Superior Electric SLO-SYN SS2000MD4-M User manual

INSTALLATION
INSTRUCTIONS
for
SLO-SYN®
MODEL SS2000MD4-M
MICROSTEP
TRANSLATOR/DRIVE

2
TABLE OF CONTENTS
Page
THINGS TO KNOW BEFORE USING THIS
EQUIPMENT ....................................................................... 3
WARRANTY INFORMATION................................................... 3
SECTION 1: INTRODUCTION ................................................. 3
1.1 Using This Manual......................................... 3
1.2 Product Features........................................... 4
SECTION 2: EXPRESS START UP
PROCEDURE ............................................................. 5
SECTION 3: INSTALLATION GUIDELINES............................ 6
3.1 Mounting........................................................ 6
3.2 Terminal Locations And
Assignments.................................................. 7
SECTION 4: SPECIFICATIONS............................................... 11
4.1 Mechanical Specifications............................. 11
4.2 Electrical Specifications................................. 11
4.3 Environmental Specifications ........................ 11
4.4 Motor Compatibility........................................ 12
4.5 Current Settings............................................. 14
4.6 Automatic Current Reduction......................... 14
4.7 Step Resolution............................................. 14
4.8 Signal Specifications ..................................... 15
4.9 Indicator Lights.............................................. 17
SECTION 5: TORQUE VERSUS SPEED
CHARACTERISTICS .................................................. 18
5.1 Motor Performance........................................ 18
5.2 Typical Torque
Vs. Speed Curves.......................................... 19
SECTION 6: TROUBLESHOOTING ....................................... 27
APPENDIX A: TROUBLESHOOTING ELECTRICAL
INTERFERENCE PROBLEMS................................... 29
© 1994, Superior Electric.

3
THINGS TO KNOW BEFORE USING THIS
EQUIPMENT
•Only qualified personnel should install or perform servicing procedures
on this equipment.
•Before performing any work on the unit, allow at least five minutes for
the capacitors to discharge fully.
•Voltage is present on unprotected pins when unit is operational.
•Motors powered by this drive may develop extremely high torque. Be
sure to disconnect power to this drive before doing any mechanical work.
CAUTION:
This unit is designed for 24 to 40 Vdc input only (see Section 4.2,
Electrical Specifications, Page 11).
WARRANTY INFORMATION
Reconfiguration of the circuit in any fashion not shown in this manual will
void the Warranty.
Failure to follow the installation guidelines as described in Section 3 will void
the Warranty.
SECTION 1: INTRODUCTION
1.1 USING THIS MANUAL
It is important that you understand how this SLO-SYN SS2000MD4-M
Translator/Drive is installed and operated before you attempt to use it. We
strongly recommend that you read this manual completely before pro-
ceeding with the installation of this unit.

4
This manual is an installation and operating guide to the SLO-SYN
SS2000MD4-M Translator/Drive. Section 1 gives an overview of the Drive
and its features. Section 2 describes the steps necessary to place the drive
into operation. General wiring guidelines as well as the physical mounting
of the unit and connections to the drive portion are covered in Section 3.
Complete specifications, listed in Section 4, provide easily referenced infor-
mation concerning electrical, mechanical and environmental specifications.
The procedure for setting the motor current level is also covered in this
section.
Torque versus speed characteristics with all appropriate SLO-SYN Stepper
Motors are given in Section 5. Section 6, Troubleshooting, gives procedures
to follow if the Translator/Drive fails to operate properly.
Appendix A provides procedures for troubleshooting electrical interference
problems.
1.2 PRODUCT FEATURES
The SLO-SYN SS2000MD4-M Translator/Drive is a bipolar, adjustable
speed, two-phase PWM drive which uses hybrid power devices. It can be
set to operate a step motor in microstep mode at up to 20,000 microsteps
per revolution. The maximum running speed is 3,000 rpm. To reduce the
chances of electrical noise problems, the control signals are optically isolat-
ed from the drive circuit. Features include:
•Switch selectable current levels of 1.0 through 3.5 amperes
•Full short circuit protection (phase-to-phase and phase-to-ground)
•Undervoltage and transient overvoltage protection
•Efficient thermal design
•Optically isolated inputs
•Windings Off capability
•Automatic Current Reduction
•Switch selectable step resolution
•Compact size
•Sturdy all-aluminum mounting base

