Moons' RS03-S-A User manual

9 / 28 / 2015
RS03/06-S/Q
Step-Servo System
Hardware Manual
SHANGHAI AMP & MOONS’AUTOMATION CO.,LTD.

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Contents
1. Introduction......................................................................................4
1.1 Features..................................................................................4
1.2 Block Diagram ........................................................................5
1.3 Safety Instructions..................................................................6
2. Getting Started................................................................................7
2.1 Installing Software ..................................................................7
2.2 Mounting the Hardware ..........................................................9
2.3 Choosing a Power Supply .....................................................10
2.3.1 Voltage ......................................................................10
2.3.2 Regeneration Clamp
.................................................10
2.3.3 Current.......................................................................11
3. Installation/Connections..................................................................19
3.1 Connecting the Power Supply ................................................19
3.2 Connecting the Motor .............................................................20
3.3 Connecting to the PC using RS-232
.......................................21
3.4 Inputs and Outputs .................................................................22
3.4.1 Digital Inputs..............................................................23
3.4.1.1 X1/STEP/CW Limit and X2/DIR/CCW
Limit High Speed Digital Inputs......................23
3.4.1.2 X3/EN, X4/AR Digital Inputs..........................25
3.4.2 Digital Outputs...........................................................26
3.4.2.1 Y1/ALARM,Y2/IN POSITION,Y3/BRAKE
Digital Outputs...............................................26
4. Troubleshooting ..............................................................................27
4.1 LED Error Codes ...................................................................27
5. Reference Materials........................................................................28
5.1 Drive Mechanical Outlines (Unit: mm)....................................28
5.2 Technical Specifications..........................................................29
5.3 Recommended Motor.............................................................30
5.4 Motor Outlines ........................................................................31
AM11RS .............................................................................31
AM17RS.............................................................................31
AM23RS.............................................................................32
AM24RS.............................................................................33
5.5 Torque Curves ........................................................................34
AM11RS Series..................................................................34

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AM17RS Series..................................................................34
AM23RS Series..................................................................35
AM24RS Series..................................................................35
5.6 Motor Numbering System.......................................................36
5.7 Drive Numbering System........................................................36
6. Optional Accessories (Sold separately)...........................................37
7. Contacting MOONS’.....................................................................41
This User Manual is only applicable to the following models.
Models Communication
RS-232
RS03-S-A 
RS06-S-A 
RS03-Q-A 
RS06-Q-A 

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1. Introduction
Thank you for selecting the MOONS’RS series Step-Servo drive and motor. The Step-Servo is
an innovative revolution for the world of stepper motor; it enhances the stepper motors with servo
technology to create a product with exceptional feature and broad capability.
1.1 Features
•Programmable, digital step-servo drive and motor package
•Operates from a 24 to 70 volt DC power supply
•Control modes:
Torque Control
* SCL command
Velocity Control
* Digital input Control Velocity
* SCL command Velocity
Position Control
* Digital Input
•Pulse & Direction
•CW/CCW Pulse
•A/B quadrature(Encoder following)
* SCL command
Q programming(-Q model only)
* Stand alone operation
•RS-232 serial communication
•Encoder resolution: 1024 lines (4096 counts/rev) for RS step-servo motor
•RS03 output current: continuous 3A, boost 4A
•RS06 output current: continuous 6A, boost 7.5A
•4 optically isolated digital inputs, with adjustable bandwidth digital noise rejection filter,
5-24VDC
•3 optically isolated digital outputs, max 30V/100mA
•Technological advance
Full servo control, Closed loop
Efficient, Accurate, Fast, Smooth
Intelligent, Compact

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1.2 Block Diagram
Block Diagram
MOSFET
PWM
Power
Amplifier
24 - 70 VDC
External
Power Supply
Voltage
Temp
Detect
Over
Current
Detect
motor
encoder
5 Volt DC
Power Supply
DSP
Driver
Controller
3.3VDC
Internal
Logic
Supply
RS03/06-S/Q
+
Status
RS-232
Comm
Conn Power
Conn
RS-232
RXD,+5V,TXD,GND
-
Optical
Iso
Optical
ISO Digital Filter Software Filter
Y1+
Y1-
Y2+
Y2-
Y3+
Y3-
X1/STEP+
X1/STEP-
X2/DIR+
X2/DIR-
XCOM
X3
X4
I/O Connector

