Moons' M2DC-6D0 User manual

Rev. 1.0
1
SHANGHAI AMP&MOONS’AUTOMATION CO.,LTD.
M2 Series DC Servo System
Quick Setup Guide Manual

Rev. 1.0
2
Introduction
About This Manual
This manual describes the M2DC Servo Drive.
It provides the information required for installation, conguration and basic operation of the M2DC
series servo drive.
This document is intended for persons who are qualied to transport, assemble, commission, and
maintain the equipment described herein.
Documentation Set for the M2DC Series Servo Drive
This manual is part of a documentation set. The entire set consists of the following:
• M2DC Quick Start Guide: Basic setup and operation of the drive
• M2DC Hardware Manual: Hardware installation, conguration and operation
• M Servo Suite Software User Manual: How to use the M Servo Suite software
Safety
Only qualied persons may perform the installation procedures. The following explanations are for
procedures that must be observed in order to prevent harm to people and damage to property.
The M2DC utilizes hazardous voltages. Be sure the drive is properly grounded.
Before you install the M2DC, review the safety instructions in this manual.
Failure to follow the safety instructions may result in personal injury or equipment damage.
Safety Symbols
Safety symbols indicate a potential for personal injury or equipment damage if the recommended
precautions and safe operating practices are not followed.
The following safety-alert symbols are used on the drive and in the documentation:
Caution Warning - Dangerous voltage
Protective earth Caution - Hot surface

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Safety Instructions
Installation
DO NOT subject the product to water, corrosive or ammable gases, or combustibles.
DO NOT use the motor in a place subject to excessive vibration or shock.
Never connect the motor directly to the AC power supply.
DO NOT use cables soaked in water or oil.
DO NOT extrude or pull off the cable, or damage the cables as electrical shocks or damage
may result
DO NOT block the heat dissipating holes. Prevent any metal lings from dropping into the drive
during installation.
DO NOT switch the power supply on and off repeatedly.
DO NOT touch the rotating shaft when the motor is running.
DO NOT strike the motor when during indtallation as the motor shaft or encoder may be dam-
aged.
To prevent accidents, the initial trial run for the servo motor should be conducted under a no-
load condition (separate the motor from its couplings and belts).
Starting system operation without rst matching the correct parameters may result in servo
drive or motor damage, or damage to the mechanical system.
DO NOT touch the drive heat sink, motor, or the regeneration resistor during operation as they
may be very hot.
DO NOT hold the motor by the cable during transportation or installation.
Wiring
DO NOT connect any power supply to the U, V, or W terminals.
Install the encoder cable in a separate conduit from the motor power cable to avoid signal
noise.
Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal and encoder
cables.
A hazardous voltage charge may still remain in the drive even after the power has been re-
moved - Do not touch the terminals when the charge led is still lit.
Please observe the specied voltage(s).
Make sure both the drive and the motor connect to a class 3 ground.
Please ensure the grounding wires are securely connected before power up.
Standards Compliance
The M2DC Series Servo drive has been designed according to standards:
Electromagnetic compatibility Electrical Safety: Low voltage directive
Standard EN 61800-3 (2004) Standard IEC 61800-5-1 (2007)

