Moons' SSM23C User manual

SSM23C
Integrated Step-Servo Motor
User Manual
Rev. 1.0
AMP & MOONS’Automation

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Contents
1 Introduction.................................................................................. 5
1.1 Features.............................................................................................5
1.2 Block Diagram ...................................................................................6
1.3 Safety Instructions .............................................................................7
2 Getting Started ............................................................................ 8
2.1 Installing Software .............................................................................8
2.2 Mounting the Hardware .....................................................................8
2.3 Choosing a Power Supply .................................................................9
2.3.1 Voltage ..................................................................................................9
2.3.2 Regeneration Clamp ..............................................................................9
2.3.3 Current .................................................................................................10
3 Installation/Connections ............................................................ 13
3.1 Connecting the Power Supply .........................................................13
3.2 Connecting the SSM23C Communications ....................................14
3.2.1 Node ID ................................................................................................14
3.2.2 Setting the Bitrate.................................................................................14
3.3 Inputs and Outputs ..........................................................................15
3.3.1 Connector Pin Diagram ........................................................................15
3.3.2 IN1 & IN2 Inputs ...................................................................................15
3.3.3 IN3 Input...............................................................................................16
3.3.4 Programmable Output ..........................................................................17
4 Drive Conguration.................................................................... 19
4.1 Quick Tuner Toolbar.........................................................................19
4.1.1 Open, Save, and Print ..........................................................................19
4.1.2 Restore.................................................................................................20
4.1.3 Alarm History ........................................................................................20
4.1.4 LED Flashing........................................................................................21
4.1.5 Drive & Revision...................................................................................21
4.1.6 Communication ....................................................................................21
4.1.7 Servo Enable/Disable...........................................................................22
4.1.8 Alarms ..................................................................................................22
4.1.9 Upload & Download..............................................................................22
4.2 Basic Conguration..........................................................................23
4.2.1 Maximum Currents ...............................................................................23
4.2.2 Encoder ................................................................................................23

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4.2.3 Electronic Gearing................................................................................23
4.2.4 Positioning Error Fault...........................................................................23
4.2.5 Maximum Acceleration ..........................................................................24
4.3 Node ID.............................................................................................24
4.3.1 I/O Denition.........................................................................................25
5 Tuning - Sampling...................................................................... 26
5.1 Velocity Control Loop (V Loop)........................................................26
5.1.1 Gain: The Velocity Proportional Term (VP)...........................................27
5.1.2 IntegGain: The Velocity Integral Term (VI)............................................27
5.1.3 FF Gain: Acceleration Feed-forward Term (KK) ...................................27
5.1.4 PID Filter: Torque Command Filter Term (KC)......................................27
5.2 Position Control Loop ......................................................................28
5.2.1 Gain: The Position Proportional Term (KP) ..........................................28
5.2.2 The Position Integral Term (KI) - Not Implemented ..............................28
5.2.3 Deri Gain: The Derivative Term (KD)....................................................28
5.2.4 Deri Filter: Torque Command Filter Term (KE) .....................................29
5.3 Notch lter........................................................................................29
5.3.1 Frequency: Notch Filter Center Frequency ..........................................30
5.3.2 BandWidth: Notch Filter Frequency Bandwidth....................................30
5.4 Getting Ready for Tuning.................................................................31
5.5 Tuning the Velocity Loop..................................................................32
5.5.1 Entering a Sample Move ......................................................................32
5.5.2 Performing a Move ...............................................................................33
5.5.3 Adjusting tuning parameters.................................................................33
5.5.4 Adding in the FF Gain (KK) parameter .................................................35
5.5.5 Filter parameter ....................................................................................35
5.5.6 Verify the Drive Current ........................................................................36
5.5.7 Finishing up ..........................................................................................36
5.6 Tuning the Position loop ..................................................................36
5.6.1 Entering a Sample Move ......................................................................36
5.6.2 Performing a Move ...............................................................................37
5.6.3 Adjusting the Gain (KP) and Deri Gain (KD) parameters .....................38
5.6.4 The Deri Filter (KE) parameter .............................................................38
5.6.5 Filter parameter (again)........................................................................38
5.6.6 Verify the Drive Current ........................................................................38
5.6.7 Finishing up ..........................................................................................38
5.7 Using Auto Trigger Sampling ...........................................................38
5.7.1 Setting up Auto Trigger.........................................................................39

