Rtelligent R60-IO1IR User manual

R60-IO1IR User Manual
Digital Stepper Driver R60-IO1IR
User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

R60-IO1IR User Manual
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Contents
1. Product overview....................................................................................................................................1
2. Application environment and installation............................................................................................ 2
2.1 Environmental requirement............................................................................................................ 2
2.2 Driver installation dimensions........................................................................................................ 2
2.3 Driver installation requirements..................................................................................................... 2
3. Driver Port and Connection.................................................................................................................. 3
3.1 Port function description................................................................................................................. 3
3.2 Power supply input.......................................................................................................................... 3
3.3 Motor connection..............................................................................................................................4
3.4 Control signal connection............................................................................................................... 5
3.4.1 IN Port: connection for pulse command................................................................................ 5
3.4.2 ENA port: potentiometer speed control................................................................................. 6
4. The setting of DIP switches and operating parameters................................................................... 6
4.1 The setting of current...................................................................................................................... 6
4.2 The setting of speed level...............................................................................................................7
4.3 Acceleration selection..................................................................................................................... 7
5. Driver working status LED indication.................................................................................................. 7
6. Common faults and troubleshooting................................................................................................... 8
7. Guarantee Clause.................................................................................................................................. 9

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1. Product overview
Thank you for choosing Rtelligent R series digital step driver.
R series stepper driver, based on TI's 32-bit DSP processing chip platform, adopts internal PID current
control algorithm design, and has excellent performance. With 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-IO1IR driver is a digital input control driver designed by Rtelligent, which can be adjusted by a
potentiometer. The driver integrates a motion control module and supports IO triggering constant
speed motion.
Selecting the operating current and speed through the DIP switch. There are 16 speed options,
2 acceleration options, and 8 current options. They have over-voltage, under-voltage, and over-current
protection. The input and output control signals are optically isolated.
Power supply
24 – 48VDC
Output Current
DIP switch settings, 8 options,Up to 5.6 amps（peak value）
Current control
PID current control algorithm
Speed 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
Acceleration selection
Two gear options, off is 1 and on is 2
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
2.1 Environmental requirement
Item
Rtelligent R60-IO1IR
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
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.

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R60-IO1IR User Manual -3-
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
24~48V DC
V-
Input DC power negative
Motor connection port
A+
Connect two terminals of
motor’s phase-A winding
A-
B+
Connect two terminals of
motor’s phase-B winding
B-
Pulse connection
IN1+
Forward trigger input
interface
3.3 ~ 24V level
compatible
IN1-
IN 2+
Reverse trigger input
interface
IN 2-
Potentiometer
ENA+
Potentiometer interface
Connect the middle
tap and any other
side
ENA-
3.2 Power supply input
The power supply of the driver is DC power, and the input voltage range is 24V~48VDC.
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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8线串联
8线并联
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
A+ A+ A+
A - A - A -
B+ B+ B+
B- B- B-
4-wire motor
A+
NC
A -
8-wire series 8-wire parallel
A+
A -
NC
NC
B+
NC
B+
B-
B-
6-wire series 6-wire center shaft head
The matching motor of the R60-IO1IR driver is the low resistance and low inductance hybrid stepper motor.
4线电机
6线串接
6线中心抽头

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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 IN Port: connection for pulse command
The signal interface of standard R-IO series driver is in the form of switching value.
The upper controller can be the pulse signal generating device, such as PLC, MCU, control card and
controller.
The pulse level that R60-IO driver can be used: 3.3V-24V (no need to connect resistor)
Start and direction indication
Not rotate
Forward
Reverse
Not rotate
1. At IN1 on and IN2 off, the motor is triggered to rotate forward.When
IN1 is turned off, the motor decelerates and stops.
2. At IN1 on and IN2 on, the motor is triggered to rotate reverse.When
IN1 is turned off, the motor decelerates andstops.
3. At IN1 off, the motor stops.(The default is this mode)

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The setting of speed
3.4.2 ENA port: potentiometer speed control
The resistance of the potentiometer is between 10-20K ohms.
Connect the middle adjustment head and the other end of the potentiometer to ENA+ and ENA-
respectively. After the speed gear is set, adjust the potentiometer to adjust the motor speed.
If the potentiometer is not connected, the driver will run at the speed set by the DIP switch.
4. The setting of DIP switches and operating parameters
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-mad
e.
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.

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4.2 The setting of speed level
Speed level RPM
SW5
SW6
SW7
SW8
Remarks
10
on
on
on
on
Customizable other speed level
20
off
on
on
on
30
on
off
on
on
50
off
off
on
on
60
on
on
off
on
80
off
on
off
on
100
on
off
off
on
150
off
off
off
on
200
on
on
on
off
250
off
on
on
off
300
on
off
on
off
400
off
off
on
off
500
on
on
off
off
600
off
on
off
off
700
on
off
off
off
800
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 switching value is closed, the motor accelerates to the setting speed.
When the switching value is off, the motor decelerates and stops.
4.3 Acceleration selection
DIP SW4 is used to set the acceleration when the motor is running.
The “off” means acceleration gear 1 and moderate acceleration;
The “on” means acceleration gear 2 and the acceleration is large.
※The default acceleration for general applications is gear 1.
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 up
Short circuit between terminals
Check power polarity or external short
circuit