Moons' SSDC Series, Hardware Manual

Page 1: ...Rev 1 2 20 03 2020 SSDC ECX H J Step Servo System Hardware Manual SSDC06 ECX H J SSDC10 ECX H J SHANGHAI AMP MOONS AUTOMATION CO LTD ...

Page 2: ...Fault Display 29 6 Reference Materials 31 6 1 Drive Mechanical Outlines Units mm 31 6 2 Technical Specifications 32 6 3 Recommended Motors 33 6 4 Motor Dimensions Unit mm 34 6 5 Torque Curves 42 6 6 Motor Numbering System 43 6 7 Drive Numbering System 43 7 Accessories 44 7 1 Standard Accessories Included 44 7 2 Optional Accessories Sold separately 44 7 2 1 Extended motor cable For SSDC drive and AM...

Page 3: ...and with a baud rate of 100Mbps full duplex EtherCAT enables high speed and highly reliable communication Vender specific profile over EtherCAT VoE is contribute to update the firmware over EtherCAT Supported modes Profile Position Profile Velocity Profile Torque Cyclic Synchronous Position Cyclic Synchronous Velocity and Homing mode as well as MOONS own Q mode Current output SSDC06 output current conti...

Page 4: ...Mosfet PWM Power Amplifier Output Optical Ioslation Single Ended Input Ioslation X3 X4 X7 X8 XCOM Y1 Y2 YCOM Software Filter Software Filter Motor Encoder Operational Amplifter ANALOG USB EtherCAT SSDC ECX H J EtherCAT Block Diagram Power Supply SSDC06 10 24 70VDC X5 Output Optical Ioslation Y2 Y2 Single Ended Input Ioslation X3 X4 X7 XCOM LED Display Only for SSDC06 10 ECX H ...

Page 5: ...t in injury and damage to persons and machinery All technical information concerning the installation requirements must be strictly adhered to It is vital to ensure that all system components are connected to earth ground Electrical safety is impossible without a low resistance earth connection This product contains electrostatically sensitive components that can be damaged by incorrect handling F...

Page 6: ...ll flat blade screwdriver for tightening the connectors screw A PC running Microsoft Windows 7 Windows 8 Windows 10 32bit or 64bit and Microsoft net framework 4 0 A USB Mini B cable Install the Stepper Site software download from MOONS website www moonsindustries com A power cable included A CAT5 cable used to do the daisy chain connection It is also used to configure the drive Optional extended mot...

Page 7: ...epper Suite It also contains an oscilloscope function to help set the servo control gains Download the Stepper Suite from the MOONS website and install it Launch the software by clicking Start Programs MOONS Stepper Suite Connect the drive to PC by USB Mini B cable Please see the section below entitled Choosing the Right USB Port Connect the drive to the Power Supply Connect the motor to the drive...

Page 8: ...munication Interface LED I O Connector Encoder Connector Motor Connector Power Connector Ground Screws 2 2 Connecting to the PC using USB Connector J5 is USB communication port please use the USB Mini B cable to connect the drive and PC Use the Stepper Suite software to configure the drive parameter tuning monitoring the status of drive and motor PIN Definition 1 5V 2 D 3 D 4 Reserved 5 GND ...

Page 9: ...r supply Plug the cable into the power connector of the drive NOTE Be careful not to reverse the wires Reversing the connection may open the internal fuse on the drive and void the warranty SSDC06 24 70VDC SSDC10 24 70VDC Power Connector Wire Range 0 2mm2 1 5mm2 24 16AWG Recommended stripping length 10mm Connect the chassis to the earth ground through the grounding screws To Earth Ground The secti...

Page 10: ...duce the operational duty cycle SSDC06 10 For the SSDC06 10 drive the extended range of operation can be as low as 18 VDC minimum to as high as 75 VDC maximum When operating below 18 VDC the power supply input may require larger capacitance to prevent under voltage and internal supply alarms Current spikes may make supply readings erratic The supply input cannot go below 18 VDC for reliable operat...

