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SS-S/Q/C

1. A1 lE 2 EE L Length Wiring Diagram 2103 100 1M PIN J1 Colour Signal PIN J2 2103 300 3M 1 Blue 1 2103 500 5M 2 Red B 2 2103 1000 10M 3 Green A 3 4 Black A 4 Motor Extension Cable for AM11SS motor Housing 51065 0600 Molex Housing 39 01 3048 Molex Crimp 50212 8000 Crimp 39 00 0038 J1 J2 P N Length Wiring Diagram 2109 100 1M PIN J1 Colour Signal PIN J2 2109 300 3M 1 Blue 1 2109 500 5M 3 Red B 2 2109 1000 10M 4 Green A 3 6 Black A 4 Rev 1 1 42 400 820 9661 0004102014 SSO0O3 05 10 S Q C Hardware Manual Encoder Extension Cable for AM17 23 24 34SS motor Housing J21DPM 16V KX JST Crimp SJ2M 002GF M1 0N JST Wire protect cover J21PF 16SCA JST Housing J2DF 16V KX L JST Wire protect cover 165 5 Crimp SJ2F 002GF P1 0 JST A B P N Length Wiring Diagram 2104 100 1M PIN J1 Colour Signal PIN J2 2104 300 3M A8 Blue A A8 2104 500 5M B8 Blue Black A B8 2104 1000 10M AT Green AT B7 Green Black B B7 A6 Yellow Z A6 B6 Yellow Black 7 B6 5 Red 5 5 5 Black GND 5 Brown U B3 Brown Black U B3 A2 Gray V A2 B2 Gray Black
2. AM23SS2DGL 48V Power Torque Continuous Supply Current Full Load No Load Torque N m Speed RPS AM23SS2DGL 70V Power Torque Continuous Supply Current FullLoad NoLoad Torque N m Speed RPS Rev 1 1 820 9661 400 820 966 0004102014 S03 05 10 S Q C Hardware Manual AM23SS3DGL 24V Power Torque Continuous Supply Current Full Load NoLoad Torque N m 0 10 20 30 40 50 Speed RPS 23553060 48V Power Torque Continuous Supply Current Full Load NoLoad Torque N m Speed RPS AM23SS3DGLI 70V Power Torque Continuous Supply Current Full Load NoLoad Torque N m Speed RPS Rev 1 1 0004102014 18 400 820 9661 SS03 05 10 S Q C Hardware Manual Torque N m Torque N m AM24SS3DGU 24V Power Speed RPS AM24SS3DGUI 48V Power Speed RPS Torque Continuous Supply Current Full Load NoLoad Torque Continuous Supply Current Full Load NoLoad 5 o AM24SS3DGU Power Speed RPS Torque Continuous Supply Current FullLoad No Load 400 820 9661 19 Rev 1 1 0004102014 S03 05 10 S Q C Hardware Manual AM34SS1DGO 24V Power Torque Continuo
3. 27 3 2 Digital O tp 18 28 3 2 1 Y1 ALARM Y2 IN POSITION Y3 Y4 Digital Outputs 28 3 3 Analog IMU Ss kila aid AN 29 AMOUNTING the DIVO Wa 30 o LED Wa 30 5 1 Operation Mode m 30 5 2 Alarm Error Code e ET 31 5 3 Assigning RS 485 Address 32 5 4 RS 485 Baud Rate and Terminating 33 5 5 Assigning CANopen Address s 33 5 6 CANopen Baud Rate and Terminating Resistor 33 6 Reference Materials 34 6 1 Drive Mechanical Outlines sess 34 6 2 Technical SPECICAHO d TE E T do ag al 2 400 820 9661 0004102014 SS03 05 10 S Q C Hardware Manual 6 3 Recommended Motor ew kk w asi n ki ako kk A kk ent kk kak e a 0 36 6 4 Motor 37 6 5 lOrg CUTVES ko a 39 6 6 Motor Numbering System a r 41 6 7 Drive Numbering System 1 8 41 7 Optional Accessories Sold separately 42 B Contacting WOONS IA 44 This User Manual is only applicable to the following models
4. Q 3 1 1 Rev 1 1 820 1 400 820 966 31 0004102014 S03 05 10 S Q C Hardware Manual 5 3 Assigning RS 485 Address For the RS 485 drive the dot point of LED2 indicates the communication address range is 0 15 when it is off When the dot point of LED2 is on it indicates the communication address range is 16 31 Low 4 bit 0 15 is set by the rotary switch Use the Step Servo Quick tuner to set the upper 1 bit Axis 16 31 The RS 485 communication address can be set by the rotary and software on line LED2 will flash about 6 seconds to display the new bus address RS 485 Address and LED Display LOW HIGH Select Rotary Switch Address LED Display 0 0 1 2 3 4 5 6 Low Axis 0 15 9 1 00 0 10 1 0 2 N 1 17111 10 OQ O N mim e O ST IN Sa gt gt amp High Axis 16 31 Rev 1 1 32 400 820 9661 0004102014 SS03 05 10 S Q C Hardware Manual 5 4 RS 485 Baud Rate and Terminating Resistor There are five types of baud rate supported by RS 485 communication on SS drive A terminating resistor 120 ohm has already been installed inside of SS drive To select un select the terminating resistor or communication baud rate setting can
5. Communications RS 232 RS 485 CANopen 5503 5 v 5505 5 v SS10 S A V SS03 S R y SS05 S R x SS10 S R v Y SS03 Q A V SS05 Q A V SS10 Q A V SS03 Q R v il SS05 Q R V SS10 Q R v Y SS03 C C Y y SS05 C C Y Y SS10 C C Y Rev 1 1 400 820 9661 3 0004102014 S03 05 10 S Q C Hardware Manual 1 Introduction Thank you for selecting the MOONS SS series Step Servo drive and motor SS series combines servo technology with an stepper motor to create a product with exceptional feature an broad capability 1 1 Features Programmable digital step servo drive and motor package Operates from a 24 to 75 volt DC power supply Control modes Torque Control Analog input 5 command Velocity Control Digital input Control Velocity Analog velocity SCL command Velocity Position Control Digital Input Pulse amp Direction CW CCW Pulse quadrature Encoder following Analog Control 5 command Q programming Q or C model Stand alone operation CANopen C model only Compliant with CiA301 and CiA402 RS 232 serial communication Optional RS 422 485 communication Encoder resolution 20000 counts rev for 17 23 24 3455 motor 4096 counts rev for AM11SS motor 5503 output current continuous boost 4 5A 5505 output current continuous boost 7 5A 5510 output current continuous 10A boost 15 8 optically isolated digital inputs 5 2
