T86 User Manual -1-

T86 Closed Loop Stepper Driver

User Manual

Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

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Contents

1. Product overview......................................................................................................................................... 3

2.Application environment and installation...................................................................................................4

2.1 Environmental requirement..................................................................................................................4

2.2 Driver installation dimensions..............................................................................................................5

2.3 Driver installation requirements...........................................................................................................5

3.Driver Port and Connection.........................................................................................................................6

3.1 Port function description....................................................................................................................... 6

3.2 Power supply input................................................................................................................................ 7

3.3 Encoder connection...............................................................................................................................7

3.4 Motor connection................................................................................................................................... 7

3.5 Control signal connection..................................................................................................................... 8

3.5.1 PUL, DIR Port: connection for pulse command........................................................................ 8

3.5.2 ENA port: enable/disable.............................................................................................................. 8

3.5.3 ALM port: alarm output..................................................................................................................9

3.5.4 Examples for control signal connection...................................................................................... 9

3.6 RS232 serial port.................................................................................................................................10

4. The setting of DIP switches and operating parameters...................................................................... 10

4.1The setting of pulse per revolution.................................................................................................... 11

4.2Motor direction selection..................................................................................................................... 11

4.3Pulse filtering function selection.........................................................................................................12

4.4Pulse mode selection...........................................................................................................................12

4.5Open/closed loop selection.................................................................................................................12

4. Driver working status LED indication......................................................................................................12

5. Common faults and troubleshooting.......................................................................................................13

Appendix A. Guarantee Clause................................................................................................................... 14

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1. 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.

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T86 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.

Power supply 20 - 80 VAC / 24 – 100VDC

Control precision 4000 Pulse/r

Pulse mode Direction & pulse, CW/CCW double pulse

Current control Servo vector control algorithm

Micro-stepping settings DIP switch setting, or debugging software setting

Speed range Conventional 1200 ~ 1500rpm, up to 4000rpm

Automatically calculate the resonance point and inhibit the IF

Resonance suppression
vibration

PID parameter adjustment Test software to adjust motor PID characteristics

Pulse filtering 2MHz digital signal filter

Alarm output Alarm output of over-current, over-voltage, position error, etc

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.

2. Application environment and installation

2.1 Environmental requirement

Item Rtelligent T86

Installation environment Avoid dust, oil and corrosive environment

Vibration 0.5G（4.9m/s2） Max

Operating temperature/humidity 0℃ ~ 45℃ / 90% RH or less (no condensation)

Storage and transportation temperature: -10℃ ~ 70℃

Cooling Natural cooling / away from the heat source

Waterproof grade IP54

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2.2 Driver installation dimensions

2.3 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.

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3. Driver Port and Connection

3.1 Port function description

Function Grade Definition Remarks

Power supply AC Input AC power supply AC 20~80V

input AC Input AC power supply DC 24~100V

A+ Positive terminal of phase-A winding Red

Motor A- Negative terminal of phase-A winding Yellow

connection B+ Positive terminal of phase-B winding Black

B- Negative terminal of phase-B winding Green

EB+ Positive terminal of Encoder phase B Green

EB- Negative terminal of Encoder phase B Yellow

Encoder EA+ Positive terminal of Encoder phase A Brown

connection EA- Negative terminal of Encoder phase A White

VCC Encoder working power 5V positive Red

GND Encoder working power 5V ground terminal Blue

PUL+
Pulse input interface
Pulse PUL-
connection DIR+ 3.3 ~ 24V level
Direction input interface
DIR- compatible

ENA+
Enable terminal Enable control interface
ENA-

ALM+
Alarm output Alarm output interface
ALM- 24V, below
Pend+ 40mA
In place output In place output interface
Pend-

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3.2 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.

3.3 Encoder connection

The T86 encoder is A/B differential output and 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 cable, Please purchase extension cables of
different lengths according to the installation needs.

3.4 Motor connection

The matching motor of the T86 driver is the corresponding T series stepper servo motor, and its

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corresponding motor connection order is fixed and unique.

A+ A+ Red
4-wire
4线电机 motor
A- Yellow
A-
B+ Black
B+
B- Green
B-

3.5 Control signal connection

3.5.1 PUL, DIR Port: connection for pulse command

The standard T series driver signal interface is in the form of pulse, and T86 can receive two kinds
of pulse command signals.

The upper controller can be the pulse signal generating device, such as PLC, MCU, control card
and controller.

