Danaher Motion Superior SLO-SYN SS2000MD4-M User manual

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Installation Instructions for SLO-SYN®
MODEL SS2000MD4-M
Microstep Translator/Drive
400030-060 Rev H

TABLE OF CONTENTS
SECTION 1 INTRODUCTION ____________________________________________ 5
1.1 USING THIS MANUAL __________________________________________ 5
1.2 PRODUCT FEATURES ___________________________________________ 5
SECTION 2 EXPRESS START UP _________________________________________ 6
SECTION 3 INSTALLATION _____________________________________________ 7
3.1 MOUNTING ____________________________________________________ 7
3.2 TERMINAL LOCATIONS AND ASSIGNMENTS______________________ 8
3.3 MOTOR CONNECTIONS _________________________________________ 9
3.4 POWER INPUT ________________________________________________ 11
SECTION 4: SPECIFICATIONS __________________________________________ 12
4.1 MECHANICAL SPECIFICATIONS ________________________________ 12
4.2 ELECTRICAL SPECIFICATIONS _________________________________ 12
4.3 ENVIRONMENTAL SPECIFICATIONS _____________________________ 12
4.4 MOTOR COMPATIBILITY _______________________________________ 12
4.5 CURRENT SETTINGS___________________________________________ 14
4.6 AUTOMATIC CURRENT REDUCTION ____________________________ 14
4.7 STEP RESOLUTION ____________________________________________ 14
4.8 SIGNAL SPECIFICATIONS ______________________________________ 15
4.8.1 Terminal Assignments _______________________________________ 15
4.8.2 Signal Descriptions __________________________________________ 16
4.8.4 Timing Requirements________________________________________ 16
4.9 INDICATOR LIGHTS ___________________________________________ 17
SECTION 5: TORQUE VERSUS SPEED CHARACTERISTICS _________________ 18
5.1 MOTOR PERFORMANCE _______________________________________ 18
5.2 TYPICAL TORQUE VERSUS SPEED CURVES ______________________ 19
SECTION 6: TROUBLESHOOTING ______________________________________ 28
APPENDIX A: TROUBLESHOOTING ELECTRICAL INTERFERENCE PROBLEMS 29

3
SAFETY
!Only qualified personnel should install or service this equipment.
!Before performing any work on the unit, allow at least five minutes
for the capacitors to discharge fully.
!Voltage is present on unprotected pins when unit is operational.
!Motors powered by this drive may develop extremely high torque.
Be sure to disconnect power to this drive before performing any
mechanical work.
This unit is designed for 24 to 40 VDC input only (see
Electrical Specifications).
WARRANTY AND LIMITATION OF LIABILITY
Danaher Motion (the "Company") warrants to the first end user purchaser (the
"purchaser") of equipment manufactured by the Company that such equip
ment, if
new, unused and in original unopened cartons at the time of purchase, are free
from defects in material and workmanship under normal use and service for a
period of one year from date of shipment from the Company's factory or a
warehouse of the Company in the event that the equipment is purchased from
the Company or for a period of one year from the date of shipment from the
business establishment of an authorized distributor of the Company in the event
that the equipment is purchased from an authorized distributor.
THE COMPANY'S OBLIGATION UNDER THIS WARRANTY SHALL BE
STRICTLY AND EXCLUSIVELY LIMITED TO REPAIRING OR REPLACING,
AT THE FACTORY OR A SERVICE CENTER OF THE COMPANY, ANY SUCH
EQUIPMENT OR PARTS THEREOF WHICH AN AUTHORIZED
REPRESENTATIVE OF THE COMPANY FINDS TO BE DEFECTIVE IN
MATERIAL OR WORKMANSHIP UNDER NORMAL USE AND SERVICE
WITHIN SUCH PERIOD OF ONE YEAR. THE COMPANY RESERVES THE
RIGHT TO SATISFY SUCH OBLIGATION IN FULL BY REFUNDING THE
FULL PURCHASE PRICE OF ANY SUCH DEFECTIVE EQUIPMENT. This
warranty does not apply to any equipment which has been tampered with or
altered in any way, which has been improperly installed or which has been
subject to misuse, neglect or accident.