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Table of Contents
1. Product Description...................................................................................................................6
1.2 Servo Drive Model Introduction.........................................................................................6
1.2.1 Drive Name Plate Description..................................................................................6
1.2.2 Drive Model Description...........................................................................................6
1.2.3 Drive specications..................................................................................................7
1.3 Servo Motor Model Introduction........................................................................................8
1.3.1 Motor Name Plate Description.................................................................................8
1.3.2 Motor Model Description..........................................................................................8
2 Installation ..................................................................................................................................9
2.1 Storage Conditions............................................................................................................9
2.2 Installation Conditions.......................................................................................................9
2.3 Drive Dimensions (Unit: mm) ............................................................................................9
2.4 Installation Space............................................................................................................10
2.5 Motor Installation.............................................................................................................11
3. Connections and Wiring ..........................................................................................................12
3.1 Connecting to Peripheral Devices...................................................................................12
3.1.1 System Conguration ............................................................................................12
3.1.2 Servo Drive Connectors and Terminals.................................................................13
3.1.3 Connections and Wiring Notes ..............................................................................13
3.1.4 Wiring Methods for P1 Power Supply Connector ..................................................14
3.2 Wiring to the P2 Connector ............................................................................................15
3.2.1 Motor Power Cable Conguration................................................................................15
3.2.2 Motor Power Cable Connector(-CD Winding ,6Amps) ..........................................15
3.2.3 Motor Extension Cable Wiring Diagram.................................................................16
3.2.4 Motor Power Cable Connector(-CF Winding,10Amps)..........................................16
3.2.4.1 PIN Assignment............................................................................................16
3.2.4.2 Motor Extension Cable Wiring Diagram .......................................................17
3.3 Encoder Connector CN3.................................................................................................17
3.3.1 Motor Encoder Feedback Cable Conguration......................................................17
3.3.2 Layout of CN3 Connector ......................................................................................18
3.3.3 Connection to Motor Encoder................................................................................18
3.3.4 Specications of Encoder Connector.....................................................................19
3.3.5 Motor Encoder Extension Cable Wiring Diagram .................................................20
3.4 Electromagnetic Brake....................................................................................................21
3.4.1 Wiring Diagram ......................................................................................................21
3.4.2 Brake Motor ...........................................................................................................21
3.4.3 Timing Charts of the Electromagnetic Brake .........................................................22
3.5 Regeneration Resistor ....................................................................................................22
3.6 Recommended Cable Specications ..............................................................................22
3.7 Connecting to the Host Computer - CN1 ........................................................................23
3.8 Input and Output Signal Interface Connector - CN2 .......................................................23
3.8.1 Input and Output Interface Specications and Diagram ........................................23
3.8.2 Layout of CN2 Connector ....................................................................................23
3.8.3 Signal Description of Connector CN2 ....................................................................24
3.8.3.1 Input Signals.................................................................................................25
3.8.3.2 Input Function List ........................................................................................26
3.8.3.3 Output Signals..............................................................................................27
3.8.3.4 Output Function List .....................................................................................28
3.8.4 Encoder Feedback Output.....................................................................................29
3.8.4.1 A/B/Z Connection Diagram...........................................................................29
3.8.4.2 Z Phase Open Collector Output ...................................................................29
3.8.5 Input Signal Interface Connector, CN2 ..................................................................30

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3.8.5.1 Position pulse signal input............................................................................30
3.8.5.2 Analog Signal Input For Velocity And Torque Mode .....................................32
3.8.5.3 High Speed Input Ports X1, X2, X3, X4........................................................33
3.8.5.4 General Digital Input X5, X6, X7, X8 ............................................................35
3.8.5.5 X9, X10, X11, X12 Inputs with common COM Port ......................................37
3.8.6 CN2 Output Signal Specication ...........................................................................38
3.9 STO Connector...............................................................................................................39
3.9.1 Safety Precautions.................................................................................................39
3.9.2 STO Input/Output Signals......................................................................................39
3.9.2.1 STO Internal Circuit Diagram .......................................................................39
3.9.2.2 CN5 Connector diagram...............................................................................40
3.9.2.3 STO Signal Denition ...................................................................................40
3.9.2.4 STO Connection Diagrams ..........................................................................41
4. Display and Operation.............................................................................................................42
4.1 Control Panel Description ...............................................................................................42
4.2 Mode Switch Control.......................................................................................................43
4.3 LED display description...................................................................................................45
4.3.1 Decimal Point And Negative Sign Description .......................................................45
4.3.2 Parameter View Setting .........................................................................................45
4.3.3 Parameter Save Setting.........................................................................................46
4.3.4 Point To Point Motion Mode ..................................................................................46
4.3.5 Jog Mode ...............................................................................................................46
4.3.6 Control Panel Lock ................................................................................................46
4.4 Status Monitoring Selection Mode ..................................................................................47
4.5 Function Control Mode....................................................................................................49
4.5.1 Function Mode Description ....................................................................................50
4.5.2 Operation Flow Chart.............................................................................................51
4.6 Parameter Setting Mode .................................................................................................52
4.6.1 Parameter Setting Description...............................................................................52
4.6.2 Parameter Editing Examples .................................................................................53
4.7 Control Panel Lock..........................................................................................................54
4.8 Warning And Fault Display ..............................................................................................54
5. Preoperational mode ...............................................................................................................56
5.1 Inspection Before Trial Run............................................................................................56
5.2 Trial Run Procedure ........................................................................................................57
5.3 Motor Conguration.........................................................................................................58
5.3.1 Using the Drive Control Panel for conguration.....................................................58
5.3.2 Using M Servo Suite Software for conguration ....................................................59
5.4 Operations of JOG Mode ................................................................................................60
5.5 Conguration by Personal Computer..............................................................................61
6.Drive alarm causes and solutions.............................................................................................62
7. Position Mode..........................................................................................................................66
7.1 Digital Pulse Position Mode Connection Diagram...........................................................66
7.2 Velocity Mode Connection Diagram ................................................................................67
7.3 Analog Torque Mode Connection Diagram .....................................................................68

