Rtelligent R Series Manuel utilisateur

R60X3 user manual - 1 -

szruitech.com

Contents

1.Product Description..................................................................................................................... - 2 -

2.Application Environment and Installation.................................................................................- 2 -

2.1Environmental requirement......................................................................................................- 3 -

2.2 Drive installation dimensions..................................................................................................- 3 -

3.Drive Port and Connection......................................................................................................... - 3 -

3.1 Port function description..........................................................................................................- 4 -

3.2 Power supply input................................................................................................................... - 4 -

3.3 Motor connection...................................................................................................................... - 4 -

3.4 Control signal connection........................................................................................................- 4 -

3.4.1 PUL、DIR Port：connection for pulse command........................................................ - 6 -

3.4.2 ENA port: enable/disable................................................................................................ - 6 -

3.4.3 Examples for control signal connection........................................................................- 7 -

4. The setting of operating parameters....................................................................................... - 8 -

5. Common Faults and Troubleshooting.....................................................................................- 4 -

6. Drive working status LED indication......................................................................................- 10 -

7. Guarantee Clause.................................................................................................................... - 10 -

R60X3 user manual - 2 -

szruitech.com

1. Product Description

Thank you for choosing Rtelligent R series digital stepper driver.

R60X3 Three-axis stepper motor driver, based on a 32-bit three-core DSP processing chip

platform, adopts internal PID current control algorithm design, and has excellent performance.

R60X3 Three-axis independent control driver, split-drive three-axis stepper motor. The R60X3

can drive three 2 phase/3 phase stepper motors with base below 60, which is especially

suitable for multi-axis equipment or platform robots.

The current and subdivision parameters are set by the R60X3 special debugging software.

The driver has over-voltage, under-voltage, and over-current protection. The input and output

control signals are optically isolated.

Power supply

24 - 48 VDC

Output current

Debug software settings, up to 4.2 amps (peak)

Current control

PID current control algorithm

Segment settings

Debugging software setting, 200 ~ 65535

Speed range

Optional suitable stepper motor, up to 3000rpm

Resonance

suppression

Automatically calculate the resonance point to suppress intermediate

frequency vibration

Parameter

adaptation

Drive initialization automatically detects motor parameters and

optimizes control performance

Pulse mode

Direction & 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

R60X3 user manual 2-- 3 -

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control program successfully.

Please read this technical manual before using the products.

2. Application Environment and Installation

2.1 Environmental requirement

Item

Rtelligent R60X3

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

21 50

175

11,5

2.3 Drive installation requirements

R60X3 user manual 2-- 4 -

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When installing, please attach the drive to the metal surface of the cabinet to facilitate

heat dissipation. Please note that sufficient space should be reserved in the placement to

obtain sufficient heat dissipation; if necessary, a cooling fan can be configured to ensure good

heat dissipation conditions in the control cabinet.

During assembly, avoid drillings and other foreign matters falling inside the drive.

During assembly, please use M3 screw to fix.

When there is a vibration source near the installation (such as a drilling machine), please

use a vibration absorber or install anti-vibration rubber gaskets.

3. Drive Port and Connection

3.1 Port function description

Function

Grade

Definition

Remarks

Power supply

input port

V+

Input DC power positive

DC 24~48V

V-

Input DC power negative

Motor 1

A1+

Connect both ends of Phase A

winding of Motor 1

A1-

B1+

Connect both ends of Phase B

winding of Motor 1

B1-

Motor 2

A2+

Connect both ends of Phase A

winding of Motor 2

A2-

B2+

Connect both ends of Phase B

winding of Motor 2

B2-

Motor 3

A3+

Connect both ends of Phase A

winding of Motor 3

A3-

B3+

Connect both ends of Phase B

winding of Motor 3

B3-

Control

signal

interface

PUL1+

Motor 1 pulse port

3.3-24V

compatible

PUL1-

DIR1+

Motor 1 direction port

DIR1-

PUL 2+

Motor 2 pulse port

3.3-24V

compatible

PUL 2-

DIR 2+

Motor 2 direction port

DIR 2-

PUL 3+

Motor 3 pulse port

3.3-24V

compatible

PUL 3-

DIR 3+

Motor 3 direction port

DIR 3-

ENA+

Enable signal port

3.3-24V

compatible

ENA-

R60X3 user manual 2-- 5 -

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3.2 Power supply input

The power supply of the driver is DC power, the input voltage range is between 24V ~ 50V,

and the power is greater than 200W.

