Moons' SR4-Plus User manual

SR4-Plus
2 Phase Step Motor Drive
User Manual
Rev. 1.1
AMP & MOONS’ Automation

2
Rev. 1.0
5/10/2010
SR4-Plus User Manual
Contents
1 Introduction.................................................................................. 3
1.1 Overview............................................................................................3
1.2 Features.............................................................................................3
1.3 Block diagram ....................................................................................4
2 Mounting the Drive ..................................................................... 4
3 Connections ................................................................................ 5
3.1 Connecting to the Power Supply .......................................................5
3.2 Connecting to a Motor .......................................................................5
3.3 Connecting to the Inputs....................................................................6
3.3.1 High Speed Digital Inputs............................................................................6
3.3.2 The Enable (EN) Digital Input......................................................................7
3.3.3 Programmable Output .................................................................................8
4 Switch Selection .......................................................................... 9
4.1 Running Current ................................................................................9
4.2 Idle Current ........................................................................................9
4.3 Microstepping ..................................................................................10
4.4 Self Test ...........................................................................................10
4.5 Step Smoothing Filter ...................................................................... 11
4.6 Load Inertia...................................................................................... 11
4.7 Step Noise Filter .............................................................................. 11
5 Motor Selection ......................................................................... 12
5.1 Recommended motors ....................................................................13
6 Error Codes ............................................................................... 15
7 Reference Materials .................................................................. 15
7.1 Mechanical Outline ..........................................................................15
7.2 Specications...................................................................................16
7.2.1 Electrical Specications.............................................................................16
7.2.2 Environmental Specications ....................................................................16
7.3 Torque Curves .................................................................................17
8 Contacting MOONS’.................................................................. 18

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SR4-Plus User Manual
1 Introduction
Thank you for selecting the MOONS’ SR4-Plus Motor Drive. We hope our commitment to perfor-
mance, quality and economy will make a successful motion control project.
1.1 Overview
The SR series drives are cost-effective, high performance 2 phase step drives. The design is
based on advanced digital current control technology, and features high torque, low noise, and low
vibration. The running current and microstep resolution are switch selectable.
1.2 Features
• Power Supply - operates from a 24 to 48 volt DC power supply
• Output Power - position switch selectable, 8 settings, max 4.5 amps peak
• Current Control - advanced digital current control provides excellent high speed torque
• Microstep Resolution - position switch selectable, 16 settings: 200, 400, 800, 1600, 3200, 6400,
12800, 25600, 1000, 2000, 4000, 5000, 8000, 10000, 20000, 25000 step/rev
• Speed Range - speeds up to 3000 rpm
• Anti Resonance - raises the system-damping ratio to eliminate midrange instability and allow
stable operation throughout the speed range of the motor.
• Auto Setup - measures motor parameters and congures motor current control and anti-reso
nance gain settings
• Microstep Emulation - performs high resolution stepping by synthesizing coarse steps into ne
micro-steps
• Control Modes - Step & Direction or CW/CCW pulse
• Input Digital Filters - 2 MHz digital lter for high speed inputs
• Motor Type Select - a 16 bit rotary switch is used to select the desired motor database which
is pre-loaded at the Factory
• Load Inertia Select - as part of the motor database each motor can be selected for use with
low or high load inertia.
• Idle Current - switch selectable for 50% or 90% idle running current reduction 1 second after
the motor stops
• Self Test - switch selectable, the drive will perform a 2 rev, 1 rps, CW/CCW move test

