RMS Technologies
Page 3
Version 1.20
R325I Single Axis Controller/Driver Manual
02/13/2006
R325I User Manual
Product: R325I Version: 1.20
Date:
Version History
Version
Date
Description of Changes
1.20 02/13/2006
New
Formatting
Page 1: ...R325I Single Axis Controller Driver User Manual And Commands Guide Version 1 20 RMS Technologies 2533 N Carson St 4698 Carson City NV 89706 0147 1 877 301 3609 www rmsmotion com sales rmsmotion com ...
Page 2: ...ogies does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights nor the rights of others Note This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These Limits are designed to provide reasonable protection ag...
Page 3: ... Page 3 Version 1 20 R325I Single Axis Controller Driver Manual 02 13 2006 R325I User Manual Product R325I Version 1 20 Date 02 13 2006 Version History Version Date Description of Changes 1 20 02 13 2006 New Formatting ...
Page 4: ... Setting the Current 11 Setting Step Resolution 11 Saving the Configuration 11 Connecting the Motor 11 Configure the R325I using the DIP Switch 12 DIP Switch Run Current Settings 12 DIP Switch Hold Current Settings 12 DIP Switch Step Resolution Settings 12 8 BASIC STEP AND DIRECTION OPERATION 13 9 COMMAND TABLES 14 Basic Configuration Commands 14 Axis Configuration Commands 14 General Operation Co...
Page 5: ...racked and reported in step resolution increments Pole Damping Technology implemented within driver board Dip switches and a RS485 interface are built in to the R325 Controller A USB connection can be used by using the USB485 Converter Card sold separately Pole Damping Technology Pole Damping Technology PDT enhances step motor performance by dampening each full step in order to create a more accur...
Page 6: ...sing has an inductance less than 1 5 mH 3 OPERATING SPECIFICATIONS Maximum Step Frequency 2 5 MHz Operating Temperature Low end 0 C High end Dependent on case temperature bracket temperature must not exceed 45 C Automatic Motor Holding Current reduction available from 0 3 to 2 5 Amps Logic Timing Minimum Step Pulse Width 200 nanoseconds Minimum Step Low Time 200 nanoseconds Maximum Power Down Reco...
Page 7: ... Page 7 Version 1 20 R325I Single Axis Controller Driver Manual 02 13 2006 5 MECHANICAL SPECIFICATIONS Size 3 00 x 2 94 x 1 42 Weight 4 8 oz Mounting Four 6 32 screws 2 42 x 2 45 Plate Aluminum Hard Anodized Dimensions ...
Page 8: ...ation Pin No Function 1 Common ve External 2 Step in 3 Direction in 4 5 VDC Internal 5 Disable in 6 Motor A out 7 Motor A out 8 Motor B out 9 Motor B out 10 Fault out 11 Power Ground 12 Power Positive P1 Connector Pin 1 Location CAUTION Connecting Motor phases A A Bar B B Bar to the incorrect location while the R325 is powered will cause the board to burn Be sure to insert motor phases into Pins 6...
Page 9: ... end of the pulse generator to Pin 2 The NEGATIVE end will be connected to the NEGATIVE end of the 5 VDC supply if using a separate power source If using the internal 5 VDC supply connect the NEGATIVE end of the pulse generator to Power GROUND Pin 3 To switch the direction of motor rotation connect Pin 3 with Pin 11 Power Ground An open or closed connection to Power Ground will change the directio...
Page 10: ...ions Æ HyperTerminal 2 Assign a name for your New Connection Click Ok 3 Under Connect using select the COM connection that corresponds to your PC serial port i e COM 1 COM 2 etc then click OK 4 Set your Port Settings to Bits per second 57600 Data bits 8 Parity None Stop bits 2 Flow control None Click OK 5 Turn on local echo by going to File Æ Properties Æ Settings tab Æ ASCII Setup Check the boxes...
Page 11: ...lution to 4x microstepping ASR4 Saving the Configuration In order to have these settings retained upon a power cycle the data must be saved The command to store these settings is SD Save Data Example To save settings ASD Connecting the Motor WARNING Make sure the power is OFF when connecting or disconnecting motors from the R325I Damage will occur if the power is being supplied Please refer to you...
Page 12: ... 2 6A OFF ON OFF OFF 2 8A ON OFF OFF OFF 3 0A OFF OFF OFF OFF WARNING Current of 2 7 Amp and above REQUIRES an additional heatsink make sure the temperature of the bracket does not exceed 45 C Hold Current Percent of Run Current Function SW5 SW6 0 ON ON 33 OFF ON 66 ON OFF 100 OFF OFF Step Resolution Function SW7 SW8 SW9 SW10 Full Step OFF OFF OFF OFF 2X ON OFF OFF OFF 4X ON ON OFF OFF 8X ON OFF O...
Page 13: ...and 4 on the connector If this is done then each input is set TRUE by bringing the voltage level at the input equal to or more negative than the Power Supply negative connection at Pin 11 With this arrangement Direction Disable and Fault Out control can be effected by simple switch closure between the input and the power negative connection at Pin 11 If the Step input is obtained from a Function G...
