Moons' SSDC-R Series User manual

Rev. 1.0
10222018
SSDC-R/C
Step-Servo System
Hardware Manual
SSDC03-R SSDC06-R SSDC10-R
SSDC03-C SSDC06-C SSDC10-C
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 Communication Port ......................................................................... 9
2.2.1 RS-485/422 communication port（-R type）................................................ 9
2.2.2 CANopen Connecting communication（-C type）....................................... 11
2.3 Setting Node ID and baud rate ........................................................................ 12
2.3.1 RS-485 Node ID and baud rate settings（-R type）.................................... 12
2.4 Choosing the Right COM Port........................................................................................ 14
2.5 Connecting the Power Supply........................................................................................15
2.6 Choosing a Power Supply..............................................................................................16
2.6.1 Voltage ......................................................................................................... 16
2.6.2 Current .......................................................................................................... 17
2.7 Connecting the Motor.....................................................................................................27
3 Inputs and Outputs .....................................................................................................................28
3.1 Digital Inputs .................................................................................................................. 29
3.1.1 X1, X2, X3 and X4 Digital Inputs................................................................... 29
3.1.2 X5, X6, X7 和X8 digital Inputs...................................................................... 30
3.2 Digital Outputs................................................................................................................31
3.3 Analog Inputs ................................................................................................................. 33
3.4 Encoder output...............................................................................................................33
3.5 Secondary Encoder Input...............................................................................................34
4 Mounting the Drive .....................................................................................................................35
5 LED Error Codes ........................................................................................................................35
6 Reference Materials ................................................................................................................... 36
6.1 Drive Mechanical Outlines .............................................................................................36
6.2 Technical Specifications ................................................................................................. 37
6.3 Recommended Motors...................................................................................................38
6.4 Motor Dimensions (Unit:mm) .........................................................................................39
6.5 Torque Curves................................................................................................................47
6.6 Motor Numbering System .............................................................................................48
6.7 Drive Numbering System ..............................................................................................48
7 Accessories ................................................................................................................................49
7.1 Standard Accessories（Included）................................................................................ 49
7.2 Optional Accessories (Sold separately) ......................................................................... 49
7.2.1 I/O Cable....................................................................................................... 50
7.2.3 Extended motor cable
（For SSDC drive and AM17/23/24/34SS-N、AM17/23/24/34RS motor）.................. 51
7.2.4 Extended encoder cable
（For SSDC drive and AM11RS motor）............................................................... 51
7.2.5 Extended encoder cable
（For SSDC drive and AM17/23/24/34SS-N motor）............................................. 52
7.2.6 Extended encoder cable
（For SSDC drive and AM17/23/24/34RS motor）................................................ 52
7.2.7 Network Cable .............................................................................................. 53
7.2.8 Regeneration Clamp RC880......................................................................... 53
7.2.9 USB Adapter.................................................................................................. 53
7.3 Mating Connector to the Drive .......................................................................................53
8 Contacting MOONS’................................................................................................................54

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1 Introduction
Thank you for selecting the MOONS’SSDC series Step-Servo drive and motor. SSDC series
combines servo technology with a stepper motor to create a product with exceptional feature and
broad capability.
The SSDC series is a high performance, intelligent Step-Servo system with multi-axes field bus
control.
SSDC-R supports the RS-485/422 communication. SSDC-C supports the CANopen
communication. The SCL commands, Modbus commands and CANopen commands can be used
to control the drive and motor in real time. The motion control program can be stored in the drive
(Q program) and then the SCL commands, Modbus commands or CANopen commands can be
used to call programs flexibly.
1.1 Features
• Programmable, digital step-servo drive and motor package
• 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
-R：Dual-port RJ45 connector，RS-485/422，Modbus/RTU protocol
-C：Dual-port RJ45 connector，CANopen, conform CiA301 and CiA402, 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
LED
Encoder
Output
A+/-
B+/-
Z+/-
SSDC Block Diagram
Power Supply:
SSDC06/10: 24-70VDC
SSDC03: 12-48VDC
Communication

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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(included)
• 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)
• Communication cable:
-R type：Included a CAT5 cable, used to do the daisy-chain connection for the RS-485/422
network. It is used to configure the drive.
-C type：Included a RS-232 serial cable, used to configure the drive.Included a CAT5 cable,
used to do the daisy-chain connection for the CANopen network.
• 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”.
-R type：Use the CAT5 cable to connect the PC and drive
-C type：Use the RS-232 serial cable to connect the PC and drive
• 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:
SSDC-R, RS485 Communication type / SSDC-C, CANopen Communication type
LED
波特率和终端匹配电阻
Node ID
RS-485 or CANopen
communications interface
I/O Connector
Encoder Connector
Motor Connector
Power Connector

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2.2 Connecting to the Communication Port
2.2.1 RS-485/422 communication port（-R type）
RS-485/422 communication port
18 18
PIN Definition Color
1 RX+ Orange/White
2 RX- Orange
3 TX+ Green/White
4 NC Blue
5 NC Blue/White
6 TX- Green
7 GND Brown/Whitelv
8 GND Brown
Connecting to a Host using RS-485
Before configure the drive by Step-Servo Quick tuner software, use the CAT5 cable to connect the
drive(COM1 or COM2) and host.
RS-485 four-wire connection RS-485 two-wire connection
Drive Connection
RX+ Connect to the host’s TX+
RX- Connect to the host’s TX-
TX+ Connect to the host’s RX+
TX- Connect to the host’s RX-
GND Connect to the host’s GND
Drive Connection
RX+ Connect to the host’s +
RX- Connect to the host’s -
TX+ Connect to the host’s +
TX- Connect to the host’s -
GND Connect to the host’s GND
(NOTE: The RS-485 port on the drive is isolated from internal circuitry of the drive. So the
GND of each drive’s RS-485 port must be connected together. The rst drive’s GND of the
RS-485 port must be connected to the GND of RS-485 port on the host PC or controller.)

