Just Motion Control iHSS57 Series User manual

iHSS57-XX
Integrate Stepper Servo Motor
Manual
Shenzhen Just Motion Control Electro-mechanics Co., Ltd
TEL:[phone]
FAX:[phone]
www.jmc-motion.com
Email:[email protected]
Address: Floor2, Building A, Hongwei Industrial Zone No.6,
Liuxian 3rd Road, Shenzhen. China

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Thanks for selecting JMC stepper motor driver. We
hope that the superior performance, outstanding quality,
excellent cost performance of our product can help you
accomplish your motion control project.
The content in this manual has been carefully
prepared and is believed to be accurate, but no
responsibility is assumed for inaccuracies.
All the contents of this manual, copyright is owned
by the Shenzhen JUST MOTION CONTROL
electromechanical Co., Ltd. Without JMC permission,
no unit or individual is allowed to copy.
Shenzhen Just Motion Control
Electro-mechanics Co., Ltd
Version
Editor
Verifier
V1.1
R&D
R&D

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Contents
1. Overview............................................................................................ - 4 -
2. Features..............................................................................................- 4 -
3. Ports Introduction.............................................................................- 5 -
3.1 ALM signal output ports......................................................... - 5 -
3.2 Control Signal Input Ports....................................................... - 5 -
3.3 Power Interface Ports............................................................ - 15 -
4. Technological Index..........................................................................- 7 -
5. Connections to Control Signal.........................................................- 8 -
5.1 Connections to Common Anode............................................. - 8 -
5.2 Connections to Common Cathode...........................................- 9 -
5.3 Connections to Differential Signal.......................................... - 9 -
5.4 Connections to 232 Serial Communication Interface........... - 10 -
5.5 Sequence Chart of Control Signals....................................... - 11 -
6. DIP Switch Setting..........................................................................- 12 -
6.1 Micro steps Setting................................................................ - 12 -
6.2 Activate Edge Setting............................................................ - 13 -
6.3 Running Direction Setting.....................................................- 12 -
7. Faults alarm and LED flicker frequency..................................... - 14 -
8. Appearance and Installation Dimensions.....................................- 15 -
10. Parameter Setting......................................................................... - 16 -
11. Processing Methods to Common Problems and Faults............ - 20 -
11.1 Power on power light off.....................................................- 20 -
11.2 Power on red alarm light on................................................ - 20 -
11.3 Red alarm light on after the motor running a small angle.. - 21 -
11.4 After input pulse signal but the motor not running.............- 21 -

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1. Overview
The iHSS57-XX Integrate Stepper Servo Motor is merged
the stepper servo driver and motor together. This motor system
integrates the servo control technology into the digital stepper
drive perfectly. And this product adopts an optical encoder with
high speed position sampling feedback of 50 μs, once the
position deviation appears, it will be fixed immediately. This
product is compatible the advantages of the stepper drive and
the servo drive, such as lower heat, less vibration, fast
acceleration, and so on.
2. Features
Integrated compact size for saving mounting space
Without losing step, High accuracy in positioning
100% rated output torque
Variable current control technology, High current efficiency
Small vibration, Smooth and reliable moving at low speed
Accelerate and decelerate control inside, Great improvement in
smoothness of starting or stopping the motor
User-defined micro steps
No adjustment in general applications
Over current, over voltage and over position error protection
Green light means running while red light means protection or
off line

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3. Ports Introduction
3.1 ALM signal output ports
Symbol
Name
Remark
ALM+
Alarm output +
ALM-
Alarm output -
PED-
Arrive position output-
PED+
Arrive position output+
3.2 Control Signal Input Ports

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Symbol
Name
Remark
ENA-
Enable signal -
Compatible with
5V or 24V
ENA+
Enable signal +
DIR-
Direction signal-
DIR+
Direction signal+
PUL-
Pulse signal -
PUL+
Pulse signal +
3.3 Power Interface Ports
Symbol
Name
VCC
Input power
GND
Input power ground

