R356 Controller with built-in 256x Microstepping Driver and encoder feedback for position correction User Manual Version 1.01 RMS Technologies 2533 N. Carson St.
Thank you for purchasing the R356 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-15 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.
R356 User Manual Product: Version: Date: R356 1.01 4/3/2009 Version History Version Date Description of Changes 1.00 7/01/2008 New User Manual 1.01 4/3/2009 Added new RS485-232 converter card info and color code for opto sensor connection page 18. R356 Controller & Driver RMS Technologies Page 3 Version 1.
Table Of Contents Peak current versus Amps/Phase 24 Designer’s Kit with RS232 communication Error: Reference source not found Designer’s Kit with USB communication Error: Reference source not found R356’s Encoder Option Error: Reference source not found Default Settings Error: Reference source not found 2. ELECTRICAL SPECIFICATIONS Error: Reference source not found Digital I/O Specifications Error: Reference source not found 3.
Peak current versus Amps/Phase Error: Reference source not found R356 Controller & Driver RMS Technologies Page 5 Version 1.
1. FEATURES • Operates from +12V to 40V • Single 2 wire bus linking up to 16 drive/controls ( on RS485 bus) • 3.0 Amp Peak Chopper (PWM) Driver (2.
must first be set up to work with the encoder by understanding the CPR and calculating an encoder ratio. See the Appendix of this user manual. Default Settings Function (command) Description Running Current (m) 25% of 3.
4. MECHANICAL SPECIFICATIONS Dimensions Figure 1: Dimensions R356 Controller & Driver RMS Technologies Page 8 Version 1.
5. PIN ASSIGNMENTS A DB-15 female connector cable comes with every R356 unit. It receives power and provides the control connections for the R356 Unit. On the opposite end of the DB15 female connector cable, there is a 3 pin connector provided for the converter card in order for the R356 to communicate with the PC. The four I/O wires are colored Orange, Orange/White, White and Red/White. This will allow for options such as solenoids, relays, opto isolators, LED’s and many other input and output connections.
Cable 90-096 (connects with either RS485-232 or USB Card) Connecting to the new RoHS version RS232 card R356 pin# 8 1 15 R356 color Black/white *USB pin# 1 (RS485A) 2 (GND connect to Power Green Supply Ground) Brown 3 (RS485B) Table 3: Pinouts for using RS232 Pin 1 Figure 3: RS232 to RS485 converter card, p/n 083-00050 The RS232 card requires power (7-40VDC).
Figure 4: USB to RS485 converter card, p/n USB485 The USB converter card does not require power (it receives power from the PC). Power is still needed for the R356 controller/driver. 6. CONNECTION SPECIFICATIONS DO NOT PLUG IN POWER UNTIL EVERYTHING IS CONNECTED. Quick Start RS232-485 converter card Figure 5: Connection using RS232 1. The RS232 converter card connects to the R356 using the DB-15 cable that is provided to you. The 3-Pin connector is placed onto the converter card.
2. Your power supply will be connected to the RS232 card where the green header is located. + is for +12-40VDC, - is for the Power Supply Ground. 3. Connect the motor and optional encoder to the R356. 4. Connect the RS232 card to your PC with a male to female DB-9 cable. 5. Turn your power supply on and follow instructions for using HyperTerminal. USB-485 converter card Figure 6: Connection using USB 1. The USB converter card connects to the R356 using the DB-15 cable that is provided to you.
5. Turn your power supply on and follow instructions for using HyperTerminal. Mating Connectors The following cables are provided with the R356 unit: DB-15 cable: 4-Pin cable for step motor: One 4-pin cable is for the motor windings. Color Func tion The table to the right depicts the function Part # 90-018 Red A+ Phase Blue APhase Green B+ Phase Black BPhase Table 5: Pin description for Motor Encoder cable: R356 Controller & Driver RMS Technologies Page 13 Version 1.
This is ideally for a US Digital E2, E5, or E3 encoder Pin # Color Funct ion 1 Green Groun d 2 White Index 3 Yellow Ch B 4 Red +5VD C 5 Blue Ch A 6 --- for encoder cable R356 Controller & Driver RMS Technologies Page 14 Table 6: Pinouts Version 1.
7. CONFIGURING AND CONTROLLING THE R356 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 Programs Accessories Communications HyperTerminal 2. Assign a name for your New Connection 3. Determine the correct COM port # by right clicking on “My Computer” and selecting “Properties”. Select the “Hardware Tab” and click on “Device Manager”.
