Moons' SSDC-EC Series User manual

Rev. 1.2
20/03/2020
SSDC-EC
Step-Servo System
Hardware Manual
SSDC03-EC SSDC06-EC SSDC10-EC
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.......................................................................................................... 8
2.2 Connecting to the PC using RS-232 .............................................................................. 9
2.3 Choosing the Right COM Port........................................................................................ 9
2.4 Connecting the Power Supply........................................................................................ 10
2.5 Choosing a Power Supply.............................................................................................. 11
2.5.1 Voltage ......................................................................................................... 11
2.5.2 Current .......................................................................................................... 12
2.6 Connecting the Motor..................................................................................................... 22
2.7 Connecting the EtherCAT............................................................................................... 23
2.7.1 EtherCAT Status Indicator LEDs................................................................... 23
2.8 Setting the EtherCAT Node ID ....................................................................................... 24
2.8.1 Set by rotary switches................................................................................... 24
2.8.2 Assigned by master controller....................................................................... 24
2.8.3 Read rotary switches setting by AL Status Code .......................................... 24
3 Inputs and Outputs ..................................................................................................................... 25
3.1 Digital Inputs .................................................................................................................. 26
3.1.1 X1, X2, X3 and X4 Digital Inputs................................................................... 26
3.1.2 X5, X6, X7 and X8 digital Inputs ................................................................... 27
3.2 Digital Outputs................................................................................................................ 28
3.3 Analog Inputs ................................................................................................................. 30
3.4 Encoder output............................................................................................................... 30
3.5 Secondary Encoder Input............................................................................................... 31
4 Mounting the Drive ..................................................................................................................... 32
5 LED Error Codes ........................................................................................................................ 32
6 Reference Materials ................................................................................................................... 33
6.1 Drive Mechanical Outlines ............................................................................................. 33
6.2 Technical Specifications ................................................................................................. 34
6.3 Recommended Motors................................................................................................... 35
6.4 Motor Dimensions (Unit:mm) ......................................................................................... 36
6.5 Torque Curves................................................................................................................ 44
6.6 Motor Numbering System ............................................................................................. 45
6.7 Drive Numbering System .............................................................................................. 45
7 Accessories ................................................................................................................................ 46
7.1 Standard Accessories（Included）................................................................................ 46
7.2 Optional Accessories (Sold separately) ......................................................................... 46
7.2.1 I/O Cable....................................................................................................... 46
7.2.2 Extended motor cable
（For SSDC drive and AM11RS motor）............................................................... 47
7.2.3 Extended motor cable
（For SSDC drive and AM17/23/24/34SS-N、AM17/23/24/34RS motor）.................. 47
7.2.4 Extended encoder cable
（For SSDC drive and AM11RS motor）............................................................... 48
7.2.5 Extended encoder cable
（For SSDC drive and AM17/23/24/34SS-N motor）............................................. 48
7.2.6 Extended encoder cable
（For SSDC drive and AM17/23/24/34RS motor）................................................ 49
7.2.7 Network Cable .............................................................................................. 49
7.2.8 Regeneration Clamp RC880......................................................................... 49
7.2.9 USB Adapter ................................................................................................. 50
8 Contacting MOONS’................................................................................................................ 51

