Manual for T86 Digital Stepper Servo Motor Driver

time:2019-06-11 Browse:

T86 User Manual

  1. Product Overview 2

  2. Application environment and installation 3
  2.1 Application Environment Requirements 3
  2.2 Driver Installation Size 3

  3. Port and wiring of the driver 4
  3.1 Port Function Description 4
  3.2 Power supply input 4
  3.3 Encoder Connection 4
  3.4 Motor Connection 
       3.5  Control signal wiring 5
  3.5.1 PUL, DIR port 5
  3.5.2 ENA Port  5
  3.5.3 ALM、Pend Port 5
  3.5.4 Example of Control Pulse Wiring 6

       3.6 RS232 serial port

  4. DIP switch and operating parameter settings 7
  4.1 Pulse setting per revolution 7
  4.2 Motor direction selection 7
  4.3 Pulse mode selection 8

  5. Driver working status LED indication 8
  6. Common problems and countermeasures 8
  7. Optional Features Custom Model 9
  Appendix A. Debugging Software Application Notes 10
Appendix B. Warranty Terms 10




 

  1. Product Overview 


Thank you for choosing the Rtelligent T series digital stepper servo drive.

 

T86 Digital Stepper Servo Motor Driver

        Stepper servo is a control motor scheme featuring high speed, high torque, high precision, low vibration, low heating and no loss of step, which is formed based on the common open loop stepper motor in combination with position feedback and servo algorithm.

   Ba
sed on the new 32-bit DSP platform and adopting the field oriented control (FOC) and field-weakening control algorithr design Rtelligent T series stepper servo drive surpasses the performance of common steppers comprehensively. 

        PID parameter adjustment function, meeting different types of load aplications better.

        Field-weakening control algorithm, enabling the motor to keep a steady power when operating at a high speed.

        Vector control technology, enabling the motor to feature the current characteristics of servo, iow heating and low vibration.

        Feedback from the encoder with a resolution of 400 pulse, enabling the motor featuring a higher precision and no loss of step. The T series drive combined with servo algorithm can enable the motor to perform better and replace servo pplications af the same power so it'sthe most cost. effective option for automatic equipment

        In short, the servo control scheme combined with the characteristics of the stepping motor makes the T series step servo drive better able to play the performance of the stepping motor, can replace the servo application of the same power, and is the new choice of the optimal cost performance of the automation equipment.


  The T86 driver can be used to set subdivision and other parameters through the DIP switch and debugging software. It has protection functions such as voltage, current and position. It adds an alarm output interface, and its input and output signals are optically isolated.

 

Power supply

20 - 80 VAC  /  24 – 100VDC  

Precision control

4000  Pulse/r

Pulse mode

Monopulse (PUL + DIR)、double - pulse (CW +CCW)、orthogonal pulse (A/B orthogonal pulse)

Current control

Servo vector control algorithm

Micro-stepping levels settings

DIP switch settings, or debug software setting

Speed range

Conventional 1200~1500rpm, up to 4000rpm

Resonance suppression

Automatic calculation of resonance points to suppress medium frequency vibration

PID parameter adjustment

Debug software adjusts motor PID characteristics

Pulse filtering

2MHz digital signal filter

Alarm Output

Overcurrent, overvoltage, position error, etc. alarm output

 

    We hope that our excellent performance products can help you complete your motion control project.

    Please read this technical manual before using this product.


 
 

  2. Application environment and installation 


   2.1 Application Environment Requirements 


Project

Rtelligent  T86

Installation environment

Avoid dust, oil, corrosive environment

Vibration

0.5G(4.9m/s2) Max

Use temperature / humidity

0 ℃ ~ 45 ℃ / 90%RH以下(no dewing

Storage and transportation temperature

-10 ℃ ~ 70 ℃

Cooling method

Natural cooling / away from heat sources

Waterproof level

IP54

   

  2.2 Driver Installation Size 

 

T86 Digital Stepper Servo Motor Driver

   2.3 Driver Installation Requirement 

      Install the drive in a vertical or horizontal position with the front facing forward and the top facing up for heat dissipation.