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1.3 Block diagram
2 Mounting the Drive
The SR4-Plus Step Drive can be mounted on the wide or the narrow side of the chassis. If it is
mounted on the wide side, M3 screws should be used through the four corner holes. For narrow
side mounting applications, M3 screws can be used in the two side holes.
The ampliers in the drive generate heat. To operate the drive continuously at maximum power
forced air cooling, as from a fan, should be provided.
Never use the drive in a space where there is no air ow or where other devices can cause the
surrounding air to be more than 40 °C. Never put the drive where it can get wet or where metal
particles can fall into it.
STEP+
GND
STEP-
DIR+
DIR-
EN+
EN-
OUT+
OUT-
+24 to 48VDC
24-48 VDC
External
Power Supply
Block Diagram
SR4-Plus
Optical
Iso
Optical
Iso
Optical
Iso
I/O Configurations
STEP(5-24V)
: Step Input
: CW Pulse
DIR(5-24V)
: Dir Input
: CCW Pulse
EN(5-24V)
: Enable Input
: Reset Fault
OUT(30V, 100mA)
: Fault Output
motor
Optional
encoder
Voltage
Temp
Det.
DSP
Driver
Controller
Optical
Iso
Step Filter
Load Inertia
Noise Filter
Self Test
Step Res4
Step Res3
Step Res2
Step Res1
Idle Current
Current Level 3
Current Level 2
Current Level 1
Switch to SPI
5Volt DC
Power Supply
3.3VDC
Internal
Logic
Supply
MOSFET
PWM
Power
Amplifier
Over
Current
Det.
Digital
Filter
Digital
Filter
Digital
Filter
Software
Filter
I/O Connector
LED

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SR4-Plus User Manual
3 Connections
To use the SR4-Plus Step Drive, the following
items are needed:
• A power supply (24 - 48 VDC)
• Pulse & Direction signal
• A compatible step motor
3.1 Connecting to the Power Supply
If the power supply does not have a fuse on the
output or some kind of short circuit current limiting
device, a fast acting fuse is required. A 4 amp fast acting fuse should be installed in line with the
“+” power supply lead.
Connect the motor power supply “+” terminal to the drive terminal labeled “V+”. Connect the power
supply “-” to the drive terminal labeled “V-”.
Be careful not to reverse the wires.
3.2 Connecting to a Motor
LED
Control signal
Switches for
selecting Switches for
selecting
Motor
Connector
Power
Connector
Grounding
Screw
OUT-
OUT+
EN+
EN-
DIR-
DIR+
STEP-
STEP+
SW1
SW2
SW3
SW4
SW5
SW6
SW7
SW8
B-
B+
A-
A+
V-
V+
SW12
SW11
SW10
SW9
White
Green
A
C
B
D
Brown
Yellow
Gray Blue Red
Pink
A
Brown
Green
Pink
Blue
White
C
Yellow
D
Red
B
Gray

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3.3 Connecting to the Inputs
3.3.1 High Speed Digital Inputs
The SR4-Plus drives include two high-speed inputs called STEP and DIR. They accept 5 to 24
volt single-ended or differential signals, up to 2 MHz. Typiclly these inputs connect to an external
controller that provides step & direction command signals. You can also connect a master encoder
to the high-speed inputs for “following” applications. Or you can use these inputs with Wait Input, If
Input, Feed to Sensor, Seek Home and other such commands.
Connection diagrams follow:
SR4-Plus
Indexer
with
differential
outputs
Connecting to indexer with differential outputs
Many high speed indexers have differential outputs
DIR+
DIR-
STEP+
STEP-
DIR+
DIR-
STEP+
STEP-
+5V to +24V out
SR4-Plus
Indexer
with
sinking
outputs
Connecting to indexer with sinking outputs
DIR
DIR+
DIR-
STEP+
STEP-
STEP
SR4-Plus
Indexer
with
sourcing
outputs
Connecting to indexer with sourcing outputs
DIR+
DIR-
STEP+
DIR
COM
STEP
STEP-