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RS-485 network connection
Multiple –R model drive network can be built via dual RS-485 communication port by
daisy chain cable or network cable provided.
RS-485 Four-wire Configuration
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 first drive’s logical GND of the RS-485 bus
must connect to host’s ground.
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.
RS-485 Tow-wire Configuration
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 + in parallel. The RX- and TX- of the
drive connect to the host’s - in parallel. Connect the drive’s GND and the host’s GND
to a same ground.

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2.2.2 CANopen Connecting communication（-C type）
CANopen COM Port
1818
COM1 COM2
PIN COM1 Signal COM2 Signal Color
1 CAN_H CAN_H Orange/White
2 CAN_L CAN_L Orange
3 GND GND Green/White
4 RS-232_TX NC Blue
5 RS-232_RX NC Blue/White
6 NC NC Green
7 GND GND Brown/Whitelv
8 GND GND Brown
PC connection with RS-232 cable
Before using Step-Servo Quick Tuner for -C drive configuration, please connect COM1 on the
driver to host PC by RS-232 programming cable.
CANopen network connection
Multiple -C model drive network can be built via dual CANopen communication port by daisy-chain
cable or network cable provided.
(NOTE: The CANopen port on the drive is isolated from internal circuitry of the drive. So
the GND of each drive’s CANopen port must be connected together. The rst drive’s GND
of the CANopen port must be connected to the GND of CANopen port on the controller.)

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2.3 Setting Node ID and baud rate
SSDC drives have one rotary switch and one piano switch to set the Node ID, baud rate and
terminal resistor.
2.3.1 RS-485 Node ID and baud rate settings（-R type）
Set drive’s RS-485 Node ID by rotary switch S1
Set drive’s RS-485 baud rate and terminal resistor by piano switch S2
S1 is used to set drive’s RS-485 address, and the range is 0~F (0~15 in decimal). If you want to
set the RS-485 Node ID range to 10~1F(16~31 in decimal), you need to configure it in Step-Servo
Quick tuner software.
高低位选择 S1旋转开关位置 SCL地址 高低位选择 S1旋转开关位置 SCL地址
Lower(Axis 0~15)
0 0
Upper(Axis 16~31)
0 @
1 1 1 !
2 2 2 "
3 3 3 #
4 4 4 $
5 5 5 %
6 6 6 &
7 7 7 '
8 8 8 (
9 9 9 )
A : A *
B ; B +
C < C ,
D = D -
E > E .
F ? F /
S2 used to set the RS-485 baud rate, SW1, SW2 and SW3 are used to set the baud rate. SW4 is
used to set the terminal resistor.
RS-485/422 communication baud rate
SW1 SW2 SW3 Baud rate（bps）
OFF OFF OFF 9600
OFF OFF ON 19200
OFF ON OFF 38400
OFF ON ON 57600
ON OFF OFF 115200
ON OFF ON /
ON ON OFF /
ON ON ON /
Terminal resistor
SW4 OFF Disconnected
ON Connected
S2
S1
RS-485波特率
终端匹配电阻
SW3
SW4
SW2
SW1
RS-485地址

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2.3.2 CANopen Node ID and baud rate settings(-C model)
Set the lower 4 bits of drive’s CANopen Node ID by rotary switch S1
Set drive’s CANopen baud rate and terminal resistor by piano switch S2
Each node on a CANopen network must have a unique Node ID. Valid ranges for the Node ID
are 0x01 through 0x7F (1~127). Node ID 0x00 is reserved in accordance with CiA301. The Node
ID is selected using rotary switches and software; one sixteen position switch set the lower four
bits (0~F) of node ID, while upper three bits of node ID are configured by Step-Servo Quick Tuner
software. Each time when Node ID is changed, a power cycle is required before the new Node ID
is valid.
Please refer to the CANopen manual for more information.
S2 used to set the CANopen baud rate, SW1, SW2 and SW3 are used to set the baud rate. SW4
is used to set the terminal resistor.
CANopen communication baud rate
SW1 SW2 SW3 Baud rate（bps）
OFF OFF OFF 1M
OFF OFF ON 800K
OFF ON OFF 500K
OFF ON ON 250K
ON OFF OFF 125K
ON OFF ON 50K
ON ON OFF 20K
ON ON ON 12.5K
Terminal resistor
SW4 OFF Disconnected
ON Connected
S2
S1
CANopen波特率
终端匹配电阻
SW3
SW4
SW2
SW1
CANopen地址

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2.4 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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2.5 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
VV--
11
VV++22
J1
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.

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2.6 Choosing a Power Supply
The main considerations when choosing a power supply are the voltage and current requirements
for the application.
2.6.1 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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2.6.2 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