4
THE FOREGOING WARRANTY IS IN LIEU OF ANY OTHER WARRANTIES,
EXPRESS OR IMPLIED, INCLUDING, WITHOUT LIMITATION, ANY IMPLIED
WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR
PURPOSE, and of any other obli
gations or liabilities on the part of the Company;
and no person is authorized to assume for the Company any other liability with
respect to equipment manufactured by the Company. The Company shall have
no liability with respect to equipment not of its manufacture. THE COMPANY
SHALL HAVE NO LIABILITY WHATSOEVER IN ANY EVENT FOR PAYMENT
OF ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES, INCLUDING,
WITHOUT LIMITATION, DAMAGES FOR INJURY TO ANY PERSON OR
PROPERTY.
Written authorization to return any equipment or parts thereof must be obtained from
the Com
pany. The Company shall not be responsible for any transportation
charges.
IF FOR ANY REASON ANY OF THE FOREGOING PROVISIONS
SHALL BE
INEFFECTIVE, THE COMPANY'S LIABILITY FOR DAMAGES ARISING OUT OF
ITS MANUFACTURE OR SALE OF EQUIPMENT, OR USE THEREOF, WHETHER
SUCH LIABILITY IS BASED ON WARRANTY, CONTRACT, NEGLIGENCE,
STRICT LIABILITY IN TORT OR OTHERWISE, SHALL NOT IN ANY EVENT
EXCEED THE FULL PURCHASE PRICE OF SUCH EQUIPMENT.
Any action against the Company based upon any liability or obligation arising
hereunder or under any law applicable to the sale of equipment, or the use thereof,
must be commenced within one year after the cause of such action arises.
Reconfiguration of the circuit in any fashion not shown in this manual voids the
Warranty.
Failure to follow the installation guidelines as described in Section 3 voids the
Warranty.

5
SECTION 1 INTRODUCTION
1.1 USING THIS MANUAL
It is important that you understand how this SLO-SYN SS2000MD4-M
Translator/Drive is installed and operated before you attempt to use it.
Read this manual completely before installing this unit.
This manual is an installation and operating guide to the SLO-SYN
SS2000MD4-M Translator/Drive. Section 1 is an overview of the Drive
and its fea
tures. Section 2 provides the steps necessary to place the drive
into operation. General wiring guidelines, physical mounting of the unit
and connections to the drive are covered in Section 3.
Complete specifications, (electrical, mechanical, environmental) are
listed in Section 4. The procedure for setting the motor current level is
also covered in this section.
Torque versus speed characteristics with appropriate SLO-SYN Stepper
Motors are given in Section 5. Section 6, Troubleshooting, outlines
procedures to follow if the Translator/Drive fails to operate properly.
Appendix A provides procedures for troubleshooting electrical
interference problems.
1.2 PRODUCT FEATURES
The SLO-SYN SS2000MD4-M Translator/Drive is a bipolar, adjustable
speed, two-
phase PWM drive which uses hybrid power devices. It can be set
to operate a step motor in microstep mode at up to 20,000 microsteps per
revolution. The maximum running speed is 3,000 rpm. To reduce the
chances of electrical noise problems, the control signals are optically
isolated from the drive circuit. Features include:
!Switch selectable current levels of 1.0 through 3.5 amperes
!Full short circuit protection (phase-to-phase and phase-to-ground)
!Undervoltage and transient overvoltage protection
!Efficient thermal design
!Optically isolated inputs
!Windings Off capability
!Automatic Current Reduction
!Switch selectable step resolution
!Compact size
!Sturdy all-aluminum mounting base

6
SECTION 2 EXPRESS START UP
The following instructions define the minimum steps necessary to make
your Drive operational.
Always disconnect the power to the unit before connecting
or disconnecting the motor leads. FAILURE TO DO THIS
WILL RESULT IN A SHOCK HAZARD AND MAY DAMAGE
THE DRIVE.
Always operate the unit with the Motor and the Drive
enclosure GROUNDED. Be sure to twist together the wires
for each motor phase as well as those for the DC input. Six
twists per foot (0.3 m) is a good guideline.
1. Check to see that the motor used is compatible with the drive. Refer to
Section 4.4 for a list of compatible motors.
2. Set the correct current level for the motor being used per the instruc-
tions in Section 4.5. Heat sinking may be required to maintain case
temperature below +70°C (+158°F).
3. Select the appropriate step resolution and set the switches as de
scribed
in Section 4.7.
4. Wire the motor per the "Motor Connections" description in Section 3.2.
5. Connect the power source to the DC input terminal strip. Be sure to
follow the instructions for connecting the filter capacitor as described in
Section 3.2, under Power Input.
If the motor operates erratically, refer to Section 5, "Torque
Versus Speed Characteristics".
Clockwise and counter-clockwise directions are properly
oriented when viewing the motor from the end opposite
the mounting flange.