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1 Introduction
Thank you for selecting the MOONS’STF series stepper drive. The SSDC-EC series are high
performance fieldbus control stepper drive which also integrates with built-in motion controller. The
SSDC-EC drive can operate as a standard EtherCAT slave using CANopen over EtherCAT (CoE).
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
1.1 Features
• Programmable, digital step-servo drive and motor package
• CANopen over EtherCAT (CoE) with full support of CiA402. Based on the widely used
100BASE-TX cabling system and with a baud rate of 100Mbps full-duplex, EtherCAT enables
high speed and highly reliable communication
• Supported modes: Profile Position, Profile Velocity, Profile Torque, Cyclic Synchronous
Position, Cyclic Synchronous Velocity and Homing mode as well as MOONS’own Q mode
• Control modes:
Velocity Control: Digital signal control, Analog control, SCL command, Q programming
Position Control: Digital signal control, Analog control, SCL command, Q programming
Torque Control: Analog control, SCL command, Q programming
• Multi-operation modes:
Closed-loop Servo control mode, Closed-loop Step control mode, Full closed-loop mode
• Current output
SSDC03 output current：continuous 3A/phase（peak of sin），boost 4A(1.5s)
SSDC06 output current：continuous 6A/phase（peak of sin），boost 7.5A(1.5s)
SSDC10 output current：continuous 10A/phase（peak of sin），boost 15A(1.5s)
• Wide range input voltage:
SSDC03：12~48VDC
SSDC06：24~70VDC
SSDC10：24~70VDC
• Encoder resolution：
20000 counts/rev (AM17/23/24/34SS-N motor)
4096 counts/rev (AM11/17/23/24/34RS motor)
• Differential encoder outputs (ENC A+/-, ENC B+/-, ENC Z+/-), 26C31 line driver, 20 mA sink or
source max
• Support secondary encoder signal input(single-ended or differential) for full closed-loop control
• Abundant I/O interface
8 optically isolated digital inputs,5-24VDC
4 optically isolated digital outputs,max30V/100mA
2 analog inputs can be configured to 0-5V, 0-10V, ±5V or ±10V signal ranges
Communication
Dual-port RJ45 for EtherCAT communication
RS-232 serial port for configuration

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1.2 Block Diagram
DSP
EMC
Filter
DC Input
Power
Converter
Internal
Logic
Supply
Voltage
Temp.
Det.
Over
Current
Det.
Mosfet
PWM
Power
Amplifier
High
Speed
Input
Optical
Ioslation
Input
Optical
Ioslation
Digital
Filter
Software
Filter
Digital
Filter
Software
Filter
Output
Optical
Ioslation
Single
Ended
Input
Ioslation
X1+
X1-
X2+
X2-
X3+
X3-
X4+
X4-
X5
X6
X7
X8
XCOM
Y1+/-
Y2+/-
Y3+/-
Y4+/-
Software
Filter
Software
Filter
Motor
Encoder
Operational
Amplifter
ANALOG1
ANALOG2
RS232
EtherCAT
LED
Encoder
Output
A+/-
B+/-
Z+/-
SSDC EtherCAT Block Diagram
Power Supply:
SSDC06/10: 24-70VDC
SSDC03: 12-48VDC

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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 12-70VDC 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 for tightening the connectors screw
• A PC running Microsoft Windows XP/Vista/7/8(Using serial communication port. Prepare an
USB to Serial converter if the PC doesn’t have it.
• Install the Step-Servo Quick Tuner software
(download from MOONS website: www.moonsindustries.com )
• A power cable(included)
• 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)

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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.
• 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 communication cable. Please see the section below entitled
“Choosing the Right COM 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
RS-232
Communication Interface
LED
EtherCAT ID
EtherCAT LED
I/O Connector
Encoder Connector
Motor Connector
Power Connector

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2.2 Connecting to the PC using RS-232
Connector J5 is RS-232 communication port, please use the included RS-232 cable to connect
the drive and PC. Use the Step-Servo Quick Tuner software to configure the drive parameter,
tuning, monitoring the status of drive and motor.
PIN Definition
1 DGND
2 TX
3 VCC
4 RX
2.3 Choosing the Right COM Port
Open the “Device Manager”on the PC. There may or may not be a “Ports”selection.
Connect the mini USB cable to the PC. The connected COM port should then be displayed.
Choose this new COM(n) port in the Step-Servo Quick Tuner software.

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2.4 Connecting the Power Supply
The SSDC 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.
(NOTE: Be careful not to reverse the wires. Reversing the connection may open the internal
fuse on the drive and void the warranty.)
SSDC03: 12 – 48VDC
SSDC06: 24 – 70VDC
SSDC10: 24 – 70VDC
Power Connector
Connect the chassis to the earth ground through the grounding screws.
To Earth Ground
The section entitled “Choosing a Power Supply”will help you to select a right power supply.
VV--
11
VV++22
J1

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2.5 Choosing a Power Supply
The main considerations when choosing a power supply are the voltage and current requirements
for the application.
2.5.1 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.
SSDC03
For the SSDC03 drive, the extended range of operation can be as low as 11 VDC minimum to as
high as 53 VDC maximum. When operating below 11 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 11 VDC for reliable operation. This
will not fault the drive. Absolute maximum power supply input is 53 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 53 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 53 VDC.
SSDC06/10
For the SSDC06/10 drive, 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. 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.

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2.5.2 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