Moons' SS03-C-C, Hardware Manual

Page 1: ...Rev 1 1 0004102014 SS S Q C Step Servo Drive Hardware Manual SHANGHAI AMP MOONSýAUTOMATION CO LTD ...

Page 2: ...2 Current 13 2 7 Connect to Motor 23 3 Inputs and Outputs 24 3 1 Digital Inputs 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 Inputs 27 3 2 Digital Outputs 28 3 2 1 Y1 ALARM Y2 IN POSITION Y3 and Y4 Digital Outputs 28 3 3 Analog Inputs 29 4 Mounting the Drive 30 5 LED Display 30 5 1 Opera...

Page 3: ...ve Numbering System 41 7 Optional Accessories Sold separately 42 8 Contacting MOONSý 44 This User Manual is only applicable to the following models Models Communications RS 232 RS 485 CANopen SS03 S A 9 SS05 S A 9 SS10 S A 9 SS03 S R 9 9 SS05 S R 9 9 SS10 S R 9 9 SS03 Q A 9 SS05 Q A 9 SS10 Q A 9 SS03 Q R 9 9 SS05 Q R 9 9 SS10 Q R 9 9 SS03 C C 9 9 SS05 C C 9 9 SS10 C C 9 9 ...

Page 4: ...Digital Input Pulse Direction CW CCW Pulse A B quadrature Encoder following Analog Control SCL 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 AM17 23 24 34SS motor 4096 counts rev for AM11SS motor SS03 output current continuous 3A boo...

Page 5: ...5 Rev 1 1 0004102014 400 820 9661 SS03 05 10 S Q C Hardware Manual 1 2 Block Diagram ...

Page 6: ...6 Rev 1 1 0004102014 SS03 05 10 S Q C Hardware Manual 400 820 9661 ...

Page 7: ...ult 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...

Page 8: ...HU LV WKH 3 EDVHG VRIWZDUH DSSOLFDWLRQ XVHG WR FRQ JXUH DQG SHUIRUP servo tuning drive testing and evaluation of the step servo products System servo control gains GULYH IXQFWLRQDOLW DQG 2 FRQ JXUDWLRQ DUH VHW ZLWK 6WHS 6HUYR 4XLFN 7XQHU W DOVR FRQWDLQV DQ oscilloscope function to help set the servo control gains Download the Step Servo Quick Tuner from the MOONS website and install it Launch the ...

Page 9: ...0 S A SS03 Q A SS05 Q A SS10 Q A Model SS03 S R SS05 S R SS10 S R SS03 Q R SS05 Q R SS10 Q R SS03 C C SS05 C C SS10 C C Ground Screw LED RS 232 Connector I O Connector Encoder Connector Motor Connector Power Connector LED Display RS 232 Connector I O Connector Encoder Connector Motor Connector Power Connector Ground Screws Rotary Switch DIP Switch Daisy chain ...

Page 10: ...nto 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 RS 232 Connector Diagram 2 3 Connecting to a Host using RS 485 The RS 485 version SS drives can be daisy chain connected through the dual p...

Page 11: ...Q In a two wire system the data transmitting and receiving use a same cable the host must stop its transmitting before receiving data 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 ...

Page 12: ...ce 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 YROWDJH RXWSXWV WKDW DUH QHDU WKH GULYH PD LPXP PD VLJQL FDQWO UHGXFH WKH RSHUDWLRQDO GXW cycle The ...

Page 13: ...e exceeds the motor voltage the less current will be required from the power supply W LV LPSRUWDQW WR QRWH WKDW WKH FXUUHQW GUDZ LV VLJQL FDQWO GLIIHUHQW DW KLJKHU VSHHGV 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 0 0 0 2 0 4 0 6 0 8 1 0 1 2 0 20 40 60 80 100 0 10 20 30 40 50 Torque mN...

Page 14: ...ed RPS Amps Continuous Torque Boost Supply Current Full Load No Load 0 0 5 1 1 5 0 0 1 0 2 0 3 0 4 0 10 20 30 40 50 Torque N m Speed RPS AM17SS1DGƑ 24V Power Amps Continuous Torque Boost Supply Current Full Load No Load 0 0 5 1 1 5 0 0 1 0 2 0 3 0 4 0 10 20 30 40 50 Torque N m Speed RPS AM17SS1DGƑ 48V Power Amps Continuous Torque Boost Supply Current Full Load No Load ...

Page 15: ...tinuous Torque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM17SS2DGƑ 48V Power Amps Continuous Torque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM17SS3DGƑ 24V Power Amps Continuous Torque Boost Supply Current Full Load No Load ...

