R60 User Manual
Digital Stepper Driver R60
User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd
R60 User Manual
Contents
1. Product overview..........................................................................................................................................1
[Link] environment and installation...................................................................................................2
2.1Environmental requirement................................................................................................................... 2
2.2Driver installation dimensions............................................................................................................... 2
[Link] port and connection.......................................................................................................................... 3
3.1Port function description........................................................................................................................ 3
3.2Power supply input................................................................................................................................. 3
3.3Motor connection.................................................................................................................................... 4
3.4Control signal connection...................................................................................................................... 5
3.4.1 PUL, DIR port: connection for pulse command......................................................................... 5
3.4.2 ENA port: used to enable or disable............................................................................................5
3.4.3 Examples for control signal connection...................................................................................... 6
[Link] setting of DIP switches and operating parameters.......................................................................... 7
4.1The setting of current............................................................................................................................. 7
4.2The setting of pulse per revolution.......................................................................................................7
4.3Half / full flow selection.......................................................................................................................... 8
[Link] working status LED indication......................................................................................................... 8
[Link] faults and troubleshooting.......................................................................................................... 8
[Link] Clause.......................................................................................................................................10
R60 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 drivers 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 driver can select the running current and subdivision through the DIP switch. There are 16
subdivisions, 2 acceleration selection, and 8 current selections. It has overvoltage, undervoltage and
overcurrent protection. Its input and output control signals are optically isolated.
Power supply 24 – 48VDC
Output Current DIP switch setting, 8 options, 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
Automatically calculate the resonance point and inhibit the IF
Resonance suppression
vibration
Automatically detect the motor parameter when driver initialize,
Parameter adaption
optimize the controlling performance
Pulse mode Support direction & pulse, CW/CCW double 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 control
program successfully.
Please read this technical manual before using the products.
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R60 User Manual
2. Application environment and installation
2.1 Environmental requirement
Item Rtelligent R60
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
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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 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 V+ Input DC power positive
DC 24~48V
input port V- Input DC power negative
A+ connect two terminals of
Motor
A- motor’s phase-A winding
connection
B+ connect two terminals of
port
B- motor’s phase-B winding
PUL+
Pulse input interface
Pulse PUL-
connection DIR+ 3.3 ~ 24V level
Direction input interface
DIR- compatible
Enable ENA+
Enable control interface
connection ENA-
3.2 Power supply input
The driver's working power is DC power, and the input voltage range is between 24V ~ 48V.
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.
Power selection reference:
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R60 User Manual
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+
4线电机 8线串联 8线并联
A-
A- A-
B+ B+ B+
B- B- B-
4-wire motor 8-wire series 8-wire parallel
A+ A+
6线串接 NC 6线中心抽头 A-
A- NC
NC
B+ NC B+
B- B-
6-wire series 6-wire center shaft head
The matching motor of the R60 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.
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R60 User Manual
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 standard R series driver signal interface is in the form of pulse, and R60 can receive two kinds of
pulse command signals.
The upper controller can be the pulse signal generating device, such as PLC, MCU, control card and
controller.
The pulse level that R60 driver can be used: 3.3V-24V (no need to connect resistor)
Pulse and direction (PUL +
DIR) Reverse
Forward
Double pulse (CW +CCW)
Forward Reverse
3.4.2 ENA port: used to enable or disable
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 driver. 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.
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R60 User Manual
3.4.3 Examples for control signal connection
Common Anode
Vcc Pul+
Pul-
Dir+
Dir- Driver
Controller
Ena+
Ena-
Common Cathode
Vcc
Pu l+
Vcc Pu l-
Driver
Controller Dir+
Vcc Dir-
En a +
En a -
Difference
Pul+ Pul+
Pul- Pul-
Controller Dir+ Dir+
Driver
Dir- Dir-
Ena+ Ena+
Ena- Ena-
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R60 User Manual
[Link] setting of DIP switches and operating parameters
The setting of current Half / Full current option The setting of pulse per revolution
SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8
4.1 The setting of current
Peak Current Average Current SW1 SW2 SW3 Remarks
1.4A 1.0A on on on
2.1A 1.5A off on on
2.7A 1.9A on off on
Other current
3.2A 2.3A off off on
can be
3.8A 2.7A on on off
customized.
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.
4.2 The setting of pulse per revolution
Steps/revolution SW5 SW6 SW7 SW8 Remarks
200 on on on on
400 off on on on
800 on off on on
1600 off off on on
3200 on on off on
6400 off on off on
12800 on off off on
25600 off off off on
Other subdivisions can be customized.
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
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R60 User Manual
DIP SW5, SW6, SW7, and SW8 are used to set the pulse per revolution required by the motor.
Motor speed = command pulse frequency / pulse per revolution
Motor stroke = number of command pulses / pulse per revolution
4.3 Half / full flow selection
DIP SW4 is used to set the static current value when the motor is stopped
Off means that when the driver's power-on pulse stops, the driver switches the current output to the
motor to half (half current) when it is rotating;
On means that when the driver's power-on pulse stops, the driver maintains the same current output to
the motor as the rotation (full current) ). In general use, SW4 should be set to off, so that the heat of the
motor and driver is reduced, and the reliability is improved.
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
Driver input power overvoltage
indicators
One green indicator and three red The internal voltage of the driver is
indicators wrong
6. Common faults and troubleshooting
Phenomenon Possible situations Solutions
Check the power supply circuit for normal
Power indicator is off
power supply
The motor rotor is locked but the Pulse signal is weak; increase the signal
Motor does not motor does not work current to 7-16mA
work
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
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R60 User Manual
Check whether the upper computer has
Command pulse is incorrect
pulse output
The rotary direction of motor is
Adjust the DIP SW5
reverse
The steering of
motor is wrong The motor cable is disconnected Check the connection
The motor has only one direction Pulse mode error or DIR port damaged
The motor connection is wrong Check the motor connection
Alarm indicator is The motor connection and
Check the sequence of encoder connection
on encoder connection are wrong
The voltage is too high or too low Check the power supply
Eliminate interference for reliable
The signal is disturbed
grounding
Check the upper computer instructions to
The command input is incorrect
ensure the output is correct
The position or
speed is wrong
The setting of Pulse per revolution Check the DIP switch status and correctly
is wrong connect the switches
Replace the motor and contact the
Encoder signal is abnormal
manufacturer
Check power polarity or external short
Short circuit between terminals
circuit
The driver terminal
burned up Check whether there is any solder ball due
Internal resistance between
to excessive addition of solder on the wire
terminals is too large
connections
Acceleration and deceleration Reduce command acceleration or increase
time is too short drive filtering parameters
Motor torque is too low Select the motor with high torque
The motor is out of
tolerance Check the load weight and quality and
The load is too heavy
adjust the mechanical structure
The current of power supply is too
Replace the appropriate power supply
low
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R60 User Manual
7. Guarantee Clause
7.1 Warranty period: 12 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 the motor
connection when the power supply is connected.
■ Beyond electrical and environmental requirements.
■ Change the internal device without permission.
7.3 Maintenance process
For maintenance of products, please follow the procedures shown below:
(1) Contact our customer service staff to get the rework permission.
(2) The written document of the driver failure phenomenon is attached to the goods, as well as the
contact information and mailing methods of the sender.
Mailing address:
Post code:
Tel.:
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