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1. Product Description
1.1 System Checklist
A complete and workable M2DC servo system should include the following parts:
A matched servo drive and servo motor (see section 2.4 for recommended combinations)
1. A power cable with a 4-PIN connector to connect P1 (V+, V-, AUX+) to supply power to the
drive
2. A motor cable with a 5-PIN connector to supply the servo motor with power from the drive and
to connect a regenerative resistor through P2 (U, V, W)
3. An encoder cable with a 26-PIN connector to connect port CN3 for encoder feedback
4. A mini USB cable to connect port CN1 to a PC for communication
5. An I/O cable with a 50-PIN connector to connect port CN2 for I/O
6. Cables with RJ-45 connectors to connect ports CN6 and CN7 for RS-485 or CANopen com-
munication
1.2 Servo Drive Model Introduction
1.2.1 Drive Name Plate Description
Model No.
www.moons.com.cn
Voltage
Output Current
Model No.M2DC-6D05X
Serial No.
09450001
INPUT
6 A
OUTPUT
VOLT. 0-60VDC20-60VDC
F.L.C
DC SERVO
DRIVE
M2
RoHSAssembled in China
Designed in California by
Serial No.
1.2.2 Drive Model Description
M2DC - 6D0 5 S ***
M2 Series DC Servo Drive Customized Specification (If Applicable)
Current
Code Continuous Current (RMS) Boost Current (RMS)
6D0 6.0A 18.0A
10D 10.0A 30.0A
Voltage Code Input Voltage
5 10-60VDC
Communication
Code Configuration type Description Communication
type
S
Mini USB
Basic Type - - - - - -
Q Q Type RS-232
R Q Type (Modbus/RTU) RS-485
C CANopen Type CANBus
D eSCL Type Ethernet
IP EtherNet/IP Type Ethernet

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1.2.3 Drive specications
Input Power M2DC-6D0
M2DC-10D
Main Circuit 20 - 60VDC
Control
Circuit 10- 60VDC
Environment
Temperature
Ambient temperature: 0°C to 50°C (if the ambient temperature of
the servo drive is greater than 40°C, please install the drive in a
well-ventilated location)
Storage temperature: -20°C to 65°C
Humidity Both operating and storage: 10 to 85%RH or less
Altitude Lower than 1000m
Vibration 5.88m/s2 or less, 10 to 60Hz
(do not use continuously at resonance frequency)
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 2500 ppr optical encoder with shared commutation signals
I/O
Control
Signal
Input 8 optically isolated multi function inputs, 5-24VDC, 20mA 2 optically isolated multi function high speed inputs, 5-24VDC,
20mA
Output 6 optically isolated multi function outputs, 5-24VDC, 20mA
Analog signal Input 2 inputs (12Bit A/D: 2 input)
Pulse signal Input 1 photocoupler input compatible with both line driver I/F and open
collector I/F
1 line receiver input compatible with line driver I/F
Output 3 line driver outputs, 1 open collector output
Communication
Mini USB Connection with PC or 1 : 1 communication to a host.
RS-232 RS-232 communication
RS-485 RS-485 communication & Modbus/RTU
CANbus CANopen communication
Ethernet EtherNET/IP or eSCL
Front panel 4 keys (MODE, UP, DOWN, SET), LED (5-digit)
Regeneration Resistor Built-in regenerative resistor (external resistor is also enabled)
Dynamic Brake Built-in
Control modes (1) Position mode (2) Analog velocity mode (3) Analog position mode (4) Position mode (5) Velocity change mode (6) Com-
mand torque mode (7) Command velocity mode
Control inputs (1) Servo-ON input (2) Alarm clear input (3) CW/CCW Limit (4) Pulse& Direction or CW/CCW input (5) Gain Switch (6) Control
mode Switch (7) Pulse Inhibition (8) General Input
Control outputs (1) Alarm output (2) Servo-Ready output (3) External brake re- lease (4) Speed arrival output (5) Torque arrival output (6) Tach
out (7) General output (8) Position arrival output
Certication RoHS, EN 61800-3:2004, EN 61800-5-1:2007