Page 16: ...Amps Continuous Torque Boost Supply Current Full Load No Load 0 0 5 1 1 5 0 0 3 0 6 0 9 1 2 1 5 0 10 20 30 40 50 Torque N m Speed RPS AM17SS4DGƑ 24V Power Amps Continuous Torque Boost Supply Current Full Load No Load 0 0 5 1 1 5 0 0 3 0 6 0 9 1 2 1 5 0 10 20 30 40 50 Torque N m Speed RPS AM17SS4DGƑ 48V Power Amps Continuous Torque Boost Supply Current Full Load No Load ...

Page 17: ...nuous Torque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM23SS2DGƑ 48V Power Amps Continuous Torque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM23SS2DGƑ 70V Power Amps Continuous Torque Boost Supply Current Full Load No Load ...

Page 18: ...tinuous Torque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM23SS3DGƑ 48V Power Amps Continuous Torque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM23SS3DGƑ 70V Power Amps Continuous Torque Boost Supply Current Full Load No Load ...

Page 19: ... Torque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM24SS3DGƑ 48V Power Amps Continuous Torque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM24SS3DGƑ 70V Power Amps Continuous Torque Boost Supply Current Full Load No Load...

Page 20: ... Continuous Torque Boost Supply Current Full Load No Load 0 1 2 3 4 5 6 0 0 5 1 1 5 2 2 5 3 0 10 20 30 40 50 Torque N m Speed RPS AM34SS1DGƑ 48V Power Amps Continuous Torque Boost Supply Current Full Load No Load 0 1 2 3 4 5 6 0 0 5 1 1 5 2 2 5 3 0 10 20 30 40 50 Torque N m Speed RPS AM34SS1DGƑ 70V Power Amps Continuous Torque Boost Supply Current Full Load No Load ...

Page 21: ...mps Continuous Torque Boost Supply Current Full Load No Load 0 1 2 3 4 5 6 0 1 2 3 4 5 6 0 10 20 30 40 50 Torque N m Speed RPS AM34SS3DGƑ 48V Power Amps Continuous Torque Boost Supply Current Full Load No Load 0 1 2 3 4 5 6 0 1 2 3 4 5 6 0 10 20 30 40 50 Torque N m Speed RPS AM34SS3DGƑ 70V Power Amps Continuous Torque Boost Supply Current Full Load No Load ...

Page 22: ...Amps Continuous Torque Boost Supply Current Full Load No Load 0 1 2 3 4 5 6 0 2 4 6 8 10 0 10 20 30 40 50 Torque N m Speed RPS AM34SS5DGƑ 48V Power Amps Continuous Torque Boost Supply Current Full Load No Load 0 1 2 3 4 5 0 2 4 6 8 10 0 10 20 30 40 50 Torque N m Speed RPS AM34SS5DGƑ 70V Power Amps Continuous Torque Boost Supply Current Full Load No Load ...

Page 23: ...ncoder 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 Motor Connector Encoder Feedback Connector M MA A M MB B 1 1 M MB B 2 M MA A 3 3 4 1 3 5 7 9 11 13 15 2 4 6 8 10 12 14 16 A B Z 5V U V W GND A B Z U V W ...

Page 24: ...gram 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 1 10 0 1 11 1 1 12 2 1 13 3 1 14 4 1 15 5 1 16 6 1 17 7 1 18 8 1 19 9 2 20 0 2 21 1 2 22 2 2 23 3 2 24 4 2 25 5 2 26 6 X X1 1 S ST TE EP P X X1 1 S ST TE EP P X X2 2 D DI IR R X X2 2 D DI IR R X X3 3 C CW WL LM MT T X X3 3 C CW WL LM MT T X X4 4 C CC CW WL LM MT T X X4 4 C CC CW WL LM MT T X X5 5 E EN N X X6 6 A AR R X X7 7 X X8 8 X XC CO OM M A AI IN N1 1 ...

Page 25: ...R is signal B input In velocity mode X1 STEP can be set to RUN STOP X2 DIR is direction signal X1 and X2 also FDQ EH FRQ JXUHG DV 2 DQG 2 Q 6 PRGH DQG FDQ EH FRQ JXUHG DV JHQHUDO SXUSRVH LQSXW IRU 2 6 RU 6 DQG other commands The diagrams below show how to connect the X1 STEP and X2 DIR to various commonly used devices 5v 24v out DIR STEP DIR DIR STEP STEP Host with Sinking Outputs Connecting to Ho...

Page 26: ... no current is Àowing 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 Connecting to a switch or relay X3 X4 X3 X4 Switch or Relay Closed logic low SS S Q C 5 24VDC Power Supply X3 X4 X3 X4 output SS S Q C Connecting a...

Page 27: ...tch 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 ground power supply if you are using a sinking NPN input signals the XCOM need to connect to the power supply NOTE If current is Àowing into or out of an input the l...