6. oo 9 Q C Step Servo Drive Hardware Manual SHANGHAI AMP amp MOONS AUTOMATION CO LTD Rev 1 1 0004102014 1 Introduction uuu u u ul uu uu S ak 4 1 1 MINE SE IA 4 1 2 Block DAI TTE 5 Safety InSHTOG6UI6ns UA LS u ASSIS 7 2 Getting Started kakaye endikatif ke a UR rm 8 2 1 Installing Software a a kd kd ank ki ks ki e be 8 2 2 Connecting to the PC using RS 232 10 2 3 Connecting to a Host using RS 485 2 2 10 2 3 1 RS 485 Fout wire Configuration 11 2 3 2 RS 485 Tow wire Configuration esee 11 2 4 Connecting to a host using 11 2 5 Connecting the Power Supply 12 2 6 Choosing A Power Supply 12 FASNNA DIDI IT 12 CASES eM TT T3 2 7 Connect to Motor TRE n NI 23 3 Inputs and Outputs a 24 3 1 Digital TEE kk a ka ak kak ka e ko a n e a n e Lomo 25 3 1 1 X1 STEP and X2 DIR High Speed Digital Inputs 25 3 1 2 X3 CW LIMIT and X4 CCW LIMIT High speed Digital Inputs 26 3 1 3 X5 EN X6 AR X7 and X8 Digital
7. 06 e 5 0 4 0 2 0 Speed rps Speed rps Rev 1 1 C 400 820 9661 39 0004102014 SSO03 05 10 S Q C Hardware Manual Continuous 24V 48V 70V Continuous 24V 48V 70V AM23SS2DG AM23SS3DG Boost 24 2 48V 70V Boost 24V 48V 70V Torque N m Torque N m Speed rps Continuous 24 48V 70V AM24SS3DG oost 2 5 5 E Speed rps 5 Continuous 240 48 70V Continuous 24 48V 70V AM34SS1DGA AM34SS3DGA Box Seen UV 70v Torque N m Torque N m Speed rps Sneed rnc Continuous 24 48V 70V AM34SS5DGA 8 0 6 0 Torque N m 4 0 2 0 o o N w B m Speed rps Rev 1 1 0004102014 40 400 820 9661 803 05 10 S Q C Hardware Manual 6 6 Motor Numbering System Frame Size L Mechanical Option 11 17 23 24 34 A Output shaft size 11 65 Step Servo 17 06 23 08 24 01 Motor Size 34 i 1 15 B Output shaft size 2 2Stack 17 65 3 3Stack 23 6 35 4 4Stack _ 24 08 5 5Stack D DC Input Encoder G 5000 Line M 1024 Line 6 7 Drive Numbering System 03 P 1 55 Step TIE A L A RS 232 R RS 485 Output Current C CANopen 2557 R Switch Settin
8. 30 0 Speed RPS AM17SS1DGLI 24V Power Torque E Continuous 5 5 Supply Current FullLoad NoLoad Speed RPS 17551060 48V Power T Torque z Continuous 5 Supply Current Full Load NoLoad Speed RPS Rev 1 1 0004102014 14 400 820 9661 SSO0O3 05 10 S Q C Hardware Manual Torque N m AM17SS2DGL 24V Power Speed RPS Torque Continuous Supply Current Full Load NoLoad Torque N m AM17SS2DGLI 48V Power Speed RPS Torque Continuous Supply Current FullLoad No Load Torque N m 400 820 9661 17553060 24V Power Speed RPS 15 Torque Continuous Supply Current FullLoad No Load Rev 1 1 0004102014 S03 05 10 S Q C Hardware Manual 17553060 48V Power Torque Continuous Supply Current Full Load NoLoad Torque N m Torque Continuous Supply Current Full Load NoLoad Torque N m Torque Continuous Supply Current Full Load Load E o 3 Speed RPS Rev 1 1 0004102014 16 400 820 9661 SSO0O3 05 10 S Q C Hardware Manual AM23SS2DGLI 24V Power Torque Continuous Supply Current Full Load NoLoad Torque N m 0 10 20 30 40 50 Speed RPS
9. B2 A1 White W A1 B1 White Black W B1 B4 Shield B4 Encoder Extension Cable for AM11SS motor Housing 501646 1200 Molex Crimp 501648 1000 Molex Housing J21DF 16V KX L JST Crimp SJ2F 002GF P1 0 JST A B 1 1 Wiring Diagram 2108 100 1M PIN J1 Colour Signal PIN J2 2108 300 3M 10 Blue A A8 2108 500 5M 9 Blue Black B8 2108 1000 10M 8 Green B AT 7 Green Black B B7 6 Yellow Z A6 5 Yellow Black Z B6 3 Red 45V A5 4 Black GND B5 Brown U A3 Brown Black U B3 Gray V A2 Gray Black V B2 1 White W A1 White Black W B1 12 Shield B4 400 820 9661 43 E 0004102014 S03 05 10 S Q C Hardware Manual 8 Contacting MOONS Service Center l 86 400 820 9661 Headquarters No 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107 P R China Tel 86 0 21 52634688 Fax 86 0 21 62968682 E mail info moons com cn m MOONS Industries America Inc 1113 North Prospect Avenue Itasca IL 60143 U S A Tel 001 630 833 5940 Fax 001 630 833 5946 B MOONS Industries Europe S r l Via Torri Bianche n 1 20059 Vimercate MB Italy Tel 39 039 62 60 521 Fax 39 039 96 31 409 MOONS Industries South East Asia Pte Ltd 33 Ubi Avenue 3 08 23 Vertex Singapore 408868 Tel 65 6634 1198 Fax 65 6634 1138 W She
10. That means the host must stop transmit data before drive begins to answer a query which just come from the host otherwise the host cannot receive any data witch sent from a drive There is a transmit delay parameter that can be adjusted to compensate for a host that is slow to disable its transmitter This adjustment can be set over the network using the TD command it also can be set by using the Step Servo Quick Tuner software Users can set a shorter transmit delay in a four wire system Two wire connection The RX and TX of the drive connect to the host s D in parallel The RX and TX of the drive connect to the host s D in parallel Connect the drive s GND and the host s GND to a same ground 2 4 Connecting to a host using CANopen The CANopen version SS drives can be daisy chain connected through the dual port RJ45 connectors at the side of the drive using CAT5 cable PIN1 PIN8 PIN1 PIN8 RJ45 Connector Diagram PIN Function 1 CAN H 2 CAN L 3 7 GND 6 CHGND 4 5 8 NC 400 820 9661 11 Rev 1 1 0004102014 S03 05 10 S Q C Hardware Manual 2 5 Connecting the Power Supply The SS drives are shipped with a power cable 2 meters long Connect the red wire to the positive of the power supply Connect the black wire to the negative of the power supply Plug the cable into the power connector of the drive The red wire is connected to the V of the drive The black wire is connected to the