4. Under ‘Connect using’, select the COM connection that corresponds to your PC serial port (i.e. COM 1, COM 2, etc.) then click ‘OK’ 5. Set your Port Settings to default (i.e. 9600 baud, 8 data, no parity, 1 stop bit, no flow control) 6. Turn on local echo by going to: File Properties Settings tab ASCII Setup: Click on the box for “Echo Typed Characters Locally” and click on the box for “Send Line ends with line feeds”. Click “OK”. 7.
o Move the motor (/1P800R moves the motor 2 revs if half stepping) HyperTerminal Responses: /0@ /0b /0C /0' /0’a indicates indicates indicates indicates Overflow good command and that it was received correctly bad command that the command is out of range that the command is terminated Setting the Current CAUTION! DO NOT SET THE CURRENT ABOVE THE MOTOR’S RATED CURRENT.
This will set the controller to 1.4 Amps Peak. How did we get 1.4 Amps? 1.0 Amps x 1.4 = 1.4 A Peak. WARNING!: Setting the Current to a value greater than the Motor’s rated current will damage your motor, and may overheat the controller. Connecting Multiple R356 Units Connect multiple units by using the Converter card, shown below. If using the RS232-to-RS485 converter card, daisy chain all four wires: power, ground, RS485+ and RS485- prior to plugging into the converter card.
Be sure to also ground the USB485 card with Pin 2, ground. Figure 8: Connection using USB485Converter Card 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 9: Address Dial Note: New RoHS compliant boards have a Black dial instead of a Red one. Connecting Accessories If you have purchased the Designer’s Kit, there is a Red Push Button and an Optical Sensor included.
Figure 10: Push Button Schematic Pins 5, 7, 13 and 14 can all be used with push buttons. Below shows the corresponding input numbers for these pins. Input Input Input Input R356 Controller & Driver RMS Technologies 1 Pin 2 Pin 3 Pin 4 Pin Table 7 Page 20 13 5 7 14 Version 1.
LED or other output The two I/O lines, pins 2 & 10, can drive an external device such as solenoids, LED’s, or switches. The bidirectional I/O’s are switches to ground internally, and therefore need to be connected to the +V of the power supply. Below is a recommended connection for lighting an LED with 20 mAmps: Upon entering command /1J0R, both pins 2 & 10 will output 1 Amps. The 1.2k ohm resistor will limit the current to 20 mAmps into the LED.
8. APPENDIX Connecting to the non-RoHS RS232 card (with Red 4-Pin) If using the old non-RoHS converter card, here are the connection specifications for this converter card: R356 pin# 8 15 1 9 Table R356 color RS232 card pin# Black/white A (RS485A) Brown B (RS485B) Green - (GND) Red + (PWR) 9: Pinouts for using RS232 RS232 to RS485 converter card, p/n ACC-01 The RS232 card requires power (7-40VDC). Power is then sent to the motor via the Red 4-Pin connector.
How to connect with old cable: If you have a cable with a Red 4-Pin connector, simply cut off this connector, strip the wires and reconnect to a 3-Pin connector in the following manner: Old 4-Pin cable Connect New 3-Pin cable to Pin # Color/function Color/function Pin 1 Red (PWR) No connection Pin 2 Green (GND) Green (GND) Pin 3 Brown RS485 B (+) Brown RS485 B (+) Pin 4 Black/white RS485 A (-) Black/white RS485 A (-) Pin # -Pin 2 Pin 3 Pin 1 Encoder Usage The R356 can do closed loop position corre
This is is the number of re-tries allowed under a stall condition: /1au10000R (default is 10) Fourth: Enable the Feedback mode: Zero the positions prior to enabling the feedback mode: /1z0R Issue /1n8R to enable the feedback mode. Overload Report Mode Overload report mode when enabled, will compare the encoder value to the commanded position at the end of a move and report an error if the two values do not match within the range given by “aC”.
HALF- STEPPING Current Wave Form PHASE B 8 7 1 PHASE A 2 6 PHASE A Current 5 3 4 Peak current (1.4 times Amps/Ph) 141% 100% time Average, or RMS Is only 1 Amp/Ph 0% 100% 141% POSITION 1 2 3 4 5 6 7 8 The position versus time graph just above, plots only the A Phase, following the eight different steps the motor will make. Current is changing with each position. Recall that a negative in electronics simply means reverse direction of current flow. 1.