Moons' SSDC-4X-ECX User manual

Rev. 1.0
04/03/2023
SSDC-4X-ECX
Step-Servo System
Hardware Manual
SHANGHAI AMP&MOONS’AUTOMATION CO.,LTD.
SSDC06-4X-ECX
SSDC10-4X-ECX

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SSDC-4X-ECX Hardware Manual
400-820-9661
1 Introduction...................................................................................................................3
1.1 Features ............................................................................................................3
1.2 Safety Instructions.............................................................................................4
2 Getting Started..............................................................................................................5
2.1 Choosing a Power Supply .................................................................................5
2.1.1 Voltage .............................................................................................5
2.1.2 Current ..............................................................................................6
2.2 Connecting the Power Supply ..........................................................................16
2.3 Installing Software .............................................................................................17
2.4 Connecting the EtherCAT..................................................................................18
2.5 Setting the EtherCAT Node ID...........................................................................18
2.6 Connecting the Motor ........................................................................................19
3 Inputs and Outputs .......................................................................................................20
3.1 Digital Inputs......................................................................................................20
3.2 Digital Outputs...................................................................................................21
3.3 Y3 Brake Output................................................................................................23
4 Mounting the Drive........................................................................................................23
5 Alarm Code...................................................................................................................23
6 Reference Materials......................................................................................................24
6.1 Technical Specifications ....................................................................................24
6.2 Drive Dimensions ..............................................................................................25
6.3 Recommended Motors ......................................................................................26
6.4 Motor Dimensions (Unit:mm).............................................................................27
6.5 Torque Curves ...................................................................................................36
6.6 Motor Numbering System .................................................................................37
7 Accessories...................................................................................................................38
7.1 Standard Accessories（Included）...................................................................38
7.2 Optional Accessories (Sold separately).............................................................38
7.2.1 Extended motor cable（For AM08RS motor）.................................38
7.2.2 Extended motor cable
（For SSDC drive and AM11RS motor）............................................38
7.2.3
Extended motor cable
（For SSDC drive and AM17/23/24/34SS-N、AM17/23/24/34RS motor）........ 39
7.2.4 Extended encoder cable（For AM08RS motor）..............................39
7.2.5 Extended encoder cable（
For SSDC drive and AM11RS motor）.......................................................40
7.2.6 Extended encoder cable
（For SSDC drive and AM17/23/24/34SS-N motor）.........................40
7.2.7 Extended encoder cable
（For SSDC drive and AM17/23/24/34RS motor）.............................41
7.2.8 Network Cable...................................................................................41
7.2.9 USB Mini-B Configuration Cable .......................................................41
7.2.10 Regeneration Clamp RC880 ...........................................................41
8 Contacting MOONS’..................................................................................................42

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SSDC-4X-ECX Hardware Manual
1 Introduction
Thank you for choosing MOONS’SSDC-4X series stepping servo motor driver. SSDC-4X series
is a high-performance bus-controlled 4-axis stepping servo motor driver, which also integrates
the function of an intelligent motion controller. It can be used with MOONS’RS and SS series
stepping servo motors. SSDC-4X drives can operate as standard EtherCAT slaves and support
CoE (CANopen over EtherCAT).
EtherCAT® is a registered trademark, licensed by Beckhoff Automation GmbH.
1.1 Features
• Programmable digital stepping servo driver
• Push-in IO connector for easy wiring
• Wide range input voltage:
SSDC06-4X 24-70VDC
SSDC10-4X 24-70VDC
• It supports CoE (CANopen over EtherCAT) and conforms to the CiA 402 standard. Based
on 100BASE-TX cable, 100Mbps baud rate, full duplex mode, high transmission speed, high
reliability communication
• Support VoE (Vendor over EtherCAT) and bus upgrade products
• Support Profile Position, Profile Velocity, Profile Torque, Cyclic Synchronous Position, Cyclic
Synchronous Velocity and Homing modes
• Current Output：
SSDC06-4X: continuous 4 ×6A/phase (peak of sin), boost 4 ×7.5A (1.5s)
SSDC10-4X: continuous 4 ×10A/phase (peak of sin), boost 4 ×15A (1.5s)
• Abundant I/O interface：
5 optically isolated digital inputs,5-24VDC
2 optically isolated digital outputs, max30V/100mA
1 brake direct drive control signal: maximum withstand voltage 24V, maximum current 1A
• With RS, SS stepper servo motor
20000 counts/rev (AM17/23/24/34SS-N motor)
4096 counts/rev (AM08/11/17/23/24/34RS motor)
• Communication
Dual-port RJ45 for EtherCAT communication
USB port for configuration
• Red and green status lights and digital LED display