11. be selected by piano switch on SS drive BAUD RATE SW1 SW2 SW3 bps OFF OFF OFF 9600 ON OFF OFF 19200 OFF ON OFF 38400 ON ON OFF 57600 OFF OFF ON 115200 ON OFF ON Null OFF ON ON Null ON ON ON Null TERMINATING RESISTOR OFF Disconnected ON Connected SW4 5 5 Assigning CANopen Address Each node on a CANopen network must have a unique Node ID Valid ranges for the Node ID are 0x01 through 7 1 127 Node ID 0x00 is reserved in accordance with CiA301 The Node ID is selected using rotary switches and software one sixteen position switch set the lower four bits 0 of node ID while upper three bits of node ID are configured by Step Servo Quick Tuner software Each time when Node ID is changed a power cycle is must before the new Node ID is valid Please refer to the CANopen manual for more information 5 6 CANopen Baud Rate and Terminating Resistor There are eight types of baud rate supported by CANopen communication on SS drive A terminating resistor 120 ohm has already been installed inside of SS drive To select un select the terminating resistor or communication baud rate setting can be selected by piano switch on SS drive BAUD RATE 5 1 5 2 SW3 bps OFF OFF OFF 1M ON OFF OFF 800K OFF ON OFF 500K ON ON OFF 250K OFF OFF ON 125K ON OFF ON 50K OFF ON ON 25K ON ON ON 12 5K TERMINATING RESISTOR OFF Disco
12. follows X1 STEP is signal A input X2 DIR is signal input n velocity mode X1 STEP can be set to RUN STOP X2 DIR is direction signal X1 and X2 also can be configured as CW JOG and CCW JOG n SCL mode X1 and X2 can be configured as general purpose input for WI OI FS or SH and other commands The diagrams below show how to connect the X1 STEP and X2 DIR to various commonly used devices Host with Sinking Outputs STEP STEP Connecting to Host with Sinking Outputs ons Host with Sourcing Outputs STEP STEP STEP Connecting to Host with Sourcing Outputs Host with Differential Outputs Connecting to An Encoder 400 820 9661 25 Rev 1 1 0004102014 S03 05 10 S Q C Hardware Manual 3 1 2 X3 CW LIMIT and X4 CCW LIMIT High speed Digital Inputs X3 CW LIMIT and X4 CCW LIMIT are high speed digital inputs operation 5 24V optically isolated single ended or differential signal The maximum input frequency is 2MHz X3 can be configured as CW limit sensor input and X4 can be configured as CCW limit sensor input NOTE If current is flowing into or out of an input logic state of that input is low or closed If no current is flowing or the input is not connected the logic state is high or open The diagrams below show how to connect to CW LIMIT and CCW LIMIT Please select the polarity of the limit sensor by using the Step servo Quick Tuner 5 24VDC Power Supply Switch or R
13. the dot point is off the drive is disabled 5 1 Operation Mode 1 CM1 Commanded Torque Mode 2 CM2 Analog Torque Mode 3 CM11 14 Analog Velocity Mode 4 CM15 18 Velocity Mode 5 CM10 Commanded Torque Mode 6 CM7 Digital Position Mode 7 CM21 Point to Point Mode 8 CM22 Analog Position Mode AUN RUN RN Z ue AM Rev 1 1 0004102014 30 400 820 9661 SSO0O3 05 10 S Q C Hardware Manual 5 2 Alarm Error Code The faults of drive are shown in bold italics Motor will disable Servo Off when faults occur r Position Limit L CCW Limit 44 CW Limit Over Temperature H Over Voltage L i Under Voltage H Internal Voltage L Over Current Current Foldback ri Open Winding Bad Encoder Flash Memory Error FI NV Memorv Error m Communication Error d Move while Disabled r Regen Failed 22 1 a A Q Program Running is used to indicate bus address and communication baud rate Because the power up serial communication baud rate is always 9600 BR 1 So after power up LED2 flashes 1 to indicate the serial communication baud rate for 2 seconds Then it will flashes the real operation baud rate BR BR Baud Rate bps 9600 19200 38400 57600 115200 About 6 seconds later 2 turns to solid to indicate the bus address for RS 485 or CANopen drive SS P R drive always display 0
14. 34SS1DGA 3 5N m 5510 lt AM34SS3DGA 86 6 0N m AM34SS5DGA 8 0N m Aor B refer to motor part numbering system E S C refer to driver part numbering system A Ror C refer to driver part numbering system Rev 1 1 36 400 820 9661 0004102014 9 SSO0O3 05 10 S Q C Hardware Manual 6 4 Motor Outlines 1155 1622 4425 Depth 2 5 Min 5 S4 Motor Type IE gr AM11SS1DMA 43 8 AM11SS2DMA 52 9 AM11SS3DMA 64 1 i E 0 22 0 052 3 4 504 5 0 012 1755 EI c 42 3 B1 4 M3 Depth 4 5Min 14 E 2 3 La L 22 200 Type Unit mm a Motor Type A A1 B B1 L se B AM17SS1DGA 6 55 20 15 59 5 mi AM17SS1DGB 5 4 5 24 15 59 5 ya AM17SS2DGA 6 5 5 20 15 65 AM17SS2DGB 5 4 5 24 15 65 AM17SS3DGA 6 5 5 20 15 73 5 AM17SS3DGB 5 45 24 15 73 5 AM17SS4DGA 6 5 5 20 15 89 AM17SS4DGB 5 4 5 24 15 89 B 56 3 AM23SS 4 hO 9 g e Omg V38 1 Type Unit mm Motor Type A