5
SECTION 2: EXPRESS START UP
PROCEDURE
The following instructions define the minimum steps necessary to make your
Drive operational.
CAUTION:
Always disconnect the power to the unit before connecting or discon-
necting the motor leads. FAILURE TO DO THIS WILL RESULT IN A
SHOCK HAZARD AND MAY DAMAGE THE DRIVE.
Always operate the unit with the Motor and the Drive enclosure
GROUNDED. Be sure to twist together the wires for each motor phase
as well as those for the dc input. Six twists per foot (0.3 m) is a good
guideline.
1. Check to see that the motor used is compatible with the drive. Refer to
Section 4.4 for a list of compatible motors.
2. Set the correct current level for the motor being used per the instruc-
tions in Section 4.5. Heat sinking may be required to maintain case
temperature below +70° C (+158° F).
3. Select the appropriate step resolution and set the switches as de-
scribed in Section 4.7.
4. Wire the motor per the "Motor Connections" description in Section 3.2.
5. Connect the power source to the DC input terminal strip. Be sure to
follow the instructions for connecting the filter capacitor as described
in Section 3.2, under Power Input.
NOTES: If the motor operates erratically, refer to Section 5, "Torque
Versus Speed Characteristics".
Clockwise and counterclockwise directions are properly oriented
when viewing the motor from the end opposite the mounting
flange.

6
SECTION 3: INSTALLATION GUIDELINES
3.1 MOUNTING
The SLO-SYN Drive is mounted by fastening its mounting brackets to a flat
surface. Dimensions are shown in Figure 3.1. If the drive assembly is
mounted against a bulkhead, be sure to apply a thin coating of thermal com-
pound between the drive and the mounting surface before fastening the unit
in place. Do not use too much thermal compound. It is better to use too little
than too much.
Figure 3.1, Mounting Diagram
NOTE: Case temperature must not exceed +70°C (+158°F).
When selecting a mounting location, it is important to leave at least two
inches (51mm) of space around the top, bottom and sides of the unit to
allow proper airflow for cooling.
It is also important to keep the drive away from obvious noise sources. If
possible, locate the drive in its own metal enclosure to shield it and its wiring
from electrical noise sources. If this cannot be done, keep the drive at least
three feet (0.9 m) from any noise sources.

7
3.2 TERMINAL LOCATIONS AND ASSIGNMENTS
Figure 3.2 shows the terminal locations for the SLO-SYN SS2000MD4-M
Translator/Drive.
I/O Connector (J1)
Motor And Power Supply Connector (J2)
Figure 3.2, Terminal Locations

8
MOTOR CONNECTIONS
All motor connections are made via the 6-terminal strip. Terminal assign-
ments are given below. Motor connections are shown in Figure 3.3.
J2 Pin Assignment
1 M1 (Phase A+)
2 M3 (Phase A-)
3 M4 (Phase B+)
4 M5 (Phase B-)
NOTE: Motor phase A is M1 and M3 and motor phase B is M4 and
M5. The motor frame must be grounded.
Cabling from the drive to the motor should be done with a shielded, twisted-
pair cable. The wires for each motor phase should be twisted together about
six times per foot (0.3 m).
Superior Electric offers the following motor cable configurations. These
cables have unterminated leads on both ends.
Length Part Number

10 ft (3 m) 216022-031
25 ft (7.6 m) 216022-032
50 ft (15.2 m) 216022-033
75 ft (22.8 m) 216022-034

Figure 3.3 shows the possible motor wiring configurations.

9
*These leads must be insulated and isolated from other leads or
ground.
Circled letters identify terminals for connector motors, numbers identify
those for terminal box motors.
Figure 3.3, Motor Wiring Configurations
D
F
B
H
5
4
1
3
WHITE/
BLACK
BLACK
WHITE/
RED
RED
GREEN
MOTOR TERMINAL "M" NUMBERS
MOTOR
CONNECTOR PIN MOTOR CONNECTOR PIN
4-LEAD MOTORS
D
F
B
H
5
4
1
3
GREEN
WHITE/
RED
RED
6-LEAD MOTORS
WHITE N.C.*E 2
G
*N.C. BLACK
WHITE/
GREEN
D
F
B
H
5
4
1
3
WHITE/
BLACK
WHITE/
RED
RED
8-LEAD MOTORS, SERIES CONNECTIONS
G
BLACK
A
WHITE
ORANGE
E
GREEN
CWHITE/
GREEN
*
6
2
7
8
*
DRIVE PIN 1
DRIVE PIN 2
DRIVE PIN 1
DRIVE PIN 2
DRIVE PIN 1
DRIVE PIN 2
DRIVE PIN 4
DRIVE PIN 3
DRIVE PIN 4
DRIVE PIN 3
DRIVE PIN 4
DRIVE PIN 3
D
F
B
H
5
4
1
3
WHITE/
RED
RED
8-LEAD MOTORS, PARALLEL CONNECTIONS
WHITE/
BLACK
GBLACK
AWHITE
ORANGEE
C
6
2
7
8
GREEN
WHITE/
GREEN
DRIVE PIN 4
DRIVE PIN 3
DRIVE PIN 1
DRIVE PIN 2
6