7
SECTION 3 INSTALLATION
3.1 MOUNTING
The SLO-SYN Drive is mounted by fastening its mounting brackets to a
flat sur
face. Dimensions are shown in Figure 3.1. If the drive assembly is
mounted against a bulkhead, be sure to apply a thin coating of thermal
compound between the drive and the mounting surface before fastening
the unit in place. Do not use too much thermal compound. It is better to
use too little than too much.
Figure 3.1, Mounting Diagram
Case temperature must not exceed +70°C (+158°F).
When selecting a mounting location, it is important to leave at least two
inches (51mm) of space around the top, bottom and sides of the unit to
allow proper airflow for cooling.

8
It is also important to keep the drive away from obvious noise sourc
es. If
possible, locate the drive in its own metal enclosure to shield it and its
wiring from electrical noise sources. If this cannot be done, keep the
drive at least three feet (0.9 m) from any noise sources.
3.2 TERMINAL LOCATIONS AND ASSIGNMENTS
Figure 3.2 shows the terminal locations for the SLO-SYN SS2000MD4-M
Translator/Drive.
I/O Connector (J1)
Motor And Power Supply Connector (J2)
Figure 3.2, Terminal Locations

9
3.3 MOTOR CONNECTIONS
All motor connections are made via the 6-terminal strip. Terminal
assignments are given below. Motor connections are shown in Figure
3.3.
J2 Pin Assignment
1 M1 (Phase A+)
2 M3 (Phase A-)
3 M4 (Phase B+)
4 M5 (Phase B-)
Motor phase A is M1 and M3 and motor phase B is M4 and
M5. The motor frame must be grounded.
Cabling from the drive to the motor should be done with a shielded,
twisted-pair cable. The wires for each motor phase should be twisted
together about six times per foot (0.3 m).
Danaher Motion offers the following motor cable configurations. These
cables have unterminated leads on both ends.
Length Part Number
10 ft (3 m) 216022-031
25 ft (7.6 m) 216022-032
50 ft (15.2 m) 216022-033
75 ft (22.8 m) 216022-034
Figure 3.3 shows the possible motor wiring configurations.

10
D
F
B
H
5
4
1
3
WHITE/
BLACK
BLACK
WHITE/
RED
RED
GREEN
MOTOR TERMINAL "M" NUMBERS
MOTOR
CONNECTOR PIN
MOTOR
CONNECTOR PIN
4-LEAD MOTORS
D
F
B
H
5
4
1
3
GREEN
WHITE/
RED
RED
6-LEAD MOTORS
WHITE N.C.*E 2
G
*N.C. BLACK
WHITE/
GREEN
D
F
B
H
5
4
1
3
WHITE/
BLACK
WHITE/
RED
RED
8-LEAD MOTORS, SERIES CONNECTIONS
G
BLACK
A
WHITE
ORANGE
E
GREEN
C
WHITE/
GREEN
*
6
2
7
8
*
DRIVE PIN 1
DRIVE PIN 2
DRIVE PIN 1
DRIVE PIN 2
DRIVE PIN 1
DRIVE PIN 2
DRIVE PIN 4
DRIVE PIN 3
DRIVE PIN 4
DRIVE PIN 3
DRIVE PIN 4
DRIVE PIN 3
D
F
B
H
5
4
1
3
WHITE/
RED
RED
8-LEAD MOTORS, PARALLEL CONNECTIONS
WHITE/
BLACK
G
BLACK
A
WHITE
ORANGE
E
C
6
2
7
8
GREEN
WHITE/
GREEN
DRIVE PIN 4
DRIVE PIN 3
DRIVE PIN 1
DRIVE PIN 2
6
*These leads must be insulated and isolated from other leads or ground.
Circled letters identify terminals for connector motors, numbers identify those
for terminal box motors.
Figure 3.3, Motor Wiring Configurations

11
3.4 POWER INPUT
The DC input power is connected to terminals 5 and 6 of the terminal
strip. Terminal 5 [Vm(+)] is the power supply plus (+) connection and
pin 6 [Vom (-)] is the power supply minus (-) connection.
An unregulated supply like one shown in Figure 3.4 is preferable. If
a regulated supply is used, it must be capable of operating with the
added filter capacitor. A switching regulated supply may not be
suitable for use with this drive. It is important that the capacitor
(C1) be connected within three feet (0.9 meter) of the input termi-
nals. The capaci
tor must be of the correct value and have the proper
current and voltage parameters.
It is recommended that the power supply leads be twisted together using
approximately six twists per foot (0.3 m).
If the power supply is grounded, it must only be grounded
on the negative side or the short circuit protection will not
operate properly.
F1
T1
R1
C1
BR1
AC +
AC -
24 VAC
5
6
Vm (+)
Vm (-)
J2 Drive
The cable between the filter capacitor (C1) and the drive
should be twisted using approximately six twists per foot
(0.3 m)). Maximum wire length is three feet.
Use #16 AWG or larger wire.
Figure 3.4
Typical Power Supply For A Single Drive Application
Components
F1 1.5 ampere time delay, 250 volt
R1 5 ohm surge limiter, Dale 7SS5 or equivalent
T1 130 VA, 24 VAC output
BR1 General Instrument GBPC3502 or equivalent
C1 4700 µf, 5.5 ampere 20 kHz, 63 V rated, United Chemcon
53D472F063HS6 or equivalent

