Danaher Motion Superior Electric SLO-SYN SS2000MD7 User manual

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Installation Instructions
For SLO-SYN®Models
SS2000MD7 & SS2000MD7-128
Translator/Drive
Document Number: 400030-035
Rev K

Copyright Information
© Copyright 1998 -2003 Danaher Motion -All rights reserved.
Printed in the United States of America.
NOTICE:
Not for use or disclosure outside of Danaher Motion except under written agreement. All rights are
reserved. No part of this book shall be reproduced, stored in retrieval form, or transmitted by any
means, electronic, mechanical, photocopying, recording, or otherwise without the written permission
from the publisher. While every precaution has been taken in the preparation of the book, the
publisher assumes no responsibility for errors or omissions. Neither is any liability assumed for
damages resulting from the use of the information contained herein.
This document is proprietary information of Danaher Motion that is furnished for customer use
ONLY. No other uses are authorized without written permission of Danaher Motion. Information in
this document is subject to change without notice and does not represent a commitment on the part
of Danaher Motion. Therefore, information contained in this manual may be updated from time-to-
time due to product improvements, etc., and may not conform in every respect to former issues.

SAFETY
Before installing and operating your SLO-SYN motion control product, it is extremely
important that you read and understand this safety section. The SLO-SYN product will
deliver years of reliable, trouble-free, safe operation if you heed the cautions and
warnings as well as follow the instructions contained in this manual.
Safe symbols used in this manual are:
Warnings are provided to alert you to possible damage to equipment and
potential electrical shock hazards to personnel.
Cautions are provided to alert you to possible damage to equipment.
Notes alert you to helpful information.
GENERAL SAFETY INFORMATION
Dangerous voltages, currents, temperatures, and energy levels exist within
this unit, on certain accessible terminals, and at the motor. NEVER
operate the unit with its protective cover removed! Exercise caution when
installing and using this unit. Only qualified personnel should attempt to
install and/or operate this product. It is essential that proper electrical
practices, applicable electrical codes, and the information in this manual
be strictly followed.
Dangerous high voltages exist in this product. Be certain the power has
been removed for a minimum of five (5) minutes before any service work
or circuit board configuration changes are performed.
Voltage is present on unprotected pins when the unit is operational.
The "PWR ON" LED must be off for approximately 30 seconds before
making or breaking the motor connections.
Motors powered by this drive may develop extremely high torque. Be sure
to disconnect power to this drive BEFORE doing any mechanical work.
This unit is designed for 24 to 75 VDC input only (See Electrical
Specifications).
Reconfiguration of the circuit in ANY way not shown in this manual voids
the warranty.
Failure to follow the installation instructions in this manual voids the
warranty.

Customer Support Contact Information
Danaher Motion products are available nationwide through an
extensive authorized distributor network. These distributors offer
literature, technical assistance and a wide range of models off the
shelf for fastest possible delivery.
Danaher Motion sales engineers are conveniently located to
provide prompt attention to customers' needs. Call the nearest
office listed for ordering and application information or for the
address of the closest authorized distributor.
In the US and Canada In Europe
13500-J South Point Blvd. Danaher Motion GmbH & Co. KG
Charlotte, NC 28273 Robert-Bosch-Straße 10
Phone: [phone] Weiterstadt, Germany
Fax: [phone] Phone: [phone]
Email: [email protected] Fax: [phone]
Web: www.DanaherMotion.com Web: www.DanaherMotion.de