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5.8 Setting the Notch lter .....................................................................40
6 SCL Test & Monitor.................................................................... 41
6.1 SCL Test ...........................................................................................41
6.2 Motion Status....................................................................................41
6.3 Monitor..............................................................................................42
6.4 I/O Status..........................................................................................42
6.5 Alarm.................................................................................................42
6.6 Drive Status ......................................................................................44
7 Troubleshooting ......................................................................... 45
8 Reference Materials .................................................................. 46
8.1 Mechanical Outlines ........................................................................46
8.2 Technical Specications...................................................................47
8.3 Torque-Speed Curves......................................................................48
8.4 SCL Command Reference ..............................................................49
9 Contacting MOONS’ .................................................................. 51
Model
Communications
RS-232 CANopen
SSM23C-2CG  
SSM23C-3CG  

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1 Introduction
Thank you for selecting the MOONS’ SSM23C Integrated Motor.The SSM line
of integrated step-servo motors combines servo technology with an integrated
motor to create a product with exceptional feature and broad capability. We hope
our commitment to performance, quality and economy will result in a successful
motion control project.
1.1 Features
• Programmable, Digital servo driver and motor in an integrated package
• Operates from a 12 to 70 volts DC power supply
• Modes of Operation:
CANopen(complant CiA DSP402)
• Pro le Torque
• Pro le Velocity
• Pro le Position
• Homing
Q Programing
• Execute stored Q programs via MOONS’ speci c CANopen objects
• Communications:
CANopen & RS-232
• 5000 line (20,000 counts/rev) encoder feedback
• Available torque:
SSM23C-2CG: Up to 1.0N•m Continuous(1.3 N•m Boost)
SSM23C-3CG: Up to 1.5N•m Continuous(2.0 N•m Boost)
• I/O:
3 optically isolated digital inputs,
with adjustable bandwidth digital noise rejection  lter, 5 to 24 volts
1 optically isolated digital output, 30V/100 mA max.
• Technological advances:
Full servo control, Closed loop
Ef cient, Accurate, Fast, Smooth
Intelligent, Compact

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1.2 Block Diagram
Block Diagram
SSM23C
MOSFET
PWM
Power
Amplifier
12-70 VDC
External
Power Supply
Voltage
Temp
Det.
Over
Current
Det.
motor
encoder
5 Volt DC
Power Supply
DSP
Driver
Controller
3.3VDC
Internal
Logic
Supply
Optical
Iso
I/O Connector
+
Optical
Iso
Optical
Iso
IN1+ Digital
Filter
Digital
Filter
Digital
Filter
Software
Filter
Software
Filter
Software
Filter
IN1 (5 to 24 Volts)
: CW Limit
: General Purpose
IN2 (5 to 24 Volts)
: CCW Limit
: General Purpose
IN3 (5 to 24 Volts)
: Enable Input
: Reset Input
: General Purpose
I/O Configurations
Status
Optical
Iso
RS-232
CANopen
Comm
Conn
CANopen
Conn
Power
Conn
IN1-
IN2+
IN2-
IN3+
IN3-
OUT+
OUT-
RS-232
TX, RX, GND
CANopen
CANH, CANL, GND
-
OUT (30V, 100mA)
: Brake Output
: Alarm Output
: Motion Output
: General Purpose
: In Position
Optional

