T86-IO Closed Loop Stepper Driver
User Manual

Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

Product overview

Thank you for choosing Rtelligent T series digital stepper servo driver. Stepper servo is a stepper motor scheme formed based on the common open-loop stepper motor in combination with position feedback and servo algorithm, which features high speed, high torque, high precision, low vibration, low heating and no loss of step. Based on TI’s new 32-bit DSP processing chip platform, T series stepper servo driver uses the field-oriented control (FOC) and vector field-weakening control algorithm in the servo driver, which has the performance of surpassing the ordinary stepper in all aspects.

• The built-in PID parameter adjustment function makes the motor better meet the application of different kinds of loads.
• The built-in field-weakening control algorithm makes the motor to reduce the magnetic field characteristics and keep the power at high speed.
• The built-in current vector control function makes the motor have the current characteristic of servo and low heating.
• The built-in micro-stepping command algorithm makes the motor can run while maintaining a stable and low vibration at various speeds.
• The encoder feedback with the built-in 4000 pulse resolution makes the positioning precision increase and never loses the step.

In conclusion, the servo control scheme combined with the characteristics of the stepper motor enables the T series stepper servo driver to better exert the performance of the stepper motor, which can replace the servo application of the same power. It is a new choice of optimal cost performance for automation equipment.

T86-IO driver can set subdivision and other parameters through DIP switch and debugging software. It has protection functions such as voltage, current, and position, and adds alarm output interface. Its input and output control signals are optically isolated.

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.

Application environment and installation

Environmental requirement

Driver installation dimensions

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.

Driver port and connection

Port function description

Power supply input

The power supply of the driver can be both AC power and DC power, and the input voltage range is 20V~80VAC or 24V~100VDC.
Please do not connect to commercial electricity(220VAC) directly!

Power selection reference:

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.
Stepper servo has a higher speed and torque output than ordinary stepper. Therefore, if you want to get better high-speed performance, you need to increase the power supply voltage of the driver.

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.

Encoder connection

The T86-IO encoder is A/B differential output and is connected in the corresponding order when used.

Rtelligent is equipped with a certain length of encoder cable, Please purchase extension cables of different lengths according to the installation needs.

Motor connection

The matching motor of the T86-IO driver is the corresponding T series stepper servo motor, and its corresponding motor connection order is fixed and unique.

Control signal connection

PUL, DIR Port: connection for start and stop command

and direction indication
	1. At PUL on and DIR off, the motor is triggered to rotate forward. When PUL is turned off, the motor decelerates and stops. 2. At PUL on and DIR on, the motor is triggered to rotate reverse. When PUL is turned off, the motor decelerates and stops. 3.At PUL off, the motor stops.

ENA port: enable/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 an error state, it is automatically turned off. The level logic of the enable signal can be set to the opposite.

ALM, Pend port: used for alarm and in place output.

The ALM port is used to output the operating status of the driver to an external control circuit. When the driver is in the error state and the normal working state, ALM outputs different optocoupler levels.
The Pend port is used to output the driver in-place signal. When the difference(position deviation) between the pulse command position sent by the upper computer and the current position of the stepper servo motor is less than the set value, the in-place signal is output. The upper computer receives the signal and confirms that the positioning is complete.
In addition, ALM and Pend ports can be reused as brake control (break) signal through software adjustment, which is used to control the brake switch of stepper servo motor with brake. Since the brake coil is an inductive load, and the coil heating is serious when the motor is running, customers can select special brake controller according to their needs to reduce the brake heating and improve life and reliability.

Rtelligent provides solutions for dedicated brake controllers, examples are as follows:

RS232 serial port

RS232 serial port is used to connect T86-IO testing software and change other related operating parameters of driver.

The setting of DIP switches and operating parameters

The setting of speed

Motor direction selection

DIP SW5 is used to set the running direction of the motor under the initial pulse. The “off” means that the motor direction is counterclockwise when inputting the initial pulse; The “on” means that the motor direction is clockwise when inputting the initial pulse. The initial pulse is the testing pulse used when developing the driver software; Please refer to the actual running direction of the motor.

Open/closed loop selection

DIP SW8 is used to set the driver control mode.
The “off” means the closed-loop control mode;
The “on” means the open-loop control mode and can be used to test the motor.

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 indicators	Driver input power overvoltage
	One green indicator and three red indicators	The internal voltage of the driver is wrong
	One green and four red indicators	Tracking error exceeds limits
	One green and five red indicators	Encoder phase error

Common faults and troubleshooting

Appendix A. Guarantee Clause

A.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.

A.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.

A.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.:
szruitech.com

Documents / Resources

RTELLIGENT T86-IO Closed Loop Stepper Driver [pdf] User Manual T86-IO, Closed Loop Stepper Driver, T86-IO Closed Loop Stepper Driver

References

• User Manual