Page 11: ...ceeds 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 AM11RS1DMA 24V Power Torque mN m Amps Continuous Torque Boost Supply Current Full Load Full Load...

Page 12: ...orque Boost Supply Current Full Load No Load Speed rps 0 0 5 1 1 5 0 0 1 0 2 0 3 0 4 0 10 20 30 40 50 AM17SS1DG N AM17RS1DM 24V Power Torque mN m Amps Continuous Torque Boost Supply Current Full Load No Load Speed rps 0 0 5 1 1 5 0 0 1 0 2 0 3 0 4 0 10 20 30 40 50 AM17SS1DG N AM17RS1DM 48V Power Torque mN m Amps Continuous Torque Boost Supply Current Full Load No Load Speed rps ...

Page 13: ...que Boost Supply Current Full Load Full Load 0 0 5 1 1 5 0 0 1 0 2 0 3 0 4 0 5 0 6 0 10 20 30 40 50 AM17SS2DG N AM17RS2DM 48V Power Speed rps Torque mN m Amps Continuous Torque Boost Supply Current Full Load Full Load 0 0 5 1 1 5 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 10 20 30 40 50 AM17SS3DG N AM17RS3DM 24V Power Speed rps Torque mN m Amps Continuous Torque Boost Supply Current Full Load Full Load ...

Page 14: ...uous Torque Boost Supply Current Full Load Full Load 0 0 5 1 1 5 0 0 3 0 6 0 9 1 2 1 5 0 10 20 30 40 50 AM17SS4DG N AM17RS4DM 24V Power Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load 0 0 5 1 1 5 0 0 3 0 6 0 9 1 2 1 5 0 10 20 30 40 50 AM17SS4DG N AM17RS4DM 48V Power Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load ...

Page 15: ...e Boost Supply Current Full Load Full Load 0 0 5 1 1 5 2 2 5 3 3 5 0 0 3 0 6 0 9 1 2 1 5 0 10 20 30 40 50 AM23SS2DG N AM23RS2DM 48V Power Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load 0 0 5 1 1 5 2 2 5 3 3 5 0 0 3 0 6 0 9 1 2 1 5 0 10 20 30 40 50 AM23SS2DG N AM23RS2DM 70V Power Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Lo...

Page 16: ...que Boost Supply Current Full Load Full Load 0 0 5 1 1 5 2 2 5 3 3 5 0 0 5 1 1 5 2 2 5 0 10 20 30 40 50 AM23SS3DG N AM23RS3DM 48V Power Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load 0 0 5 1 1 5 2 2 5 3 3 5 0 0 5 1 1 5 2 2 5 0 10 20 30 40 50 AM23SS3DG N AM23RS3DM 70V Power Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load ...

Page 17: ...st Supply Current Full Load Full Load 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 5 0 0 5 1 1 5 2 2 5 3 3 5 0 10 20 30 40 50 AM24SS3DG N AM24RS3DM 48V Power Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 5 0 0 5 1 1 5 2 2 5 3 3 5 0 10 20 30 40 50 AM24SS3DG N AM24RS3DM 70V Power Speed rps Torque N m Amps Continuous Torque Boost Supply Current Fu...

Page 18: ...Torque Boost Supply Current Full Load Full Load AM34SS1DGA N AM34RS1DMA 48V Power 0 1 2 3 4 5 6 0 0 5 1 1 5 2 2 5 3 0 10 20 30 40 50 Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load AM34SS1DGA N AM34RS1DMA 70V Power 0 1 2 3 4 5 6 0 0 5 1 1 5 2 2 5 3 0 10 20 30 40 50 Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load ...

Page 19: ...us Torque Boost Supply Current Full Load Full Load AM34SS3DGA N AM34RS3DMA 48V Power 0 1 2 3 4 5 6 0 1 2 3 4 5 6 0 10 20 30 40 50 Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load AM34SS3DGA N AM34RS3DMA 70V Power 0 1 2 3 4 5 6 0 1 2 3 4 5 6 0 10 20 30 40 50 Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load ...