Page 28: ...tation FDQ EH FRQ JXUHG DV VLJQDO RXWSXW WR UHOHDVH EUDNH W FDQ DOVR EH FRQ JXUHG DV VWDWLF LQ 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 FDQ EH FRQ JXUHG DV VWDWLF LQ SRVLWLRQ VLJQDO RXWSXW VWDWLF FKHFNLQJ LQ SRVLWLRQ ZKHQ PRWRU is stopped or as dynamic in position signal output dynamic...

Page 29: ...WKDW LV proportional to the analog input 8VH WKH 6WHS 6HUYR 4XLFN 7XQHU WR FRQ JXUH WKH LQSXW UDQJH RIIVHW GHDGEDQG DQG QRLV OWHU frequency SS 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 5v OUT AIN...

Page 30: ...Q PRXQWLQJ PXOWLSOH 66 GULYHV QHDU 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 is used to indicate operation mode and error code When drive has no error LED1 is VROLG RQ WR LQGLFDWH RSHUDWLRQ PRGH KHQ GULYH KDV HUURU ZLOO ÀDVK DW D VHFRQG UD...

Page 31: ...rror NV Memory Error Communication Error Move while Disabled Regen Failed Q Program Running LED2 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 XS ÀDVKHV WR LQGLFDWH WKH VHULDO FRPPXQLFDWLRQ EDXG UDWH IRU VHFRQGV 7KHQ LW ZLOO ÀDVKHV WKH UHDO RSHUDWLRQ EDXG UDWH 5 BR Baud Rate bps 1 9600 2 19200 3 38...

Page 32: ... 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 OLQH ZLOO ÀDVK DERXW VHFRQGV WR GLVSOD WKH QHZ EXV DGGUHVV RS 485 Address and LED Display LOW HIGH Select Rotary Switch Address LED Display Low Axis 0 15 0 0 0 1 1 1 2 2 2 3 3 3 4 4 4 5 5 5 6 6 6 7 7 7 8 8 8 9 9 9 A A B b...

Page 33: ...F 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 ELWV a RI QRGH ZKLOH XSSHU WKUHH ELWV RI QRGH DUH FRQ JXUHG E 6WHS 6HUYR 4XLFN 7XQHU 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 informati...

Page 34: ...9 4 4 5 30 135 126 94 5 4 Ø4 5 A B Z 5V U V W GND A B Z U V W 1 3 5 7 9 11 13 15 2 4 6 8 10 12 14 16 MB MB MA MA 1 2 3 4 V V 1 2 Made in China RoHS Optional RS485 Board SW2 SW1 SW3 SW4 OPT ID SS Serial No SW4 TERMINATING RESISTOR ON OFF Connected Disconnected BAUD RATE SW1 SW2 SW3 bps OFF OFF OFF OFF OFF ON OFF ON OFF OFF ON ON ON OFF OFF OFF ON ON OFF ON ON 1M 125K ON ON ON 800K 500K 250K 20K 50K...

Page 35: ...counts rev for AM17 23 24 34SS motor 4096 counts rev for AM11SS motor Speed Range Speeds up to 3600 rpm Filters 3URJUDPPDEOH KDUGZDUH GLJLWDO QRLVH OWHU VRIWZDUH QRLVH OWHU VPRRWKLQJ OWHU 3 OWHU QRWFK OWHU Non Volatile Storage RQ JXUDWLRQV DUH VDYHG LQ 6 PHPRU RQ ERDUG WKH 63 Multiple Modes Of Control Position mode Step Direction CW CCW pulse A B Quadrature pulse Torque mode Velocity PRGH 6 PRGH 4...

Page 36: ...S2DMA 0 07N m AM11SS3DMA 0 09N m AM17SS1DGƑ 42 0 3N m SS05 Ƶ ƺ AM17SS2DGƑ 0 5N m AM17SS3DGƑ 0 6N m AM17SS4DGƑ 0 75N m AM23SS2DGƑ 56 0 9N m AM23SS3DGƑ 1 5N m AM24SS3DGƑ 60 2 5N m SS10 Ƶ ƺ AM34SS1DGA 86 3 5N m AM34SS3DGA 6 0N m AM34SS5DGA 8 0N m ƶ A or B refer to motor part numbering system Ƶ R P S Q or C refer to driver part numbering system ƺ A R or C refer to driver part numbering system ...

Page 37: ...56 3 A A 1 B B1 1 6 L 7 300 33 7 3 6 Type Unit mm Motor Type A A1 B B1 L AM17SS1DGA 6 5 5 20 15 59 5 AM17SS1DGB 5 4 5 24 15 59 5 AM17SS2DGA 6 5 5 20 15 65 AM17SS2DGB 5 4 5 24 15 65 AM17SS3DGA 6 5 5 20 15 73 5 AM17SS3DGB 5 4 5 24 15 73 5 AM17SS4DGA 6 5 5 20 15 89 AM17SS4DGB 5 4 5 24 15 89 Type Unit mm Motor Type A A1 B B1 L AM23SS2DGA 8 7 5 24 20 77 5 AM23SS2DGB 6 35 5 85 20 15 77 5 AM23SS3DGA 8 7 ...

