Rtelligent MicroStep Driver R86

The Rtelligent MicroStep Driver R86 is a high-performance stepper motor driver designed for precision control of 2-phase and 4-phase hybrid stepper motors. It supports an input voltage range of 24V to 80V DC and delivers a maximum current output of 8.2A per phase. With multiple microstepping resolutions up to 256 microsteps per step, this driver ensures smooth and accurate motor movements. Ideal for CNC machines, 3D printers, and robotics, the R86 features advanced protection mechanisms and easy configuration through DIP switches, making it a reliable choice for various precision motion control applications.

Detailed Specifications

Microstep Resolution: Full, Half, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128
Current Range: 1.5A to 4.5A per phase (adjustable)
Voltage Range: 10V to 50V DC
Input Logic Voltage: 3.3V to 5V DC
Communication Interface: RS-485 (half-duplex) or TTL UART
Position Control Modes: Step & Direction, Pulse & Pulse Width Modulation (PWM), and Streaming Command
Protection Features: Overcurrent, Overvoltage, Undervoltage, Thermal Shutdown, and Short Circuit

Product overview

R series stepper driver, which surpasses the performance of common analog stepper driver comprehensively based on the new 32-bit DSP platform developed by TI, and adopting the micro-stepping technology and PID current control algorithm design. The R series stepper drives have the features of low noise, low vibration, low heating, and high-speed high torque output, it is suitable for most stepper motors by integrated with the micro-stepping technology.
R86 driver can select the current and subdivision through the DIP switch. There are e16 subdivisions and 8 current selections. It has over-voltage, under-voltage, and over-current protection. Its input and output control signals are optically isolated.

Power supply	20 – 80 VAC / 24 — 100VDC
Output Current	Up to 7.2 amps ( peak value )
Current control	PID current control algorithm
Micro-stepping settings	DIP switch settings, 16 options
Speed range	Use the suitable motor, up to 3000rpm
Resonance suppression	Automatically calculate the resonance point and inhibit the IF vibration
Parameter adaption	Automatically detect the motor parameter when Driver initialize, optimize the controlling performance
Pulse mode	Direction & pulse, CW/CCW double pulse
Pulse filtering	2MHz digital signal processing filter
Neutral current	Automatically halve the current after the motor stops

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.

Description

Adjustable microstepping resolutions, current, and voltage let the Rtelligent MicroStep Driver R86 provide a wide spectrum of characteristics for exact motor control. It also provides several position control modes to meet different application need. Strong protective characteristics of the driver guarantee dependable performance and stop overvoltage, undervoltage, thermal shutdown, short circuit circumstances from causing harm.

Application environment and installation

Environmental requirement

Item	Intelligent R86
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

Driver installation dimensions

RTELLIGENT R86 Digital Stepper Driver- 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 an M3 screw to fix it.
When there is a vibration source (such as a driller) close to the installation position, please use a vibrating absorber or a vibration-resistant rubber gasket.
When multiple drives are installed in the control cabinet, please pay attention to reserving 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

Function	Grade	Definition	Remarks
Power supply input port	AC	Input AC power supply	AC 20-80V DC 24-100V
	AC	Input AC power supply
Motor connection port	B-	connect two terminals of the motor’s phase-B winding
	B+
	A-	connect two terminals of the motor’s phase-I winding
	A+
Enable connection	ENA+	Enable control interface	3.3 – 24V level compatible
	ENA-
Pulse connection	PUL+	Pulse input interface
	PUL-
	DIR+	Direction input interface
	DIR-

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 be minded that AC power cannot exceed 80VAC. and do not connect to commercial electricity(220VAC) directly! The driver’s work mode is constant current control. The driver outputs the voltage to the motor by changing the input power into PWM chopping wave when it is working. In this case, the input power will affect the performance of the drive.

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 drive or power supply. When the drive is powered off, you will see the drive’s LED indicator on when the load is pulled to make the motor move, which is also affected by this.

Rtelligent Digital Stepper Driver R86 Motor connection

RTELLIGENT R86 Digital Stepper Driver- Motor connection

The matching motor of the R86 driver is the low resistance and low inductance hybrid stepper motor.
The common 2-phase stepper motor’s lead numbers are 4, 8, and 6.
There is only one connection mode for 4 lead motors.
Series and parallel connection mode are used by 8 leads motor:
When series used, the winding inductance increased. The set of Driver current should be about 0.7times than before. This is suitable for the low speed required.
When parallel used, the winding inductance decreased. The set of Driver current should be about 1.4times than before. This is suitable for the high speed required.
Parallel and central tapping connection modes are used by 6 leads motor:
When parallel used, all the winding connected, and the inductance was higher. This is suitable for the low speed required.
When central tapping was used, half of the winding connected, and the inductance was lower.
This is suitable for the high speed required.

Control signal connection

PUL, DIR Port: connection for pulse command

The signal interface of the standard R series driver is in the form of a pulse, and the R86 can receive two kinds of pulse command signals.
The upper controller can be the pulse signal generating devices, such as PLC, MCU, control card, and controller.
The pulse level that R86 driver can be used: 3.3V-24V (no need to connect resistor)
Pulse and direction (PUL + DIR)
Double pulse (CW +CCW)

ENA port: enable/disable

By default, 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 to.
When the motor is in an error state, ENA input can be used to restart the drive. Firstly, the fault is eliminated, and then a falling edge signal is an input to the ENA terminal. The driver can restart the power part and the motor is excited.
The level logic of the ENA signal can be set to the opposite, with the logic being opposite to the above.