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1.3 Safety Instructions
Only qualied personnel should transport, assemble, install, operate, or maintain this equipment.
Properly qualied personnel are persons who are familiar with the transport, assembly, installation,
operation, and maintenance of motors, and who meet the appropriate qualications for their jobs.
To minimize the risk of potential safety problems, all applicable local and national codes regulating
the installation and operation of equipment should be followed. These codes may vary from area
to area and it is the responsibility of the operating personnel to determine which codes should be
followed, and to verify that the equipment, installation, and operation are in compliance with the
latest revision of these codes.
Equipment damage or serious injury to personnel can result from the failure to follow all applicable
codes and standards. 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 qualied anti-static procedures before touching the product.
• During operation keep all covers and cabinet doors shut to avoid any hazards that could
possibly cause severe damage to the product or personal health.
• During operation, the product may have components that are live or have hot surfaces.
• Never plug in or unplug the Integrated Motor while the system is live. The possibility of electric
arcing can cause damage.
Be alert to the potential for personal injury. Follow recommended precautions and safe operating
practices emphasized with alert symbols. Safety notices in this manual provide important
information. Read and be familiar with these instructions before attempting installation, operation,
or maintenance. The purpose of this section is to alert users to the possible safety hazards
associated with this equipment and the precautions necessary to reduce the risk of personal injury
and damage to equipment. Failure to observe these precautions could result in serious bodily
injury, damage to the equipment, or operational difculty.

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2 Getting Started
The following items are needed:
• a 12 - 70 volt DC power supply, see the section below entitled “Choosing a Power Supply” for
help in choosing the right one
• a small at blade screwdriver for tightening the connectors (included)
• a PC running Microsoft Windows 2000, XP, Vista, or Windows 7
• the MOONS’ CD (included)
• a MOONS’ RS-232 programming cable (included)
2.1 Installing Software
Before utilizing the SSM23C Integrated Step-Servo Motor and SSM Quick Tuner Software in an
application, the following steps are necessary:
• Install the SSM Quick Tuner software from the CD, software is also available at MOONS’
website.
• Connect the drive to the PC using the RS-232 programming cable.
• Connect the drive to the power supply. See instructions below.
• Launch the software by clicking Start...Programs...MOONS’.
• Apply power to the drive.
• The software will recognize the drive and display the model and rmware version. At this point,
it is ready for use.
2.2 Mounting the Hardware
As with any step motor, the SSM23C must be mounted so as to provide maximum heat sinking
and airow. Keep enough space around the Integrated Motor to allow for airow.
• Never use the drive where there is no airow or where other devices cause the
surrounding air to be more than 40°C (104°F).
• Never put the drive where it can get wet.
• Never use the drive where metal or other electrically conductive particles can
inltrate the drive.
• Always provide airow around the drive.

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2.3 Choosing a Power Supply
The main considerations when choosing a power supply are the voltage and current requirements
for the application.
2.3.1 Voltage
The SSM23C 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 SSM23C to produce higher temperatures. Using power supplies with voltage
outputs that are near the drive maximum may signi cantly reduce the operational duty-cycle.
The extended range of operation can be as low as 10 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 10 VDC for reliable operation. Absolute minimum power
supply input is 10 VDC. If the Input supply drops below 10 VDC the low voltage alarm will be
triggered. 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.
2.3.2 Regeneration Clamp
If a regulated power supply is being used, there may be a problem with regeneration. When a
load decelerates rapidly from a high speed, some of the kinetic energy of the load is transferred
back to the power supply, possibly tripping the over-voltage protection of a regulated power
supply, causing it to shut down. This problem can be solved with the use of a MOONS’ RC880
Regeneration Clamp. It is recommended that an RC880 initially be installed in an application. If
the “regen” LED on the RC880 never  ashes, the clamp is not necessary.
RC880 Regen Clamp
LEDs
Green - Power
Red - Regen on

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2.3.3 Current
The maximum supply currents required by the SSM23C are shown in the charts below at different
power supply voltage inputs. The SSM23C power supply current is lower than the winding
currents because it uses switching ampliers to convert a high voltage and low current into lower
voltage and higher current. The more the 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 signicantly 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 the motor will encounter.
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
Torque(N.m)
Speed(RPS)
SSM23C-2CG 24V Power
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No 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
Torque(N.m)
Speed(RPS)
SSM23C-2CG 48V Power
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No 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
Torque(N.m)
Speed(RPS)
SSM23C-2CG 70V Power
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No 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
Torque(N.m)
Speed(RPS)
SSM23C-3CG 24V Power
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No 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
Torque(N.m)
Speed(RPS)
SSM23C-3CG 48V Power
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No 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 10 20 30 40 50
Torque(N.m)
Speed(RPS)
SSM17C-2CG 48V Power
Amps
Continuous
Torque
Boost
Supply Current
Full Load
No Load

