Rtelligent 3R110PLUS User manual

3R110 Plus User Manual
szruitech.com
Digital Stepper Driver 3R110PLUS
User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

3R110 Plus User Manual
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Contents
1. Product overview......................................................................................................................................... 1
1.1 Characteristic......................................................................................................................................... 1
2. Application environment and installation..................................................................................................1
2.1 Environmental requirement..................................................................................................................1
2.2 Driver installation dimensions..............................................................................................................2
3. Driver port and connection......................................................................................................................... 2
3.1 Power supply and motor port function description........................................................................... 2
3.2 Control signal connection.....................................................................................................................3
3.2.1 PUL, DIR port(IN1，IN2)...............................................................................................................3
3.2.2 ENA（IN3）port............................................................................................................................. 4
3.2.3 ALM（OUT1）port ........................................................................................................................4
3.3 USB port .................................................................................................................................................4
4. The setting of DIP switches and operating parameters.........................................................................5
4.1 The setting of current............................................................................................................................ 5
4.2 Standby current......................................................................................................................................5
4.3 The setting of pulse per revolution......................................................................................................5
4.4 Pulse command filtering....................................................................................................................... 6
4.5 The setting of pulse mode....................................................................................................................7
5. Driver working status LED indication........................................................................................................7
6. Phase loss alarm......................................................................................................................................... 7
7. Internal motion control function................................................................................................................. 7
7.1 Communication control mode..............................................................................................................8
7.1.1 Point control mode......................................................................................................................... 8
7.1.2 Jog control mode............................................................................................................................9
7.2 IO Control: Start and Stop + Direction............................................................................................. 10
7.3 IO Control: Forward + Reverse......................................................................................................... 11
8. Common faults and troubleshooting.......................................................................................................12
9. Guarantee clause...................................................................................................................................... 12

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1. Product overview
R110-PLUS is a high-voltage digital two-phase stepper motor driver with integrated intelligent
motion controller functions and built-in S-shaped acceleration and deceleration commands.
Through the USB port, it is convenient to configure the driver and expand the application of the
driver.
1.1 Characteristic
Working voltage：110~220VAC
Communication：USB to COM
Maximum phase current output: 7.2A/Phase (Sinusoidal Peak)
PUL+DIR/CW+CCW pulse mode optional
Phase loss alarm function
Half-flow function
Digital IO port:
3 photoelectric isolation digital signal input, high level can directly receive 24V DC level;
1 photoelectric isolation digital signal output, maximum withstand voltage 30V, maximum input
or pull-out current 50mA.
8 gears can be customized by users
16 gears can be subdivided by user-defined subdivision, supporting arbitrary 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
Rtelligent 3R110-PLUS
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
3. Driver port and connection
3.1 Power supply and motor port function description
Function
Grade
Definition
Remarks
Power supply
PE
Single-phase 220VAC power
input
AC
AC
Motor
PE
Motor PE earth wire
Reversing any two wires of
U, V, W, which can make the
motor run in the opposite
direction
NC
Dangling
W
V
Three phase stepper motor
U

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3.2 Control signal connection
Function
Grade
Description
Pulse /IN1
PUL+
The control signal is 5 ~ 24V
compatible. No additional current
limiting resistor is required.
PUL-
Direction /IN2
DIR+
DIR-
Enable /IN3
ENA+
ENA-
Alarm /OUT1
ALM+
Optocoupler isolation, open collector
output
ALM-
3.2.1 PUL, DIR port(IN1，IN2)
By default, when operating in external pulse command mode, 3R110-PLUS can receive two pulse
command signals: PUL+DIR, CW+CCW.
Pulse and direction (PUL + DIR)
Double pulse (CW +CCW)
The command form of the external pulse is set by the debugging software:
Set by DIP switch 10
SW10 = OFF, PUL+DIR
SW10 = ON, CW+CCW
Forward
Reverse
Reverse
Forward

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3.2.2 ENA（IN3）port
The default ENA port is the driver offline (enable) function:
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.
At the same time, this port can be reused as 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
port. When the driver is in an error state and normal operation, the ALM port outputs different
optocoupler levels.
It can also be reused for other functions, as shown below:
3.3 USB port
The USB is a micro usb connector and requires a USB bridge.