Page 20: ...uous Torque Boost Supply Current Full Load Full Load AM34SS5DGA N AM34RS5DMA 48V Power 0 1 2 3 4 5 6 0 2 4 6 8 10 0 10 20 30 40 50 Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load Speed rps Torque N m Amps Continuous Torque Boost Supply Current Full Load Full Load AM34SS5DGA N AM34RS5DMA 70V Power 0 1 2 3 4 5 0 2 4 6 8 10 0 10 20 30 40 50 ...

Page 21: ... and plug the encoder feedback cable into the encoder feedback connector on the drive NOTE Do not damage or drag the cables on the motor M MA A M MB B 1 1 M MB B 2 M MA A 3 3 4 J2 Motor connector on the driver J3 A B Z GND U V W A B Z 5V NC U V W 2 4 6 8 10 12 14 16 1 3 5 7 9 11 13 15 Encoder connector on the driver Please check the information of mating connectors extended motor cable and extende...

Page 22: ...Description Link Activity Green OFF no Ethernet connection ON Ethernet is connected Flickering activity on line RUN Green OFF initialization state Blinking pre operational state Single Flash safe operational state ON operational state ERR Red OFF no error Blinking general error Single Flash sync error Double Flash watch dog error Notes Flickering Rapid flashing with a period of approximately 50ms 1...

Page 23: ... isolated Open Collector 30V 100 mA max J4 X3 1 X4 2 X7 3 XCOM 4 Y2 5 Y2 6 I O Connector Diagram SSDC ECX J inputs and outputs include 5 Optically isolated digital inputs 5 24VDC logic 2 Optically isolated Open Collector 30V 100 mA max 1 analog inputs can be configured to 0 5V 0 10V 5V or 10V signal ranges User 5V J4 AIN 1 X3 2 X5 3 X8 4 Y1 5 YCOM 11 9 10 8 7 6 12 5V Y2 XCOM X7 X4 GND ...

Page 24: ...W limit sensor input Homing sensor input General purpose X5 6 General purpose X7 7 Available function Touch probe input Homing sensor input General purpose X8 8 Available function Emergency stop General purpose XCOM 9 The common voltage of X3 X4 X5 X7 X8 X3 X4 X5 X7 X8 Optically isolated 5 24VDC Minimum pulse width 100μs Maximum pulse frequency 5KHz Because the input is an optically isolated circu...

Page 25: ... used devices 5 24V Power Supply Connecting a switch or relay to an input XCOM Switch or Relay Closed logic low SSDC SSDC SSDC X3 X4 X5 X7 X8 5 24V Power Supply output Connecting a NPN type output to an input NPN type output XCOM X3 X4 X5 X7 X8 5 24V Power Supply output Connecting a PNP type output to an input NPN type output XCOM X3 X4 X5 X7 X8 ...

Page 26: ...c in position output General purpose output 6 SSDC06 10 ECX J Signal Pin No Function Y1 10 Available function Alarm output Static in position output Dynamic in position output Y2 11 Available function Release brake output Static in position output Dynamic in position output YCOM 12 The common voltage of Y1 Y2 Y1 Y2 Optically isolated 5 24VDC Maximum pulse frequency 10KHz The chats below show how t...

Page 27: ... Y2 Y1 Y2 Y2 Y1 Y2 C L P IN COM PLC COM IN relay Connecting a sourcing output to load Connecting a sourcing output to PLC s input Driving a relay Connecting a sinking output to PLC s input SSDC SSDC SSDC SSDC 5 24V Power Supply 5 24V Power Supply 5 24V Power Supply 5 24V Power Supply Load 1N4935 suppression diode ...

Page 28: ...uite to configure the input range offset deadband and noisy filter frequency SSDC ECX J series provides a 5V 100mA limit power supply that can be used to power external devices such as potentiometer It is not the most accurate supply for reference for more precise readings use an external supply that can provide the desired accuracy Ω 5V OUT AIN GND 1 10k pot SSDC Connecting a potentiometer to an ana...