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1.2 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 24-70VDC power supply, see the section below entitled “Choose a Power Supply”for
helping to choose the right one.
• A compatible SS or RS motor, please see the section below entitled “Recommended Motor”
• A small flat blade screwdriver
• A PC running Microsoft Windows 7/ Windows 8/ Windows 10(32bit or 64bit) and Microsoft.net
framework 4.0.
• A USB Mini-B cable
• Install the Stepper Suite software
• A CAT5 cable, used to do the daisy-chain connection. It is also used to configure the drive.
• Optional extended motor cable (Sold separately)
• Optional extended encoder cable (Sold separately)
• Optional extended I/O cable (Sold separately)
2.1 Choosing a Power Supply
The main considerations when choosing a power supply are the voltage and current requirements
for the application.
2.1.1 Voltage
The SSDC drive is designed to give optimum performance between 24- and 48-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.
When the power supply voltage is lower than 18V, the work of SSDC-4X driver may be unreliable.
Do not operate the SSDC-4X driver with a DC voltage lower than 18V, otherwise the driver will
give a low-voltage alarm, which will stop the driver from working. When the driver is powered by
a regulated power supply and the power supply voltage is close to 75V, it is recommended to use
voltage clamping measures at the power input to avoid the situation that the driver will stop the
driver due to overvoltage alarm when the power supply voltage is higher than 75V. When the drive
is powered by an unregulated power supply, please ensure that the no-load output voltage of the
power supply is not higher than DC 75V.

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2.1.2 Current
The maximum supply currents required by the SSDC series step servo drive and motor are shown
below in chats at different power supply voltage input. The SSDC 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
Torque(mN.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
Speed(rps)
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
AM11RS2DMA 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)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No Load
Speed(rps)

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AM11RS3DMA 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)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No Load
Speed(rps)
0
0.5
1
1.5
0
0.1
0.2
0.3
0.4
0 10 20 30 40 50
AM17SS1DG□-N AM17RS1DM□24V Power
Torque(mN.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No Load
Speed(rps)
0
0.5
1
1.5
0
0.1
0.2
0.3
0.4
0 10 20 30 40 50
AM17SS1DG□-N AM17RS1DM□ 48V Power
Torque(mN.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No Load
Speed(rps)

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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
AM17SS2DG□-N AM17RS2DM□ 24V Power
Speed(rps)
Torque(mN.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
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
AM17SS2DG□-N AM17RS2DM□ 48V Power
Speed(rps)
Torque(mN.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
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
AM17SS3DG□-N AM17RS3DM□ 24V Power
Speed(rps)
Torque(mN.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load

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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
AM17SS3DG□-N AM17RS3DM□ 48V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
0
0.5
1
1.5
0
0.3
0.6
0.9
1.2
1.5
0 10 20 30 40 50
AM17SS4DG□-N AM17RS4DM□ 24V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
0
0.5
1
1.5
0
0.3
0.6
0.9
1.2
1.5
0 10 20 30 40 50
AM17SS4DG □ -N AM17RS4DM□ 48V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load

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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 10 20 30 40 50
AM23SS2DG□-N AM23RS2DM□ 24V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
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
AM23SS2DG□-N AM23RS2DM□ 48V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
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
AM23SS2DG□-N AM23RS2DM□ 70V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load

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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 10 20 30 40 50
AM23SS3DG□-N AM23RS3DM□ 24V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
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
AM23SS3DG□-N AM23RS3DM□ 48V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
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
AM23SS3DG□-N AM23RS3DM□ 70V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load

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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 10 20 30 40 50
AM24SS3DG□-N AM24RS3DM□ 24V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
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
AM24SS3DG□-N AM24RS3DM□ 48V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
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
AM24SS3DG□-N AM24RS3DM□ 70V Power
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load

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AM34SS1DGA-N AM34RS1DMA 24V Power
0
1
2
3
4
5
6
0
0.5
1
1.5
2
2.5
3
0 10 20 30 40 50
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
AM34SS1DGA-N AM34RS1DMA 48V Power
0
1
2
3
4
5
6
0
0.5
1
1.5
2
2.5
3
0 10 20 30 40 50
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
AM34SS1DGA-N AM34RS1DMA 70V Power
0
1
2
3
4
5
6
0
0.5
1
1.5
2
2.5
3
0 10 20 30 40 50
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load

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AM34SS3DGA-N AM34RS3DMA 24V Power
0
1
2
3
4
5
6
0
1
2
3
4
5
6
0 10 20 30 40 50
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
AM34SS3DGA-N AM34RS3DMA 48V Power
0
1
2
3
4
5
6
0
1
2
3
4
5
6
0 10 20 30 40 50
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
AM34SS3DGA-N AM34RS3DMA 70V Power
0
1
2
3
4
5
6
0
1
2
3
4
5
6
0 10 20 30 40 50
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load

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AM34SS5DGA-N AM34RS5DMA 24V Power
0
1
2
3
4
5
6
0
2
4
6
8
10
0 10 20 30 40 50
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
AM34SS5DGA-N AM34RS5DMA 48V Power
0
1
2
3
4
5
6
0
2
4
6
8
10
0 10 20 30 40 50
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
Speed(rps)
Torque(N.m)
Amps
Continuous
Torque
Boost
Supply Current
Full Load
Full Load
AM34SS5DGA-N AM34RS5DMA 70V Power
0
1
2
3
4
5
0
2
4
6
8
10
0 10 20 30 40 50

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2.2 Connecting the Power Supply
SSDC-4X products share a power connector. The first digit on the left side of the connector is the
V+ of the power supply, and the second digit is the V- of the power supply.
(NOTE: Be careful not to reverse the wires. Reversing the connection may open the
internal fuse on the drive and void the warranty.)
SSDC06-4X 24-70VDC
SSDC10-4X 24-70VDC
V+ V- L/A OUT
ERR
L/A IN
RUN
X3
X4
X5
X7
X8
XCOM
Y1
Y3
YCOM
24V+
BRAKE
24V-
1
Connect the chassis to the earth ground through the grounding screws.