Page 38: ...B A 1 47 14 4 7 14 V38 1 60 4 V4 5 1 5 8 L 7 7 4 33 300 300 25 37 10 L 2 V14 1 3 FLAT 38 1 3 FLAT 69 6 6 9 6 4 6 5 86 V73 025 Type Unit mm Motor Type A A1 B B1 L AM24SS3DGA ij 9 5 24 20 111 AM24SS3DGB ij 7 5 20 15 111 Type Unit mm Motor Type L AM34SS1DGA 88 AM34SS3DGA 117 5 AM34SS5DGA 147 ...

Page 39: ...0 20 30 40 50 AM11SS3DMA 24V 24V Torque mN m Speed rps Continuous Boost 0 0 1 0 2 0 3 0 4 0 10 20 30 40 50 AM17SS1DGƑ 24V 48V 24V 48V Continuous Boost Torque N m Speed rps 0 0 1 0 2 0 3 0 4 0 5 0 6 0 10 20 30 40 50 AM17SS2DGƑ 24V 48V 24V 48V Continuous Boost Torque N m Speed rps 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 10 20 30 40 50 AM17SS3DGƑ 24V 48V 24V 48V Continuous Boost Torque N m Speed rps 0 0 2 0 ...

Page 40: ...rque N m Speed rps 0 0 5 1 1 5 2 2 5 3 3 5 0 10 20 30 40 50 24V 48V 70V 24V 48V 70V AM24SS3DGƑ Continuous Boost Torque N m Speed rps 0 1 0 2 0 3 0 4 0 0 10 20 30 40 50 Torque N m Speed rps AM34SS1DGA 24V 48V 70V 24V 48V 70V Continuous Boost 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 0 10 20 30 40 50 Torque N m Speed rps 24V 48V 70V 24V 48V 70V AM34SS3DGA Continuous Boost 0 2 0 4 0 6 0 8 0 10 0 10 20 30 40 50 T...

Page 41: ...Output shaft size 11 5 17 6 23 8 24 10 34 14 B Output shaft size 17 5 23 6 35 24 8 Motor Size 1 1Stack 2 2Stack 3 3Stack 4 4Stack 5 5Stack Step Servo Encoder G 5000 Line M 1024 Line D DC Input AM11 SS 1 D G A Step Servo R Switch Setting Type P Pulse Input Type S Basic Type Q Q Type C CANopen Type Output Current 03 3A 05 5A 10 10A A RS 232 R RS 485 C CANopen SS 03 P A ...

Page 42: ...7 25 117 28 12 5 25 44 170 152 65 45 4 M4 L 4mm 8 9 5 49 5 18 63 99 2 1 5 4 8 1 199 157 4 M4 L 4mm Air flow direction FAN 4MAX 18 11 5MAX 8 63 99 18 5 V ADJ CN3 LED 1 2 3 4 5 6 7 9 5 4 M4 L 4mm 12 5 25 130 52 25 12 5 Motor Extension Cable for AM17 23 24 34SS motor P N Length Wiring Diagram 2103 100 1M PIN J1Ὀ Colour Signal PIN J2Ὀ 2103 300 3M 1 Blue B Ὀ 1 2103 500 5M 2 Red B Ὀ 2 2103 1000 10M 3 Gr...

Page 43: ...ble for AM11SS motor P N Length Wiring Diagram 2108 100 1M PIN J1Ὀ Colour Signal PIN J2Ὀ 2108 300 3M 10 Blue A Ὀ A8 2108 500 5M 9 Blue Black A Ὀ B8 2108 1000 10M 8 Green B Ὀ A7 7 Green Black B Ὀ B7 6 Yellow Z Ὀ A6 5 Yellow Black Z Ὀ B6 3 Red 5VὈ A5 4 Black GNDὈ B5 Brown U Ὀ A3 Brown Black U Ὀ B3 Gray V Ὀ A2 Gray Black V Ὀ B2 1 White W Ὀ A1 2 White Black W Ὀ B1 12 Shield B4 L Housing J2DF 16V KX L ...

Page 44: ...idian District Beijing 100080 P R China Tel 86 0 10 5875 3312 Fax 86 0 10 5875 2279 4LQJGDR UDQFK 2I FH Room 10E No 73 Wangjiao Mansion mid Hongkong Road Qingdao 266071 P R China Tel 86 0 532 85879625 Fax 86 0 532 85879512 XKDQ UDQFK 2I FH 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 1DQMLQJ UDQFK 2I FH Room 30...