Power selection reference:

Voltage:

The stepping motor has the characteristic that the torque decreases with the increase of

the motor speed, and the input power voltage level will affect the magnitude of the high-speed

torque drop of the motor. Properly increasing the voltage of the input power can increase the

output torque of the motor at high speed.

Stepping servo has higher speed and torque output than ordinary stepping. Therefore, if

you want to obtain better high-speed performance, you need to increase the power supply

voltage of the driver.

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 actual use,

select a suitable power source according to the motor model, load torque and other factors.

The effects of regeneration voltage:

The stepper motor also retains the characteristics of the generator when it is working.

During deceleration, the kinetic energy accumulated by the load will be converted into

electrical energy and superimposed on the driver circuit and input power. When using, pay

attention to the setting of acceleration and deceleration time to prevent the protection of the

driver or power supply.

When the driver is powered off, when you pull the load to make the motor move, you will

see that the driver LED indicator is on, which is also affected by this.

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-

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6线串接

A+

A -

B+

B-

6线中心抽头

B+

B-

A+

A -

The matching motor of the R60X3 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.

3.4 Control signal connection

3.4.1 PUL、DIR Port: connection for pulse command

The R60X3 control signal is a pulse input and supports three-axis differential / pulse &

direction mode.

Pulse level is 3.3V ~ 24V compatible (no string resistor required)

Pulse & Direction（PUL + DIR）

正

转

反

转

3. 4. 2 ENA port: enable/disable

When the default optocoupler is off, the drive outputs the current to the motor. When the

internal optocoupler is on, the drive will cut off the current of each phase of the motor so that

the motor is in a free state, and the stepper pulse can not be responded.

When the motor is in an error state, enable disconnection. The level logic of the enable

signal can be set to the opposite by the debug software.

R60X3 user manual 2-- 7 -

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3. 4. 3 Examples for control signal connection

Common Anode

Pul+

Pul-

Dir+

Dir-

Ena +

Ena -

控制器

驱动器

Vcc

Common Cathode

Vcc

Pul+

Pul-

Dir+

Dir-

Ena+

Ena-

驱动器

Vcc

控制器

Difference

Pul+

Pul-

Dir+

Dir-

Ena+

Ena-

驱动器

Pul+

Pul-

Dir+

Dir-

Ena+

Ena-

控制器

R60X3 user manual 2-- 8 -

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4. The setting of operating parameters

R60X3 operating parameters are set by the debugging software, and the debugging interface is as

follows:

The three axis related parameters are independent and can be set separately as needed.

Parameter analysis:

①Current: peak value of output current of each axis. 5600 mA

②Subdivision: the subdivision value of each axis. 200-65535

③Standby time: the delay time when the motor enters half flow when it is stationary

④Standby current: Set the current percentage during standby

⑤Shaft time after power-on: the time when the current is fully established after power-on

⑥S curve time: S-filter time inside the input command; unit is 50 us

⑦Pulse bandwidth limitation: input pulse limit frequency

⑧ENA level: enable signal logic level

⑨ENA state: driver action setting when enabled

R60X3 user manual 2-- 9 -

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5. 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

Change the motor wiring sequence or adjust the

command direction

The motor cable is

disconnected

Check the connection

The motor has only

one direction

Damaged input port

Alarm

indicator is on

The motor connection

is wrong

Check the connection

The voltage is too high

or too low

Check the power supply

Damaged motor or

driver

Replace the motor or driver

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

Incorrect speed setting

Check the DIP switch status and correctly

connect the switches

Motor lost step

Check if the command speed is too large and the

motor selection is small

The drive

terminal

Short circuit between

terminals

Check power polarity or external short circuit

R60X3 user manual 2-- 10 -

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burned up

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

6. 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

Motor 1 overcurrent

Two green indicator and one red indicator

Motor 2 overcurrent

Three green indicator and one red indicator

Motor 3 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

7.Guarantee Clause

7.1 Warranty period: 18 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

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