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3.3.2 The Enable (EN) Digital Input
The EN input enables or disables the drive amplier. It is an optically isolated input that accepts
a 5 to 24 volt single-ended or differential signal. The maximum voltage that can be applied to the
input is 28V.
When EN input is closed, the driver amplier is deactivated, all the MOSFETs will shut down, and
the motor will be free. When EN input is open, the drive is activated.
When the drive has encountered an error and the fault is removed from system, a falling signal
into the EN input will reset the error status and activate the drive amplier again.
SR4-Plus
5 to 24
volt
power
supply
Switch Relay
(closed=logic low)
Connecting the input to a switch or relay
EN+
EN-
+
-
SR4-Plus
5～24V
power supply
Indexer
with
sourcing
outputs
Connecting the input to sourcing outputs
+
-
OUT+ EN+
EN-OUT-
SR4-Plus
5～24V
power supply
Indexer
with
sinking
outputs
Connecting the input to sinking outputs
+
-
OUT+ EN+
EN-OUT-

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3.3.3 Programmable Output
The FAULT Output is optically isolated. The maximum collector current is 100mA, and the maxi-
mum collector to emitter voltage is 30 volts. The output can be wired to sink or source current.
When drive is working normally, the output is open. When the drive encounters an error, the output
closes.
Connecting a sinking output
5～24V
power supply
+-
SR4-Plus
OUT+ Load
OUT-
Connecting a sourcing output
5～24V
power supply
+-
SR4-Plus
OUT+
PLC
OUT-
IN
COM
Connecting a sourcing output again
5～24V
power supply
+-
SR4-Plus
OUT+ PLC
OUT-
IN
COM
Driving a relay
relay
1N4935 suppression diode
5～24V
power supply
+-
SR4-Plus
OUT+
OUT-

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4 Switch Selection
4.1 Running Current
The output current of the SR4-Plus Step Drive is set by the SW1, SW2, and SW3 switches and
can be changed as necessary. There are 8 settings available according to the ON/OFF combina-
tion of the switches.
4.2 Idle Current
The running current of the SR4-Plus drive is automatically reduced anytime the motor isn’t mov-
ing. Setting the SW4 switch to ON reduces the current to 50% of it running value. Setting this
switch to OFF maintains 90% of the running current. This 90% setting is useful when a high hold-
ing torque is required. To minimize motor and drive heating it is highly recommended that the idle
current reduction feature be set to 50% unless the application requires the higher setting.
ON
50%
OFF
90%
4 4
SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8
SW9 SW10 SW11 SW12
Running Current
Idle current Microstepping
Self test
Step Smoothing Filter
Load Inertia
Step Noise Filter
SR4-Plus
1.8A1.5A
3.5A 4.5A
2.2A1.0A
3.0A 4.0A
Peak SW1 SW2 SW3
1A ON ON ON
1.5A OFF ON ON
1.8A ON OFF ON
2.2A OFF OFF ON
3.0A ON ON OFF
3.5A OFF ON OFF
4.0A ON OFF OFF
4.5A OFF OFF OFF

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4.3 Microstepping
The microstep resolution is set by the SW5, SW6, SW7 and SW8 switches. There are 16 settings.
4.4 Self Test
Setting switch SW9 to ON after the drive is powered up will cause the drive to perform a self
test move of 2 revolutions both CW and CCW at 1rps. Setting switch SW9 to OFF disables this
feature.
ON
SELF TEST
OFF
9 9
Microstep(steps/rev) SW5 SW6 SW7 SW8
200 ON ON ON ON
400 OFF ON ON ON
800 ON OFF ON ON
1600 OFF OFF ON ON
3200 ON ON OFF ON
6400 OFF ON OFF ON
12800 ON OFF OFF ON
25600 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
25000 OFF OFF OFF OFF