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2.3 Installing Software
Stepper Suite 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 Stepper Suite . It also contains an oscilloscope
function to help set the servo control gains.
• Download the Stepper Suite from the MOONS’website and install it.
• Launch the software by clicking Start-----Programs ----MOONS’----Stepper Suite
• Connect the drive to PC by USB Mini-B cable. Please see the section below entitled
• “Choosing the Right USB Port”.
• 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 be ready for
action.
The connectors and other points of interest are illustrated below:
EtherCAT Input
EtherCAT Output
USB
Communication Interface
LED
I/O Connector
Encoder Connector
Motor ConnectorPower Connector
Ground Screws

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2.4 Connecting the EtherCAT
Dual RJ-45 connectors accept standard Ethernet cables and are categorized as 100BASE-TX
(100 Mb/sec) ports. CAT5 or CAT5e (or higher) cables should be used. The IN port connects to a
master, or to the OUT port of an upstream node. The OUT port connects to a downstream node.
If the drive is the last node on a network, only the IN port is used. No terminator is required on the
OUT port.
EtherCAT Status Indicator LEDs
The LEDs are used for indicating status of the EtherCAT. There are two Link/Activity LEDs (one for
each RJ-45 Ethernet connector) and two status LEDs (RUN and ERR).
V+ V-
L/A OUT
ERR
L/A IN
RUN
X3
X4
X5
X7
X8
XCOM
Y1
Y3
YCOM
24V+
BRAKE
24V-
1
LED Color Status Description
Link/Activity Green
OFF no Ethernet connection
ON Ethernet is connected
Flickering activity on line
RUN Green
OFF initialization state
Blinking pre-operational state
Single Flash safe-operational state
ON operational state
ERR Red
OFF no error
Blinking general error
Single Flash sync error
Double Flash watch dog error
Notes:
• Flickering: Rapid flashing with a period of approximately 50ms (10Hz)
• Blinking: Flashing with equal on and off periods of 200ms (2.5Hz)
• Single Flash: Repeating on for 200ms and off for 1s
• Double Flash: Two flashes with a period of 200ms followed by off for 1s
2.5 Setting the EtherCAT Node ID
When the drive’s ID is configured to be assigned by master controller in Stepper Suite software,
the master controller can set the EtherCAT node Alias ID to address 0004h of SII (Slave
Information Interface) EEPROM. The drive can get this ID value from SII EEPROM address 0004h
after power up.

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2.6 Connecting the Motor
The SS/RS motors have two different 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.
(NOTE: Do not damage or drag the cables on the motor.)
11
2
33
4
Motor connector on the driver
A-
B-
Z-
GND
U-
V-
W-
A+
B+
Z+
+5V
NC
U+
V+
W+
2
4
6
8
10
12
14
16
1
3
5
7
9
11
13
15
Encoder connector on the driver
Please check the information of mating connectors, extended motor cable and extended encoder
cable in below section ”Optional Accessories (Sold separately)”

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3 Inputs and Outputs
SSDC -4X inputs and outputs include：
• 5 Optically isolated digital inputs, 5 - 24VDC logic
• 2 Optically isolated, Open Collector, 30V/100 mA max
• 1 Brake direct drive control signal output, 30V/1 A max
V+ V- L/A OUT
ERR
L/A IN
RUN
X3
X4
X5
X7
X8
XCOM
Y1
Y3
YCOM
24V+
BRAKE
24V-
1
I/O Connector Diagram
3.1 Digital Inputs
SSDC - 4X series drive has 5 digital optically isolated inputs, the function of every input can be
configurated by Stepper Suite software.
Signal Pin No. Function
X3 2
Available function：
CW limit sensor input
Homing sensor input
General purpose
X4 4
Available function：
CCW limit sensor input
Homing sensor input
General purpose
X5 6 General purpose
X7 8
Available function：
Touch probe input
Homing sensor input
General purpose
X8 10
Available function：
Emergency stop
General purpose
XCOM 12 The common voltage of X3/X4/X5/X7/X8
Because the input is an optically isolated circuit, a 5-24V power supply is needed. For example,
you can use the power supply of the PLC when you are using a PLC control system, but if you
want to connect a relay or mechanical switch to the input, you must need a power supply.
XCOM is an electronics term for a single-ended signal connection to a common voltage. If you are
using a sourcing (PNP) input signal, you need to connect XCOM to the ground (power supply -), if
you are using a sinking (NPN) input signal, the XCOM need to connect to the power supply +.