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3 Installation/Connections
3.1 Connecting the Power Supply
Use 16 to 20-gauge wire to connect the SSM23 to a power supply. It contains an internal fuse
connected to the “+” terminal that is not user replaceable. If a user serviceable fuse is desired,
install a 4 amp fast acting fuse in line with the “+” power supply lead.
Be careful not to reverse the wires. Reversing the connection may open the
internal fuse on the drive and void the warranty.
RC880
SSM
V-V+
V-V+
Vin
-
+
Vout
+
-
SSM
To Power Supply-
To Power Supply+
To Earth Ground
Power Supply
Vin
Vout
23C-3CG
MOONS' offers two matched power supplies for use with the SSM.
A 24VDC, 150W(P/N MF150A24AG-V) and a 48VDC 320W(P/N MF320A48AG-V).
These power supplies have current over load capability making them ideal for use.
(To use with a switch power supplier, a RC880 regen must be connected in system)
The RC880 regeneration clamp is for use where regeneration from the motor may cause damage to
the drive. In these cases the RC880 is connected between the drive and power supply and absorbs
regenerated energy.

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3.2 Connecting the SSM23C Communications
The communications interface for the SSM23C is two standard 3-pin spring clamp connectors.
A special cable designed to work with the serial port for conguration is included. The SSM23C
is congured using a combination of rotary switches and an RS-232 serial link, and then may
be deployed on a distributed CANopen network. The RS-232 interface is used for conguration,
tuning, node ID setting and Q program downloading. The CANopen network should be connected
in a daisy-chain fashion, with a 120 ohm terminating resistor at each end of network.
Locate the SSM23C within 2.5 meters of the PC. Plug the DB9 connector of the communication
cable that came with the drive into the serial port of the PC. Plug the 3-pin spring clamp connector
into the appropriate connector on the SSM23C. Secure the cable to the PC with the screws on the
DB9 connector.
Note: If the PC does not have an RS-232 serial port, a USB Serial Converter will be needed.
You can contact MOONS’ to buy a USB to RS-232 converter.
The RS-232 circuitry does not have any extra electrical “hardening” and care should be taken
when connecting to the RS-232 port as hot plugging could result in circuit failure.
3.2.1 Node ID
Each node ID on a CANopen network must have a unique Node ID. The
Node ID is congured using a sixteen position switch to set the lower four
bits of the Node ID while the upper three bits are congured by using ST
Congurator. CANopen Node IDs are seven bits long, with a range of 1 -
127, or 0x01 - 0x7F in hexadecimal notation. Node ID 0x00 is reserved in
accordance with the DS301 specication.
3.2.2 Setting the Bitrate
The CANopen network bitrate is set by the ten position switch
on the front of the drive. The bit rate must be the same for all
nodes on the CANopen network. Any changes to the bit rate
require either a power cycle or a CANopen reset command to
take effect.
SW1 Bit Rate
0 1 Mbps
1 800 kbps
2 500 kbps
3 250 kbps
4 125 kbps
5 50 kbps
6 20 kbps
7 12.5 kbps
8 reserved
9 reserved