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4. Technological Index
Input Voltage
24~50VDC(36V Typical)
Output Current
4.5A 20KHz PWM
Pulse Frequency max
200K
Communication rate
57.6Kbps
Protection
Over current peak value 8A±10%
Over voltage value 80V
The over position error range can be
set through the HISU
Environment
Specifications
Environment
Avoid dust, oil fog and corrosive gases
Operating
Temperature
70℃MAX
Storage
Temperature
-20℃~+65℃
Humidity
40~90%RH
Cooling
method
Natural cooling or forced air cooling

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5. Connections to Control Signal
5.1 Connections to Common Anode
Remark:
VCC is compatible with 5V or 24V;
R(3~5K) must be connected to control signal terminal.

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5.2 Connections to Common Cathode
Remark:
VCC is compatible with 5V or 24V;
R(3~5K) must be connected to control signal terminal.

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5.3 Connections to Differential Signal
Remark:
VCC is compatible with 5V or 24V;
R(3~5K) must be connected to control signal terminal.

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5.4 Connections to 232 Serial Communication Interface
Definition
Remark
NC
Reserved
RX
Receive Data
GND
Power Ground
TX
Transmit Data
+5V
Power Supply to HISU
5.5 Sequence Chart of Control Signals
In order to avoid some fault operations and deviations, PUL, DIR
and ENA should abide by some rules, shown as following diagram:

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Remark:
a. t1: ENA must be ahead of DIR by at least 5μs. Usually, ENA+ and
ENA- are NC (not connected).
b. t2: DIR must be ahead of PUL active edge by 6μs to ensure correct
direction;
c. t3: Pulse width not less than 2.5μs;
d. t4: Low level width not less than 2.5μs.
6. DIP Switch Setting
6.1 Micro steps Setting
The micro steps setting is in the following table, while SW1 、
SW2、SW3、SW4 are all on, the internal default micro steps inside is

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activate，this ratio can be setting through the HISU.
Dial switch
Micro steps
SW1
SW2
SW3
SW4
Default
on
on
on
on
800
off
on
on
on
1600
on
off
on
on
3200
off
off
on
on
6400
on
on
off
on
12800
off
on
off
on
25600
on
off
off
on
51200
off
off
off
on
1000
on
on
on
off
2000
off
on
on
off
4000
on
off
on
off
5000
off
off
on
off
8000
on
on
off
off
10000
off
on
off
off
20000
on
off
off
off
40000
off
off
off
off
6.2 Running Direction Setting
SW5 is used for setting the activate edge of the input signal, “off”

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means the activate edge is the rising edge, while “on” is the falling edge.
6.3 Activate Edge Setting
SW6 is used for setting the running direction, “off” means CCW,
while “on” means CW.
7. Faults alarm and LED flicker frequency
Flicker
Frequency
Description to the Faults
1
Error occurs when the motor coil current exceeds
the drive’s current limit.
2
Voltage reference error in the drive
3
Parameters upload error in the drive
4
Error occurs when the input voltage exceeds the
drive’s voltage limit.
5
Error occurs when the actual position following
error exceeds the limit which is set by the position
error limit.

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8. Appearance and Installation Dimensions
Model
Length（mm）
iHSS57-36-10-XXX
85
iHSS57-36-20-XXX
106

