Rtelligent R60-IO User manual

R60-IO User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co., Ltd.

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Contents
1. Product Overview.................................................................................................................................................. 2
2. Application Environment and Installation...................................................................................................... 2
2.1 Environmental requirement......................................................................................................................2
2.2 Drive installation dimensions................................................................................................................... 3
3. Drive Port and Connection...............................................................................................................................4
3.1 Port function description...........................................................................................................................4
3.2 Power supply input.................................................................................................................................... 4
3.3 Motor connection..................................................................................................................................... 5
3.4 Control signal connection.......................................................................................................................6
3.4.1 IN Port: connection for pulse command........................................................................................ 6
3.4.2 ENA port: for potentiometer speed control..................................................................................6
4. The setting of DIP switches and operating parameters..............................................................................7
4.1 The setting of current................................................................................................................................ 7
4.2 The setting of pulse per revolution...............................................................................................................7
4.3 Acceleration selection............................................................................................................................... 8
5. Drive working status LED indication.............................................................................................................. 8
6. Common Faults and Troubleshooting............................................................................................................... 9
Appendix A. Guarantee Clause.............................................................................................................................10

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1. Product Overview
Thank you for choosing Rtelligent R series digital stepper drive.
R series stepper drive, which surpasses the performance of common analog stepper drive
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.
The R60-IO driver is a switch input control driver designed by Rtelligent for potentiometer speed control.
The drive integrates a motion control module to support IO trigger fixed speed motion.
Power supply
24 – 48VDC
Output Current
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 drive initialize, optimize
the controlling performance
Acceleration selection
Two gear selections, off is 1 gear, on is 2 gears
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.
2. Application Environment and Installation
2.1 Environmental requirement
Item
Rtelligent R60-IO

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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 Drive installation dimensions
75.5 33
22.5
118
2.3 Drive installation requirements
Please install the drive 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 drive.
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.

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3. Drive Port and Connection
3.1 Port function description
Function
Grade
Definition
Remarks
Power supply input port
AC
Input AC power supply
DC 24~48V
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+
Potentiometer interface
ENA+
Enable control interface
3.3 ~ 24V level
compatible
ENA-
Pulse connection
IN1+
Forward trigger input
interface
IN1-
IN 2+
Reverse trigger input
interface
IN 2-
3.2 Power supply input
The power supply of the drive can be both AC power and DC power, and the input voltage range is
24V~48VDC.
Input power polarity should not be reversed!!!
The drive’s work mode is constant current control. The drive 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:
The stepper motor has the characteristic of torque decreasing as the motor speed increases, and the
voltage of the input power supply will affect the declining amplitude of the motor torque at high speed.
Increasing the voltage of the input power supply appropriately can increase the output torque of the
motor at high speed. And use low voltage when it is low speed required, can lower motor’s heating
appropriately.
Current:
The work of the drive is to convert the input power supply with high voltage and low current to the low
voltage and high current at both terminals of the motor winding.In this case, the current of power supply
will be lower than the motor’s.
The effects of regeneration voltage:

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When the stepper motor is working, it also keeps the characteristics of the generator. At deceleration, the
kinetic energy accumulated by the load is converted into electric energy, which will be superimposed on
the drive circuit and the input power. In application, attention should be paid to the setting of acceleration
and deceleration time to prevent the protection of the drive or power supply.
When the drive is powered off, similarly, the drive LED indicator will be on if the load is increased to allow
the motor to move
3.3 Motor 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 R60-IO drive 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 drive 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 drive 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.
4-wire motor
8-wire series
8-wire parallel
6-wire series
6-wire center shaft head

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3.4 Control signal connection
3.4.1 IN Port: connection for pulse command
The upper controller can be the pulse signal generating device, such as PLC, MCU, control card and
controller.
The pulse level that R60-IO drive can be used: 3.3V-24V (no need to connect resistor)
S p e e d m o d e 1
In1
In2
不转 正转 反转 不转
When IN1 is turned on and IN2 is turned off, the motor is triggered to rotate
forward; when IN1 is turned off, the motor decelerates to stop.
When IN1 is turned on and IN2 is turned on, the motor is reversed. When IN1 is
turned off, the motor decelerates to a stop.
When IN1 is off, the motor stops running. (default is this mode)
S p e e d m o d 2
In1
In2
不转 正转 反转 不 转
When IN1 is turned on, the motor is triggered to continue to rotate forward;
when it turns from on to off, the motor decelerates and stops.
When IN2 is turned on, the motor is triggered to continuously reverse; when it
turns from on to off, the motor decelerates and stops.
When IN1 and IN2 are both on, the motor will stop running.
Note: The IO driver defaults to mode 1. If you need to adjust, please explain to Rtelligent.
3.4.2 ENA port: used to enable or disable.
By default, the driver outputs current to the motor when the photocoupler is turned off. When the
Do not turn
Forward
Reverse
Do not turn
Reverse
Do not turn
Forward
Do not turn

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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 ENA input can be used to restart the drive. First remove
the fault, then input a falling edge signal to the ENA terminal, the driver can restart the power part,
and the motor excites.
The level logic of the ENA signal can be set to the opposite, and the logic is opposite to the
above.
4. The setting of DIP switches and operating parameters
The setting of current Semi / Full current option The setting of pulse per revolution
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
custom-made.
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 drive 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
Stepping
count/revolution
SW5
SW6
SW7
SW8
Remarks
200
on
on
on
on
The DIP switch is turned to the Default state and
the testing software can freely change other
micro-stepping level number
400
off
on
on
on
800
on
off
on
on
1600
off
off
on
on
3200
on
on
off
on
SW1
SW2
SW3
SW4
SW5
SW6
SW7
SW8

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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, SW8 are used to set the speed when the motor is triggered. Built-in S-type
acceleration and deceleration.
When the switch is closed, the motor accelerates to the set speed.
When the switch is off, the motor decelerates and stops.
4.3 Acceleration selection
DIP SW4 is used to set the acceleration of the motor when it is running.
“Off” means the acceleration gear position “1” and the acceleration is moderate;
“On” means the acceleration gear position “2”, and the acceleration is large.
※The default acceleration for the general application is gear 1.
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 indicator and one red indicator
Drive overcurrent
One green indicator and two red
indicators
Drive input power overvoltage
One green indicator and three red
indicators
The internal voltage of the drive is
wrong
One green and four red indicators
Tracking error exceeds limits
One green and five red indicators
Encoder phase error

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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
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 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 drive terminal
burned up
Short circuit between terminals
Check power polarity or external short
circuit