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3.3 Inputs and Outputs
The SSM23C has three optically isolated inputs that use 5 to 24V volts logict
3.3.1 Connector Pin Diagram
3.3.2 IN1 & IN2 Inputs
IN1 and IN2 digital inputs are designed for high speed digital input operation between 5 and 24
volts. The diagrams below show how to connect them to various commonly used devices like
sensors, switches, relays, PLCs, etc.
SSM23
Programmable
digital inputs
Output 2
Output 1
IN1+
IN2+
IN2-
+5v to +24v out
IN1-
IN3+
IN3-
Output 3
Connecting to Indexer with Sinking Outputs
Indexer
With
Sourcing
Outputs
Indexer
With
Sinking
Outputs
SSM23
5-24V
High
Speed
Inputs
Output 1
IN1+
Output 2
Output 3
COM
IN1-
IN2+
IN2-
IN3+
IN3-
Connecting to Indexer with Sourcing Outputs
SSM23
5-24V
High
Speed
Inputs
Output 1+
Output 1-
IN1+
IN1-
IN2+
IN2-
Output 2+
Output 2-
Output 3+
Output 3-
IN3+
IN3-
5 to 24
volt
Power
Supply
SSM23
Connecting the Input to a Switch or Relay
Switch or Relay
(closed = logic low)
+
-
IN-
IN+
Connecting to Indexer with Differential Outputs
(Many high speed indexers have differential outputs)
5 to 24
volt
Power
Supply
SSM23
Connecting an NPN type Proximity Sensor to an input
(when prox sensor activates, input goes low)
+
-
IN+
IN-
out
put
+
NPN
Proximity
Sensor
−
5 to 24
volt
Power
Supply
SSM23
Connecting an PNP type Proximity Sensor to an input
(when prox sensor activates, input goes low)
out
put
+
PNP
Proximity
Sensor
-
+
-
IN+
IN+
Indexer
With
Differential
Outputs
Inside drive
RES
IN1+
IN1-
IN2+
IN2-
IN3+
IN3-
OUT+
OUT-
I/O Connector

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Note: If current is owing into or out of an input, the logic state of that input is low or
closed. If no current is owing, or the input is not connected, the logic state is high or
open.
3.3.3 IN3 Input
The IN3 digital input is designed for low speed digital input operation between 5 and 24 volts.
The diagrams below show how to connect them to various commonly used devices like sensors,
switches, relays, PLCs, etc.
Note: If current is owing into or out of an input, the logic state of that input is low or
closed. If no current is owing, or the input is not connected, the logic state is high or
open.
SSM23
Programmable
digital inputs
Output 2
Output 1
IN1+
IN2+
IN2-
+5v to +24v out
IN1-
IN3+
IN3-
Output 3
Connecting to Indexer with Sinking Outputs
Indexer
With
Sourcing
Outputs
Indexer
With
Sinking
Outputs
SSM23
5-24V
High
Speed
Inputs
Output 1
IN1+
Output 2
Output 3
COM
IN1-
IN2+
IN2-
IN3+
IN3-
Connecting to Indexer with Sourcing Outputs
SSM23
5-24V
High
Speed
Inputs
Output 1+
Output 1-
IN1+
IN1-
IN2+
IN2-
Output 2+
Output 2-
Output 3+
Output 3-
IN3+
IN3-
5 to 24
volt
Power
Supply
SSM23
Connecting the Input to a Switch or Relay
Switch or Relay
(closed = logic low)
+
-
IN-
IN+
Connecting to Indexer with Differential Outputs
(Many high speed indexers have differential outputs)
5 to 24
volt
Power
Supply
SSM23
Connecting an NPN type Proximity Sensor to an input
(when prox sensor activates, input goes low)
+
-
IN+
IN-
out
put
+
NPN
Proximity
Sensor
−
5 to 24
volt
Power
Supply
SSM23
Connecting an PNP type Proximity Sensor to an input
(when prox sensor activates, input goes low)
out
put
+
PNP
Proximity
Sensor
-
+
-
IN+
IN+
Indexer
With
Differential
Outputs
SSM23
Programmable
digital inputs
Output 2
Output 1
IN1+
IN2+
IN2-
+5v to +24v out
IN1-
IN3+
IN3-
Output 3
Connecting to Indexer with Sinking Outputs
Indexer
With
Sourcing
Outputs
Indexer
With
Sinking
Outputs
SSM23
5-24V
High
Speed
Inputs
Output 1
IN1+
Output 2
Output 3
COM
IN1-
IN2+
IN2-
IN3+
IN3-
Connecting to Indexer with Sourcing Outputs
SSM23
5-24V
High
Speed
Inputs
Output 1+
Output 1-
IN1+
IN1-
IN2+
IN2-
Output 2+
Output 2-
Output 3+
Output 3-
IN3+
IN3-
5 to 24
volt
Power
Supply
SSM23
Connecting the Input to a Switch or Relay
Switch or Relay
(closed = logic low)
+
-
IN-
IN+
Connecting to Indexer with Differential Outputs
(Many high speed indexers have differential outputs)
5 to 24
volt
Power
Supply
SSM23
Connecting an NPN type Proximity Sensor to an input
(when prox sensor activates, input goes low)
+
-
IN+
IN-
out
put
+
NPN
Proximity
Sensor
−
5 to 24
volt
Power
Supply
SSM23
Connecting an PNP type Proximity Sensor to an input
(when prox sensor activates, input goes low)
out
put
+
PNP
Proximity
Sensor
-
+
-
IN+
IN+
Indexer
With
Differential
Outputs