12
SECTION 4: SPECIFICATIONS
4.1 MECHANICAL SPECIFICATIONS
Size
(Inches) .................... 1.56 H x 4.13 W x 3.25 D
(mm) ......................... 40 H x 105 W x 83 D
Weight ................................ 0.6 pounds (272 grams)
4.2 ELECTRICAL SPECIFICATIONS
DC Input Range.................. 24 VDC min., 40 VDC max.
DC Current.......................... see Motor Table
Drive Power Dissipation
(Worse Case) ........... 35 watts
4.3 ENVIRONMENTAL SPECIFICATIONS
Temperature
Operating.................. +32°F to +122°F (0°C to +50°C) free
air ambient, Natural Convec
tion. Maintain
a maximum heat sink temperature of
158°F (70°C). Forced-air cooling may
be required.
Storage..................... -40°F to +167°F (-40°C to +75°C)
Humidity.............................. 95% max. noncondensing
Altitude................................ 10,000 feet (3048 m) max.
4.4 MOTOR COMPATIBILITY
Motor Types ..................... Superior Slo-Syn M and KM Series
M Series Frame Sizes...... M061 (NEMA 23D) through M092 (NEMA 34)
KM series frame sizes ..... KML061 (NEMA 23) through
KML093 (NEMA 34)
Number of Connections .. 4, 6, 8
Minimum Inductance........ 0.5 millihenry
Maximum Resistance....... = 0.25 x VDC Supply/I Setting
Example:
VDC = 30 I Setting = 3.5
R max. = 0.25 x 30/3.5 = 2.1 ohms
Do not use larger frame size motor than those listed, or the
drive may be damaged. If a larger frame size motor must
be used, consult the factory for recommendations.
Maximum resistance is total of motor plus cable.

13
MOTORS FOR USE WITH THE
SS2000MD4-M TRANSLATOR/DRIVE
Power Supply Current
Motor
Winding Connection
Current
Setting
(Amperes)
Standstill
(Amps. DC)
Maximum
(Amps. DC)
M061 08 Series 2.5 1.0 2.0
M061 08 Parallel 3.5 1.0 2.0
M062 09 Series 3.0 1.0 2.5
M062 09 Parallel 3.5 1.0 3.5
M063 09 Series 3.0 1.5 2.0
M063 09 Parallel 3.5 1.0 3.5
M091 09 Series 3.0 1.0 1.5
M091 09 Parallel 3.5 1.5 3.0
M092 09 Series 3.0 1.5 2.0
M092 09 Parallel 3.5 1.0 3.0
KML060FO8 - - 3.5 1.0 2.0
KML060F11 - - 3.5 1.0 2.0
KML061FO5 - - 2.5 1.2 1.5
KML061F11 - - 3.5 1.0 3.0
KML062F07 - - 3.0 1.0 2.5
KML062F13 - - 3.5 1.0 4.0
KML063F07 - - 3.0 1.5 2.0
KML063F13 - - 3.5 1.0 4.0
KML091F07 - - 3.0 1.0 2.0
KML091F13 - - 3.5 1.0 4.0
KML092F07 - - 3.0 1.5 2.5
KML092F13 - - 3.5 1.0 4.0
Power supply currents shown are measured at the output of the rectifier bridge in Figure 3.4.
M061, M062 and M063 motors listed include LS, LE, CS, F
C and FD versions. M091 and
M092 motors include FC and FD versions with 6 or 8 leads. Motors with windings other than
those listed can be used as long as the current ratings listed on the motors are not exceeded.
All KML motors listed have 4 leads.

