Moons' SS03-S-A User manual

Rev. 1.1
0004102014
SS-S/Q/C
Step-Servo Drive
Hardware Manual
SHANGHAI AMP & MOONSýAUTOMATION CO.,LTD.

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Rev. 1.1
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400-820-9661
Contents
1 Introduction .................................................................................4
1.1 Features ............................................................................................4
1.2 Block Diagram ...................................................................................5
1.3 Safety Instructions.............................................................................7
2 Getting Started ............................................................................8
2.1 Installing Software .............................................................................8
2.2 Connecting to the PC using RS-232................................................10
2.3 Connecting to a Host using RS-485 ................................................10
2.3.1 RS-485 Four-wire Con¿guration ..........................................................11
2.3.2 RS-485 Tow-wire Con¿guration ...........................................................11
2.4 Connecting to a host using CANopen..............................................11
2.5 Connecting the Power Supply .........................................................12
2.6 Choosing A Power Supply ...............................................................12
2.6.1 Voltage ................................................................................................12
2.6.2 Current ................................................................................................13
2.7 Connect to Motor.............................................................................23
3 Inputs and Outputs....................................................................24
3.1 Digital Inputs....................................................................................25
3.1.1 X1/STEP and X2/DIR High Speed Digital Inputs .................................25
3.1.2 X3/CW LIMIT and X4/CCW LIMIT High-speed Digital Inputs...............26
3.1.3 X5/EN, X6/AR,X7 and X8 Digital Inputs...............................................27
3.2 Digital Outputs.................................................................................28
3.2.1 Y1/ALARM,Y2/IN POSITION,Y3 and Y4 Digital Outputs.....................28
3.3 Analog Inputs...................................................................................29
4 Mounting the Drive ....................................................................30
5 LED Display...............................................................................30
5.1 Operation Mode...............................................................................30
5.2 Alarm Error Code.............................................................................31
5.3 Assigning RS-485 Address .............................................................32
5.4
RS-485 Baud Rate and Terminating Resistor.........................................33
5.5 Assigning CANopen Address...........................................................33
5.6
CANopen Baud Rate and Terminating Resistor .....................................33
6 Reference Materials ..................................................................34
6.1 Drive Mechanical Outlines...............................................................34
6.2 Technical Speci¿cations...................................................................35

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6.3 Recommended Motor......................................................................36
6.4 Motor Outlines .................................................................................37
6.5 Torque Curves .................................................................................39
6.6 Motor Numbering System ...............................................................41
6.7 Drive Numbering System ................................................................41
7 Optional Accessories (Sold separately).....................................42
8 Contacting MOONSý...............................................................44
This User Manual is only applicable to the following models.
Models Communications
RS-232 RS-485 CANopen
SS03-S-A 9
SS05-S-A 9
SS10-S-A 9
SS03-S-R 99
SS05-S-R 99
SS10-S-R 99
SS03-Q-A 9
SS05-Q-A 9
SS10-Q-A 9
SS03-Q-R 99
SS05-Q-R 99
SS10-Q-R 99
SS03-C-C 99
SS05-C-C 99
SS10-C-C 99

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1 Introduction
Thank you for selecting the MOONS’ SS series Step-Servo drive and motor. SS series combines
servo technology with an stepper motor to create a product with exceptional feature an broad
capability.
1.1 Features
 Programmable, digital step-servo drive and motor package
 Operates from a 24 to 75 volt DC power supply
 Control modes:
Torque Control
* Analog input
* SCL command
Velocity Control
* Digital input Control Velocity
* Analog velocity
* SCL command Velocity
Position Control
* Digital Input
 Pulse & Direction
 CW/CCW Pulse
 A/B quadrature(Encoder following)
* Analog Control
* SCL command
Q programming(-Q or -C model)
* Stand alone operation
CANopen (-C model only)
 Compliant with CiA301 and CiA402
 RS-232 serial communication
 Optional RS-422/485 communication
 Encoder resolution: 20000 counts/rev for AM17/23/24/34SS motor
 4096 counts/rev for AM11SS motor
 SS03 output current: continuous 3A, boost 4.5A
 SS05 output current: continuous 5A, boost 7.5A
 SS10 output current: continuous 10A, boost 15A
 8 optically isolated digital inputs,5-24VDC
 4 optically isolated digital outputs,max30V/100mA
 DQDORJLQSXVFDQEHFRQ¿JXUHGWR999RU9VLJQDOUDQJHV
 Technological advance
Full servo control, Closed loop,
(I¿FLHQW$FFXUDWH)DVW6PRRWK
Intelligent, Compact

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1.2 Block Diagram

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1.3 Safety Instructions
Only quali¿ed personnel should transport, assemble, install, operate, or maintain this equipment.
Properly quali¿ed personnel are persons who are familiar with the transport, assembly, installation,
operation, and maintenance of motors, and who meet the appropriate quali¿cations 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. MOONSýdoes 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 quali¿ed 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 dif¿culty.