Danaher Motion Superior Electric Table of Contents
SLO-SYN SS2000MD7 & SS2000MD7-128 i
Table of Contents
1. INTRODUCTION........................................................................................... 1
1.1. PRODUCT FEATURES................................................................................. 1
2. QUICK START.............................................................................................. 2
3. INSTALLATION ............................................................................................ 3
3.1. MOUNTING ............................................................................................... 3
3.2. CONNECTOR LOCATIONS AND PIN ASSIGNMENTS ......................................... 4
3.2.1. MOTOR CONNECTIONS ........................................................................ 5
3.2.2. MOTOR WIRING CONFIGURATIONS........................................................ 6
3.2.3. POWER INPUT ..................................................................................... 7
4. HARDWARE SPECIFICATIONS.................................................................. 9
4.1. MECHANICAL ............................................................................................ 9
4.2. ELECTRICAL ............................................................................................. 9
4.3. ENVIRONMENTAL ...................................................................................... 9
4.4. MOTOR COMPATIBILITY ............................................................................. 9
4.5. CURRENT SETTINGS................................................................................ 11
4.6. STEP RESOLUTION.................................................................................. 11
4.7. SIGNAL SPECIFICATIONS.......................................................................... 12
4.7.1. CONNECTOR PIN ASSIGNMENTS ......................................................... 12
4.7.2. SIGNAL DESCRIPTIONS ...................................................................... 12
4.7.3. LEVEL REQUIREMENTS ...................................................................... 13
4.7.4. TIMING REQUIREMENTS ..................................................................... 13
4.8. INDICATOR LIGHTS .................................................................................. 15
5. TORQUE VERSUS SPEED CHARACTERISTICS ..................................... 16
5.1. MOTOR PERFORMANCE ........................................................................... 16
5.2. TYPICAL TORQUE VERSUS SPEED CURVES ............................................... 17
6. TROUBLESHOOTING................................................................................ 30
6.1. IN GENERAL ........................................................................................... 30
6.2. SPECIFICALLY......................................................................................... 30

Table of Contents Danaher Motion Superior Electric
ii SLO-SYN SS2000MD7 & SS2000MD7-128
APPENDIX A: TROUBLESHOOTING ELECTRICAL INTERFERENCE........... 31

Danaher Motion Superior Electric Introduction
SLO-SYN SS2000MD7 & SS2000MD7-128 1
1. INTRODUCTION
It is important that you understand how this SLO-SYN® SS2000MD7
Translator/Drive is installed and operated before you attempt to use it.
We strongly recommend that you read this manual completely
before proceeding with the installation of this unit.
This manual is an installation and operation guide to the SLO-SYN
SS2000MD7 (MD7-128) Translator Drive. Section 1 provides an
overview of the drive and its features. Section 2 lists the steps
necessary to place the drive into operation. General wiring information
and the physical mounting of the unit and connections to the drive are
covered in Section 3.
The complete specifications provide easily-referenced information
concerning electrical, mechanical, and environmental requirements as
well as information for setting the motor current level.
Torque versus speed characteristics with appropriate SLO-
SYN stepper
motors are shown in Section 5. Troubleshooting in Section 6 provides
procedures to follow if the Translator/Drive fails to operate properly.
1.1. Product Features
The SLO-SYN SS2000MD7 (MD7-128) Translator/Drive is a bipolar,
speed adjustable, two-phase PWM drive that uses power MOSFET
devices. The MD7 is set to operate a stepper motor in 1/2, 1/10, 1/25,
or 1/100 microsteps. The MD7-128 is set to operate a stepper motor in
full, 1/16, 1/64, or 1/128 microsteps. The maximum running speed is
3,000 rpm. To reduce the chances of electrical noise, the control signals
are optically isolated from the drive circuit.
l UL-recognized under Component Program, File #E146240
l Switch-selectable current levels of 1 through 7 amps
l Full short-circuit protection (phase-to-phase and phase-to-ground)
l Undervoltage and transient overvoltage protection
l Thermal protection
l Efficient thermal design
l Optically-isolated inputs
l Current and Windings Off reduction capabilities
l Switch-selectable step resolution
l Compact size
l Sturdy all aluminum case

Quick Start Danaher Motion Superior Electric
2SLO-SYN SS2000MD7 & SS2000MD7-128
2. QUICK START
The following instructions are the minimum steps necessary to make
your drive operational.
Always disconnect the power to the unit and be certain that the
"PWR ON" LED is OFF before connecting or disconnecting the
motor leads. FAILURE TO DO THIS RESULTS IN A SHOCK
HAZARD AND MAY DAMAGE THE DRIVE.
Always operate the unit with the motor and drive enclosure
GROUNDED. Be sure to twist the wires together for each motor
phase as well as those for the DC input. Six twists per foot is a
good guideline.
1. Check to see that the motor 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 per the instructions
in Section 4.5. Heat sinking is required if a current of 4
amps or higher is used.
3. Select the appropriate step resolution and set the switches
(Section 4.6).
4. Wire the motor per 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 instructed in Section 3.2.
If the motor operates erratically, refer to Section 5.
Clockwise and counter-clockwise directions are properly oriented
when viewing the motor from the end OPPOSITE the mounting
flange.