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1.3 Safety Instructions
Only qualified personnel should transport, assemble, install, operate, or maintain this equipment.
Properly qualified personnel are persons who are familiar with the transport, assembly, installation,
operation, and maintenance of motors, and who meet the appropriate qualifications for their jobs.
To minimize the risk of potential safety problems, all applicable local and national codes regulating
the installation and operation of equipment should be followed. These codes may vary from area
to area and it is the responsibility of the operating personnel to determine which codes should be
followed, and to verify that the equipment, installation, and operation are in compliance with the
latest revision of these codes.
Equipment damage or serious injury to personnel can result from the failure to follow all applicable
codes and standards. MOONS’ does not guarantee the products described in this publication
are suitable for a particular application, nor do they assume any responsibility for product design,
installation, or operation.
•Read all available documentation before assembly and operation. Incorrect handling of the
products referenced in this manual can result in injury and damage to persons and machinery.
All technical information concerning the installation requirements must be strictly adhered to.
•It is vital to ensure that all system components are connected to earth ground. Electrical safety
is impossible without a low-resistance earth connection.
•This product contains electrostatically sensitive components that can be damaged by incorrect
handling. Follow qualified anti-static procedures before touching the product.
•During operation keep all covers and cabinet doors shut to avoid any hazards that could
possibly cause severe damage to the product or personal health.
•During operation, the product may have components that are live or have hot surfaces.
•Never plug in or unplug the Integrated Motor while the system is live. The possibility of electric
arcing can cause damage.
Be alert to the potential for personal injury. Follow recommended precautions and safe operating
practices emphasized with alert symbols. Safety notices in this manual provide important
information. Read and be familiar with these instructions before attempting installation, operation,
or maintenance. The purpose of this section is to alert users to the possible safety hazards
associated with this equipment and the precautions necessary to reduce the risk of personal injury
and damage to equipment. Failure to observe these precautions could result in serious bodily
injury, damage to the equipment, or operational difficulty.

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2. Getting Started
The following items are needed:
•A 24-70 Volt DC power supply, see the section below entitled “Choose a Power Supply”for
help in choosing the right one.
•A compatible RS motor, please see the section below entitled “Recommended Motor”
•A small flat blade screwdriver for tightening the connectors screw (included)
•A PC running Microsoft Windows XP/Vista/Windows 7/Windows 8 32-bit or 64-bit (Using serial
communication port. Need a USB to Serial converter if the PC doesn’t have)
•A RS-232 communication cable (included)
2.1 Installing Software
Step-Servo Quick Tuner is the PC based software application used to configure, and perform
servo tuning, drive testing and evaluation of the step-servo products. System servo control gains,
drive functionality and I/O configuration are set with Step-Servo Quick Tuner. It also contains an
oscilloscope function to help set the servo control gains. For Q type driver, this software can be
used to edit and download Q program to your drive. Motion simulation and status monitor are also
included.

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•Download the Step-Servo Quick Tuner from the MOONS’website and install it.
•Launch the software by clicking Start-----Programs ----MOONS’ -----Step-Servo Quick Tuner
•Connect the drive to PC by RS-232 cable. Please select right COM port in the software.
•Connect the drive to the Power Supply.
•Connect the motor to the drive.
•Power up the drive.
•The software will recognize your drive, display the model and firmware version and it’s ready
for action.
The connectors and other points of interest are illustrated below:
LED
RS-232 Connector
I/O Connector
Encoder Connector
Motor Connector
Power Connector
To Earth Ground
Model
RS03-S-A RS06-S-A
RS03-Q-A RS06-Q-A

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2.2 Mounting the Hardware
Use the M3 or M4 screw to mount the RS series drive .The drive should be securely fastened to a
smooth ,flat metal surface the will help conduct heat away from the chassis. If this is not possible,
forced airflow from a fan maybe required to prevent the drive from overheating.
•Never use the drive where there is no airflow or where other devices cause the
surrounding air to be more than 40°C (104°F).
•Never put the drive where it can get wet.
•Never use the drive where metal or other electrically conductive particles can
infiltrate the drive.
•Always provide airflow around the drive. When mounting multiple RS drives
near each other, maintain at least 1.5cm of space between drives.

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2.3 Choosing a Power Supply
The main considerations when choosing a power supply are the voltage and current requirements
for the application.
2.3.1 Voltage
The RS driver is designed to give optimum performance between 24 and 70 Volts DC. Choosing
the voltage depends on the performance needed and motor/drive heating that is acceptable and/
or does not cause a drive over-temperature. Higher voltages will give higher speed performance
but will cause the RS driver to produce higher temperatures. Using power supplies with voltage
outputs that are near the drive maximum may significantly reduce the operational duty-cycle.
The extended range of operation can be as low as 18 VDC minimum to as high as 75 VDC
maximum. When operating below 18 VDC, the power supply input may require larger capacitance
to prevent under-voltage and internal-supply alarms. Current spikes may make supply readings
erratic. The supply input cannot go below 18 VDC for reliable operation. Absolute minimum power
supply input is 18 VDC. If the Input supply drops below 18 VDC the low voltage alarm will be
triggered. This will not fault the drive.
Absolute maximum power supply input is 75 VDC at which point an over-voltage alarm and fault
will occur. When using a power supply that is regulated and is near the drive maximum voltage
of 75 VDC, a voltage clamp may be required to prevent over-voltage when regeneration occurs.
When using an unregulated power supply, make sure the no-load voltage of the supply does not
exceed the drive’s maximum input voltage of 75 VDC.
2.3.2 Regeneration Clamp
If a regulated power supply is being used, there may be a problem with regeneration. When a
load decelerates rapidly from a high speed, some of the kinetic energy of the load is transferred
back to the power supply, possibly tripping the over-voltage protection of a regulated power
supply, causing it to shut down. This problem can be solved with the use of a MOONS’RC880
Regeneration Clamp. It is recommended that an RC880 initially be installed in an application. If
the “regen”LED on the RC880 never flashes, the clamp is not necessary.
LEDs
Green - Power
Red - Regen on
RC880 Regen Clamp