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1.3 Servo Motor Model Introduction
1.3.1 Motor Name Plate Description
Mode NO.
Series NO.
Input
Max. Speed
Ins.Class
Ouyput Power
Rated Torque,speed
1.3.2 Motor Model Description
Customized Specification (If Applicable)
Servo Motor
Frame Size
04 40mm
06 60mm
08 80mm
Wattage code Motor Length (mm)
40 60 80
01 60W 200W
02 100W 400W 300W
03 550W
Feedback
E4 2500 ppr optical encoder with shared commutation signals
Shaft and Lead/Connector Style
KCD 300mm Shielded Cable with non-Sealed Connectors -
For Winings up to 6.5Amps
KCF 300mm Shielded Cable with non-Sealed Connectors -
For Winings 6.6 to 12.5 Amps
Brake Option
N No Brake
B 24VDCBrake
Input
Voltage(DC)
E 80V
F 60V
G 48V
H 36V
SM0602FE4-KCF-NNV**

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2 Installation
2.1 Storage Conditions
Store properly packaged in a clean and dry environment,away from direct sunlight
Store in an ambient temperature range of -10°C to +85°C
Store where the relative humidity range is 10% to 85% with non-condensing
DO NOT store in a place exposed to corrosive gases
2.2 Installation Conditions
Temperature range of 0°C to 50°C. If the ambient temperature of the servo drive is greater than 40°C,
please install it in a well-ventilated location.
The ambient temperature of the servo drive for long-term reliability should be less than 45°C.
The servo drive and motor will generate heat; if they are installed in a control panel, please
ensure sufcient space around the units for heat dissipation.
Operate where the relative humidity range is 10% to 85% and non-condensing
Install where the vibration is lower than 5.88m/s2, 10Hz-60Hz (DO NOT use the drive for extended
periods of time at the resonance point.)
DO NOT install the servo drive and motor in a location subjected to corrosive or ammable gases, or
combustibles.
Install the servo drive and motor in an indoor electric control cabinet.
DO NOT install the servo drive and motor in a location subject to airborne dust.
2.3 Drive Dimensions (Unit: mm)
41
150
97
139.5
6
28.5
6.5
5
R2.5

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2.4 Installation Space
Incorrect installation may result in a drive malfunction or premature failure of the drive and/or motor.
Please follow the guidelines in this manual when installing the servo drive and motor.
The M2DC servo drive should be installed perpendicular to the wall or in a control panel.
In order to ensure the drive is well ventilated, make sure ventilation holes are not obstructed, there is
sufcient free space around the servo drive, and a cooling fan is mounted in the control panel.
Ensure the grounding wires are securely connected
Fan Fan
100mm
100mm
80mm
10mm 10mm 10mm
10mm
10mm
10mm
20mm
20mm

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2.5 Motor Installation
DO NOT strike the motor when installing it as the motor shaft or encoder may be damaged.
DO NOT use cables that have been soaked with water or oil.
Avoid a stress application to the cable outlet and connecting portion by bending.
Use exible cables when using a cable carrier, and make sure the minimum cable bending diameter is
200mm.
The shaft through hole and cable end connector are not IP65 designed. Be careful to prevent any
liquid or oil from getting into the motor at these areas.