Danaher Motion Superior Electric Installation
SLO-SYN SS2000MD7 & SS2000MD7-128 3
3. INSTALLATION
3.1. Mounting
The SLO-
SYN drive is mounted by fastening its mounting brackets to a
flat surface (shown below). If the Heat Sink Assembly (part number
221576-001) is mounted against a bulkhead, apply a thin coating to
thermal compound between the heat sink 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.
2.50
5.00 REF.
0.48
5.25
1.36
0.25
4.84
0.31 typ
0.66
0.22 typ.
0.31 typ.
5.73
4.84
Case temperature should not exceed +70° C (+158° F). A heat
sink, such as Superior Electric Heat Sink Assembly 221576-001,
must be used when the drive is operated at a current setting of 4
amps or more. In this case, mount the unit upright (with the
cooling fins vertical) or proper cooling will not occur. Airflow
should not be obstructed. Forced air cooling may be required to
maintain temperature within the stated limits.

Installation Danaher Motion Superior Electric
4SLO-SYN SS2000MD7 & SS2000MD7-128
When selecting a mounting location, it is important to leave at least two
inches (51 mm) of space around the top, bottom, and sides of the unit to
allow proper airflow for cooling.
It is also important to keep the drive away from obvious noise sources.
If possible, locate the drive in its own metal enclosure to shield it and
it's wiring from electrical noise sources. If this is not possible, keep the
drive at least three feet from any noise sources.
3.2. Connector Locations and Pin Assignments
The figure below shows the connector locations for the SLO-SYN
SS2000MD7 (MD7-128) Translator/Drive.

Danaher Motion Superior Electric Installation
SLO-SYN SS2000MD7 & SS2000MD7-128 5
3.2.1. Motor Connections
All motor connections are made via the 6-pin connector, part number
218397-
006. Pin assignments for this connector are given below. Motor
connections are shown in the next figure.
Pin Assignment
1M1 (Phase A)
2M3 (Phase A)
3M4 (Phase B)
4M5 (Phase B)
Motor Phase A is M1 and M3. Motor Phase B is M4 and M5. The
motor frame MUST be grounded.
Cabling from the drive to the motor should be with a shielded, twisted-
pair cable. As a guideline, the wires for each motor phase should be
twisted about six times per foot.
Danaher Motion Superior Electric 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

Installation Danaher Motion Superior Electric
6SLO-SYN SS2000MD7 & SS2000MD7-128
3.2.2. Motor Wiring Configurations
PHASE B
1
3
4
5
RED
GREEN
WHITE/GREEN
6-LEAD MOTORS
WHITE N.C.*
6
*N.C. BLACK
WHITE/RED
DRIVE PIN 1
DRIVE PIN 2
DRIVE PIN 1
DRIVE PIN 2
2
1
3
4
5
RED
WHITE/REDWHITE/BLACK
BLACK
4-LEAD MOTORS
DRIVE PIN 3
DRIVE PIN 4
DRIVE PIN 1
DRIVE PIN 2
PHASE A
PHASE A
PHASE B
F
E
D
B
G
H
8-LEAD MOTORS, SERIES CONNECTIONS
5
41
3
WHITE/BLACK
ORANGE
GREEN
WHITE/GREEN
*6
2
7
8*
DRIVE PIN 1
DRIVE PIN 2
DRIVE PIN 4
DRIVE PIN 3
WHITE/RED
RED
BLACK
WHITE
F
C
B
G
A
E
H
D
PHASE B
PHASE A
8-LEAD MOTORS, PARALLEL CONNECTIONS
5
41
3
WHITE/BLACK
ORANGE
GREEN
WHITE/GREEN
6
2
7
8
DRIVE PIN 1
DRIVE PIN 2
DRIVE PIN 4
DRIVE PIN 3
WHITE/RED
RED
BLACK
WHITE
F
C
B
G
A
E
H
D
PHASE B
PHASE A
* 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.