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2 Getting Started
The following items are needed:
 A 24-75 Volt DC power supply, see the section below entitled “Choose a Power Supply” for
help in choosing the right one.
 A compatible SS motor, please see the section below entitled “Recommended Motor”
 $VPDOOÀDWEODGHVFUHZGULYHUIRUWLJKWHQLQJWKHFRQQHFWRUVVFUHZLQFOXGHG
 A PC running Microsoft Windows XP/Vista/Windows7(Using serial communication port. Need a
USB to Serial converter if the PC doesn’t have. )
 A RS-232 communication cable(included)
 Require CAT5 cable for RS-485 or CANopen daisy chain connection.
2.1 Installing Software
6WHS6HUYR4XLFN7XQHULVWKH3&EDVHGVRIWZDUHDSSOLFDWLRQXVHGWRFRQ¿JXUHDQGSHUIRUP
servo tuning, drive testing and evaluation of the step-servo products. System servo control gains,
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oscilloscope function to help set the servo control gains.
 Download the Step-Servo Quick Tuner from the MOONS’ website and install it.
 Launch the software by clicking Start-----Programs ----MOONS’
 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.
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for action.
For -Q drive, download and install Q Programmer software.
For -C drive, if want to use the Q program,it also need to download and install Q Programmer
software.

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The connectors and other points of interest are illustrated below:
Model
SS03-S-A SS05-S-A SS10-S-A
SS03-Q-A SS05-Q-A SS10-Q-A
Model
SS03-S-R SS05-S-R SS10-S-R
SS03-Q-R SS05-Q-R SS10-Q-R
SS03-C-C SS05-C-C SS10-C-C
Ground Screw
LED
RS-232 Connector
I/O Connector
Encoder Connector
Motor Connector
Power Connector
LED Display
RS-232 Connector
I/O Connector
Encoder Connector
Motor Connector
Power Connector Ground Screws
Rotary Switch
DIP Switch
Daisy chain

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2.2 Connecting to the PC using RS-232
The SS drives are shipped with a 1.5 meters RS-232 communication cable. The DB9 connector is
used to connect to PC. The small end is a crimping connector used to connect to the drive.
Located the SS drive within 1.5 meters of the PC. Plug the DB9 connector into the serial COM
port of the PC. Plug the small end crimping connector into the RS-232 port of the drive. Do not hot
plug.
If the PC doesn’t have a RS-232 serial port, a USB to RS232 converter will be needed.
You can contact MOONS’ to buy a USB to RS-232 converter..
RS-232 Connector Diagram
2.3 Connecting to a Host using RS-485
The RS-485 version SS drives can be daisy-chain connected through the dual-port RJ45
connectors at the side of the drive, using CAT5 cable.
PIN1 PIN1 PIN8PIN8
RJ45 Connector Diagram
PIN Function
1RX+
2RX-
3TX+
6TX-
4,5,7,8GND
GND TX +5V RX

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56)RXUZLUH&RQ¿JXUDWLRQ
RS-485 four-wire system utilize separate transmit and receive wires. One pair of wires connect
the host’s transmit signals(TX+/TX-) to each drive’s RX+/RX- receive terminals. The other pair
connects the drive’s TX+/TX- terminals to the host’s receive signals. A logical ground terminal is
provided on each drive and can be used to keep all the drives at the same ground potential. The
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Four-wire Connection
Connect the drive’s RX+ to the TX+ terminal of the host controller,and connect the drive’s RX- to
the TX- terminal of the host controller .
Connect the drive’s TX+ to the RX+ terminal of the host controller,and connect the drive’s TX- to
the RX- terminal of the host controller .
Connect the drive’s GND and the host’s GND to a same ground.
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In a two-wire system ,the data transmitting and receiving use a same cable.,the host must stop
its transmitting before receiving data. That means the host must stop transmit data before drive
begins to answer a query which just come from the host, otherwise the host cannot receive
any data witch sent from a drive. There is a transmit delay parameter that can be adjusted to
compensate for a host that is slow to disable its transmitter. This adjustment can be set over the
network using the TD command,it also can be set by using the Step-Servo Quick Tuner software.
Users can set a shorter transmit delay in a four-wire system.
Two-wire connection
The RX+ and TX+ of the drive connect to the host’s D+ in parallel.
The RX- and TX- of the drive connect to the host’s D- in parallel.
Connect the drive’s GND and the host’s GND to a same ground.
2.4 Connecting to a host using CANopen
The CANopen version SS drives can be daisy-chain connected through the dual-port RJ45
connectors at the side of the drive, using CAT5 cable.
PIN1 PIN1 PIN8PIN8
RJ45 Connector Diagram:
PIN Function
1CAN_H
2CAN_L
3,7GND
6 CHGND
4,5,8NC