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3.3.4 Programmable Output
The SSM23C drives feature one optically isolated digital output (OUT). This output can be set
to automatically control a motor brake, to signal a fault condition, to indicate when the motor is
moving or to provide an output frequency proportional to motor speed (tach signal). Or the output
can be turned on and off by program instructions like Set Output (SO). The output can be used to
drive LEDs, relays and the inputs of other electronic devices like PLCs and counters. The OUT+
(collector) and OUT- (emitter) terminals of the transistor are available at the connector. This allows
the output to be congured for current sourcing or sinking.
Diagrams of various connection types follow.
5 – 24 volt
Power Supply
+
-
Connecting a Sourcing Output
PLC
5 – 24 volt
Power Supply
+
-
Driving a Relay
1N4935 suppression diode
relay
SSM23C
SSM23C
OUT+
OUT+
OUT-
OUT- IN
COM
5 – 24 volt
Power Supply
SSM23C
Connecting a Sourcing Output again
PLC
OUT+
OUT-IN
COM
-+
5 – 24 volt
Power Supply
Load
SSM23C
+
-
Connecting a Sinking Output
OUT+
OUT-

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Do not connect the output to more than 30 volts. The current through the output terminal
must not exceed 100mA.
5 – 24 volt
Power Supply
+
-
Connecting a Sourcing Output
PLC
5 – 24 volt
Power Supply
+
-
Driving a Relay
1N4935 suppression diode
relay
SSM23C
SSM23C
OUT+
OUT+
OUT-
OUT- IN
COM
5 – 24 volt
Power Supply
SSM23C
Connecting a Sourcing Output again
PLC
OUT+
OUT-IN
COM
-+
5 – 24 volt
Power Supply
Load
SSM23C
+
-
Connecting a Sinking Output
OUT+
OUT-

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4 Drive Conguration
SSM Quick Tuner is the PC based software application used to congure, and perform servo
tuning, drive testing and evaluation of the SSM. System servo control gains, drive functionality,
and I/O conguration are set with Quick Tuner. It also contains an oscilloscope function to help set
the servo control gains.
4.1 Quick Tuner Toolbar
4.1.1 Open, Save, and Print
In addition to exchanging settings with a drive, the SSM Quick Tuner software can also save &
load settings using the PC’s hard drive.
The Open button brings up a dialog box showing all the SSM Quick Tuner les on the hard drive.
When a large number of identical machines are being built it is useful to be able to exactly
duplicate each set-up. When development of one machine is completed and the motion control is
working correctly, it can be saved to a le. When the next machine is built, the set-up le may be
opened and downloaded to that drive. One of the advantages of programmable, digital control is
this easy duplication of system settings.
With the Save button a set-up can be saved to the hard drive. Long le names may be used just
as with other 32 bit Windows programs, such as Microsoft Word or Excel.
The Print button allows a hard copy of a program to be printed on any system printer. The
standard Windows printer dialog is used, allowing the choice of typical printer settings.

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4.1.2 Restore
The Restore button will reset all parameters in the drive to the ones set by the factory (defaults).
Note - as this will erase all parameters that have been changed, it may be desired to save them to
a le rst.
4.1.3 Alarm History
The SSM stores a log of previous alarm conditions viewable in the Alarm History. When an alarm
occurs, the drive stores the information on which alarm conditions were triggered. As a fault may
trigger more than one alarm condition, the drive stores all of them for reference. This information
can then be viewed in the Alarm History dialog to help with drive and system problem solving. The
drive stores up to 8 sets of alarm conditions. The Alarm History dialog can also be used to clear
the Alarm History.