Moons' SSDC Series User manual

Rev. 1.2
20/03/2020
SSDC-ECX-H/J
Step-Servo System
Hardware Manual
SSDC06-ECX-H/J SSDC10-ECX-H/J
SHANGHAI AMP&MOONS’AUTOMATION CO.,LTD.

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Contents
1 Introduction...................................................................................................................3
1.1 Features ............................................................................................................3
1.2 Block Diagram ...................................................................................................4
1.3 Safety Instructions.............................................................................................5
2 Getting Started..............................................................................................................6
2.1 Installing Software .............................................................................................7
2.3 Connecting the Power Supply ...........................................................................9
2.4 Choosing a Power Supply .................................................................................10
2.4.1 Voltage .............................................................................................10
2.4.2 Current ..............................................................................................11
2.5 Connecting the Motor ........................................................................................21
2.6 Connecting the EtherCAT..................................................................................22
2.6.1 EtherCAT Status Indicator LEDs .......................................................22
2.7 Setting the EtherCAT Node ID...........................................................................22
3 Inputs and Outputs .......................................................................................................23
3.1 Digital Inputs......................................................................................................24
3.2 Digital Outputs...................................................................................................26
3.3 Analog Inputs.....................................................................................................28
4 Mounting the Drive........................................................................................................29
5 Warning and Fault Display............................................................................................29
6 Reference Materials......................................................................................................31
6.1 Drive Mechanical Outlines(Units: mm) ..............................................................31
6.2 Technical Specifications ....................................................................................32
6.3 Recommended Motors ......................................................................................33
6.4 Motor Dimensions (Unit:mm).............................................................................34
6.5 Torque Curves ...................................................................................................42
6.6 Motor Numbering System .................................................................................43
6.7 Drive Numbering System .................................................................................43
7 Accessories...................................................................................................................44
7.1 Standard Accessories（Included）...................................................................44
7.2 Optional Accessories (Sold separately).............................................................44
7.2.1 Extended motor cable
（For SSDC drive and AM11RS motor）....................................................44
7.2.2 Extended motor cable
（For SSDC drive and AM17/23/24/34SS-N、AM17/23/24/34RS motor）...... 45
7.2.3 Extended encoder cable
（For SSDC drive and AM11RS motor）....................................................45
7.2.4 Extended encoder cable
（For SSDC drive and AM17/23/24/34SS-N motor）.................................46
7.2.6 Network Cable...................................................................................47
7.2.7 USB Mini-B Configuration Cable .......................................................47
7.2.8 Regeneration Clamp RC880 .............................................................47
8 Contacting MOONS’..................................................................................................48

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1 Introduction
Thank you for selecting the MOONS’SSDC series step-servo drive and motor. The SSDC-EC
series are high performance EtherCAT fieldbus control step-servo 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). The SSDC-ECX-H/J drive is the second generation of SSDC
series, which has more higher performance and supports Vender specific profile over EtherCAT
(VoE).
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
1.1 Features
• Programmable, digital step-servo drive and motor package
• Push-in spring type connector, faster and reliable connection
• 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
• Vender specific profile over EtherCAT (VoE) is contribute to update the firmware over
EtherCAT.
• Supported modes: Profile Position, Profile Velocity, Profile Torque, Cyclic Synchronous
Position, Cyclic Synchronous Velocity and Homing mode as well as MOONS’own Q mode
• Current output
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:
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)
• Abundant I/O interface
SSDC06/10-ECX-H
3 optically isolated digital inputs,5-24VDC
1 optically isolated digital outputs,max30V/100mA
SSDC06/10-ECX-J
5 optically isolated digital inputs,5-24VDC
2 optically isolated digital outputs,max30V/100mA
1 analog inputs can be configured to 0-5V, 0-10V, ±5V or ±10V signal ranges
• Communication
Dual-port RJ45 for EtherCAT communication
USB 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
Output
Optical
Ioslation
Single
Ended
Input
Ioslation
X3
X4
X7
X8
XCOM
Y1
Y2
YCOM
Software
Filter
Software
Filter
Motor
Encoder
Operational
Amplifter
ANALOG
USB
EtherCAT
SSDC-ECX-H/J EtherCAT Block Diagram
Power Supply:
SSDC06/10: 24-70VDC
X5
Output
Optical
Ioslation
Y2+
Y2-
Single
Ended
Input
Ioslation
X3
X4
X7
XCOM
LED
Display
*：Only for SSDC06/10-ECX-H
*
*

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

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2 Getting Started
The following items are needed:
• A 24-70VDC 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 7/ Windows 8/ Windows 10(32bit or 64bit) and Microsoft.net
framework 4.0.
• A USB Mini-B cable
• Install the Stepper Site 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
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.

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The connectors and other points of interest are illustrated below:
SSED-ECX-H SSED-ECX-J
EtherCAT Input
EtherCAT Output
USB
Communication Interface
LED
I/O Connector
Encoder Connector
Motor Connector
Power Connector
Ground Screws
2.2 Connecting to the PC using USB
Connector J5 is USB communication port, please use the USB Mini-B cable to connect the drive
and PC. Use the Stepper Suite software to configure the drive parameter, tuning, monitoring the
status of drive and motor.
PIN Definition
1+5V
2D-
3D+
4Reserved
5 GND

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2.3 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.)
SSDC06: 24 – 70VDC
SSDC10: 24 – 70VDC
Power Connector
Wire Range：0.2mm2– 1.5mm2(24 – 16AWG)
Recommended stripping length：10mm
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.
J1
V+
-
1
V-
2

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2.4 Choosing a Power Supply
The main considerations when choosing a power supply are the voltage and current requirements
for the application.
2.4.1 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.
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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2.4.2 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