Danaher Motion Superior Electric Installation
SLO-SYN SS2000MD7 & SS2000MD7-128 7
3.2.3. Power Input
The DC input power is connected to pins 5 and 6 of the power
connector. Pin 5 [Vm(+)] is the power supply plus (+) connection and
pin 6 [Vm(-)] is the power supply minus (-) connection.
An unregulated supply similar to the one shown below is
preferable. If a regulated supply is used, it must be a linear
regulated supply and capable of operating with the added filter
capacitor. A switching regulated supply is NOT recommended for
use with this drive. It is important that capacitor C1 be connected
within three feet (0.9 m) of the input terminals. The capacitor must
be of the correct value and have the proper current and voltage
parameters (see component list).
It is recommended that the power supply leads be twisted together (6
twists per foot).
If the power supply is grounded, it must only be grounded on the
negative side or the short circuit protection does not operate
properly.
115 VAC
F1
T1
CT
CT
AC +
AC -
R1
C1
+R2
F2
5
6
DRIVE
Vm(+)
Vm(-)
BR1
40 VAC
The cable between the filter capacitor (C1) and the drive should
be twisted six times per foot. Maximum wire length is three feet.
Use #16 AWG or larger wire.

Installation Danaher Motion Superior Electric
8SLO-SYN SS2000MD7 & SS2000MD7-128
Component List
5 amp or lower setting
F1 3 amp time delay, Bussman MDA-3 or equivalent.
F2 15 amp very fast acting, Bussman GBB-15 or equivalent.
R1 5 Ωsurge limiter, Phillips 2322-654-61508 or equivalent.
F2 4.7 kΩ, 2 watts, ±5%.
T1 160 VA Bicron Electronics BU216AS040D, Signal
Transformer 80-2 or equivalent.
BR1 General Instrument GBPC3502 or equivalent.
C1 4700 µf, 6.9 amp ripple current, 100 VDC, United
Chemi-Con 36DA472F100AL2A or equivalent.
6 and 7 amp settings
F1 6 amp time delay, Bussman MDA-6 or equivalent.
F2 15 amp very fast acting, Bussman GBB-15 or equivalent.
R1 4 Ωsurge limiter, Phillips 2322-654-61408 or equivalent.
F2 4.7 kΩ, 2 watts, ±5%.
T1 320 VA Bicron Electronics BU233AS040D, Signal
Transformer 80-2 or equivalent.
BR1 General Instrument GBPC3502 or equivalent.
C1 6800 µf, 9.4 amp ripple current, 100 VDC, United
Chemi-Con 36DA682F100Ad2A or equivalent.

Danaher Motion Superior Electric Hardware Specifications
SLO-SYN SS2000MD7 & SS2000MD7-128 9
4. HARDWARE SPECIFICATIONS
4.1. Mechanical
Size
(Inches)
(mm) 4.375 H x 1.36 W x 5.73 D 111 H x 35 W x 146 D
Weight
(pounds)
(grams) 1.5 680
4.2. Electrical
DC Input Range (VDC) 24 (Min) to 75 (Max)
AC Current (see Motor Table)
Drive Power Dissipation
Worst Case (watts) 40
4.3. Environmental
Operating Temperature Free air ambient, Natural Convection. Maximum heat sink
temperature of 158° F (70° C) must be maintained. Forced air
cooling may be required.
Fahrenheit +32° to +122°
Celsius 0° to +50°
Storage Temperature
Fahrenheit -40° to +167°
Celsius -40° to +75°
Humidity 95% maximum, non-condensing
Altitude 10,000 feet (3048 meters) maximum
4.4. Motor Compatibility
Motor Types Danaher Motion Superior Electric M and KM Series
Frame Sizes
M Series M061 (NEMA 23D) through M092 (NEMA 34)
KM Series KML060 (NEMA 23) through KML093 (NEMA 34)
Number of Connections 4, 6, 8
Maximum Inductance 1 millihenry
Maximum Resistance = 0.25 x VDC Supply / I Setting
Example: VDC = 60 I Setting = 7
R max. = 0.25 x 60 / 7 = 2.1 Ω
Maximum resistance is the total of the motor plus the cable.
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.