Page 14: ...t Acceleration Q N AC Numeric 1 100 10 Hold Current Q N HI Numeric 0 3000 300 Hold Timeout Q N HT Numeric 100 5000 5000 Min Velocity Q N MV Numeric 256 15 000 256 Percent Fast Decay Q N PF Numeric 0 3 2 Run Current Q N RI Binary 300 3000 1000 Read Switches Q RS Numeric 0 15 Step Resolution Q N SR Numeric 1 256 16 Start Velocity Q N SV Numeric 256 15 000 1 000 Velocity Limit Q N VL Numeric 256 15 0...
Page 15: ... LF Example AAC CR LF Queries Driver A for the current Acceleration Value The response would be in the following format Response Format Address value Example AAC10 The Acceleration Value for Driver A is 10 CR LF stand for Carriage Return and Line Feed respectively These are NOT characters to be typed in For direct keyboard users these values are executed when the Return key is pressed For programm...
Page 16: ...p resolution changes The absolute position scale is set to zero by the Zero Position command ZP or the execution of a Home Axis HA command ZP AZP Sets absolute position to zero Zero Position Command Only Sets the current value of the Absolute Position scale to zero Note This command functions differently between R325I and R325IE VELOCITY ACCELERATION AC 1 250 AAC1 Sets Acceleration to 1000 PPS 2 A...
Page 17: ...rd Command Only Makes a single step move at the current step resolution Forward is defined as the direction the motor moves with the Direction input in the FALSE state or with no connection Backwards is thus the direction the motor moves when the Direction input is in the energized or TRUE state SM ASM Stops any Position or Velocity move in progress Stop Motion Command Only This command can be use...
Page 18: ...AHT100 Sets the Hold Timeout to 100 mS Hold Timeout Command or Query Default 5000 Reads or sets the time interval in milliseconds after any motor movement before the motor current is changed from Run Current to Hold Current STORAGE RECALL LD ALD Loads all the default values Load Defaults Command Only Loads all of the unit Default parameter values A Save Data SD command must be issued to have these...
Page 19: ...on value Reply AFR325100 R325 firmware revision 1 00 MA 65 90 AMA88 Sets the unit address to 88 X My Address Command or Query Default 65 Reads or sets the unit address The value read or entered is the decimal value of the ASCII character designated as the unit address 65 A and 90 Z The change to a new address is immediate in that the command response will use the new address RS ARS Reads the switc...
Page 20: ...er and all other nodes on the bus Slaves The Master only initiates communication and does so by sending a message that includes the address of a specific Slave All Slaves read the message but only the addressed Slave replies The outgoing message from the Master is framed by always starting the message with the character 0x23 and ending with the linefeed character 0x0A The reply from the Slave is f...
Page 21: ...o separator characters are used but a carriage return character 0x0D is inserted before the termination character in both the outgoing message and the reply 6 Data Format Data is transmitted at 57 600 Baud with eight data bits no parity and two stop bits 7 Recommended Interface Device The RMS Technologies USB485 Converter Card converts the RS485 connection to a standard USB connection 1 1 and 2 0 ...
Page 22: ...oving the motor Step Dir Verify that the 5V is being supplied to Pin 1 of P1 The R325I is causing the motor to vibrate and jitter back and forth Are the Motor phases switched Be sure to check that motor wires are connected to Pins 6 through 9 of P1 in the order of A A Bar B B Bar To check which wires belong to one phase take a Meter to measure resistance between any two wires If there is a finite ...
Page 23: ...ogies Driver and Motor NOTE The length of the DC power supply cable to the Driver should not exceed 50 feet Example A demonstrates the recommended cable configuration for DC power supply cabling under 50 feet long If cabling of 50 feet or longer is required the additional length may be gained by adding an AC power supply cable Correct AWG wire size is determined by the current requirement plus cab...
Page 24: ...AWG Table 1 Amp Peak Length Feet 10 25 50 75 100 Minimum AWG 20 20 18 18 16 2 Amp Peak Length Feet 10 25 50 75 100 Minimum AWG 20 18 16 14 14 3 Amp Peak Length Feet 10 25 50 75 100 Minimum AWG 18 16 14 12 12 Use the alternative methods illustrated in Examples B and C when the cable length is 50 feet Also use the same current rating when the alternate AC power is used Driver Supply Cable Wire Size ...
Page 25: ... Example A demonstrates the recommended cable configuration for the Driver to Motor cabling under 50 Feet long Correct AWG wire size is determined by the current requirement plus cable length Please see the Driver to Motor Cable AWG Table in this Appendix If cabling of 50 feet or longer is required the additional length can be gained by adding Common Mode Line Filters 2x L 0 5 MH 0 5 MH is a typic...
Page 26: ...4 14 14 12 12 3 Amp Peak 7 Amp Peak Length Feet 10 25 50 75 100 Length Feet 10 25 50 75 100 Minimum AWG 18 16 14 12 12 Minimum AWG 12 12 12 12 12 4 Amp Peak Length Feet 10 25 50 75 100 Minimum AWG 18 16 14 12 12 Driver to Motor Supply Cable Wire Size NOTE These recommendations will provide optimal protection against EMI and RFI The actual cable type wire gauge shield type and filtering devices use...
