3R130 Digital Stepper Motor Driver

time:2019-06-11 Browse:

3R130 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 drive 4

  3.1 Port Function Description 4

  3.2 Power Input 4

  3.3 Motor Connection 4

  3.4 Control signal wiring 5

  3.4.1 PUL, DIR port: connection for pulse command 5

  3.4.2 ENA Port: Used to enable or disable 5

  3.4.3 Input IO Signal: IN1, IN2 5

  3.4.4 Output IO Signal: ALM, RDY 6

  3.4.5 Example of Pulse Enable Signal Wiring 6

  4. Dialing code and operating parameter settings 7

  4.1 Current Settings 7

  4.2 Pulse setting per revolution 7

  4.3 Filter Selection 7

  4.4 Bandwidth Selection 8

  5. Driver working status LED indication 8

  6. Common problems and countermeasures 8

  7. Optional Features Custom Model 9

  8. Warranty Terms 9

  1. Product Overview

      Thank you for choosing the Rtelligent R series digital stepper driver.

      Based on the new 31-bit DSP platform, and adopting the micro-stepping technology and PID current control algorithm design. Rtelligent R series stepper drive surpasses the performance of common analog stepper drive comprehensively. With the features of low noise low vibration low heating and high-speed high torque output it allows the stepper motor to deliver full performance benefits.

3R130 Digital Stepper Motor Driver

      The 3R130 driver has built-in pulse command S-type acceleration/deceleration function and limit frequency optional function, which is set by DIP switch. In addition, the micro-stepping level and current level can be selected by the DIP switch. There are 16 micro-stepping levels and 16 current levels selections. The driver integrates overvoltage, undervoltage and overcurrent protection, and its input and output control signals are photoelectric isolation.


Power supply

110 - 230 VAC  

Output current

7 A maximum (mean value)

Current control

PID current control algorithm

Micro-stepping levels settings

DIP switch setting, 16 options

Speed range

Select matching stepper motor, up to 3000rpm

Resonance suppression

Automatic calculation of resonance points to suppress medium frequency vibration

Parameter adaptation

Driver initialization automatically detects motor parameters and optimizes control performance

Pulse mode

Support direction & pulse, CW/CCW double-pulse, A/B orthogonal pulse input 

Pulse filtering

2MHz digital signal filter

Idle current

The current is automatically halved after the motor stops running


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

      Please read this technical manual before using this product.




  2. Application environment and installation 

    2.1 Application Environment Requirements 




Rtelligent  3R130

Installation environment

Avoid dust, oil, corrosive environment


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



    2.2 Driver Installation Size 



3R130 Digital Stepper Motor Driver

    2.3 Driver installation requirements

      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



Power supply input terminal


Port of AC power input

AC 110~230V
AC Port of AC power input
PE Ground

Motor line terminal


Motor UVW three-phase


Suspended , not connected

Pulse wiring

1 PUL+

Pulse input interface

Level 3.3~24V compatible
2 PUL-
3 DIR+

Direction input interface

4 DIR-

Enable wiring

7 ENA+

Enable control interface

8 ENA-

Input signal

5 IN1+

Universal input 1

Level  3.3~24V compatible
6 IN1-
13 IN2+ Universal input 2
14 IN2-

Output signal

9 ALM+

Alarm Output

24V,below 40mA
10 ALM-
11 RDY+

Ready for output

12 RDY-
  15 NC Suspended , not connected  

    3.2 power supply input 

  The operating power supply of the driver is AC power, and the input voltage ranges is 110- 230V. Please pay attention to confirm the local grid voltage, do not exceed the maximum voltage of the driver.

  The input power supply specification is single-phase AC power. Install an EMI device in front of the drive terminals to filter out electromagnetic interference from the power grid.

    3.3 Motor Connection

   The 3R130 driver can drive low-resistance, low-inductance, three-phase hybrid stepper motors below 130 series.

         Common three-phase stepper motors have 3-wire and 6-wire outlets.             

    3.4 Control signal wiring

      3.4.1  PUL, DIR port: connection for pulse command

  The R series driver signal interface is pulsed, and the 3R130 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.

  The acceptable pulse level of the 3R130 driver is: 3.3V~24V (serial resistance not necessary for the application of PLC)

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

      3.4.2  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.

      3.4.3  Input IO Signal: IN1, IN2 

       IN1 and IN2 are input signals with optocoupler isolation and can accept differential or single-ended digital inputs. This signal is the input logic and input pin of the driver and increases the trigger condition for driver motion. Please contact the Rtelligent's engineer for specific use.

      3.4.4 Output IO Signal: ALM, RDY

  ALM and RDY are the pins of the driver logic output. The default is defined as ALM alarm output and RDY ready signal output. The drive alarm status and ready status can be output to the external upper system. The output signal can also be defined as other logic outputs.  

  4.DIP switch and operating parameter settings

    4.1Current Settings

Mean value SW1 SW2 SW3 SW4 Remarks
0.7A on on on on Customizable other current values
1.1A off on on on
1.6A on off on on
2.0A off off on on
2.4A on on off on
2.8A off on off on
3.2A on off off on
3.6A off off off on
4.0A on on on off
4.5A off on on off
5.0A on off on off
5.4A off off on off
5.8A on on off off
6.2A off on off off
6.6A on off off off
7.0A off off off off

      The DIP switches SW1, SW2, SW3, and SW4 are used to set the current value of the driver output to the motor.
      Normally, the current is set to not exceed the rated current value of the motor (effective value).If your system has high requirements for heating, you can reduce the current to reduce the heat generated by the motor.


    4.2 Pulse setting per revolution

Steps/revolution SW5 SW6 SW7 SW8 备注
400 on on on on Customizable other micro-stepping levels
500 off on on on
600 on off on on
800 off off on on
1000 on on off on
1200 off on off on
2000 on off off on
3000 off off off on
4000 on on on off
5000 off on on off
6000 on off on off
10000 off off on off
12000 on on off off
20000 off on off off
30000 on off off off
60000 off off off off

  DIP switch SW5, SW6, SW7, SW8 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

    4.3 Filter Selection

      The DIP switch SW9 is used to select the function of pulse smoothing of drive. “off” means this function is deactivated, while “on” means that it is activated.

    4.4 Bandwidth Selection

      SW0 is used to select the bandwidth of drive. The maximum passing pulse frequency is 200KHZ when it is of and 1MHZ when it is on.

    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.

    6.Common problems and countermeasures


Possible situation


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

Power supply on again

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

Replace the motor wiring sequence or adjust the command direction

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

Voltage is too high or too low

Check the power supply

Motor or driver damage

Replace the motor or driver

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

Motor lose step

Check if the command speed is too large, the motor selection is small

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 stall

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

The current is too small

Check the DIP switch to increase the output current of the driver




    7.Optional Features Custom Model

  In order to meet the application needs of different occasions, 3R130 derives relevant models, please confirm and distinguish before ordering:

Model Function
3R130(standard) monopulse、bandwidth 200K、smoothing filter
R30-CCW Double pulse mode
3R130-QEP orthogonal pulse used for encoder follow-up applications
3R130-500 Bandwidth 500KHz
3R130-1M Bandwidth 1MHz
3R130-IO IO switching mode(IO trigger fixed speed / positioning)
3R130-PM Drive programmable mode(customized control program for customers)

    8.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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