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4.5 Step Smoothing Filter
Setting switch SW10 to ON selects this function; setting it to OFF will disable it. Command signal
smoothing can soften the effect of immediate changes in velocity and direction, making the motion
of the motor less jerky. An added advantage is that it reduces wear on mechanical components.
This function can cause a short delay in following the control signal, and should be used with that
in mind.
4.6 Load Inertia
Switch SW11 selects the load inertia. Set it to ON for high inertia applications and to OFF for low
inertia applications. The load inertia selection can help the SR4-Plus drive to calculate the current
control parameter, which is used in Anti-Resonance. If the load inertia is close to that of the motor
rotor, select the low (OFF) setting. If the load inertia is higher than that of the motor rotor, select
the high (ON) setting.
4.7 Step Noise Filter
Switch SW12 sets the digital signal lter. The STEP and DIR signal inputs have built-in digital
lters and this setting will reduce external noise. If the system works on the low microstep, select
the 150 KHz (ON) setting. If the system works on the high microstep, select the 2 MHz (OFF) set-
ting.
ON OFF
10 10
ON
High Low
OFF
11 11
ON
150 KHz 2MHz
OFF
12 12

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5 Motor Selection
Each position of the 16-bit rotary switch selects a different motor, and automatically sets the
conguration parameters in the drive. The SR4-Plus drive comes programmed with up to 8 typi-
cal motors as factory defaults. Drives can be customized with specially selected motors when
required.
The rotary switch also selects a low or high inertia for each motor to allow for various load condi-
tions. The low setting is 1:1, and the high setting is 10:1. Each motor in the loaded database has
unique settings to optimize the anti-resonance. See the table below.
When the motor selection is changed, the drive power supply will need to be cycled.
Motor selections ending in L are for low inertia and those ending in H are for high inertia.
Switch Bit SR4-Plus
0 NC
1 14HYB401
2 17HD4452
3 17HD2438
4 17HD6426
5 17HDB401
6 23HS0421
7 23HS2450
8 23HS3455
9 24HS2402
A 24HS5401
B 34HD0403
C 34HD4405
D NC
E NC
F NC

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5.1 Recommended motors
14HY Series 1.8°
Parameters
Parameters
PART# SHAFT WIRING
DIAG
#OF
LEADS
LENGTH HOLDING
TORQUE CURRENT OHMS ROTOR INERTIA
MOTOR
WEIGHT
mm N·m A/PHASE Ω/PHASE g·cm2Kg
14HYB401-03 Single Shaft A 4 40.0 0.2 1.0 4.3 20.0 0.21
17HD Series 1.8°
Parameters
PART# SHAFT WIRING
DIAG
#OF
LEADS
LENGTH HOLDING
TORQUE CURRENT OHMS ROTOR INERTIA
MOTOR
WEIGHT
mm N·m A/PHASE Ω/PHASE g·cm2Kg
17HD4452-02N Single Shaft
A 4
34.3 0.25 1.8 1.5 38.0 0.23
17HD4452-01N Double Shaft
17HD2438-02N Single Shaft
39.8 0.4 1.8 1.9 57.0 0.28
17HD2438-01N Double Shaft
17HD6426-06N Single Shaft
48.3 0.5 1.8 2.3 82.0 0.36
17HD6426-05N Double Shaft
A-A（2：1）
26±0.1
26±0.1
300±10
15±0.2
A
20±0.5
2±0.2
AWG26 UL3266
A
4.5±0.1
40Max. 35.3Max.
35.3Max.
4-M3
Depth 2.5Min.
0
Ø5-0.012
0
Ø22-0.052
C
4.5±0.1
42.3Max.
31±0.1
31±0.1
42.3Max.
AWG26 UL3266
300±10
2±0.2
20 ±0.5
15 ±0.2
CC
15 ±1
L Max.
C
C-C(2:1)
4-M3
Depth 4.5Min.
0
Ø5-0.012
0
Ø22-0.052
These dimensions are for the double shaft models. For the single shaft models,
ignore the shadow ( ) area.

