User Manual

1. Electrical Specifications

2. Operating Environment and Parameters

3. Product Dimensions and Motor Matching

AR28 series closed-loop integrated motor basic parameters:

AR28-006IE / AR28-012IE Dimension Drawing (Refer to NEMA11 diagrams)

AR28-015IE / AR28-025IE Dimension Drawing (Refer to NEMA14 diagrams)

4. Heat Dissipation Precautions

The reliable operating ambient temperature for closed-loop integrated motors is typically within -5℃ ~ 45℃. Normal operating temperature is 50-80℃. If exceeding 80℃, it is necessary to evaluate whether the operating conditions and integrated motor selection are appropriate. If necessary, install a fan near the driver for forced cooling to ensure the driver operates within the reliable working temperature range.

1. Host Computer Control Signal Port

Uses 12-pin 2.0mm pitch terminal.

2. OUT Output Port Wiring Diagram

OUT+/OUT- ports are differential output ports, allowing maximum voltage of 24V. Port instantaneous output current is 100mA, continuous output current is 50mA.

To protect the port, when connecting external brakes, solenoid valves, relays, etc., freewheeling diodes must be connected across the devices to prevent port damage.

3. LED Status Indicator

The red LED serves as both power indicator and fault display. When the driver is powered on, the LED is constantly on; when the driver is powered off, the LED is off. When a fault occurs, the indicator flashes in a 5-second cycle; when the fault is cleared by the user, the LED remains constantly on. The number of flashes within 5 seconds represents different fault information, as shown in the following table:

When a fault occurs, the driver will stop and display the corresponding fault code (item 3 network congestion has no code). The user must re-enable the driver or power cycle to clear the fault. When the driver detects a fault, it saves the latest fault to the EEPROM in a queue format. The driver can save up to 10 latest historical faults.

1. 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.

2. MODBUS Register Address Definition

2.1 Definition of Input Port Trigger Mode (#73)

2.2 Definition of Device Status Register (#75)

2.3 Homing Function

2.3.1 Homing Using Forward Limit Signal as Zero Point

After writing "1" to register address 71 (homing command), the homing process is as follows:

Trajectory A: When the homing command is issued and the forward limit switch is not triggered

Step 1: Move forward to the forward limit at the first homing speed set in addresses 82-83 and the acceleration set in addresses 86-87.

Step 2: After detecting the forward limit signal, decelerate and reverse direction.

Step 3: Move in the reverse direction at the second homing speed set in addresses 84-85. When the falling edge of the forward limit signal is detected, the motor stops. Homing is complete.

Trajectory B: When the homing command is issued and the forward limit switch is already triggered

When homing starts, the motor moves in the reverse direction at the speed set in addresses 84-85. When the falling edge of the forward limit signal is detected, the motor stops. Homing is complete.

2.3.2 Homing Using Reverse Limit Signal as Zero Point

After writing "2" to register address 71 (homing command), the homing process is as follows:

Trajectory A: When the homing command is issued and the reverse limit switch is not triggered

Step 1: Move in the reverse direction to the reverse limit at the first homing speed set in addresses 82-83 and the acceleration set in addresses 86-87.

Step 2: After detecting the reverse limit signal, decelerate and reverse direction.

Step 3: Move in the forward direction at the second homing speed set in addresses 84-85. When the falling edge of the reverse limit signal is detected, the motor stops. Homing is complete.

Trajectory B: When the homing command is issued and the reverse limit switch is already triggered

When homing starts, the motor moves in the forward direction at the speed set in addresses 84-85. When the falling edge of the reverse limit signal is detected, the motor stops. Homing is complete.

2.3.3 Exit Homing

After writing "0" to register address 70 (motion command), the driver exits the homing process and decelerates to stop.

2.4 Common MODBUS Function Codes

2.4.1 Read Holding Register Command 0x03

Host → Slave Data:

Slave → Host Data:

Slave returns current value (register address 00) as 2700mA.

2.4.2 Write Single Register Command 0x06

Host → Slave Data:

Slave → Host Data:

Write 1600 pulse/s to the slave's speed low 16 bits (register address 64).

2.4.3 Write Multiple Registers Command 0x10

Host → Slave Data:

Write 14464 to the slave's travel low 16 bits (register address 68) and 1 to travel high 16 bits (register address 69), for a total travel of 80000 pulses.

2.5 CRC Check Example Code

The following example calculates CRC in 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;
}

2.6 Communication Exception Codes

Four situations may occur during communication:

1. Communication is normal, the driver can normally receive and return information.

2. Due to communication errors, the driver cannot normally receive information from the host, and the host times out.

3. The driver received data but detected an error (such as CRC error, frame length error), the driver does not return information, and the host times out.

4. The driver received a normal MODBUS frame but cannot process it correctly (such as unsupported function code, unsupported register address, etc.). In this case, the driver returns the corresponding fault information.

Fault information return format: Slave address + Function (0x80 + function code) + Fault code + CRC low + CRC high.

1. Common Problems in Application and Solutions

2. Driver FAQ for Users

Q: What are the advantages of microstepping drivers?

A:

• Improves step uniformity, thus improving control precision
• Reduces motor vibration
• Effectively reduces torque ripple and increases output torque

Q: Why does my motor only rotate in one direction?

A:

• Possible wiring polarity error
• Driver firmware error, requires re-flashing firmware

If other problems occur, please contact our application engineers.

1. One-Year Warranty Period

Our company provides a one-year warranty from the date of shipment for material and workmanship defects in our products. During the warranty period, we provide free repair services for defective products.

2. Exclusions from Warranty

• Improper wiring, such as reversed power polarity and hot-plugging
• Unauthorized modification of internal components
• Use beyond electrical and environmental requirements
• Poor environmental heat dissipation

3. Repair Process

Please contact our company's sales representative.

4. Warranty Limitations

The warranty scope of our products is limited to product components and workmanship (i.e., consistency).

Our company does not guarantee that our products are suitable for the customer's specific application, as suitability also depends on the technical requirements and operating conditions and environment of that application.