Hardware Specifications Danaher Motion Superior Electric
10 SLO-SYN SS2000MD7 & SS2000MD7-128
MOTORS FOR USE WITH THE SS2000MD7 TRANSLATOR/DRIVE
Power Supply Current
Motor Winding Connection
Current
Setting
(amperes)
Standstill
(ADC)
Maximum
(ADC)
M061 08 Series 31.0 2.0
M062 09 Series 31.0 2.0
M062 09 Parallel 61.5 4.0
M063 09 Series 31.0 2.0
M063 09 Parallel 61.5 4.0
M091 09 Series 41.5 2.0
M091 09 Parallel 61.5 4.0
M092 09 Series 42.0 2.0
M092 09 Parallel 72.0 4.0
M093 14 Series 52.0 2.0
M093 14 Parallel 72.0 4.0
KML060F05 --31.0 2.0
KML060F08 --41.0 2.0
KML061F05 --31.02.0
KML061F07 --31.0 3.5
KML062F13 --61.5 4.5
KML063F07 --31.0 2.0
KML063F13 --72.0 4.5
KML091F07 --41.5 2.5
KML091F13 --61.5 4.0
KML092F07 --42.0 2.0
KML092F13 --72.0 4.5
KML093F07 --42.0 2.0
KML093F14 --72.0 4.5
Power supply currents shown are measured at the output of the rectifier bridge.
M061, M062, and M063 motor listed include LS, LE, CS, FC, and FD
versions. M091, M092, and M093 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. Consult the factory for recommendations concerning the
use of M111 and M112 frame size motors.

Danaher Motion Superior Electric Hardware Specifications
SLO-SYN SS2000MD7 & SS2000MD7-128 11
4.5. Current Settings
The proper current setting for each motor is shown on the individual
torque vs. speed curve. Use this current level to obtain the torque
shown. The access hole for the switches that set the motor current level
is located on the back of the unit (see next figure). Switches 1 through 6
are used to select the current level. Select the desired operating current
by setting the appropriate switch to position 1 (ON). The OFF position
is labeled "0." Only one switch should be ON. If two or more switches
are ON, the one selecting the highest current level is the active switch.
The switch settings are:
Position Current (amps)
None 1.0
12.0
23.0
34.0*
45.0*
56.0*
67.0*
*Heat sinking is recommended at current settings of 4 amps or
higher. The drive case temperature MUST NOT exceed 70° C.
4.6. 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 Step Resolution Pulses Per Revolution
78MD7 MD7-128 MD7 MD7-128
001/2 Full 400 200
101/10 1/16 2,000 3,200
011/25 1/64 5,000 12,800
111/100 1/128 20,000 25,600

Hardware Specifications Danaher Motion Superior Electric
12 SLO-SYN SS2000MD7 & SS2000MD7-128
4.7. Signal Specifications
4.7.1. Connector Pin Assignments
All connections are made via the 5-pin connector, part number
221536-005.
Pin Assignment
1OPTO
2PULSE
3DIR
4AWO
5RDCE
4.7.2. Signal Descriptions
OPTO Opto-Isolator Supply
User supplied power for the opto-isolators.
PULSE Pulse Input
A low-to-high transition on this pin advances 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 is clockwise.
Rotation is counter-clockwise when this signal is low.
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.
RDCE Reduce Current Input
The motor current is 50% of the selected value when this
signal is low. Holding torque is also reduced when this
signal is low.
If you are using the drive with an SS2001 or SS2001-V control, the READY input and
the OPTO input on the control MUST be jumpered together.

Danaher Motion Superior Electric Hardware Specifications
SLO-SYN SS2000MD7 & SS2000MD7-128 13
4.7.3. Level Requirements
OPTO
Voltage (VDC) 4.5 to 6.0
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
4.7.4. Timing Requirements
PULSE
Max. Frequency 500 kHz
Max. Rise and Fall Times 1 µs
Min. Pulse Width 1 µs
Other Signals
Response Time 50 µs