALM, Pend port: used for alarm and in place output.
The ALM port is used to output the operating status of the driver to an external control circuit. When
the driver is in the error state and the normal working state, ALM outputs different optocoupler
levels.
The Pend port is used to output the driver in-place signal. When the difference(position deviation)
between the pulse command position sent by the upper computer and the current position of the
stepper servo motor is less than the set value, the in-place signal is output. The upper computer
receives the signal and confirms that the positioning is complete.
In addition, ALM and Pend ports can be reused as brake control (break) signal through software
adjustment, which is used to control the brake switch of stepper servo motor with brake. Since the
brake coil is an inductive load, and the coil heating is serious when the motor is running, customers
can select special brake controller according to their needs to reduce the brake heating and
improve life and reliability.
Rtelligent provides solutions for dedicated brake controllers, examples are as follows:

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3.5.4 RS232 serial port
S/N
Symbol
Description
1
NC
2
+5V
Positive terminal of power supply
3
TxD
RS232 transmitting terminal
4
GND
Ground terminal of power supply
5
RxD
RS232 receiving terminal
6
NC
RS232 serial port is used to connect T86-IO testing software and change other related operating
parameters of driver.
4. The setting of DIP switches and operating parameters
4.1 The setting of speed
Speed
SW1
SW2
SW3
SW4
Remarks
100
on
on
on
on
Other speeds can be
customized
150
off
on
on
on
200
on
off
on
on
250
off
off
on
on

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300
on
on
off
on
400
off
on
off
on
500
on
off
off
on
600
off
off
off
on
700
on
on
on
off
800
off
on
on
off
900
on
off
on
off
1000
off
off
on
off
1100
on
on
off
off
1200
off
on
off
off
1300
on
off
off
off
1400
off
off
off
off
4.2 Motor direction selection
DIP SW5 is used to set the running direction of the motor under the initial pulse.
The “off” means that the motor direction is counterclockwise when inputting the initial pulse;
The “on” means that the motor direction is clockwise when inputting the initial pulse.
※The initial pulse is the testing pulse used when developing the driver software; Please refer to the
actual running direction of the motor.
4.3 Open/closed loop selection
DIP SW8 is used to set the driver control mode.
The “off” means the closed loop control mode;
The “on” means the open loop control mode and can be used to test the motor.

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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 and four red indicators
Tracking error exceeds limits
One green and five red indicators
Encoder phase error
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

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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 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

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Appendix A. Guarantee Clause
A.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.
A.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.
A.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.: