Moons' MSST5-S User manual

Rev:5.0
6/08/2010
MSST5/10-S
Step Motor Drive
UserManual
AMP & MOONS’ Automation

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Contents
1 Introduction.................................................................................. 3
1.1 Features.............................................................................................3
1.2 Block diagram ....................................................................................4
2 Getting Started ............................................................................ 5
2.1 Installing Software ..............................................................................5
2.2 Choosing a Power Supply .................................................................5
3 Installation/Connections .............................................................. 7
3.1 Connecting the power supply ............................................................7
3.2 Connecting the Motor ........................................................................8
3.3 Connecting to the PC using RS-232..................................................9
3.4 Connecting the inputs and outputs ....................................................9
3.4.1 Connecting Digital Inputs .......................................................................9
3.4.2 STEP&DIR Digital Inputs......................................................................10
3.4.3 High Speed Input.................................................................................. 11
3.4.4 EN Digital Input ....................................................................................12
3.4.5 Analog Inputs........................................................................................13
3.4.6 Connecting the Digital Output ..............................................................14
4 Conguration ............................................................................. 15
4.1 Congurator Menus .........................................................................15
4.1.1 Drive .....................................................................................................17
4.1.2 Motor ....................................................................................................18
4.1.3 Motion...................................................................................................20
5 Error Codes ............................................................................... 26
6 Drive mounting .......................................................................... 26
7 Trouble Shooting ....................................................................... 27
6 Reference Materials .................................................................. 28
6.1 Mechanical Outlines ........................................................................28
6.2 Technical Specications...................................................................28
6.3 Torque Curves .................................................................................30
7 Contacting MOONS’ .................................................................. 33

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1 Introduction
Thank you for selecting a MOONS’ motor drive. We hope our dedication to performance, qual-
ity and economy will make your motion control project successful.If there’s anything we can do
to improve our products or help you use them better, please call (86)21-52634688 or fax (86)21-
52634098. You can also email [email protected].
1.1 Features
▪Brand-new technology
- Advanced current control
- Microstep emulation provides smooth motion even with low step resolutions
- Anti-resonance algorithm eliminates the mid-range instability
- Torque ripple smoothing algorithm adjusts waveform to reduce low speed torque ripple
- Command signal dynamic smoothing algorithm to make motor motion of the motor less jerky
▪Multiple operating modes
- Step & Direction
- CW/CCW
- Encoder following
- Analog velocity or digital velocity
- SCL Host commands for real time control from a host PC or PLC using RS-232 serial com-
munication
▪Multi-axis Mis programming when used with MisNet Hub
▪RS-232 communication interface
▪Software selectable microstep resolutions from 200 to 51200 steps/rev. in 2step/rev incre-
ments
▪Power supply: External 24-48 VDC (MSST5)/24-80 VDC(MSST10)
▪Software selectable motor current 0.1-5/0.1-10 amps/phase in 0.01 amp increments
▪Self test and auto setup to measure motor parameters and optimize the system performance
automatically
▪Automatic idle current reduction from 0 to 100% of full current after a delay selectable in mil-
liseconds
▪Inputs & Output
- One 0-5V analog input
- Two 5V high-speed digital inputs
- One 5-12V digital input
- One 24V@10mA(max.) optical isolated digital output
▪Strong protection: Over-voltage, under-voltage, over-temp and over-current.
▪Compact size
▪Suitable to drive 4, 6, or 8 lead NEMA size17, 23, 24 or 34 step motors
▪CE compliant
▪RoHS

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1.2 Block diagram
The block diagram of MSST5/10-S is as below
24-48VDC
From Extornal Power Supply
MSST5-S
Block Diagram
TX/RX
PC
STEP/DIR/EN
OUT1
ANALOGIN
Gate
Drivers
(4)
RS232
Optical
Isolation
resistor
divider
Over
Current
Det.
DSP
5V
switching
reg
MOSFETs
(8) motor
Voltage
Det.
15V
reg
3.3V
reg

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2 Getting Started
To use drive models MSST5-S or MSST10-S, the following items are needed:
▪A power supply (24-48VDC for MSST5-S and 24-80VDC for MSST10-S)
▪A compatible step motor
▪ A small at blade screwdriver for tightening the connectors - a MOONS’ screwdriver suitable
for this purpose is included with the drive.
▪A PC with a 9-pin serial port running Windows 98, 2000, ME, XP or NT
▪ The ST Congurator software included the drive
▪The communication cable included the drive
2.1 Installing Software
To become familiar with the MSST drive and Congurator Software before utilizing it in an applica-
tion, the following steps are recommended:
▪ Install the ST Congurator Software from the CD
▪ Launch the software by clicking Start…Programs…MOONS’…ST Congurator
▪Connect the drive to the PC using the programming cable supplied
▪Connect the drive to the DC power source (may be switched)
▪Connect the drive to the motor
▪Apply power to the drive
▪ Follow the instructions in the ST Congurator Software
2.2 Choosing a Power Supply
Voltage
A power supply with a voltage rating at least ve times that of the motor is necessary for efcient
and silent switching. Higher speed needs will require even more voltage. However, the required
voltage will not exceed 48V for the MSST5-S or 80V for the MSST10-S.
If an unregulated power supply is used, it should not exceed 34V for the MSST5-S or 57V for the
MSST10-S due to the fact that unregulated supplies are rated at full load current. At lower load as
when the motor is not moving, the actual voltage can be as much as 1.4 times the rated voltage.
For smooth, quiet operation a lower voltage gives the best results.
Current
The maximum supply current required is the sum of the two phase currents. The requirements will
generally be less than that, depending on the motor type, voltage, speed and load conditions. This
is due to the switching ampliers present in these drives which convert high voltage and low cur-
rent into lower voltage and higher current. As the power supply voltage exceeds the motor
voltage, less current is required from the power supply. A motor running from a 48 volt supply can

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be expected to draw only half the supply current that it would with a 24 volt supply.
To select an appropriate power supply, the following procedure is recommended:
1. If only a few drives will be used, a power supply with a least twice the rated phase current of the
motor is needed.
2. When designing for mass production at low cost, current requirements may rst be determined
by using the power supply recommended above. Install the motor in the application and monitor
the current coming out of the power supply and into the drive at various motor loads. An appropri-
ate power supply can then be selected.
3. If a regulated power supply is used, issues with current fold back may occur. When the drive is
rst powered up, the full current of both motor phases will be drawn for several milliseconds while
the stator eld is being established. The ampliers will then begin chopping and less current will
be drawn. If the power supply reads this initial surge as a short circuit, it may “fold back” to a lower
voltage. Because of this condition, unregulated power supplies are the better option.

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3 Installation/Connections
Connections wires
3.1 Connecting the power supply
The MSST5-S accepts a DC supply voltage from 24 to 48VDC. The MSST10-S accepts a DC sup-
ply voltage from 24 to 80VDC.
Using the connector supplied and AWG 16 or 18 wire, connect to the power supply as in the dia-
gram below.
Fusing
Internal fuse: the MSST5-S and MSST10-S contain internal 10 amp fast acting fuses
External fuse (optional): if desired, we recommend:
MSST5 MSST10
3AG, 4A 3AG, 6.25A
Littlefuse 313004P Littlefuse 3136.25P
Be careful not to reverse the wires. Reversing the connections may destroy the
drive and void the warranty.
Regeneration
When a step motor decelerates, it converts the kinetic energy of the load into electrical power,
much like a generator. Some of this power is consumed in the motor and some in the drive. In ap-
plications involving large loads running at high speeds, considerable energy is transferred to the
power supply. Generally, simple, linear power supplies have large capacitors capable of absorbing
this energy without damage. Switching power supplies usually shut down due to an over voltage
condition. Excess energy is then transferred back to the drive and can damage it. To prevent this,
the use of an RC-50 regen clamp is recommended as illustrated below.

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3.2 Connecting the Motor
Never connect the motor to or disconnect it from the drive. Insulate unused motor leads
separately, and then secure. Never connect motor leads to ground or to a power supply.
There are several options for connecting a motor to a drive.
Four lead motors can only be connected one way, as in the drawing below:
Six lead motors can be connected in series or center tap. When connected in series, motors pro-
duce more torque at low speeds, but cannot run as fast as in the center tap conguration. In series
operation, the motor should be operated at 30% less than the rated current to prevent overheat-
ing. Wiring diagrams for both connection methods are shown below.
Note: NC = not connected
Eight lead motors can also be connected in two ways: series and parallel. As with six lead mo-
tors, series mode will provide more torque at low speeds and less torque at high speeds. When
connected in series, the motor should be operated at 30% less than the rated current to prevent
overheating. The wiring diagrams for eight lead motors are shown below.
A-
B- B+
NC
NC
A+
A-
B- NC
A+
B+
NC
6
Lead
motor
6
Lead
motor
6 Leads Series Connected 6 Leads Center Tap Connected
A+
B+ B-
A-
A+
B+
A+
B-
8
Lead
motor
8
Lead
motor
8 Leads Series Connected 8 Leads Center Tap Connected

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3.3 Connecting to the PC using RS-232
Locate your computer within 6 feet of the stepping driver.
Your driver was shipped with a black adapter plug. It has a telephone style jack at one end and
a larger 9 pin connector at the other. Plug the large end into the COM1 serial port of your PC.
Secure the adapter with the screws on the sides. If the COM1 port on your PC is already used by
something else, you may use the COM2 port for the stepping driver. On some PCs, COM2 will
have a 25 pin connector that does not t the black adapter plug. If this is the case, and you must
use COM2, you may have to purchase a 25 to 9 pin serial adapter at your local computer store.
Another choice other than COM serial port you can select is using USB port on your computer via
a USB port to RS232 adapter available on market.
3.4 Connecting the inputs and outputs
The inputs and outputs are connected using pluggable, screw terminal connectors. The three in-
puts (STEP, DIR, EN) are on the six position connector. The analog input and the digital output are
on the ve position connector along with 5VDC and a ground for analog connections.
3.4.1 Connecting Digital Inputs
STEP+
STEP-
DIR+
DIR-
EN+
EN-
OUT+
OUT-
+5V
AIN
GND
STEP+
inside drive
STEP-
DIR+
EN+
DIR-
EN-
1
330 220
pF
330
680
220
pF
2
3
4
5
6
6 Position Connector

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3.4.2 STEP&DIR Digital Inputs
The S drives include two high speed inputs called STEP and DIR. They accept 5 volt single-ended
or differential signals, up to 2 MHz. EN is a 5 to 12 volt standard digital input that can be used for
motor enable, alarm reset, or oscillator speed change.
All inputs are congured using the ST Congurator software.
STEP and DIR inputs can connect to an indexer, a master encoder or CNC hand wheel for follow-
ing applications, or they can be used for connecting sensors, switches and other electronic de-
vices. They can be used as the run/stop and direction inputs for velocity (oscillator) mode.
STEP
DIR
DIR+
STEP+
STEP-
+5V OUT
DIR-
MSST5/10-S
Indexer
with
Sinking
Outputs
COM
DIR
STEP
DIR-
DIR+
STEP-
STEP+
MSST5/10-S
Indexer
with
Sourcing
Outputs
DIR+
DIR-
STEP+
STEP-
DIR+
DIR-
STEP+
STEP-
MSST5/10-S
Indexer
with
Differential
Outputs
A+
B+
B-
X1/STEP+
X1/STEP-
X1/DIR+
X1/DIR-
Drive
Master
Encoder
A-

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3.4.3 High Speed Input
PLCs do not commonly use 5 volt logic. Signal levels as high as 24 volts may be connected to the
STEP and DIR inputs if external dropping resistors are added as shown below:
▪For 12 volt logic, add 820 ohm, 1/4 watt resistors
▪For 24 volt logic, use 2200 ohm, 1/4 watt resistors
WARNING: The maximum voltage that can be applied directly to a high speed input termi-
nal is 5 volts. Never apply high voltage AC to an input terminal.
PLC
with
Sinking
Outputs
Drive
+12-24V
DIR
STEP
DIR+
R
R
DIR-
STEP+
STEP-
Connecting to PLC with Sinking (NPN) Outputs
(Most PLCs use 24V logic)
+24VDC
Power
Supply Drive
+
-
DIR+
2200
direction switch
run/stop switch
(closed=run) 2200
DIR-
STEP+
STEP-
Using Mechanical Switches at 24 V
PLC
with
Sourcing
Outputs
Drive
+12-24V
OUT1
OUT2
GND
DIR+
R
RSTEP-
STEP+
DIR-
Connecting to PLC with Sourcing (PNP) Outputs
(Most PLCs use 24V logic)

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3.4.4 EN Digital Input
As mentioned above, the STEP and DIR inputs are congured for 5 volt logic. The EN input is
designed for operation between 5 and 12 volts. Add 1500ohm to En for 24 volt operation.
5-12
VDC
Power
Supply
MSST5-S
or
MSST10-S
+
-
EN+
switch or relay
(closed=logic low)
EN-
5-12
VDC
Power
Supply Drive
+
-
EN+
output EN-
+
NPN
Proximity
Sensor
-
5-12
VDC
Power
Supply
Drive
+
-
EN+
output
EN-
+
PNP
Proximity
Sensor
-

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3.4.5 Analog Inputs
The MSST5-S and MSST10-S have one 0 to 5 volt analog input that can be used by the drive for
controlling the motor speed in velocity mode. This input can also be used to read a voltage using
the SCL “IA” commands.
Connecting an Analog Signal
Connecting the Analog Input to a Potentiometer or Joystick
WARNING – The analog input must be used with care. It is not optically isolated and may operate
improperly or could be damaged when system grounds are not compatible.
OUT+
inside MSST5/10-S
OUT-
+5V
GND
AIN
1
+5VDC,10mA max
330 220
pF
2
5
4
3
5 Position Connector
+5V
GND
AIN
CW
CCW
1K-1CK ohm
pot
AIN
GND
0-5V
speed signal
signal return

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3.4.6 Connecting the Digital Output
The MSST5-S and MSST10-S drives include one digital output that can be used in one of
ve ways:
Brake: Control an electric brake relay, automatically releasing and engaging as the drive requires
Motion: indicates when the motor is moving
Fault: closes when a drive fault or alarm condition occurs, the red and green LEDs will ash an
error code
Tach: produces pulses proportional to the distance traveled (and thereby a frequency that is pro-
portional to motor speed).
General purpose: digital output controlled by the SCL SO, FO, IL and IH commands
The output has separate + and - terminals and can be used to sink or source current. Diagrams of
each type of connection follow.
Do not connect the outputs to more than 24VDC.
The current through each output terminal must not exceed 10 mA.
Sourcing Output
5-24VDC
Power Supply
Drive
OUT+
OUT-
-
+
Load
Sinking Output

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4 Conguration
With the ST Congurator (versions 0.0.034 or above) drives can be congured for specic applica-
tions. The setup is divided into four sections, each focused on a particular area of conguration.
4.1 Congurator Menus
In the File Menu, previously created congurations can be Opened and new or altered congura-
tions can be Saved. Any setup can be Printed. The Exit command will close the ST Congura-
tor.

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The Drive menu provides access to several features:
Alarm History will display the last eight alarms and/or faults. If an alarm or fault condition is being
displayed, Clear Alarm will clear it. Restore Factory Defaults will return the drive to its original fac-
tory conguration.
SCL Terminal allows SCL commands to be entered to test the drive’s response, creating an oppor-
tunity for commands to be learned before host control software is written.
Self Test rotates the motor a half revolution in alternating directions at a low speed to allow veri-
cation that the motor is connected and functioning properly.
Status Monitor displays real time drive status including:
The Status Monitor displays real time drive status including the following values:
▪State (open or closed) of all inputs

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▪State of outputs (click the HI/LO buttons to force an output)
▪Motor speed
▪Voltage at the analog input
▪Alarms or faults
▪ Status ags (enabled, motion, jogging, etc.)
The motor can be enabled or disabled from the Status Monitor by clicking the buttons at the bot-
tom of the display.
The Help Menu allows access to the help screens via Contents, gives Contact information for
MOONS’, links the user to the Website, and gives technical information About ST Congurator.
4.1.1 Drive
Choose one of the ST drive models from the drop down list on the upper right. The MSST5-S and
MSST10-S can be used for three types of applications:
1) Applications where another device controls the drive by sending electrical signals over wires.
The signals can be digital positioning pulses (step & direction or quadrature encoder following
modes) or a velocity mode where the motor speed is selected by digital or analog signals.
2) Applications where a host PC or PLC sends high level commands over a serial port using the
Serial Command Language SCL.
3) Multiaxis applications where a control program is stored in a MisNet Hub and one or more
drives are connected to it.

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4.1.2 Motor
In the Motor dialog box, operational parameters are dened.
Conguring the Motor
The MSST drives work best with the recommended specially matched motors. To congure the
drive for one of these motors, select it from the drop down Standard Motor list. The Rated Cur-
rent for the selected motor will appear in the Motor Specs section. If an application is particularly
heat sensitive and there is more torque available than needed, motor heating may be reduced by
lowering the current. If a duty cycle is short, giving the motor time to cool down between moves,
the current may be set higher than rated to increase the torque. However, motors operated above
their rated current will not run as smoothly, and, if used continuously, could overheat.
Reducing the Idle Current reduces motor heating by lowering the current when the motor is at
rest. In most cases, the default value of 50% works well. Motor heating may be further reduced by
lowering the Idle Current percentage even more.
The Idle Current Delay is the amount of time between when the motor stops and the current is
reduced. It is recommended to allow a little time for the motor to settle out before the current is
reduced.
Note: The Rated Current is in RMS formal and the Running Current is the peak value. The
Running Current must not exceed 1.5 times the Rated Current.

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Load Inertia
The anti-resonance feature is most effective if the load inertia is set precisely. If this is a known
value, the rst option circle should be clicked, the inertia entered, and units of measurement
selected. If the exact inertia is not known, the second option circle should be selected and an ap-
proximate load to motor inertia ratio entered. This number can be adjusted as needed.
Dening a Motor not in the Recommended List
When a Custom Motor is used, detailed information from the manufacturer will be needed. This
includes electrical specications (holding torque, rated current and rotor inertia) as well as a wiring
diagram. To dene a Custom Motor, that circle should be checked and the Dene Custom Motor
button clicked. In the Add New Motor dialog box, current, torque and inertia values are entered.
For the smoothest motion, the harmonic distortion gain and phase should be entered. This may
need to be determined by running the motor at a slow speed (1 rev/sec) with different gain and
phase values until the desired effect is achieved. If the values are not known or determined, gain
and phase may be set at 0.

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4.1.3 Motion
Clicking on the Motion button will bring up the Motion menu where one of several operating modes
may be selected. Digital Positioning (Pulse/Dir), Velocity (Oscillator), SCL, and Hub are the modes
available for the -S drives.
Digital Positioning Mode
Pulse Input Mode is for systems where the position of the motor is determined by a digital input
signal in the form of pulses.
The three modes available are:
Pulse and Direction: A signal such as that generated by a step motor controller is used. In this
mode, the frequency of the pulses fed into one input determines the speed of the motor. Direction
of rotation is determined by a signal fed into another input. Either an ON or OFF signal can be
congured to represent clockwise motion.
CW and CCW Pulse: The drive has two inputs allocated to this feature and the motor will move
CW or CCW depending on which input the pulse is fed into.
A & B Quadrature: This is sometimes called “Slave Mode.” Signals fed to the drive from a mas-
ter encoder control the movement of the motor. The encoder may be mounted on a shaft on the
machine or can be another motor in the system. With quadrature input, it is possible for a number
of motors to be “daisy chained” together with the encoder output signal from each drive being fed
into the next one.
For all the Pulse Input modes you will need to determine a value to enter into the Electronic Gear-
ing Box, an explanation on how to do this is given in the next section.
Steps/Rev