Page 29: ... display the EtherCAT address alarm codes and status of the drive EtherCAT Address Display The two LEDs will display the EtherCAT address Physical address or EtherCAT ID during the drive working in normal status NOTE Physical address is assigned by master controller according to the physical topology link EtherCAT ID is configured by the Stepper Suite software When the EtherCAT ID is set to 0 the m...

Page 30: ...emperature Communication error Power supply over voltage Blank Q segment Power supply under voltage NV error Interal voltage out of range Move while disabled Over current NOTE Items in bold italic represent drive faults which automatically disable the motor Enabled Status and Execution Q Program Status The decimal point of LED1 is used to display the execution state of the Q program and this decim...

Page 31: ...Rev 1 0 20 07 2020 SSDC ECX H J Hardware Manual 400 820 9661 6 Reference Materials 6 1 Drive Mechanical Outlines Units mm SSDC06 10 ECX H SSDC06 10 ECX J 138 131 2x4 2 3 5 30 8 11 3 5 40 79 5 90 3 131 127 ...

Page 32: ... memory on board the DSP Protocol CoE conform CiA402 VoE Supports update the firmware over EtherCAT Modes of Operation Profile Position Profile Velocity Profile Torque Cyclic Synchronous Position Cyclic Synchronous Velocity and Homing mode Q programmer Sync SM Event PP PV PT Homing Q program SYNC Event CSP CSV Homing Q program Digital Inputs SSDC06 10 ECX H 3 digital inputs X3 X4 X7 Optically isolated...

Page 33: ...17RS3DM 0 52 82 520 AM17RS4DM 0 7 123 760 AM17SS1DG N 0 26 38 20000 390 AM17SS2DG N 0 42 57 440 AM17SS3DG N 0 52 82 520 AM17SS4DG N 0 7 123 760 AM23RS2DM SSDC06 or SSDC10 0 95 260 4096 850 56 63 75 95 130 190 AM23RS3DM 1 5 460 1250 AM23RS4DMA 2 4 365 1090 AM23SS2DG N 0 95 260 20000 850 AM23SS3DG N 1 5 460 1250 AM23SS4DGA N 2 4 365 1090 AM24RS3DM 2 5 900 4096 1650 60 90 100 130 180 270 AM24SS3DG N ...

Page 34: ...0 0038 Molex 4pcs Encoder cable Housing 1 1827864 6 Tyco 1pcs Crimp 1827569 2 Tyco 11pcs AM17RS1DMB φ5 4 5 24 15 59 5 AM17RS2DMA φ6 5 5 20 15 65 AM17RS2DMB φ5 4 5 24 15 65 AM17RS3DMA φ6 5 5 20 15 73 5 AM17RS3DMB φ5 4 5 24 15 73 5 AM17RS4DMA φ6 5 5 20 15 89 AM17RS4DMB φ5 4 5 24 15 89 AM17SS1DGA N φ6 5 5 20 15 59 5 Motor cable Housing 39 01 3048 Molex 1pcs Crimp 39 00 0038 Molex 4pcs Encoder cable H...

Page 35: ...e Housing 1 1827864 6 Tyco 1pcs Crimp 1827569 2 Tyco 11pcs AM23RS2DMB φ6 35 5 85 20 15 77 5 AM23RS3DMA φ8 7 5 24 20 99 5 AM23RS3DMB φ6 35 5 85 20 15 99 5 AM23RS4DMA φ8 7 5 24 20 102 5 AM23SS2DGA N φ8 7 5 24 20 77 5 Motor cable Housing 39 01 3048 Molex 1pcs Crimp 39 00 0038 Molex 4pcs Encoder cable Housing 1 1827864 0 Tyco 1pcs Crimp 1827569 2 Tyco 15pcs AM23SS2DGB N φ6 35 5 85 20 15 77 5 AM23SS3DG...