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23HS Series 1.8°
Parameters
PART# SHAFT WIRING
DIAG
#OF
LEADS
LENGTH HOLDING
TORQUE CURRENT OHMS ROTOR INERTIA
MOTOR
WEIGHT
mm N·m A/PHASE Ω/PHASE g·cm2Kg
23HS0421-01 Single Shaft
A 4
41.0 0.6 2.2 1.8 135.0 0.42
23HS0421-02 Double Shaft 54.0 1.2 2.2 2.4 260.0 0.6
23HS2450-01 Single Shaft 76.0 1.8 2.2 2.9 460.0 1.0
23HS2450-02 Double Shaft 41.0 0.6 4.5 0.48 135.0 0.42
23HS3455-01 Single Shaft 54.0 1.2 4.5 0.63 260.0 0.6
23HS3455-02 Double Shaft 76.0 1.8 4.5 0.75 460.0 1.0
24HS Series 1.8°
Parameters
PART# SHAFT WIRING
DIAG
#OF
LEADS
LENGTH HOLDING
TORQUE CURRENT OHMS ROTOR INERTIA
MOTOR
WEIGHT
mm N·m A/PHASE Ω/PHASE g·cm2Kg
24HS2402-08N Single Shaft
A 4
54.0 1.2 4.5 0.43 450.0 0.83
24HS5401-10N Single Shaft
85.0 2.5 4.5 0.65 900.0 1.4
24HS5401-24N Double Shaft
1.6±0.2
4.8±0.3
C
C-C(2:1) D-D(2:1)
D
5.8±0.1 5.8±0.1
15 ±0.2
20.6
±0.5 16 ±1
15 ±0.2
L Max.
Ø38.1±0.05
CD
47.14±0.20
56.4Max.
47.14±0.20
300±10
AWG22 UL3266
4-Ø5.1
+0.200
-0
56.4Max.
0
Ø6.35-0.012 0 Ø6.35-0.012
These dimensions are for the double shaft models. For the single shaft models,
ignore the shadow ( ) area.
60.5Max.
AWG22 UL3266
4-Ø4.52±0.1
47.14±0.35
47.14±0.35
60.5Max.
300±10
7.5±0.1
7.5±0.1
5.8±0.1
D
16 ±1
15 ±0.2
D
20.6 ±0.5
Ø38.1±0.05
L Max.
15 ±0.2
C
C
1.5 ±0.2
C-C(2:1) D-D(2:1)
90°
7.5±0.3
0
Ø8-0.012 0 Ø6.35-0.012
These dimensions are for the double shaft models. For the single shaft models,
ignore the shadow ( ) area.

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6 Error Codes
The SR4-Plus Step Drive has one bicolor (red/green) LED to indicate status. When the motor is
enabled, the green LED ashes slowly. When the green LED is solid, the motor is disabled. If the
red LED ashes, an error has occurred. Errors are indicated by a combination of red and green
ashes as follows:
Code Error
Solid green no alarm, motor disabled
Flashing green no alarm, motor enabled
3 red，1 green drive over heating
3 red，2 green internal voltage out of range
4 red，1 green power supply over voltage
4 red，2 green power supply under voltage
5 red，1 green Over current/short circuit
6 red，1 green Open motor winding
7 Reference Materials
7.1 Mechanical Outline
3
3
112
33
22.50
22.50
4-Ф3.50
2-4.50
22.30
75.50
112
118
Unit:mm

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7.2 Specications
7.2.1 Electrical Specications
Parameter Min. Typ. Max. Unit
Power Supply 24 - 48 VDC
Output Current (Peak) 1.0 - 4.5 amps
Step Frequency 2 - 2M Hz
STEP Minimum Pulse Width Hi and Low 250 - - ns
DIR Minimum Pulse Width 62.5 - - us
Under Voltage Protection - 20 - VDC
Over Voltage Protection - 60 - VDC
STEP/DIR Input Signal Voltage 4.0 - 28 VDC
OUT mxinmum output current - - 100 mA
OUT maximum voltage - - 30 V
7.2.2 Environmental Specications
Heat Sinking Method Natural cooling or fan-forced cooling
Surrounding Air Conditions Avoid dust, oily mist and corrosive air
Operating Temperature 0 - 40°C (32 - 104°F)
Maximum Ambient Humidity 90% non-condensing
Shock 5.9m/s² maximum
Storage Temperature -10 - 70°C (14 - 158°F)