15. 4VDC 4 optically isolated digital outputs max30V 100mA 2 analog can be configured 0 5V 0 10V 5V or 10V signal ranges Technological advance Full servo control Closed loop Efficient Accurate Fast Smooth Intelligent Compact Rev 1 1 0004102014 4 400 820 9661 SSO3 05 10 S Q C Hardware Manual 1 2 Block Diagram SS 5 0 Type Block Diagram 24 75 VDC Power Supply RS 222 TX RX GND 45V GND 5V motor X1 STEP 1 5 X2 DIR X2 DIR X3 CWLMT X3 CWLMT X4 CCWLMT X4 CCWLMT XS EN X6 AR X8 Status amp Network ID Display VO Connector Y1 ALM Y1 ALM Y2 INP ki 85485 BUS Y3 YA Y4 AIN2 Rev 1 1 820 1 2002209506 9 0004102014 5503 05 10 5 Hardware Manual SS c Type Block Diagram 24 15 VDC External i Power Supply GND 5V X1 STEP X1 STEP X2 DIR X2 DIR X3 CWLMT X3 CWLMT X4 GCWLMT X4 CCWLMT X5 EN X6 AR X7 X8 Y1 ALM Y1 ALM Y2 INP Y2 INP Y3 Y3 Y4 4 AIN2 Rev 1 1 0004102014 VO Connector motor Status 8 Network ID Display 5 400 820 9661 SS03 05 10 S Q C Har
16. A1 B B1 IL AM23SS2DGA 8 75 24 20 77 5 AM23SS2DGB 96 35 5 85 20 15 775 AM23SS3DGA 8 75 24 20 99 5 AM23SS3DGB 96 35 5 85 20 15 99 5 Rev 1 1 820 1 400 820 966 37 0004102014 S03 05 10 S Q C Hardware Manual AM24SS Type Unit mm Motor Type A 1 B B1 E AM24SS3DGA 910 9 5 24 20 111 AM24SS3DGB 98 7 5 20 15 111 3455 37 V14 13FLAT 300 Type Unit mm Motor Type E AM34SS1DGA 88 E AM34SS3DGA 117 5 f AM34SS5DGA 147 Rev 1 1 38 400 820 9661 0004102014 AM11SS1DMA conn Boost AM11SS2DMA Continuous Boost Speed rps Speed rps Continuous 24V AM11SS3DMA W Torque mN m AM17SS1DG AM17SS2DG Continuous 24V 48V Torque N m Speed rps Speed rps Continuous 24 48V i AM17SS3DG Continuous 24V 48V 24V 48V 1755406 Boost 24V 48V 1 0 0 8 a s lt gt
17. ITTITTIT SS03 Q R 5505 0 SS10 Q R 94 5 8503 5505 SS10 C C n d 34 400 820 9661 0004102014 SSO0O3 05 10 S Q C Hardware Manual 6 2 Technical Specifications Power Amplifier Amplifier Type Dual H Bridge 4 Quadrant Current Control 4 state PWM at 20 KHz Output Current SS03 Maximum continuous current 3A boost current 4 5A for 1 5s Drive auto set the current limitation according to the attached motor 5505 Maximum continuous current 5A boost current 7 5A for 1 5s Drive auto set the current limitation according to the attached motor S810 Maximum continuous current 10A boost current 15A for 1 5s Drive auto set the current limitation according to the attached motor Power Supply External nominal 24 75 volt DC power supply required Absolute maximum input voltage range 18 80 VDC Protection Over voltage under voltage over temp over current Controller Microstep Resolution Software selectable from 200 to 51200 steps rev in increments of 2 steps rev Encoder Resolution 20000 counts rev for AM17 23 24 34SS motor 4096 counts rev for AM11SS motor Speed Range Speeds up to 3600 rpm Filters Programmable hardware digital noise filter software noise filter smoothing filter PID filter notch filter Non Volatile Storage Configurations are saved in FLASH memory on board the DSP Multiple Modes Of Control Position m
18. V of the drive Do not reverse them Connect the chassis to the earth ground through the grounding screws Power Connector The section below entitled Choosing a Power Supply will help you to select a right power supply 2 6 Choosing A Power Supply The main considerations when choosing a power supply are the voltage and current requirements of the application 2 6 1 Voltage The SS step servo drive and motor is designed to give optimum performance between 24 48 Volts DC Choosing the voltage depends on the performance needed and diver motor heating that acceptable and or does not cause a drive over temperature Higher voltage will give higher speed performance but will cause the drive to produce higher temperatures Using power supplies with voltage outputs that are near the drive maximum may significantly reduce the operational duty cycle The SS extended range of operation can be as low as 18VDC minimum to as high as 80VDC maximum When operation below 18VDC the SS series will work unstable The supply input cannot go blow 18VDC for reliable operation otherwise under voltage alarm will be triggered SS drive will stop working when this alarm is triggered If a regulated power supply is used and that is near the driver maximum voltage of 80VDC voltage clamp may be required to prevent the voltage over 80VDC which will occurs a over voltage fault When using an unregulated power supply make sure the no load voltage of the supply d
