IRO23 Integrated RS485 Open-loop Stepper Motor User's Manual

Foreword

Thank you for using our open-loop step drive.

Before using this product, please read this manual carefully to understand the necessary safety information, precautions, and operation methods. Incorrect operation can have extremely serious consequences.

This product is designed and manufactured without the ability to protect personal safety from mechanical system threats. Users are advised to consider safety precautions during mechanical system design and manufacturing to prevent accidents caused by improper operation or product abnormalities.

Due to product improvements, the contents of this manual are subject to change without notice. Our company will not be responsible for any modification of the product by the user.

This product has passed the national mandatory 3C certification, CE certification, ROHS certification.

1. Overview

1.1 Product Introduction

IRO23 is a newly introduced digital integrated RS485 control drive motor. The driver is designed with 32-bit DSP digital processing technology, variable current technology, low heating technology, and more. It features low vibration, smooth running, low heating, high reliability, and other advantages.

Users can control the drive motor through RS485, which can meet the application needs of most occasions. Low, medium, and high-speed operation are very smooth, with ultra-low noise.

The driver internally integrates a power-on auto-adaptive motor function, which can automatically generate optimal operating parameters for different motors, maximizing the motor's performance.

1.2 Characteristics

• New 32 Bit DSP Technology
• Low vibration, low noise, smooth operation
• Automatic parameter power-on setting function
• Variable current control greatly reduces the heat generation of the motor
• Automatic halving of current at rest
• Can drive 4, 6, 8-wire two-phase stepping motors
• Photoelectric isolation of single-ended signal input (left limit, back to zero, right limit)
• Standard Modbus RS485 bus protocol
• Current setting is convenient and can be selected between 0.5-5.6 A
• Address dials set to 1-16
• Protection functions of overvoltage, undervoltage, and overcurrent

1.3 Application Areas

Suitable for a variety of small and medium-sized automatic equipment and instruments, such as: Engraving Machine, marking machine, cutting machine, medical equipment, laser phototypesetting, plotter, CNC machine tools, automatic assembly equipment.

Ideal for applications where the user expects low noise, low vibration, low heat, and high speed.

2. Performance Index

2.1 Electrical Characteristics

2.2 Suitable for Standard Motor

The integrated driver can be used for 57 open-loop hybrid stepper motors and linear screw stepper motors of different specifications from major motor manufacturers. The driver can be sold separately.

If you need to purchase our driver and motor complete set of products, we generally recommend the following two standard models. Other models of stepper motors or suitable screw stepper motors can be customized according to customer needs.

2.3 Use Environment

3. Installation

3.1 Mounting Dimensions

IRO23 RS485 stepper motor driver dimensions:

IRO23-10 RS485 integrated stepper motor specifications and motor torque-frequency characteristic curve:

IRO23-20 RS485 integrated stepper motor specifications and motor torque-frequency characteristic curve:

3.2 Installation Method

The reliable operating temperature of the driver is usually within 60℃, and the motor operating temperature is within 80℃.

It is recommended to use the automatic semi-flow mode when using the motor. When the motor stops, the current is automatically reduced by half to reduce the heat of the motor and the drive.

Install the drive with vertical side mounting so that the heat dissipating teeth form strong air convection.

Install a fan near the drive when necessary to force heat dissipation to ensure that the drive works within a reliable operating temperature range.

4. Driver Ports and Wiring

4.1 Schematic Diagram of Wiring

4.2 Port Definition

4.2.1 LED Status Indication

The green LED is the power indicator. When the driver is connected to power, the LED is constantly bright; when the driver cuts off power or a failure occurs, the LED is extinguished.

4.2.2 Control Signal Input Port

Control Signal Interface:

The control signal and the power supply input port use the 8Pin 2.0 mm terminal.

4.2.3 Power Supply and Motor Output Ports

Motor Interface:

4 Pin 3.5 mm terminal is used as motor connection port.

The power supply voltage can work normally between the specified ranges. The driver is preferably powered by an unregulated DC power supply, or a transformer buck + bridge rectifier + capacitor filter. Note, however, that the peak voltage ripple after rectification should not exceed its specified maximum voltage. It is recommended that the user supply power with a DC voltage lower than the maximum voltage to prevent the grid from fluctuating beyond the operating range of the driver voltage.

If using a regulated switching power supply, be aware that the output current range of the switching power supply must be set to maximum.