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7.3 Torque Curves
)mNm(euqroT
.
24V 48V
Speed(rps)
180
150
120
90
60
30
0
0 10 20 30 40 50
14HYB401
Drive：SR4-Plus
Microstep：20000 steps/rev
Current：1.0A（Peak）
17HD2438N
Speed(rps)
Torque(mN m)
500
400
300
200
100
00 10 20 30 40 50
.
Drive：SR4-Plus
Microstep：20000 steps/rev
Current：1.8A（Peak）
)mNm(euqroT
.
24V 48V
Speed(rps)
600
500
400
300
200
100
0
0 10 20 30 40 50
23HS0421
Drive：SR4-Plus
Microstep：20000 steps/rev
Current：4.5A（Peak）
)mNm(euqroT
.
24V 48V
Speed(rps)
1200
1000
800
600
400
200
0
0 10 20 30 40 50
24HS2402N
Drive：SR4-Plus
Microstep：20000 steps/rev
Current：4.5A（Peak）
)mNm(euqroT
.
24V 48V
Speed(rps)
2400
2000
1600
1200
800
400
0
0 10 20 30 40 50
24HS5401N
Drive：SR4-Plus
Microstep：20000 steps/rev
Current：4.5A（Peak）
)mNm(euqroT
.
24V 48V
Speed(rps)
1800
1500
1200
900
600
300
0
0 10 20 30 40 50
23HS3455
Drive：SR4-Plus
Microstep：20000 steps/rev
Current：4.5A（Peak）
)mNm(euqroT
.
24V 48V
Speed(rps)
1200
1000
800
600
400
200
0
0 10 20 30 40 50
23HS2450
Drive：SR4-Plus
Microstep：20000 steps/rev
Current：4.5A（Peak）
17HD6426N
Speed(rps)
Torque(mN m)
500
400
300
200
100
00 10 20 30 40 50
.
Drive：SR4-Plus
Microstep：20000 steps/rev
Current：1.8A（Peak）
17HD4452N
Speed(rps)
Torque(mN m)
250
200
150
100
50
00 10 20 30 40 50
.
Drive：SR4-Plus
Microstep：20000 steps/rev
Current：1.8A（Peak）

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8 Contacting MOONS’
Headquarters
No. 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107, P.R. China
Tel: [phone]
Fax: [phone]
E-mail: [email protected]
MOONS' Industries (Europe) S.r.l.
Via Torri Bianche n.1 20059 Vimercate(MB) Italy
Tel: [phone]
Fax: [phone]
MOONS' Industries (South-East Asia) Pte Ltd.
33 Ubi Avenue 3 #08-23 Vertex Singapore 408868
Tel: [phone]
Fax: [phone]
Shenzhen Branch Ofce
Room 2209, 22/F, Kerry Center,No. 2008 Renminnan Road Shenzhen 518001 P. R.China
Tel: [phone]
Fax: [phone]
Beijing Branch Ofce
Room 202, Unit 2, 7th Building,Huilongsen International Science & Technology Industry Park,
No.99, Kechuang 14th
Street,Beijing 101111 P. R.China
Tel: [phone]
Fax: [phone]
Qingdao Branch Ofce
Room 10E, No.73 Wangjiao Mansion, mid. Hongkong Road Qingdao 266071 P. R.China
Tel: [phone]
Fax: [phone]
Wuhan Branch Ofce
Room 3001, World Trade Tower, No.686 Jiefang Avenue, Jianghan District, Wuhan 430022 P.R.China
Tel: [phone]
Fax: [phone]
Nanjing Branch Ofce
Room 302, Building A, Tengfei Creation Center,55 Jiangjun Avenue, Jiangning District,Nanjing
211100 P. R.China
Tel: [phone]
Fax: [phone]
Service Center
[phone]