19. ake It can also be configured as static in position signal output static checking in position when motor is stopped or as dynamic in position signal output dynamic checking in position all the time 4 can be configured as static in position signal output static checking in position when motor is stopped as dynamic in position signal output dynamic checking in position all the time Y1 Y2 Y3 and Y4 can be configured by Step Servo Quick Tuner The chats below show how to connect to the output NOTE Do not connect the outputs to more than 30VDC power supply And the current of each output terminal must not exceed 100mA Rev 1 1 0004102014 1 2 4 5 24VDC Power Supply Y1 Y2 Y3 Y4 Connecting a Sinking Output Y1 Y2 Y3 Y4 Y1 Y2 Y3 Y4 Connecting a Sourcing Output Y1 Y2 Y3 Y4 5 24VDC Power Supply 1n4935 Suppression Diode Y1 Y2 Y3 Y4 Driving a Relay 28 400 820 9661 SS03 05 10 S Q C Hardware Manual 3 3 Analog Inputs SS series drive has two analog signal inputs which can accept signal range of 0 5 Volts 0 10 volts 5V or 10Volts The drive can be configured to operate at velocity mode or position mode that is proportional to the analog input Use the Step Servo Quick Tuner to configure the input range offset deadband and noisy filter frequency SS series provides a 5V 100mA limit power supply that can be used to power external devices such as potentio
20. dware Manual 1 3 Safety Instructions Only qualified personnel should transport assemble install operate or maintain this equipment Properly qualified personnel are persons who are familiar with the transport assembly installation operation and maintenance of motors and who meet the appropriate qualifications for their jobs To minimize the risk of potential safety problems all applicable local and national codes regulating the installation and operation of equipment should be followed These codes may vary from area to area and it is the responsibility of the operating personnel to determine which codes should be followed and to verify that the equipment installation and operation are in compliance with the latest revision of these codes Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards MOONS does not guarantee the products described in this publication are suitable for a particular application nor do they assume any responsibility for product design installation or operation Read all available documentation before assembly and operation Incorrect handling of the products referenced in this manual can result in injury and damage to persons and machinery All technical information concerning the installation requirements must be strictly adhered to tis vital to ensure that all system components are connected to earth ground Electrical safety
21. elay SS S Q C Closed logic low 5 24VDC Power Supply X3JX4 Connecting a NPN type Proximity Sensor to an Input when proximity sensor activates output goes low SS S Q C Proximity Sensor SS S Q C Connecting a PNP type Proximity Sensot to an input when proximity sensor activates output goes high 5 24VDC Power Supply Rev 1 1 0004102014 26 400 820 9661 SS03 05 10 S Q C Hardware Manual 3 1 3 XS EN X6 AR X7 and X8 Digital Inputs The X5 EN X6 AR X7 and X8 are digital inputs operation 5 24V optically isolated single ended signal X5 can be configured as enable signal input to excite the motor and X6 can be configured as alarm reset signal input to clear the alarm and turns to the normal status as servo off In the velocity mode X5 can also be configured as speed switch signal to change the speed to another one XT and X8 can be configured as general purpose input for WI OI FS or SH and other commands Because the input is an optically isolated circuit a 5 24V power supply is needed For example you can use the power supply of the PLC when you are using a PLC control system but if you want to connect a relay or mechanical switch to the input you must need a power supply XCOM is an electronics term for an single ended signal connection to a common voltage In the case of SS series if you are using a sourcing PNP input signals you need to connect XCOM to the grou
22. g Type 05 5A 2 40 10A P Pulse Input Type S Basic Type Q Q Type C CANopen Type 400 820 9661 41 Rev 1 1 0004102014 S03 05 10 S Q C Hardware Manual 7 Optional Accessories Sold separately P N Catagory Technical Specification MF150A24AG V Switching Power Supply 150W 24V MF320A48AG V Switching Power Supply 320W 48V 2103 Cable Motor Extension Cable for AM17 23 24 34SS motor 2109 Cable Motor Extension Cable for AM11SS motor 2104 Cable Encoder Extension Cable for AM17 23 24 34SS motor 2108 Cable Encoder Extension Cable for AM11SS motor Switching Power Supplier MOONS recommend using following switching power supply P N MF150A24AG V 150W 24VDC oen Lg E L naanannnnnnn 125 25 P N MF320A48AG V 320W 48VDC 18 128 25 Motor Extension Cable for 17 23 24 3455 motor Housing 39 01 3049 Molex Housing 39 01 3048 Molex Crimp 39 00 0038 Molex