14
4.5 CURRENT SETTINGS
The proper current setting for each motor is shown on the individual
torque vs. speed curves. Use this current level to obtain the torque
shown. Switches 1 through 5 are used to select the current level. Select
the desired operating current by setting the appropriate switch to posi
tion
1 (ON). The OFF position is labeled "0". Only one switch should be ON.
If two or more switches are ON, the one that selects the highest current
level is the active switch. The switch settings are:
Position Current (amperes)
None 1.0
11.5
22.0
32.5
43.0
53.5
4.6 AUTOMATIC CURRENT REDUCTION
When switch #6 is in the OFF position, the current at standstill goes to
50% of the selected level. This occurs between 1 and 2 seconds after the
last pulse is received. When switch #6 is in the ON position, the current
at standstill remains at full value.
4.7 STEP RESOLUTION
The number of pulses per revolution is selected using positions 7 and-8
of the switch described in Section 4.5. The following chart shows the
correct switch setting for each available step resolution.
Switch Position
78
Step
Resolution
Pulses Per
Revolutiion
0 (OFF) 0 (OFF) 1/2 400
1 (ON) 0 (OFF) 1/10 2,000
0 (OFF 1 (ON) 1/25 5,000
1 (ON) 1 (ON) 1/100 20,000

15
J2
J1
MOTOR CURRENT &
STEP RESOLUTION
SWITCHES
Figure 4.1
Switches For Setting Current Level
And Step Resolution
4.8 SIGNAL SPECIFICATIONS
4.8.1 Terminal Assignments
All connections are made via the 4-pin terminal strip.
J1 Pin Assignment
1OPTO
2PULSE
3DIR
4AWO

16
4.8.2 Signal Descriptions
OPTO Opto-Isolator Supply
User supplied power for the opto-isolators.
PULSE Pulse Input
A low to high transition on this terminal advanc
es the motor one step.
The step size is determined by the Step Resolution switch setting.
DIR Direction Input
When this signal is high, motor rotation will be clockwise. Rota
tion will
be counter-clockwise when this signal is low.
Clockwise and counter-clockwise directions are properly oriented
when viewing the motor from the end opposite the mounting flange.
AWO All Windings Off Input
When this signal is low, AC and DC current to the motor is zero.
There is no holding torque when the AWO signal is low.
If you are using the drive with an SS2000I or SS2000I-V
control, the READY input and the OPTO input on the
control must be jumpered together.
4.8.3 Level Requirements
OPTO
Voltage ..................... 4.5 to 6.0 VDC
Current...................... 16 mA per signal used
Other Signals
Voltage
Low .................... 0.8 VDC
0.0 VDC
High ................... OPTO
OPTO -1 volt
Current
Low .................... 16 mA
High ................... 0.2 mA
4.8.4 Timing Requirements
PULSE
Max. Frequency ........ 500 kHz
Max. Rise And
Fall Times ................. 1 microsecond
Min. Pulse Width ...... 1 microsecond
Other Signals
Response Time ........ 50 microseconds

17
Suggested Methods For Control Interface
Figure 4.2
4.9 INDICATOR LIGHTS
"FAULT" LED, Red
Lights to indicate over current condition. This condition is caused by mo-
tor wiring errors or a ground fault. Recovery from over current condition
requires removing and then reapplying the power.

18
SECTION 5: TORQUE VERSUS SPEED
CHARACTERISTICS
5.1 MOTOR PERFORMANCE
All stepper motors exhibit instability at their natural frequency and
harmonics of that frequency. Typically, this instability occurs at speeds
between 50 and 1000 full steps per second and, depending on the
dynamic motor load parameters, cause excessive velocity modulation or
improper positioning. This type of instability is represented by the open
area at the low end of each Torque vs. Speed curve.
There are also other instabilities which may cause a loss of torque at
stepping rates outside the range of natural resonance frequencies. One
such instability is broadly defined as mid-range instability. Usually, the
damping of the system and acceleration/deceleration through the
reson
ance areas aid in reducing instability to a level that provides smooth
shaft velocity and accurate positioning. If instability does cause
unacceptable performance under actual operating conditions, the
following techniques can be used to reduce velocity modulation.
1) Avoid constant speed operation at the motor's unstable
frequencies. Select a base speed that is above the motor's r
esonant
frequencies and adjust acceleration and deceleration to move the
motor through unstable regions quickly.
2) The motor winding current can be reduced as described in Sec
tion
4.5. Lowering the current will reduce torque proportionally. The
reduced energy delivered to the motor can decrease velocity
modulation.
3) Using another step resolution may provide smoother operation
and reduce the effects of mid range instability. Microstepping
changes the shaft speed for a given pulse input rate.

19
5.2 TYPICAL TORQUE VERSUS SPEED CURVES
The test conditions used when obtaining the torque versus speed data
are listed in the lower left-hand corner of each curve.
1/10 MICROSTEP
M061LE08, ETC., MOTORS, SERIES CONNECTED
1/10 MICROSTEP
M061LE08, ETC., MOTORS, PARALLEL CONNECTED