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4. The setting of DIP switches and operating parameters
The setting of current Standby current The setting of pulse per revolution Filtering Pulse mode
4.1 The setting of current
Sine peak A
SW1
SW2
SW3
Remarks
2.3
on
on
on
User can set 8 levels of
current through debugging
software
3.0
off
on
on
3.7
on
off
on
4.4
off
off
on
5.1
on
on
off
5.8
off
on
off
6.5
on
off
off
7.2
off
off
off
4.2 Standby current
SW4 is used to set the current percentage of the driver when it 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 time, it enters the standby state,
and the current drops to a certain percentage of the set current.
The default setting is: 1 second after stopping receiving the pulse, the motor winding current will be
50%.
4.3 The setting of pulse per revolution
Set the pulse per revolution required by the motor. Due to digital control, the number of subdivisions
can be set to any number between 200 and 65535.
Steps/revolution
SW5
SW6
SW7
SW8
Remarks
7200
on
on
on
on
Users can set up 16 level
subdivision through debugging
software.
400
off
on
on
on
800
on
off
on
on
1600
off
off
on
on
SW1
SW2
SW3
SW4
SW5
SW6
SW7
SW8
SW9
SW0

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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
4.4 Pulse command filtering
The driver has a built-in pulse command smoothing function, which can make the motor start more
stable.
SW9 = ON, enable pulse command filtering
SW9 = OFF, disable pulse command filtering
The default command filter time is 512*61us=31ms
Command filtering can smooth the motor movement, but also introduces lag. The user needs to
choose whether to enable this function according to the actual situation.The filter time can be set by
the debugging software:

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4.5 The setting of pulse mode
SW10 is used to set the form of the driver receiving pulse.
SW10 = OFF, pulse + direction mode
SW10 = ON, CW+CCW double pulse mode
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 indicator and seven red
indicators
Motor lose phase
6. Phase loss alarm
The driver has a motor phase loss alarm function, which can detect the phase loss state of the
motor during stationary and movement. During the operation of the stepper motor, due to
mechanical reasons, the winding wire of the motor may be loosened and disconnected. At this time,
the driver will output an alarm signal to prevent the device from making an erroneous action.
Since this function relies on the current detection of the motor windings, this function has a false
alarm when the motor current is too small (less than 300 mA). At this point, the user can turn off this
function. In the parameter management and setting interface of the debugging software, set
parameter No. 188(phase loss detection enable) to 0.
7. 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 function needs to be set through the debugging software. As shown below:

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7.1 Communication control mode
In this mode, the user can make the motor run the specified pulse stroke or jog operation by
communicating the given operation command.
In internal pulse mode, the motor is controlled by register 18
0：Waiting state.
The driver receives any control command and will resume the waiting state after the driver
processes it. So reading this register always returns 0.
1：Fixed length forward rotation.
In the relative position mode, the motor runs in the forward direction according to the 70 ～74
register parameters.
In the absolute position mode, the operation state is determined according to the current position
and the absolute position set by 70～74.
2：Fixed length reverse rotation.
In the relative position mode, the motor runs in the reverse direction based on the 70～74 register
parameters.
In the absolute position mode, the operation state is determined according to the current position
and the absolute position set from 70 ～74.
3：Speed mode, continuous forward rotation.
According to 75 and 76 registers, the motor runs at forward acceleration.
4：Speed mode, continuous reverse.
According to 75 and 76 registers, the motor runs at reverse acceleration.
5：Emergency stop
According to the 77 register, the motor decelerates and stops.
6：Slow down and stop.
In position mode, the motor decelerates and stops according to the 71 register
In speed mode, the motor decelerates and stops according to the 76 register
Others: no effect.
7.1.1 Point control mode
The communication controls the function of the motor to run the specified pulse stroke. The specific
modes and parameters to be set are as follows (register addresses are not specified or specified as
decimal numbers):
(1) Set the value of register address 20 (preset application selection in internal pulse mode) to
0(Communication control, respond to the command of register address 18)