23. is impossible without a low resistance earth connection This product contains electrostatically sensitive components that can be damaged by incorrect handling Follow qualified anti static procedures before touching the product During operation keep all covers and cabinet doors shut to avoid any hazards that could possibly cause severe damage to the product or personal health During operation the product may have components that are live or have hot surfaces Never plug in or unplug the Integrated Motor while the system is live The possibility of electric arcing can cause damage Be alert to the potential for personal injury Follow recommended precautions and safe operating practices emphasized with alert symbols Safety notices in this manual provide important information Read and be familiar with these instructions before attempting installation operation or maintenance The purpose of this section is to alert users to the possible safety hazards associated with this equipment and the precautions necessary to reduce the risk of personal injury and damage to equipment Failure to observe these precautions could result in serious bodily injury damage to the equipment or operational difficulty Rev 1 1 020 1 400 820 966 7 0004102014 S03 05 10 S Q C Hardware Manual 2 Getting Started The following items are needed 24 75 Volt DC power supply see the section below entitled Choose a Power Supply fo
24. is the motor power cable the other one is the encoder feedback cable Plug the motor power cable into the motor connector on the drive and plug the encoder feedback cable into the encoder feed back connector on the drive Do not damage or drag the cables on the motor Encoder Feedback Connector Rev 1 1 00 820 9661 4 9 ES 0004102014 S03 05 10 S Q C Hardware Manual 3 Inputs and Outputs 5503 05 10 5 inputs and outputs include optically isolated digital inputs 5 24VDC logic 4 optically isolated digital outputs maximum 30 100mA output 2 analog signal inputs the range of input voltage can be set to 0 5 0 10 5V 10V X1 STEP X1 STEP AIN2 X2 DIR GND X2 DIR 5 Y1 ALM X3 CWLMT YA ALM X3 CWLMT Y2 INP X4 CCWLMT 2 1 X4 CCWLMT Y3 X5 EN X6 AR Y4 7 Y4 8 5V XCOM GND Connector Diagram Rev 1 1 0004102014 24 400 820 9661 SS03 05 10 S Q C Hardware Manual 3 1 Digital Inputs 3 1 1 X1 STEP and X2 DIR High Speed Digital Inputs 1 5 and X2 DIR are high speed digital inputs operation 5 24V optical isolated single ended or differential signal The maximum input frequency is 2MHz n Pulse and Direction mode X1 STEP is pulse input and X2 DIR is direction signal input n CW CCW mode X1 STEP is CW pulse input and X2 DIR is CCW pulse input n quadrature signal mode Encoder
25. meter It is not the most accurate supply for reference for more precise readings use an external supply that can provide the desired accuracy 1 10k Q pot Connecting a Potentiometer to An Analog Input Rev 1 1 00 820 9661 G 4 9 ea 0004102014 S03 05 10 S Q C Hardware Manual 4 Mounting the Drive Use the M3 or M4 screw to mount the SS series drive The drive should be securely fastened to a smooth flat metal surface the will help conduct heat away from the chassis If this is not possible forced airflow from a fan maybe required to prevent the drive from overheating Never use the drive in a place where there is no air flow or the surrounding air is more than 40 C A Never put the drive where it can get wet or where metal or other electrically conductive particle particles can get on the circuity Always provide air flow around the drive When mounting multiple SS drives near each other maintain at least 1 5cm of space between drives 5 LED Display SS series have two 7 segments LED which is used to display operation mode error code bus address and communication baud rate LED1 LED2 LED1 is used to indicate operation mode and error code When drive has no error LED1 is solid on to indicate operation mode When drive has error LED1 will flash at a 0 5 second rate to indicate error code The dot point of LED1 is to indicate whether the drive is enabled When the dot point is on the drive is enabled When
26. nd power supply if you are using a sinking NPN input signals the XCOM need to connect to the power supply NOTE If current is flowing into or out of an input the logic state of that input is low or closed If no current is flowing or the input is not connected the logic state is high or open The chats below show how to connect to EN and AR Please select the polarity of the inputs by using the Step servo Quick Tuner 5 24VDC Power Suppl Switch or Relay Closed logic low 5 24VDC Power Supply NPN Type Output PNP 5 24VDC Gou Power Supply Connecting a PNP type output to an input Rev 1 1 400 820 9661 27 0004102014 S03 05 10 S Q C Hardware Manual 3 2 Digital Outputs 3 2 1 Y1 ALARM Y2 IN POSITION Y3 and Y4 Digital Outputs Y1 can be configured as alarm signal output It can also be configured as static in position signal output static checking in position when motor is stopped or as dynamic in position signal output dynamic checking in position all the time Y2 can be configured as Tach signal output tach output produce pulses relative to the motor position with configurable resolution It can also be configured as static in position signal output static checking in position when motor is stopped or as dynamic in position signal output dynamic checking in position all the time or as Timing signal output 50 pulses per rotation Y3 can be configured as signal output to release br