Page 36: ...DMA φ10 9 5 24 20 Motor cable Housing 39 01 3048 Molex 1pcs Crimp 39 00 0038 Molex 4pcs Encoder cable Housing 1 1827864 6 Tyco 1pcs Crimp 1827569 2 Tyco 11pcs AM24RS3DMB φ8 7 5 20 6 15 AM24SS3DGA N φ10 9 5 24 20 Motor cable Housing 39 01 3048 Molex 1pcs Crimp 39 00 0038 Molex 4pcs Encoder cable Housing 1 1827864 0 Tyco 1pcs Crimp 1827569 2 Tyco 15pcs AM24SS3DGB N φ8 7 5 20 6 15 ...

Page 37: ...1DMA 88 Motor cable Housing 39 01 3048 Molex 1pcs Crimp 39 00 0038 Molex 4pcs Encoder cable Housing 1 1827864 6 Tyco 1pcs Crimp 1827569 2 Tyco 15pcs AM34RS3DMA 117 5 AM34RS5DMA 147 AM34SS1DGA N 88 Motor cable Housing 39 01 3048 Molex 1pcs Crimp 39 00 0038 Molex 4pcs Encoder cable Housing 1 1827864 0 Tyco 1pcs Crimp 1827569 2 Tyco 15pcs AM34SS3DGA N 117 5 AM34SS5DGA N 147 ...

Page 38: ...038 Molex 4pcs Encoder cable Housing 1 1827864 0 Tyco 1pcs Crimp 1827569 2 Tyco 15pcs AM17SS1DGB N BR01 φ5 4 5 24 59 5 AM17SS2DGA N BR01 φ6 5 5 20 65 AM17SS2DGB N BR01 φ5 4 5 24 65 AM17SS3DGA N BR01 φ6 5 5 20 73 5 AM17SS3DGB N BR01 φ5 4 5 24 73 5 AM17SS4DGA N BR01 φ6 5 5 20 89 AM17SS4DGB N BR01 φ5 4 5 24 89 Specification Of Brake For NEMA17 Motor Model Voltage Power Torque Reactive time Life Maximu...

Page 39: ...39 01 3048 Molex 1pcs Crimp 39 00 0038 Molex 4pcs Encoder cable Housing 1 1827864 0 Tyco 1pcs Crimp 1827569 2 Tyco 15pcs AM23SS2DGB N BR01 φ6 35 5 85 20 15 77 5 AM23SS3DGA N BR01 φ8 7 5 24 20 99 5 AM23SS3DGB N BR01 φ6 35 5 85 20 15 99 5 AM23SS4DGA N BR01 φ8 7 5 24 20 102 5 Specification of brake for NEMA23 motor Model Voltage Power Torque Reactive time Life Maximum speed Insulation class VDC W N m ...

Page 40: ...able AM24SS3DGA N BR01 φ10 9 5 24 20 Motor cable Housing 39 01 3048 Molex 1pcs Crimp 39 00 0038 Molex 4pcs Encoder cable Housing 1 1827864 0 Tyco 1pcs Crimp 1827569 2 Tyco 15pcs AM24SS3DGB N BR01 φ8 7 5 20 6 15 Specification of brake for NEMA24 motor Model Voltage Power Torque Reactive time Life Maximum speed Insulation class VDC W N m ms times rpm NEMA24 Brake 24 4 5 1 2 50 10000 5000 Class B ...

Page 41: ... AM34SS1DGA N BR01 88 Motor cable Housing 39 01 3048 Molex 1pcs Crimp 39 00 0038 Molex 4pcs Encoder cable Housing 1 1827864 0 Tyco 1pcs Crimp 1827569 2 Tyco 15pcs AM34SS3DGA N BR01 117 5 AM34SS5DGA N BR01 147 Specification of brake for NEMA34 motor Model Voltage Power Torque Reactive time Life Maximum speed Insulation class VDC W N m ms times rpm NEMA34 Brake 24 8 0 6 0 50 10000 5000 Class B ...