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10. Parameter Setting
The parameter setting method of 2HSS57-KH drive is to use a HISU
adjuster through the 232 serial communication ports, only in this way can
we setting the parameters we want. There are a set of best default
parameters to the corresponding motor which are carefully adjusted by
our engineers, users only need refer to the following table, specific
condition and set the correct parameters.
Actual value = Set value ×the corresponding dimension
Mode
Definition
Range
Dime-
nsion
Drive
Restart
Default
Value
P1
Current loop Kp
0—4000
1
N
1000
P2
Current loop Ki
0—1000
1
N
100
P3
Damping coefficient
0—1000
1
N
100
P4
Position loop Kp
0—4000
1
N
1300
P5
Position loop Ki
0—1000
1
N
250
P6
Speed loop Kp
0—3000
1
N
50
P7
Position loop Ki
0—1000
1
N
10
P8
Open loop current
0—40
0.1
N
30
P9
Close loop current
0—30
0.1
N
20
P10
Alarm level
0—1
1
N
0
P11
Reserved
P12
Stop lock enable
0—1
1
N
0
P13
Enable signal level
0—1
1
N
0
P14
Arrival level
0—1
1
N
1
P15
Reserved
P16
Position error limit
0—3000
10
N
1000
P17
Reserved

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P18
Reserved
P19
Speed smoothness
0—10
1
N
0
P20
User-defined p/r
4-1000
50
Y
8
There are total 20 parameter configurations, use the HISU to download
the configured parameters to the drive, the detail descriptions to every
parameter configuration are as follows:
Item
Description
Current loop Kp
Increase Kp to make current rise fast. Proportional
Gain determines the response of the drive to setting
command. Low Proportional Gain provides a stable
system (doesn’t oscillate), has low stiffness, and the
current error, causing poor performances in tracking
current setting command in each step. Too large
proportional gain values will cause oscillations and
unstable system.
Current loop Ki
Adjust Ki to reduce the steady error. Integral Gain
helps the drive to overcome static current errors. A
low or zero value for Integral Gain may have current
errors at rest. Increasing the integral gain can reduce
the error. If the Integral Gain is too large, the system
may “hunt” (oscillate) around the desired position.
Damping
This parameter is used to change the damping

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coefficient
coefficient in case of the desired operating state is
under resonance frequency.
Position loop Kp
The PI parameters of the position loop. The default
values are suitable for most of the application, you
don’t need to change them. Contact us if you have
any question.
Position loop Ki
Speed loop Kp
The PI parameters of the speed loop. The default
values are suitable for most of the application, you
don’t need to change them. Contact us if you have
any question.
Speed loop Ki
Open loop
current
This parameter affects the static torque of the motor.
Close loop
current
This parameter affects the dynamic torque of the
motor. (The actual current = open loop current +
close loop current)
Alarm Control
This parameter is set to control the Alarm
optocoupler output transistor. 0 means the transistor
is cut off when the system is in normal working, but
when it comes to fault of the drive, the transistor
becomes conductive. 1 means opposite to 0.
Stop lock enable
This parameter is set to enable the stop clock of the
drive. 1 means enable this function while 0 means

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disable it.
Enable Control
This parameter is set to control the Enable input
signal level, 0 means low, while 1 means high.
Arrival Control
This parameter is set to control the Arrival
optocoupler output transistor. 0 means the transistor
is cut off when the drive satisfies the arrival
command, but when it comes to not, the transistor
becomes conductive. 1 means opposite to 0.
Position error
limit
The limit of the position following error. When the
actual position error exceeds this value, the drive
will go into error mode and the fault output will be
activated. (The actual value = the set value×10)
Speed
smoothness
This parameter is set to control the smoothness of
the speed of the motor while acceleration or
deceleration, the larger the value, the smoother the
speed in acceleration or deceleration.

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User-defined p/r
This parameter is set of user-defined pulse per
revolution, the internal default micro steps inside is
activate while SW3、SW4、SW5、SW6 are all on,
users can also set the micro steps by the outer DIP
switches. (The actual micro steps = the set value
×50)
11. Processing Methods to Common Problems and
Faults
11.1 Power on power light off
No power input, please check the power supply circuit. The voltage
is too low.
11.2 Power on red alarm light on
Please check the motor feedback signal and if the motor is connected
with the drive.
The stepper servo drive is over voltage or under voltage. Please
lower or increase the input voltage.