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2.3.3 Current
The maximum supply currents required by the RS series step servo drive and motor are shown
below in chats at different power supply voltage input. The RS drive power supply current is lower
than the winding currents because it uses switching amplifiers to convert a high voltage and low
current into low voltage and high current. The more power supply voltage exceeds the motor
voltage, the less current will be required from the power supply.
It is important to note that the current draw is significantly different at higher speeds depending
on the torque load to the motor. Estimating how much current is necessary may require a good
analysis of the load to the motor.
AM11RS1DMA 24V Power
0.0
0.2
0.4
0.6
0.8
1.0
1.2
0
20
40
60
80
100
0 10 20 30 40 50
Torque(mN.m)
Speed(RPS)
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
AM11RS2DMA 24V Power
0.0
0.2
0.4
0.6
0.8
1.0
1.2
0
30
60
90
120
150
0 10 20 30 40 50
Torque(mN.m)
Speed(RPS)
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad

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AM11RS3DMA 24V Power
0.0
0.2
0.4
0.6
0.8
1.0
1.2
0
40
80
120
160
200
0 10 20 30 40 50
Torque(mN.m)
Speed(RPS)
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
0
0.1
0.2
0.3
0.4
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM17RS1DM□24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
0
0.1
0.2
0.3
0.4
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM17RS1DM□48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad

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0
0.5
1
1.5
0
0.1
0.2
0.3
0.4
0.5
0.6
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM17RS2DM□24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
0
0.1
0.2
0.3
0.4
0.5
0.6
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM17RS2DM□48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM17RS3DM□24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad

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0
0.5
1
1.5
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM17RS3DM□48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
Torque(N.m)
Speed(RPS)
AM17RS4DM□24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
0
0.2
0.4
0.6
0.8
1.0
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM17RS4DM□48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
0
0.2
0.4
0.6
0.8
1.0
0 10 20 30 40 50

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Torque(N.m)
Speed(RPS)
AM23RS2DM□24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.3
0.6
0.9
1.2
1.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM23RS2DM□48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.3
0.6
0.9
1.2
1.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM23RS2DM□70V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.3
0.6
0.9
1.2
1.5
0 10 20 30 40 50

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Torque(N.m)
Speed(RPS)
AM23RS3DM□24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.5
1
1.5
2
2.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM23RS3DM□48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.5
1
1.5
2
2.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM23RS3DM□70V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.5
1
1.5
2
2.5
0 10 20 30 40 50

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Torque(N.m)
Speed(RPS)
AM23RS4DM□24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
0
1
0.5
2
1.5
2.5
3
3.5
0 10 20 30 40 50
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
0
1
0.5
2
1.5
2.5
3
3.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM23RS4DM□48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
0
1
0.5
2
1.5
2.5
3
3.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM23RS4DM□70V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad

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Torque(N.m)
Speed(RPS)
AM24RS3DM□24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
0
0.5
1
1.5
2
2.5
3
3.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM24RS3DM□48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
0
0.5
1
1.5
2
2.5
3
3.5
0 10 20 30 40 50
Torque(N.m)
Speed(RPS)
AM24RS3DM□70V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
0
0.5
1
1.5
2
2.5
3
3.5
0 10 20 30 40 50

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3. Installation/Connections
3.1 Connecting the Power Supply
The RS series step servo drive and motor are shipped with a power cable, 2 meters long. Connect
the red wire to the positive of the power supply. Connect the black wire to the negative of the
power supply. Plug the cable into the power connector of the drive.
The red wire is connected to the V+ of the drive. The black wire is connected to the V- of the drive.
Be careful not to reverse the wires. Reversing the connection may open the
internal fuse on the drive and void the warranty.
2 1
V+ V -
J1
Power Connector
Connect the chassis to the earth ground through the grounding screws.
To Earth Ground
The section entitled “2.3 Choosing a Power Supply”will help you to select a right power supply.

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3.2 Connecting the Motor
The RS motors have two cables. One is the motor power cable, the other one is the encoder
feedback cable. Plug the motor power cable into the motor connector on the drive and plug the
encoder feedback cable into the encoder feedback connector on the drive.
Do not damage or drag the cables on the motor.
MA-
MA+
3 1
24 MB+
MB-
J2
J3
A+
B+
Z+
+5V
NC
U+
V+
W+
A-
B-
Z-
GND
Shield
U-
V-
W-
1
3
5
7
9
11
13
15
2
4
6
8
10
12
14
16
Motor connector on the driver Encoder connector on the driver