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2.5 Connecting the Power Supply
The SS drives 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.
Do not reverse them. Connect the chassis to the earth ground through the grounding screws.
Power Connector
The section below entitled “Choosing a Power Supply” will help you to select a right power supply.
2.6 Choosing A Power Supply
The main considerations when choosing a power supply are the voltage and current requirements
of the application.
2.6.1 Voltage
The SS step-servo drive and motor is designed to give optimum performance between 24~48
Volts DC. Choosing the voltage depends on the performance needed and diver/motor heating that
acceptable and/or does not cause a drive over-temperature. Higher voltage will give higher speed
performance,but will cause the drive to produce higher temperatures. Using power supplies with
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cycle.
The SS extended range of operation can be as low as 18VDC minimum to as high as 80VDC
maximum. When operation below 18VDC, the SS series will work unstable. The supply input
cannot go blow 18VDC for reliable operation, otherwise under voltage alarm will be triggered. SS
drive will stop working when this alarm is triggered.
If a regulated power supply is used,and that is near the driver maximum voltage of 80VDC ,a
voltage clamp may be required to prevent the voltage over 80VDC which will occurs a over-
voltage fault. When using an unregulated power supply, make sure the no-load voltage of the
supply does not exceed the maximum input voltage 80VDC.
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11
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2.6.2 Current
The maximum supply currents required by the SS series step servo drive and motor are shown
below in chats at different power supply voltage input. The SS drive power supply current is lower
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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.
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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.
AM11SS1DMA 24VPower
0.0
0.2
0.4
0.6
0.8
1.0
1.2
0
20
40
60
80
100
0 1020304050
Torque(mN.m)
Speed(RPS)
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
AM11SS2DMA 24V Power
0.0
0.2
0.4
0.6
0.8
1.0
1.2
0
20
40
60
80
100
0 1020304050
Torque(mN.m)
Speed(RPS)
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad

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AM11SS3DMA 24VPower
0.0
0.2
0.4
0.6
0.8
1.0
1.2
0
30
60
90
120
150
0 1020304050
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 1020304050
Torque(N.m)
Speed(RPS)
AM17SS1DGƑ24V Power
Amps
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SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
0
0.1
0.2
0.3
0.4
0 1020304050
Torque(N.m)
Speed(RPS)
AM17SS1DGƑ48V 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 1020304050
Torque(N.m)
Speed(RPS)
AM17SS2DGƑ24V Power
Amps
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NoLoad
0
0.5
1
1.5
0
0.1
0.2
0.3
0.4
0.5
0.6
0 1020304050
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Speed(RPS)
AM17SS2DGƑ48V Power
Amps
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FullLoad
NoLoad
0
0.5
1
1.5
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0 1020304050
Torque(N.m)
Speed(RPS)
AM17SS3DGƑ24V 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 1020304050
Torque(N.m)
Speed(RPS)
AM17SS3DGƑ48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
0
0.3
0.6
0.9
1.2
1.5
0 1020304050
Torque(N.m)
Speed(RPS)
AM17SS4DGƑ24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
0.5
1
1.5
0
0.3
0.6
0.9
1.2
1.5
0 1020304050
Torque(N.m)
Speed(RPS)
AM17SS4DGƑ48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad

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0
0.5
1
1.5
2
2.5
3
3.5
0
0.3
0.6
0.9
1.2
1.5
0 1020304050
Torque(N.m)
Speed(RPS)
AM23SS2DGƑ24V 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 1020304050
Torque(N.m)
Speed(RPS)
AM23SS2DGƑ48V 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 1020304050
Torque(N.m)
Speed(RPS)
AM23SS2DGƑ70V Power
Amps
Continuous
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Boost
SupplyCurrent
FullLoad
NoLoad

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0
0.5
1
1.5
2
2.5
3
3.5
0
0.5
1
1.5
2
2.5
0 1020304050
Torque(N.m)
Speed(RPS)
AM23SS3DGƑ24V Power
Amps
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FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.5
1
1.5
2
2.5
0 1020304050
Torque(N.m)
Speed(RPS)
AM23SS3DGƑ48V Power
Amps
Continuous
Torque
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FullLoad
NoLoad
0
0.5
1
1.5
2
2.5
3
3.5
0
0.5
1
1.5
2
2.5
0 1020304050
Torque(N.m)
Speed(RPS)
AM23SS3DGƑ70V Power
Amps
Continuous
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SupplyCurrent
FullLoad
NoLoad

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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 1020304050
Torque(N.m)
Speed(RPS)
AM24SS3DGƑ24V Power
Amps
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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 1020304050
Torque(N.m)
Speed(RPS)
AM24SS3DGƑ48V Power
Amps
Continuous
Torque
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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 1020304050
Torque(N.m)
Speed(RPS)
AM24SS3DGƑ70V Power
Amps
Continuous
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Boost
SupplyCurrent
FullLoad
NoLoad

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0
1
2
3
4
5
6
0
0.5
1
1.5
2
2.5
3
0 1020304050
Torque(N.m)
Speed(RPS)
AM34SS1DGƑ24V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
1
2
3
4
5
6
0
0.5
1
1.5
2
2.5
3
0 1020304050
Torque(N.m)
Speed(RPS)
AM34SS1DGƑ48V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad
0
1
2
3
4
5
6
0
0.5
1
1.5
2
2.5
3
0 1020304050
Torque(N.m)
Speed(RPS)
AM34SS1DGƑ70V Power
Amps
Continuous
Torque
Boost
SupplyCurrent
FullLoad
NoLoad