27. nnected Connected 400 820 9661 35 Rev 1 1 0004102014 S03 05 10 S Q C Hardware Manual 6 Reference Materials 6 1 Drive Mechanical Outlines 39 fan ele 2 Sep ja DIP h etting E OFF on emeen HE 845 For w Drive Seng o Lor by Sormare by Swnenes gt I mA g 2 A FI me fo e e Wa 5 prre 1 ar A rer sa FJ ater prom De un em A um A A7 FI pepe pe mm ml Epor o 5 8 fej r ni l 1 2 45 Model ss03 S A 5505 5 5510 5 da SS03 Q A SS05 Q A SS10 Q A MOONS t 4 4511 ue Model T URP SS03 S R 5505 5 SS10 S R T
28. nnector Diagram 2 3 Connecting to a Host using RS 485 The RS 485 version SS drives can be daisy chain connected through the dual port RJ45 connectors at the side of the drive using CAT5 cable 1 8 1 8 RJ45 Connector Diagram PIN Function 1 RX 2 3 TX 6 TX 4 5 7 8 GND Rev 1 1 0004102014 10 400 820 9661 SS03 05 10 S Q C Hardware Manual 2 3 1 5 485 Four wire Configuration RS 485 four wire system utilize separate transmit and receive wires One pair of wires connect the host s transmit signals TX TX to each drive s RX RX receive terminals The other pair connects the drive s TX TX terminals to the host s receive signals A logical ground terminal is provided on each drive and can be used to keep all the drives at the same ground potential The first drive s logical GND of the RS 485 bus must connect to host s ground Four wire Connection Connect the drive s RX to the TX terminal of the host controller and connect the drive s RX to the TX terminal of the host controller Connect the drive s TX to the RX terminal of the host controller and connect the drive s TX to the RX terminal of the host controller Connect the drive s GND and the host s GND to a same ground 2 3 2 RS 485 Tow wire Configuration In a two wire system the data transmitting and receiving use a same cable the host must stop its transmitting before receiving data
29. nzhen Branch Office Room 2209 22 F Kerry Center No 2008 Renminnan Road Shenzhen 518001 P R China Tel 86 0 755 25472080 Fax 86 0 755 25472081 W Beijing Branch Office Room 816 Block B China Electronics Plaza No 3 Danling Street Haidian District Beijing 100080 P R China Tel 486 0 10 5875 3312 Fax 86 0 10 5875 2279 Qingdao Branch Office Room 10E No 73 Wangjiao Mansion mid Hongkong Road Qingdao 266071 P R China Tel 86 0 532 85879625 Fax 86 0 532 85879512 Wuhan Branch Office Room 3001 World Trade Tower No 686 Jiefang Avenue Jianghan District Wuhan 430022 P R China Tel 86 0 27 85448742 Fax 86 0 27 85448355 B Nanjing Branch Office Room 302 Building A Tengfei Creation Center 55 Jiangjun Avenue Jiangning District Nanjing 211100 R China Tel 86 0 25 52785841 Fax 86 0 25 52785485 W Chengdu Branch Office Room 1917 Western Tower No 19 4th Section of South People Road Wuhou District Chengdu 610041 P R China Tel 486 0 28 85268102 Fax 86 0 28 85268103 Xi an Branch Office Room 1006 Block D Wangzuo International City No 1 Tangyan Road Xi an 710065 P R China Tel 86 0 29 81870400 Fax 486 0 29 81870340 H Ningbo Branch Office Room 309 Block B Taifu Plaza No 565 Jiangjia Road Jiangdong District Ningbo 315040 P R China Tel 486 0 574 8705 2739 Fax 86 0 574 8705 2365 Rev 1 1 0004102014 44 400 820 9661
30. ode Step Direction CW CCW pulse A B Quadrature pulse Torque mode Velocity mode SCL mode Q Programming CANopen as defined in CIA DSP402 Profile Position Profile Velocity Homing Digital Inputs X1 STEP X2 DIR X3 CWLMT X4 CCWLMT Optical isolated differential input 5 24 volts min pulse width 250 ns max pulse fre quency 2 MHz X5 EN X6 AR X7 X8 Optical isolated single ended input 5 24 volts Digital Output Y1 ALM Y2 INP 4 Optical isolated Open Collector 30 volts 100 mA max maximum pulse frequency 10 KHz AIN1 AIN2 Analog Input Input resolution 12 bit software configured as 0 5 volts 0 10 volts 5 volts or 10 volts AIN referenced to GND 5V Supply Output 4 8 5 volts 100mA maximum Communication RS 232 RS 485 CANopen Environment Ambient Temperature 0 40 C 32 104 F when mounted to a suitable heatsink Humidity 90 non condensing C 400 820 9661 Rev 1 1 0004102014 S03 05 10 S Q C Hardware Manual 6 3 Recommended Motor Motor Part Number Frame Size Matching Drive AM11SS1DMA 0 05N m AM11SS2DMA 28 0 07N m 5503 AM11SS3DMA 0 09N m AM17SS1DGa 0 3N m AM17SS2DG0 48 0 5N m 17883060 0 6 SS05 H O AM17SS4DGn 0 75N m AM23SS2DGn 0 9N m 23553 1 5N m AM24SS3DGn 60 2 5 AM
31. oes not exceed the maximum input voltage 80VDC Rev 1 1 0004102014 12 400 820 9661 SS03 05 10 S Q C Hardware Manual 2 6 2 Current The maximum supply currents required by the SS series step servo drive and motor are shown below in chats at different power supply voltage input The SS drive power supply current is lower than the the winding currents because it uses switching amplifiers to convert a high voltage and low current into low voltage and high current The more power supply voltage exceeds the motor voltage the less current will be required from the power supply It is important to note that the current draw is significantly different at higher speeds depending on the torque load to the motor Estimating how much current is necessary may require a good analysis of the load to the motor AM11SS1DMA 24V Power 100 2 80 t 60 Continuous o 06 8 5 40 lt Supply Current Full Load NoLoad 20 Speed RPS AM11SS2DMA 24V Power 100 1 2 _ 80 L 1 0 5 L 0 8 Torque t 60 Continuous L A 06 u Supply Current 6 0 4 Full Load F No Load a 0 2 0 0 0 0 10 20 30 40 50 Speed RPS 400 820 9661 13 Rev 1 1 0004102014 S03 05 10 S Q C Hardware Manual AM11SS3DMA 24V Power 150 _ 120 t 90 Continuous o 5 60 Supply Current 6 Full Load NoLoad