Page 42: ...e N m Speed rps AM17SS4DG N AM17RS4DM 24V 48V 24V 48V Continuous Boost AM23SS RS Series 0 0 3 0 6 0 9 1 2 1 5 0 10 20 30 40 50 Torque N m Speed rps AM23SS2DG N AM23RS2DM 24V 48V 70V 24V 48V 70V Continuous Boost 0 0 5 1 1 5 2 2 5 0 10 20 30 40 50 Torque N m Speed rps AM23SS3DG N AM23RS3DM 24V 48V 70V 24V 48V 70V Continuous Boost 0 0 5 1 1 5 2 2 5 3 3 5 0 10 20 30 40 50 AM23SS4DGA N AM23RS4DMA Torqu...

Page 43: ... φ5 23 φ6 35 24 φ8 Motor Size 1 1 Stack 2 2 Stack 3 3 Stack 4 4 Stack 5 5 Stack Step Servo SS RS Encoder G 5000 line M 1024 line D DC Input AM17 SS 3 D G A N The AM17 23 24 34SS motor with N The AM11 17 23 24 34RS motor without N 6 7 Drive Numbering System Step Servo Output Current 06 6A 10 10A Communication ECX New generation EtherCAT SSDC 06 ECX H I O Connector Type H 6 Pins Push in J 12 Pins Pu...

Page 44: ...AM17 23 24 34RS motor 2118 口口口 口口口 Cable Extended encoder cable For SSDC drive and AM11RS motor 2117 口口口 口口口 Cable Extended encoder cable For SSDC drive and AM17 23 24 34SS N motor 2116 口口口 口口口 Cable Extended encoder cable For SSDC drive and AM17 23 24 34RS motor 201口 口口口 Cable Network Cable 7 2 1 Extended motor cable For SSDC drive and AM11RS motor Housing 51065 0600 Molex Crimp 50212 8000 Molex ...

Page 45: ...lexbile type 5 million times bends 7 2 3 Extended encoder cable For SSDC drive and AM11RS motor Housing 501646 1200 Molex Crimp 501648 1000 Molex Housing J21DF 16V KX L JST Crimp SJ2F 002GF P1 0 JST B 1 A 1 8 8 1 11 2 12 J1 L J2 Model Length L Description Wiring Diagram 2118 100 1M Standard type PINJ1 Color Signal PIN J2 PIN J1 Color Signal PIN J2 2118 300 3M Standard type 10 Blue A 1 NC Brown U N...

Page 46: ...ion times bends B7 Yellow Black Z 6 A2 White W 15 2117 1000 C05 10M Flexbile type 5 million times bends A6 Red 5V 7 B2 White Black W 16 B6 Black GND 8 7 2 5 Extended encoder cable For SSDC drive and AM17 23 24 34RS motor L Housing 501646 1600 Molex Crimp 501648 1000 Molex Housing 1 1903130 6 TYCO Crimp 1903120 1 TYCO 15 16 J2 2 1 A1 B1 J1 B6 A6 Model Length L Description Wiring Diagram 2116 100 1M...

Page 47: ...B Mini B Configuration Cable L Model Length L 2620 150 1 5M 7 2 8 Regeneration Clamp RC880 MOONS offers the RC880 regeneration clamp to solve this problem If in doubt use an RC880 for your first installation If the Regen LED on the RC880 never flashes you don t need the clamp Maximum input voltage 80VDC Maximum output current 8A rms Maximum absorbed power 50W 76 45 94 85 85 28 6 Unit mm ...

Page 48: ...40 P R China Guangzhou Room 4006 Tower B China Shine Plaza 9 Linhe Xi Road Tianhe District Guangzhou 510610 P R China Chongqing Rm 2108 South yuanzhu Buliding 20 No 18 Fuquan Rd Jiangbei District Chongqing 400000 P R China North America Company MOONS INDUSTRIES AMERICA INC Chicago 1113 North Prospect Avenue Itasca IL 60143 USA MOONS INDUSTRIES AMERICA INC Boston 36 Cordage Park Circle Suite 310 Pl...