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3. Connections and Wiring
3.1 Connecting to Peripheral Devices
3.1.1 System Conguration
USB Cable
Motor Feedback Cable
LED Display
The 5 digit, 7 segment LED displays
the diver status and faults.
Operation Panel
Function keys are used to perform status
display, monitor and diagnostic,
function and parameter setting.
Motor Power Cable
PC/Configuration
STO Interface
CANBus, RS-485, Ethernet
Communication Port
I/O Interface
Used to connect PLC, motion card
and other controllers.
PLC
Motion
Control Card
AUX Power
MAIN Power
AC
Source
AC-DC Power Supply

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3.1.2 Servo Drive Connectors and Terminals
Terminal
Identication Description Details
P1
V+, V- Used to connect DC main circuit power
AUX Used to connect an auxiliary circuit power
Ground
P2 U, V, W
Used to connect servo motor
Terminal
Symbol Wire color Description
U Red
Connects to servo motorVYellow
WBlue
Ground
CN1 Communication Port User to connect PC
CN2 I/O Connector Used to connect external controllers
CN3 Encoder Feedback Con-
nector Used to connect servo motor encoder
CN4 Reserved
CN5 STO Connector Used to connect STO (Safe Torque Off)
CN6
RS-485/CANopen Port
Ethernet Port
*RS-232 Communication
Port
RJ45 connector, Daisy Chain, Used for RS-485/CANopen/
Ethernet
*RS-232 Communication Port (-Q Type Only)
CN7
RS-485/CANopen Port
Ethernet Port
Communication Port
RJ45 connector, Daisy Chain, Used for RS-485/CANopen /
Ethernet
Communication
3.1.3 Connections and Wiring Notes
• Ensure the grounding wires are securely connected. Wire with a cross section of more than
2.0mm2is recommended.
• Grounding method must be single point grounding.
• Ensure V+ and V- are correctly wired, and voltage supplies are within the specied range.
• Auxiliary power V+ connects to drive AUX connector, auxiliary power V- connects to drive V-.
• Ensure U/V/W is wired following the order of RED/YELLOW/BLUE.
• An isolation transformer or EMI lter is recommended on drive’s power supply to ensure the
drive’s safety and improve its anti-interference level.
• Set up emergency stop circuitry to switch off the power supply when a fault occurs.
• DO NOT touch the drive or motor’s connector terminals for at least 5 minutes after the drive and
motor have been powered off. There are electrical charge components in the circuitry which discharge
slowly.
• Install the encoder cables in a separate conduit from the motor power cables to avoid signal
noise. Separate the conduits by at least 30cm (11.8 inches).
• Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for the encoder feedback
cables.
• The maximum length of the signal input/output cable should be no more 5 meters, and the en-
coder (PG) feedback cable no more than 15 meters.

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3.1.4 Wiring Methods for P1 Power Supply Connector
Power for the M2DC servo drives comes from 2 different sources
Pin Function Input Power
Main power supply V+, V- Drive’s main power input 20 - 60VDC
Control circuitry power/auxiliary
power AUX, V-
When the main power supply is off, the AUX
power will keep the logic circuitry alive, allow-
ing the drive to remember its current state data
(motor position, etc.) The motor is then able
to resume operation without running a homing
routine while the main power is switch-on
again.
10 - 60VDC
M2DC Servo Drive
Main power
18 - 70VDC
Control circuitry/
auxiliary power
DC in+
DC GND
DC in+
V+
V-
AUX
P1 P2
CN3
U
V
W
red
yellow
blue
yellow/green
Encoder connector
*
*Note: For optimized motion performance, make sure the main power input voltage is higher
than the motor winding voltage by at least 2VDC.