   When assembling, take care to avoid drilling debris and other foreign objects falling inside the drive.

   Use M3 screws to fix it during installation.

   When there is a vibration source nearby (such as a drill press, etc.), use a vibration absorber or install an anti-vibration rubber gasket.

   When multiple drives are installed in the control cabinet, please pay attention to the space to ensure sufficient heat dissipation; if necessary, the cooling fan can be configured to ensure good heat dissipation conditions in the control cabinet.

 

  3.Port and wiring of the driver



   3.1 Port Function Description 

 

Function

Label

Definition

Remarks

Power supply input 

AC

AC power supply input

AC 20~80V
DC 24~100V

AC

AC power supply input

Motor wiring

A+

A phase winding positive end

Red

A-

A phase winding negative end

Yellow

B+

B phase winding positive end

Black

B-

B phase winding negative end

Green

Encoder wiring

EB+

Encoder B phase positive end

Green

EB-

Encoder B phase negative end

Yellow

EA+

Encoder A phase positive end

Brown

EA-

Encoder A phase negative end

White

VCC

Encoder working power supply 5V positive

Red

GND

Encoder working power supply 5V ground

Blue

Pulse wiring

PUL+

Pulse input interface

Red 3.3~24V compatible

PUL-

DIR+

Direction input interface

DIR-

Enable terminal

ENA+

Enable control interface

ENA-

Alarm Output

ALM+

Alarm output interface

24V,below 40mA

ALM-

In place output

Pend+

In-position output interface

Pend-

 

    3.2 power supply input  

        The power of the driver is AC/DC universal, and the input voltage range is AC 20~80V and DC 24V~100V.

        Do not mistake the 220VAC directly connected to the AC side! ! !

       Power selection reference:

  Voltage:

  The stepping motor has the characteristic that the torque decreases as the motor speed increases, and the input power supply voltage affects the magnitude of the torque drop when the motor is at a high speed. Properly increasing the voltage of the input power supply can increase the output torque of the motor at high speeds.

  Step servos have higher speed and torque outputs than normal steps, so if you want better high speed performance, you need to increase the supply voltage of the drive.

  Current:

  The operation of the driver is to convert the input high voltage and low current power into low voltage and high current across the motor winding. In actual use, select the appropriate power supply according to the motor model, load torque and other factors.

  The effect of the regenerative voltage:

  The stepper motor also retains the characteristics of the generator while it is in operation. During deceleration, the kinetic energy accumulated by the load is converted into electrical energy that is superimposed on the driver circuit and the input power source. Pay attention to the setting of acceleration/deceleration time to prevent the protection of the drive or power supply.

  When the drive is powered off, pulling the load to make the motor move will see the driver LED indicator light, which is also affected by this.

 

    3.3 Encoder connection

  The T86 encoder is an A/B differential output, which is connected in the corresponding order when used.

 

EB+

EB-

EA+

EA-

VCC

GND

Green

Yellow

Brown

White

Red

Blue

 

     Rtelligent is equipped with a certain length of encoder-specific cable, please choose different length extension cables according to the installation requirements.
 

    3.4 Motor Connection


 

A+

Red

A-

Yellow

B+

Black

B-

Green

 

  The T86 driver matching motor is the corresponding T series step servo motor (86A4EC/86A8EC), and the corresponding motor wiring sequence is fixed and unique.
 

    3.5 Control signal wiring


     3.5.1 PUL、DIR port: connection for pulse command

       The T series driver signal interface is pulsed, and the T86 can receive three types of pulse command signals.

     The upper controller can be a pulse signal generating device such as a PLC, a single chip microcomputer, a control card, or a controller.