Pulse and direction (PUL + DIR) Reverse

Forward

Double pulse (CW +CCW)

Forward Reverse

3.5.2 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.

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3.5.3 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.

Control side

Driver side

OUT is ALM or Pend, pay attention to connecting current limiting resistor in series

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

Brake coil Driver side

Break is the brake control signal, which is set by software.

Do not connect the brake coil reversely (red +, black one)

3.5.4 Examples for control signal connection

Common Anode Common Cathode

Vcc

Vcc Pul+
Pul+
Pul-
Vcc Pul-

Controller Driver
Dir+
Controller Driver Dir+
Dir-
Vcc Dir-

Ena+
Ena+
Ena-
Ena-

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Difference

Pul+ Pul+

Pul- Pul-

Controller Dir+ Dir+ Driver

Dir- Dir-

Ena+ Ena+

Ena- Ena-

3.6 RS232 serial port

S/N Symbol Description

1 NC

2 +5V Positive terminal of power supply

3 TxD RS232 transmitting terminal

4 GND Ground terminal of power supply

5 RxD RS232 receiving terminal

6 NC

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

4. The setting of DIP switches and operating parameters

The setting of pulse per revolution Motor direction Monopulse/double-pulse

SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8

Filter Closed/open loop

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4.1 The setting of pulse per revolution

Steps/revolution SW1 SW2 SW3 SW4 Remarks

3600 on on on on

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 The DIP switch is turned to the “Default” state
and the testing software can freely change
1000 on on on off other subdivisions.

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

DIP SW1, SW2, SW3, SW4 are used to set the pulse per revolution required by the motor.

Motor speed = command pulse frequency ÷ pulse per revolution

Motor stroke = number of command pulses ÷ pulse per revolution

4.2 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.

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4.3 Pulse filtering function selection

DIP SW6 is used to set the pulse filtering function of driver.

The “off” means the pulse filtering function is off;

The “on” means the pulse filtering function is on.

※ The pulse filtering function is the filtering action by the driver upon the input commands. When
the filtering function is on, the driver will smoothen the input pulse command, which can make the
motor operation acceleration and deceleration softer, but this will also cause certain delay of the
pulse command.

Filtering time setting: The default time of filtering function is 6.4ms, and the software can change the
time below the 25.6ms. The set value x50us is equal to the actual time.

4.4 Pulse mode selection

DIP SW7 is used to set the pulse command mode of drivers.

The “off” means pulse + direction (monopulse) mode; the “on” means double pulse mode.

4.5 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.

5. 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

Driver overcurrent
indicator

One green indicator and two red Driver input power

indicators overvoltage

One green indicator and three red The internal voltage of the
indicators driver is wrong

One green and four red indicators Tracking error exceeds limits

One green and five red indicators Encoder phase error

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6. Common faults and troubleshooting

Phenomenon Possible situations Solutions

Check the power supply circuit for normal

Power indicator is off
power supply

The motor rotor is locked but the Pulse signal is weak; increase the signal
motor does not work current to 7-16mA

Motor does The speed is too slow Select the right micro-stepping
not work
Driver is protected Solve the alarm and re-power

Enable signal problem Pull up or disconnect the enable signal

Check whether the upper computer has

Command pulse is incorrect
pulse output

The rotary direction of motor is

Adjust the DIP SW5
The steering reverse
of motor is
The motor cable is disconnected Check the connection
wrong
The motor has only one direction Pulse mode error or DIR port damaged

The motor connection is wrong Check the motor connection

Alarm The motor connection and encoder Check the sequence of encoder
indicator is on connection are wrong connection

The voltage is too high or too low Check the power supply

Eliminate interference for reliable

The signal is disturbed
grounding

Check the upper computer instructions to

The position The command input is incorrect
ensure the output is correct
or speed is
wrong The setting of Pulse per revolution is Check the DIP switch status and correctly
wrong connect the switches

Replace the motor and contact the

Encoder signal is abnormal
manufacturer

The driver Check power polarity or external short

Short circuit between terminals
terminal circuit

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burned up Check whether there is any solder ball

Internal resistance between
due to excessive addition of solder on the
terminals is too large
wire connections

Acceleration and deceleration time Reduce command acceleration or

is too short increase driver filtering parameters
The motor is
out of Motor torque is too low Select the motor with high torque
tolerance
Check the load weight and quality and
The load is too heavy
adjust the mechanical structure

The current of power supply is too

Replace the appropriate power supply
low

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.:

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