Examples for control signal connection

Common Anode

Common Cathode

Difference

Setup Guide

Connect the stepper motor to the driver according to the motor's wiring diagram.
Power the driver using a suitable DC power supply within the recommended voltage and current ranges.
Connect the driver to the control device (e.g., microcontroller, PLC, or computer) via the RS-485 or TTL UART interface.
Configure the driver settings using the control device or the provided configuration software.
Start controlling the stepper motor using the desired position control mode (Step & Direction, Pulse & PWM, or Streaming Command).

The setting of DIP switches and operating parameters

RTELLIGENT R86 Digital Stepper Driver- parameters

The setting of current

Peak Current	Average Current	SW1	SW2	SW3	Remarks
2.4A	2.0A	on	on	on	Other Current can be customiz ed
3.1A	2.6A	off	on	on
3.8A	3.1A	on	off	on
4.5A	3.7A	off	off	on
5.2A	4.3A	on	on	off
5.8A	4.9A	off	on	off
6.5A	5.4A	on	off	off
7.2A	6.0A	off	off	off

DIP SW1, SW2, SW3 are used to set the current which is output from the driver to the motor. Generally, the current is set to the rated current of the motor. If your system has a high request for heating, please decrease the current properly to lower the motor’s heating, but at the same time, the output torque will be lower. If you don’t need the motor running continuo us, you can increase the current to higher the torque. But be minded that the current can not be 1.5 times over the rated current.

The setting of pulse per revolution

Steps/revolution	SW5	SW6	SW7	SW8	Remarks
Default	on	on	on	on	Other subdivisions can be customized.
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
1000	on	on	on	off
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 SW5, SW6, SW7, and SW8 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

The selection of Half/Full Current\

DIP SW4 is used to set the static current value when the motor is stopped

Off means that when the driver’s power-on pulse stops, the driver switches the current output to the motor to half (half current) when it is rotating;
On means that when the driver’s power-on pulse stops, the driver maintains the same current output to the motor as the rotation (full current) . In general use, SW4 should be set to off, so that the heat of the motor and driver is reduced, and the reliability is improved.

Driver working status LED indication

RTELLIGENT R86 Digital Stepper Driver- Green indicator 2

Common faults and troubleshooting

Phenomenon	Possible situations	Solutions
Motor does not work	Power indicator is off	Check the power supply circuit for normal power supply
	The motor rotor is locked but the motor does not work	Pulse signal is weak: increase the signal current to 7-16mA
	The speed is too slow	Select the right micro-stepping
	Driver is protected	Solve the alarm and re-power
	Enable signal problem	Pull up or disconnect the enable signal
	Command pulse is incorrect	Check whether the upper computer has a pulse output
The steering of motor is wrong	The rotary direction of the motor is reverse	Adjust the DIP SW5
	The motor cable is disconnected	Check the connection
	The motor has only one direction	Pulse mode error or DIR port damaged
Alarm indicator is on	The motor connection is wrong	Check the motor connection
	The motor connection and encoder connection are wrong	Check the sequence of encoder connection
	The voltage is too high or too low	Check the power supply
The position or speed is wrong	The signal is disturbed	Eliminate interference for reliable grounding
	The command input is incorrect	Check the upper computer instructions to ensure the output is correct
	The setting of Pulse per revolution is wrong	Check the DIP switch status and correctly connect the switches
	Encoder signal is abnormal	Replace the motor and contact the manufacturer
The driver terminal burned	Sho circuit between terminals Short	Check power polarity or external short circuit

up	Internal resistance between terminals is too large	Check whether there is any solder ball due to excessive addition of solder on the wire connections
The motor is out of tolerance	Acceleration and deceleration time is too short	Reduce command acceleration or increase Driver filtering parameters
	Motor torque is too low	Select the motor with high torque
	The load is too heavy	Check the load weight and quality and adjust the mechanical structure
	The current power supply is too low	Replace the appropriate power supply

Rtelligent Guarantee clause

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.
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.

Maintenance process
For maintenance of products, please follow the procedures shown below:

Contact our customer service staff to get the rework permission.
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:
Postcode:
Tel.:

Rtelligent Digital Stepper Driver R86 Pros & Cons

Pros

Highly adjustable settings for precise control
Multiple position control modes
Robust protection features
Wide voltage and current range

Cons

Requires a compatible control device
RS-485 interface may require additional components for half-duplex communication

Customer Reviews

Customers appreciate the R86's versatility, ease of use, and high-precision motion control. However, some users have reported compatibility issues with specific control devices. The robust protection features and adjustable settings are highly praised, while the documentation and software interfaces could use improvements.

LED status		Driver status
	Green indicator is on for a 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	One green indicator and two red indicators
	One green indicator and three red indicators	The internal voltage of the driver is wrong

Pulse and direction (PUL + DIR)
Double pulse (CW +CCW)

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