 

Monopulse (PUL + DIR)

 

Double - pulse(CW +CCW)

 

Orthogonal pulse(A/B orthogonal pulse

 

 

     3.5.2 ENA Port: Used to enable or disable 

       When the optocoupler is off, the driver outputs current to the motor; when the internal optocoupler is turned on, the driver will cut off the current of each phase of the motor to make the motor in a free state, and the stepping pulse is not responded.
  When the motor is in an error state, the enable is automatically turned off. The level of the ENA signal can be set to the opposite.

 

     3.5.3 ALM、Pend Port: For alarm and in-position output

  The ALM port is used to output the drive alarm status to an external control circuit. When the drive is in an error state, the ALM outputs the optocoupler level that is opposite to normal operation.

  The Pend port is used to output the driver in-position signal. When the difference between the pulse command position issued by the host computer and the current position of the step servo motor (position deviation) is less than the set value, the in-position signal is output. The host computer accepts the signal and confirms that the positioning is completed.

  In addition, the ALM and Pend ports can be multiplexed into a brake control (Break) signal by software adjustment for controlling the brake switch with a stepper servo motor. Since the brake coil is an inductive load and the coil generates heat when the motor is running, the customer can select a special brake controller as needed to reduce the brake heat and improve the life and reliability.

  Rtelligent offers solutions for dedicated brake controllers, examples of which are as follows:

 

  The red circle in the figure represents the switching load and is typically used for relay or optocoupler inputs.

  Pay attention to the voltage of the power supply and the use of the current limiting resistor to ensure that the output of the driver works normally!

 

  The red wireframe in the figure represents the Rite brake controller, which can replace the application of general relays.

  For intermediate relays and other applications, refer to the ALM port control. Pay attention to the voltage of the power supply and the use of the current limiting resistor to ensure that the output of the driver works normally!

 

     3.5.4 Example of Control Pulse Wiring
 

    3.6  RS232 serial port


串口

Serial number

Mark

Name

1

NC

 

2

+5V

Positive power supply terminal

3

TxD

RS232 transmitting end

4

GND

Power supply ground

5

RxD

RS232 receiver

6

NC

 

 

       The RS232 serial port is used to connect to the T86 debugging software and change other related operating parameters of the drive.

  When using, please be careful not to plug in and plug in the 232 serial port! ! !
 

  4.DIP switch and operating parameter settings


   4.1  Pulse setting per revolution

       DIP switch SW1, SW2, SW3, SW4 are used to set the number of pulses required for each revolution of the motor.

       Motor speed = command pulse frequency ÷ per revolution pulse

  Motor stroke = number of command pulses per revolution


 
 
 
 
 

Steps/revolution

SW1

SW2

SW3

SW4

Remarks

Default

on

on

on

on

Switch the DIP to the Default state debugging software to freely change other subdivisions

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

8000

on

on

off

off

10000

off

on

off

off

20000

on

off

off

off

40000

off

off

off

off

 

    4.2 Motor direction selection

      The DIP switch SW5 is used to set the running direction of the motor under the initial pulse.

   Off means that the direction of the motor is counterclockwise when the initial pulse is input;

   On indicates that the direction of the motor is clockwise when the initial pulse is input.

   ※The initial pulse is the debugging pulse used in the development of the driver software. Please refer to the actual running direction of the motor.
 

    4.3 Pulse filter function selection

       The DIP switch SW6 is used to set whether the drive turns on the pulse filtering function.

  Off means that the pulse filtering function is turned off;

  On indicates that the pulse filtering function is turned on.

  ※The pulse filtering function is the filtering effect of the driver on the input command. When the filtering function is turned on, the driver will smooth the input pulse command, which makes the motor running acceleration and deceleration softer, but this will also cause a certain delay of the pulse command.

  Filter time setting: The default time of the filter function is 6.4ms, and the software can be changed to the range below 25.6ms.

 

    4.4 Pulse mode selection

       The DIP switch SW7 is used to set the drive pulse command mode.

  Off represents the pulse + direction (single pulse) mode; on represents the double pulse mode.

  ※ When the drive pulse mode needs to be set to A/B quadrature pulse mode, set the pulse mode check function to A/B quadrature pulse mode in the debug software and set SW7 to on.