32. pen Node ID ID Range Hint 3 7 Node ID can be set as follow 1 Use the 16 position rotary switch on drive to set the lower 4 bits of the node ID konen 2 Select the ID range to set the upper 3 07 bits of the node ID lt 03 Set the 16 position rotary switch to and Analog Input Filter 9 select the ID range of 0x10 0x1F then the Bl tz 681 node ID is Ox1A Motor SN Drive SN Input Noise Filter X1 x4 0 767 us Pulse Width X Input Y Output KH2 50 duty cycle x1 Not used Servo On when closed Electronic Gearing X2 Not used d Not used 20000 2 Steps Rev X3 Not used Not used Maximum Speed X4 Not used Not used SAL Not used Not used 0 Positioning Error Fault 1000 Counts 1000Steps Not used Not used Maximum Acceleration 5 l L 1000 2 vi e Download the Step Servo Quick Tuner from the MOONS website and install it Launch the software by clicking Start Programs MOONS Connect the drive to PC by RS 232 cable Please select right COM port in the software e Connect the drive to the Power Supply e Connect the motor to the drive Power up the drive The software will recognize your drive display the model and firmware version and be ready for action For Q drive download and install Q Programmer software For C drive if want to use the Q program it also need
33. r help in choosing the right one Acompatible SS motor please see the section below entitled Recommended Motor Asmall flat blade screwdriver for tightening the connectors screw included running Microsoft Windows XP Vista Windows7 Using serial communication port Need a USB to Serial converter if the PC doesn t have ARS 232 communication cable included Require CAT5 cable for RS 485 or CANopen daisy chain connection 2 1 Installing Software Step Servo Quick Tuner is the PC based software application used to configure and perform servo tuning drive testing and evaluation of the step servo products System servo control gains drive functionality and I O configuration are set with Step Servo Quick Tuner It also contains an oscilloscope function to help set the servo control gains 25 Step Servo Quick Tuner V2 1 13 1217 DER 1 3 open sprint i 9 option L Export noes o Servo Alarms Upload amp Download Drive v w RS232 RS485 Ethernet MOONS l 9 9 a Alam 2 Upload Download moving im batter e Rev 00 Port codi v servo Off J Reset i from Drive to Drive 1 Step 1 Drive Configuration Step 2 Tuning Sampling Step 3 SCL Test 8 Monitor Drive amp Motor Information Control Mode Motor Model m Torque Velocity Position SCL Q Programming Language 9 CANo
34. to download and install Programmer software Rev 1 1 0004102014 8 400 820 9661 SSO3 05 10 S Q C Hardware Manual The connectors and other points of interest are illustrated below LED RS 232 Connector Connector Encoder Connector Motor Connector Ground Screw Power Connector Model SS03 S A SS05 S A 5510 5 5503 0 5505 0 SS10 Q A DIP Switch Rotary Switch LED Display RS 232 Connector Daisy chain I O Connector Encoder Connector Motor Connector Ground Screws Power Connector Model SS03 S R 5505 5 SS10 S R SS03 Q R SS05 Q R SS10 Q R SS03 C C SS05 C C SS10 C C Rev 1 1 020 1 400 820 966 9 0004102014 S03 05 10 S Q C Hardware Manual 2 2 Connecting to the PC using RS 232 The SS drives are shipped with a 1 5 meters RS 232 communication cable The DB9 connector is used to connect to PC The small end is a crimping connector used to connect to the drive Located the SS drive within 1 5 meters of the PC Plug the DB9 connector into the serial COM port of the PC Plug the small end crimping connector into the RS 232 port of the drive Do not hot plug If the PC doesn t have a RS 232 serial port a USB to RS232 converter will be needed You can contact MOONS to buy a USB to RS 232 converter GND TX 5 RX RS 232 Co
35. us Supply Current Full Load No Load Torque N m Speed RPS AM34SS1DGO 48V Power Torque Continuous Supply Current Full Load NoLoad 1 gt o Speed RPS 34551060 70V Power Torque Continuous Supply Current FullLoad NoLoad Torque N m Speed RPS Rev 1 1 0004102014 20 400 820 9661 SSO3 05 10 S Q C Hardware Manual AM34SS3DGL 24V Power Torque Continuous Supply Current FullLoad NoLoad Torque N m Speed RPS AM34SS3DGLI 48V Power Torque Continuous Supply Current Full Load No Load Torque N m Speed RPS AM34SS3DGO 70V Power Torque Continuous Supply Current Full Load No Load Torque N m Speed RPS Rev 1 1 820 1 400 820 966 21 0004102014 S03 05 10 S Q C Hardware Manual AM34SS5DGL 24V Power Torque Continuous Supply Current FullLoad NoLoad o gt o H Speed RPS 34555 48V Power Torque Continuous Supply Current Full Load NoLoad Torque N m Speed RPS AM34SS5DGL 70V Power Torque Continuous Supply Current Full Load NoLoad gt Speed RPS Rev 1 1 0004102014 22 400 820 9661 SS03 05 10 S Q C Hardware Manual 2 7 Connect to Motor The SS motors have two cables One

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