5. Dial Definition

The IRO23 RS485 Stepper Motor Driver uses a 6-bit dial switch to set the address and Baud rate. The details are as follows:

Baud Rate Setting

Baud rate can be customized according to customer needs. If custom, factory SW5 and SW6 status are ON for the custom baud rate.

RS485 ID Table (Address Setting)

6. Description of Communications and Communication Protocols

6.1 Network Layout

Built-in trapezoidal acceleration and deceleration curve generator. Trapezoidal acceleration and deceleration can be performed. Fixed-length operation, continuous operation, deceleration stop, and immediate stop can be realized through communication commands.

Internal operation supports absolute position mode and relative position mode control. Built-in common return to zero function simplifies development.

The internal pulse generator uses 32-bit speed, acceleration, and travel, enabling a wide range of trajectory generation.

6.2 Communication Protocol

Communication uses standard MODBUS protocol, supporting 0x03 (read register), 0x06 (write single register), 0x10 (16) (write multiple registers).

Serial communication format: Baud rate 9600～115200, 8 data bits, no parity, 1 stop bit.

6.2.1 Definition of MODBUS Register Address

Device Control Register (Address 73) Bit Definition:

6.2.2 Drive Status Register (Address 75)

6.3 Return to Zero Function

6.3.1 Return to Zero with Positive Limit Signal as Zero

After writing "1" to register address 71 (Return to Zero Command), the process is as follows:

1. Run forward to the positive limit at the speed and acceleration set in registers 62~67.
2. After detecting the positive limit signal, decelerate to stop.
3. Run in the negative direction at the speed set in register address 60 (Return to Zero Speed) until the limit signal is cleared.

6.3.2 Return to Zero with Negative Limit Signal as Zero

After writing "2" to register address 71 (Return to Zero Command), the process is as follows:

1. Run backward to the negative limit at the speed and acceleration set in registers 62~67.
2. After detecting the negative limit signal, decelerate to stop.
3. Run in the positive direction at the speed set in register address 60 (Return to Zero Speed) until the limit signal is cleared.

6.3.3 Exit Return to Zero

After writing "0" to register address 71 (Return to Zero Command), the driver exits the return to zero process and decelerates to stop.

After completing return to zero, the customer can clear the pulse counter by writing 1 to register address 40 as needed (e.g., in absolute position mode).

6.4 MODBUS Common Function Code

6.4.1 Read Hold Register Command 0x03

Master -> Slave Data:

Slave -> Master Data:

Read the stepper motor driver's current value (Register Address 00) as 2700(0xA8C)mA, 2.7A

6.4.2 Write Single Register Command 0x06

Master -> Slave Data:

Slave -> Master Data:

Writes 1600(0x640) pulse/s to the stepper motor's Speed Low 16bit (Register Address 64).

6.4.3 Write Multiple Register Commands 0x10

Master -> Slave Data:

Slave -> Master Data:

Writes 14464 to the stepper motor's Travel Low 16bit (Register Address 68) and 1 to Travel High 16bit (Register Address 69), meaning total travel is 80000 (0x13880)pulses.

6.5 CRC Check Routine

The following example calculates CRC using C language:

Uint16 Funct_CRC16(unsigned char *puchMsg, Uint16 DataLen)
{
    Uint16 i, j, tmp;
    Uint16 crcdata = 0xFFFF;
    for(i = 0; i < DataLen; i++) {
        crcdata = (*puchMsg) ^ crcdata;
        puchMsg++;
        for(j = 0; j < 8; j++) {
            tmp = crcdata & 0x0001;
            crcdata = crcdata >> 1;
            if(tmp) {
                crcdata = crcdata ^ 0xA001;
            }
        }
    }
    return crcdata;
}

    

7. Warranty and After-sales Service

Please keep the packing box for transportation, storage, or return to the company for maintenance.

One Year Warranty Period:

Damage caused by the product itself within one year of using this drive is covered by the warranty.

Not Covered by Warranty:

• Damage caused by improper wiring, power supply voltage, and user peripheral configuration.
• Unauthorized changes to the product by the user without written authorization from the company.
• Use beyond electrical and environmental requirements.
• Driver serial number has been torn off or is unreadable.
• The outer shell was visibly damaged.
• Irresistible disasters (Force Majeure).

After-sales Service

Add Whatsapp or call:

M.T.: +86 156 5677 5078

Email: SIMON@STEPPING-MOTOR.CN

IRO23 RS-485 Integrated Stepper Motor

RS-485 Integrated Stepper Driver User Manual