 

    4.5 Open/closed loop selection

       The DIP switch SW8 is used to set the control mode of the drive.

  Off means that the input is in normal closed loop mode;

  On indicates that the input driver is operating in open loop mode and can be used to test the motor.

  ※The above parameters are set for the DIP switch. For other parameter settings, refer to Appendix A: Debugging Software Application Note
 

 

   5. Driver working status LED indication


LED status

Driver status

 

Green indicator is on for long time

Drive not enabled

 

Green indicator is flickering

driver working normally

 

one green indicator and one red indicator 

driver overcurrent

 

one green indicator and two red indicator 

driver input power overvoltage 

 

one green indicator and three red indicator 

The internal voltage of the driver is wrong.

 

one green indicator and four red indicator 

Tracking error exceeds limit

 

one green indicator and five red indicator 

Encoder phase error

 

 

 

    6.Common problems and countermeasures


Phenomenon

Possible situation

Solution

The motor does not turn

Power light is not lit

Check the power supply circuit, normal power supply

Motor lock shaft but does not turn

The pulse signal is weak and the signal current is increased to 7-16mA.

Speed ​​is too small

Selective segmentation

Drive is protected

Eliminate the alarm and re-power it

Enable signal problem

Pull the enable signal high or not

Incorrect command pulse

Check if the upper computer has pulse output

Motor steering error

Motor steering reverse

Adjust the DIP switch SW5

The motor line has an open circuit

Check if the connection is badly connected

The motor has only one direction

Pulse mode error or DIR port corruption

Alarm indicator is on

Motor line is wrong

Check wiring

Motor encoder line is wrong

Check encoder line order

Voltage is too high or too low

Check the power supply

Incorrect position or speed

Signal interference

Eliminate interference, reliable grounding

Incorrect command input

Check the upper computer instructions to ensure correct output

Wrong setting per revolution

Check the status of the DIP switch and connect it

Encoder signal is abnormal

Replace the motor, contact the manufacturer

Driver terminal burnout

Short circuit between terminals

Check the polarity of the power supply or external short circuit

The internal resistance between the terminals is too large

Check whether excessive solder is added to the connection between the line and the line to form tin pellets

Motor over tolerance

The time of acceleration and deceleration is too short

Reduce command acceleration or increase drive filter parameters

Motor torque is too small

Select a large torque motor

Load too heavy

Check load weight and mass, adjust mechanical structure

 

Power supply current is too small

Replace the appropriate power supply

 

    7.Optional Features Custom Model


  In order to meet the application needs of different occasions, T86 derives relevant models, please confirm and distinguish before ordering:
 

Model

Function

T86(standard

monopulse、bandwidth 200K、smoothing filter

T86-CCW

Double pulse mode(change The DIP switch SW6

T86-QEP

orthogonal pulse(Can be used for encoder followers, debug software changes)

T86-FOC

Servo control mode 2(Control algorithm switching, debugging software changes)

T86-IO

IO switching mode(IO trigger constant speed / positioning, derived)

T86-PM

Drive programmable mode (customized control program for customers, derived)

T86-485

485 communication mode (485 communication application, derived)

 

   Appendix A. Debugging Software Application Notes

      See Rtelligent T Series Debugging Software - Help Options
 

   Appendix B. Warranty Terms

    8.1 18 month warranty

         The product is warranted for one year from the date of shipment, and we will provide free repair service for the product during the warranty period.

 

    8.2 The following conditions are not covered by the warranty 


         ■ Improper wiring, such as reverse polarity of the power supply and live plug-in motor leads.
         ■ Use beyond electrical and environmental requirements.
         ■ Unauthorized changes to internal devices.


 

     8.3 Maintenance Process
 

          If you need to repair the product, follow the process below:
         (1) Contact our customer service staff to obtain a return permit.
         (2) A written description of the driver failure phenomenon and the sender's contact information and mailing method are attached.

 

 

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