Rtelligent R86 Manuel utilisateur

R86 User Manual

Digital Stepper Driver R86

User Manual

Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

R86 User Manual

Contents

1.Product overview............................................................................................................................ 1

2.Application environment and installation.................................................................................... 2

2.1Environmental requirement..................................................................................................... 2

2.2Driver installation dimensions................................................................................................. 2

2.3Driver installation requirements..............................................................................................3

3.Driver Port and Connection...........................................................................................................3

3.1Port function description.......................................................................................................... 3

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

3.3Motor connection...................................................................................................................... 5

3.4Control signal connection........................................................................................................ 5

3.4.1 PUL, DIR Port: connection for pulse command...........................................................5

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

3.4.3 Examples for control signal connection........................................................................ 6

4.The setting of DIP switches and operating parameters........................................................... 7

4.1The setting of current............................................................................................................... 8

4.2The setting of pulse per revolution.........................................................................................8

4.3The selection of Half/Full Current.......................................................................................... 9

5.Driver working status LED indication...........................................................................................9

6.Common faults and troubleshooting..........................................................................................10

7.Guarantee clause......................................................................................................................... 11

R86 User Manual

1. Product overview

Thank you for choosing Rtelligent R series digital stepper driver.

R series stepper driver, which surpasses the performance of common analog stepper driver

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.

R86 driver can select the current and subdivision through the DIP switch. There are16

subdivisions and 8 current selections. It has over-voltage, under-voltage, and over-current

protection. Its input and output control signals are optically isolated.

Power supply

20 - 80 VAC / 24 – 100VDC

Output Current

Up to 7.2 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 Driver

initialize, optimize the controlling performance

Pulse mode

Direction & pulse, CW/CCW double pulse

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.

R86 User Manual

2. Application environment and installation

2.1Environmental requirement

Item

Rtelligent R86

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

R86 User Manual

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 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.

3. Driver Port and Connection

3.1Port function description

Function

Grade

Definition

Remarks

Power supply input

port

Input AC power

supply

AC 20~80V

DC 24~100V

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+

Enable connection

ENA+

Enable control

interface

3.3 ~ 24V level

compatible

ENA-

Pulse connection

PUL+

Pulse input interface

PUL-

DIR+

Direction input

interface

DIR-

R86 User Manual

3.2Power 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 be minded that AC power cannot exceed 80VAC. and do not connect to commercial

electricity(220VAC) directly!

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 drive.

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 drive or

power supply.

When the drive is powered off, you will see the drive's LED indicator on when the load is

pulled to make the motor move, which is also affected by this.

R86 User Manual

3.3Motor 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-

6线中心抽头

B+

B-

A+

A -

The matching motor of the R86 driver 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 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 PUL, DIR Port: connection for pulse command

The signal interface of standard R series driver is in the form of pulse, and the R86 can

receive two kinds of pulse command signals.

4-wire motor

8-wire series

8-wire parallel

6-wire series

6-wire center shaft head

R86 User Manual

The upper controller can be the pulse signal generating device, such as PLC, MCU, control

card and controller.

The pulse level that R86 driver can be used: 3.3V-24V (no need to connect resistor)

Pulse and direction (PUL + DIR)

正

转

反

转

Double pulse (CW +CCW)

正

转

反

转

3.4.2 ENA port: enable/disable

By default,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 error state, ENA input can be used to restart the drive. Firstly, the fault

is eliminated,and then a falling edge signal is input to the ENA terminal. The driver can

restart the power part and the motor is excited.

The level logic of the ENA signal can be set to the opposite, with the logic being opposite to

the above.

3.4.3 Examples for control signal connection

Common Anode

Pul+

Pul-

Dir+

Dir-

Ena+

Ena-

Vcc

Forward

Reverse

Forward

Controller Driver

R86 User Manual

Common Cathode

Vcc

Pul+

Pul-

Dir+

Dir-

Ena+

Ena-

Vcc

Difference

Pul+

Pul-

Dir+

Dir-

Ena+

Ena-

Pul+

Pul-

Dir+

Dir-

Ena+

Ena-

4. The setting of DIP switches and operating parameters

SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8

The setting of current Half/Full current option The setting of pulse per revolution

Controller

Driver

R86 User Manual

4.1The setting of current

Peak Current Average Current SW1 SW2 SW3 Remarks

2.4A 2.0A on on on

Other

Current

can be

customiz

3.1A 2.6A off on on

3.8A 3.1A on off on

4.5A 3.7A off off on

5.2A 4.3A on on off

5.8A 4.9A off on off

6.5A 5.4A on off off

7.2A 6.0A off off off

DIP SW1, SW2, SW3 are used to set current which is output from driver to motor.

Generally, the current is set to the rated current of the motor.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 1.5 times over than the rated current.

4.2 The setting of pulse per revolution

Steps/revolution Remarks

Default on on on on

Other subdivisions can be

customized.

800 off on on on

1600 on off on on

3200 off off on on

6400 on on off on

12800 off on off on

25600 on off off on

51200 off off off on

1000 on on on off

2000 off on on off

4000 on off on off

5000 off off on off

SW5 SW6 SW7 SW8

Table des matières

Autres manuels Rtelligent Unité de contrôle

Rtelligent

Rtelligent Ruitech R Series Manuel utilisateur

Rtelligent

Rtelligent R Series Manuel utilisateur

Rtelligent

Rtelligent R42 Manuel utilisateur

Rtelligent

Rtelligent R110PLUS Manuel utilisateur

Rtelligent

Rtelligent R60-AL Manuel utilisateur

Rtelligent

Rtelligent EP Series Manuel utilisateur

Rtelligent

Rtelligent R60X2 Manuel utilisateur

Rtelligent

Rtelligent ECT Series Manuel utilisateur

Rtelligent

Rtelligent R60 Manuel utilisateur

Rtelligent

Rtelligent R Series Manuel utilisateur

Rtelligent

Rtelligent T86-IO Manuel utilisateur

Rtelligent

Rtelligent T60-IO Manuel utilisateur

Manuels Unité de contrôle populaires d'autres marques

Festo

Festo Compact Performance CP-FB6-E Manuel de la liste des pièces

Elo TouchSystems

Elo TouchSystems DMS-SA19P-EXTME Manuel utilisateur

JS Automation

JS Automation MPC3034A Manuel utilisateur

JAUDT

JAUDT SW GII 6406 Series Guide rapide

Spektrum

Spektrum Air Module System Manuel utilisateur

BOC Edwards

BOC Edwards Q Series Manuel utilisateur

KHADAS

KHADAS BT Magic Manuel utilisateur

Etherma

Etherma eNEXHO-IL Manuel utilisateur

PMFoundations

PMFoundations Attenuverter Manuel utilisateur

GEA

GEA VARIVENT Manuel utilisateur

Walther Systemtechnik

Walther Systemtechnik VMS-05 Manuel utilisateur

Altronix

Altronix LINQ8PD Instructions de montage

Eaton

Eaton Powerware Series Manuel utilisateur

WAGO

WAGO 750-407/040-000 Manuel utilisateur

Sony

Sony CCU-590 Manuel utilisateur

Graco

Graco 25D614 Manuel utilisateur

Task Force Tips

Task Force Tips YE-RF-900 Manuel de programmation

Shini

Shini SPV-U Series Manuel utilisateur