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3.2 Wiring to the P2 Connector
Please follow Chart 5.3 before power up.
3.2.1 Motor Power Cable Conguration
U
V
W
P2 interface of the drive Motor power
extension cable
connector
Motor
lead wire
connector
3.2.2 Motor Power Cable Connector(-CD Winding ,6Amps)
APIN Assignment
A B
View A View B
Pin 1 2 34
Signal U V W PE
Color Red Yellow Blue Yellow/Green
BMotor Connector Specications
Type Motor side (plug) Plug-in (housing)
Housing AMP 172167-1 AMP 172159-1
Terminal AMP 170360-1 AMP 170362-1

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3.2.3 Motor Extension Cable Wiring Diagram
Housing: 172159-1(AMP)
Terminal: 170362-1(AMP)
Drive side (P2)
Signal Color Motor side (housing)
5452571(Phoenix) AMP 172159-1
U U Red 1
V V Yellow 2
W W Blue 3
PE Yellow/Green 4
3.2.4 Motor Power Cable Connector(-CF Winding,10Amps)
3.2.4.1 PIN Assignment
A
A side view B side view
Cover：350780-1(AMP)
Pin：350536-1(AMP)
B
Pin 1 2 34
Signal U V W PE
Color Red Yellow Blue Yellow/Green
Motor Connector Specications
Type Motor side (plug) Plug-in (housing)
Housing AMP 350-779-1 AMP 350780-1
Terminal AMP 350218-1 AMP 350536-1

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3.2.4.2 Motor Extension Cable Wiring Diagram
Housing :350780-1
Terminal:350536-1
Drive side (P2)
Signal Color Motor side (housing)
5452571 (Phoenix) AMP 350780-1
U U Red 1
V V Yellow 2
W W Bleu 3
PE Yellow/Green 4
Ensure U/V/W is wired in the order of RED/YELLOW/BLUE.
3.3 Encoder Connector CN3
3.3.1 Motor Encoder Feedback Cable Conguration
CN3 interface of the drive Encoder
extension cable
connector Motor encoder
connector

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3.3.2 Layout of CN3 Connector
1
13
14
26
1
2
12
13
15
14
25
26
AB
View A
View B
Pin NO. Symbol Description
1A+ Encoder A+
2B+ Encoder B+
3Z+ Encoder Z+
4 U+ Hall U+
5 W+ Hall W+
6U- Hall U-
7W- Hall W-
11 Encoder +5V Encoder power supply +5V
13 Encoder +5V Encoder power supply +5V
14 A- Encoder A-
15 B- Encoder B-
16 Z- Encoder Z-
17 V+ Hall V+
19 V- Hall V-
24 GND Encoder power supply ground
26 Shield Shield
3.3.3 Connection to Motor Encoder
Connect to 2500ppr Increment Encoder (9PIN AMP connector)
Motor Encoder Servo Drive CN3
A+
1A-
4B+
2B-
5Z+
3Z-
6+5V
7GND
8Shield
9
1
14
2
15
3
16
11
24
26
A+
A-
B+
B-
Z+
Z-
+5V
GND
Shield

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3.3.4 Specications of Encoder Connector
A. -E4 Encoder Connector PIN Assignment
1 3
79
A
View A
PIN# Signal Colour
1U+/A+ Blue
2V+/B+ Green
3W+/Z+ Yellow
4 U-/A- Yellow/Black
5 V-/B- Green/Black
6W-/Z- Yellow/Black
7 +5V Red
8 GND Black
9 Shield Shield
NOTE: The HALL signal U/V/W ONLY appears for short time after the encoder is powered on,
it will then covert to A/B/Z signals.
B. -E4 Encoder Connector Specications
Type Motor Plug Housing for the motor
Housing AMP 172169-1 AMP 172161-1
Terminal AMP 770835-1 AMP 770834-1

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3.3.5 Motor Encoder Extension Cable Wiring Diagram
-E4 Encoder Encoder Cable Diagram
Connect to drive Connect to Motor
1
3
7
9
A
View A
Drive Side Signal Color Housing for the motor
TYCO 3-22322346-1 AMP 172161-1
1A+/U+ Blue 1
2B+/V+ Green 2
3Z+/W+ Yellow 3
14 A-/U- Yellow/Black 4
15 B-/V- Green/Black 5
16 Z-/W- Yellow/Black 6
11 +5V Red 7
24 GND Black 8
26 Shield Shield 9