R164 Controller with built-in 64 Microstepping Driver User Manual Version 1.17 RMS Technologies 2533 N. Carson St. #4698, Carson City, NV 89706-0147 1-877-301-3609 www.rmsmotion.com sales@rmsmotion.
Thank you for purchasing the R164 Controller with Microstepping Driver. This product is warranted to be free of manufacturing defects for one year from the date of purchase. PLEASE READ BEFORE USING Before you begin, ensure there is a suitable DC Power Supply. Do not disconnect the DB-9 cable while power is still being applied to the controller. This will damage the board. Under any circumstances, do not exceed +40 VDC. DISCLAIMER The information provided in this document is believed to be reliable.
TABLE OF CONTENTS 1. FEATURES............................................................................. 4 Designer’s Kit ....................................................................................... 4 Default Settings.................................................................................... 4 2. ELECTRICAL SPECIFICATIONS.............................................. 4 Digital I/O Specifications ..................................................................... 4 3.
1. FEATURES • • • • • • • • • • • • • • • Controller with built in Microstepping Driver Operates from +12V to 40V Single 4 wire bus linking up to 16 stepper motors 1.
3. OPERATING SPECIFICATIONS Maximum Step Frequency Operating Temperature Range Storage Temperature Range 10,000 pulses per second (pps) 0° to 50° C -20° to 70° C Communication Specifications Interface Type Baud Rate # Bits per character Parity Stop Bit Flow Control RS485 or RS232 9600 bits per second (bps) 8 Data None 1 None 4. MECHANICAL SPECIFICATIONS Size: 1.932” x 2.192” x 1.228” (49.07 mm x 55.68 mm x 31.19 mm) Weight: 3.6 oz (100 gm) Mounting: Four #6-32 screws, 1.622” x 1.992” (41.20 mm x 50.
5. PIN ASSIGNMENTS A DB-9 female connector cable receives power and provides the control connections for the R164 Controller. On the opposite end of the DB-9 female connector cable, there is a 4 pin connector provided for the converter card in order for the controller to communicate with the PC. This allows the user to solder and program the switch push button and the Opto Sensor, enabling several options. The two I/O wires are colored blue and black.
6. CONNECTION SPECIFICATIONS Quick Start 1 2 3 4 5 6 7 Figure 3: List of Parts List of Parts: 1. 2. 3. 4. 5. 6. 7. 8.
7. CONFIGURING AND CONTROLLING THE R164 HyperTerminal Setup Please follow these steps in order to properly set up HyperTerminal: 1. Open a terminal from your PC by following these steps: Start Menu Æ Programs Æ Accessories Æ Communications Æ HyperTerminal 2. Assign a name for your New Connection 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 default (i.e.
Percent Desired Current (Amps) 0.15 10% = 0.30 20% = 0.45 30% = 0.60 40% = 0.75 50% = 0.90 60% = 1.05 70% = 1.20 80% = 1.35 90% = 1.50 100% = Table 3: Desired Current To achieve the equivalent Driver Current (Amps), multiply your motor’s rated current by 1.4. Follow these examples: Example One: You have a motor that is rated at 0.85 Amps, 0.85 Amps x 1.4 = ~1.2 Amps. Using Table 3 we would see that 1.2 Amps is 80% of the driver’s maximum output current.
Connecting Multiple R164 Controllers Connect multiple controllers by using the Converter card, shown below: Figure 4: Connecting Multiple Controllers Changing the Address of the Controller Use a screwdriver to turn the dial so the arrow points to the desired Address. Use this number when programming commands. For example, /1P1000R Figure 5: Address Dial RMS Technologies R164 Controller Manual Page 10 Version 1.
Connecting the Accessory Pieces If you have purchased the Designer’s Kit, there is a Red Push Button and an Optical Sensor included. Follow the schematics below in order to properly assemble accessory pieces. Push Button Figure 6: Push Button Schematic It is best to solder the Push Button to Pin 5 which corresponds to Input 4, then solder Pin 6 (Power Ground) to the other side of the push button.
Optical Sensor Figure 7: Opto Sensor Connection Schematic The Opto Sensor uses Pins 6, 7, and 9. Use the following table to solder the corresponding wires. Optical Sensor DB9 Cable Green Æ Green Black Æ Green Red Æ Yellow White Æ White Table 5 For a list of commands, please visit www.rmsmotion.com Æ Downloads Æ R164 Commands. RMS Technologies R164 Controller Manual Page 12 Version 1.
Encoder Usage The R164 can also be used as reference to home by connecting to an US Digital E2 Encoder. The pinouts are as follows: Pin Number 1 2 3 4 5 Function Ground Index Channel A + 5 VDC Channel B The E2 encoder requires a separate +5 Volt power supply, as the R164 controller cannot provide a strong enough source of power. In order to use the Indexer as a reference to home, connect Pin 2 from the encoder to one of the inputs on the controller.
8. MOTOR CONNECTIONS Step Motors have 4, 6, or 8 wires. To better understand how to connect your step motor with your R164 Controller, follow the Figures below for the corresponding motor. NOTE: The dots indicate the starting position of the wires when wound. 4 Lead Wire Motor Connection Connect one set of windings to the A terminals. Connect the other set of windings to the B terminals. If the set of windings is unclear, take a pair of wires; use an ohmmeter to check for continuity.
6 Lead Wire Motor Connection (Full-Winding) For a full winding connection, use both end wires, the center tap is ignored. (NC: No Connection). Figure 9.3: 6 Lead Wire Full Winding Connection 8 Lead Wire Motor Connection (Parallel Connection) Eight wire motors can be connected in two ways: Parallel and Series. When in parallel, the wires are simply connected such that the beginning of each winding are connected together. Figure 9.
9. Troubleshooting & FAQ Cannot Type anything in HyperTerminal: Is the correct COM Port selected? Are you using Windows 95? Windows 95 has had problems with its HyperTerminal. Use an operating system of Windows 98 or higher. Are you working on a Laptop? Sometimes there is a shift in Ground on Laptop Serial Ports. Pin 5 on the Serial Port is Ground. Make sure that this is connected to a true ground.
R164 Controller will accept commands, but the Motor will stall in the middle of a command: This means there is not enough current being supplied to the Motor. Use the m and l (lower case L) commands to change the current, or run the Motor at a Lower Speed (V command). Halt Command (H01) Issues There are known issues involving the Halt command (i.e., H01) when stored in memory location zero.