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POWER INPUT
The dc input power is connected to terminals 5 and 6 of the terminal strip.
Terminal 5 [Vm(+)] is the power supply plus (+) connection and pin 6 [Vom
(-)] is the power supply minus (-) connection.
An unregulated supply similar to that shown in Figure 3.4 is preferable.
If a regulated supply is used, it must be capable of operating with the
added filter capacitor. A switching regulated supply may not be suit-
able for use with this drive. It is important that the capacitor (C1) be
connected within three feet (0.9 meter) of the input terminals. The
capacitor must be of the correct value and have the proper current and
voltage parameters (see list of components on page 11).
It is recommended that the power supply leads be twisted together using
approximately six twists per foot (0.3 m).
NOTE:If the power supply is grounded, it must only be grounded on the
negative side or the short circuit protection will not operate properly.
NOTES: The cable between the filter capacitor (C1) and the drive should
be twisted using approximately six twists per foot (0.3 m)).
Maximum wire length is three feet.
Use #16 AWG or larger wire.
Figure 3.4
Typical Power Supply For A Single Drive Application

11
Components for circuit shown in Figure 3.4
F1 1.5 ampere time delay, 250 volt
R1 5 ohm surge limiter, Dale 7SS5 or equivalent
T1 130 VA, 24 Vac output
BR1 General Instrument GBPC3502 or equivalent
C1 4700 µf, 5.5 ampere 20 kHz, 63 V rated, United Chemcon
53D472F063HS6 or equivalent
SECTION 4: SPECIFICATIONS
4.1 MECHANICAL SPECIFICATIONS
Size (Inches).............. 1.56 H x 4.13 W x 3.25 D
(mm) .................. 40 H x 105 W x 83 D
Weight.......................... 0.6 pounds (272 grams)
4.2 ELECTRICAL SPECIFICATIONS
DC Input Range........... 24 Vdc min., 40 Vdc max.
DC Current................... see Motor Table
Drive Power Dissipation
(Worst Case) ..... 35 watts
4.3 ENVIRONMENTAL SPECIFICATIONS
Temperature
Operating........... +32°F to +122°F
(0°C to +50°C) free air ambient, Natural Convec-
tion. Maximum heat sink temperature of 158°F
(70°C) must be maintained. Forced-air cooling
may be required.
Storage.............. -40°F to +167°F
...................... (-40°C to +75°C)
Humidity....................... 95% max. noncondensing
Altitude......................... 10,000 feet (3048 m) max.

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4.4 MOTOR COMPATIBILITY
Motor Types..................... Superior Slo-Syn M and KM Series
M Series Frame Sizes...... M061 (NEMA 23D) through M092 (NEMA 34)
KM series frame sizes...... KML061 (NEMA 23) through
KML093 (NEMA 34)
Number of Connections .. 4, 6, 8
Minimum Inductance........ 0.5 millihenry
Maximum Resistance....... = 0.25 x Vdc Supply/I Setting
Example:
Vdc = 30 I Setting = 3.5
R max. = 0.25 x 30/3.5 = 2.1 ohms
NOTE: Maximum resistance is total of motor plus cable.
CAUTION: Do not use larger frame size motor than those listed, or the
drive may be damaged. If a larger frame size motor must be used,
consult the factory for recommendations.

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MOTORS FOR USE WITH THE
SS2000MD4-M TRANSLATOR/DRIVE
Power Supply Current
Motor Winding Connection Current
Setting
(Amperes) Standstill
(Amps. DC) Maximum (Amps. DC)
M061 08 Series 2.5 1.0 2.0
M061 08 Parallel 3.5 1.0 2.0
M062 09 Series 3.0 1.0 2.5
M062 09 Parallel 3.5 1.0 3.5
M063 09 Series 3.0 1.5 2.0
M063 09 Parallel 3.5 1.0 3.5
M091 09 Series 3.0 1.0 1.5
M091 09 Parallel3.5 1.5 3.0
M092 09 Series 3.0 1.5 2.0
M092 09 Parallel 3.5 1.0 3.0
KML060FO8 - - 3.5 1.0 2.0
KML060F11 - - 3.5 1.0 2.0
KML061FO5 - - 2.5 1.2 1.5
KML061F11 - - 3.5 1.0 3.0
KML062F07 - - 3.0 1.0 2.5
KML062F13 - - 3.5 1.0 4.0
KML063F07 - - 3.0 1.5 2.0
KML063F13 - - 3.5 1.0 4.0
KML091F07 - - 3.0 1.0 2.0
KML091F13 - - 3.5 1.0 4.0
KML092F07 - - 3.0 1.5 2.5
KML092F13 - - 3.5 1.0 4.0
Power supply currents shown are measured at the output of the rectifier bridge in Figure
3.4.
M061, M062 and M063 motors listed include LS, LE, CS, FC and FD versions. M091 and
M092 motors include FC and FD versions with 6 or 8 leads. Motors with windings other
than those listed can be used as long as the current ratings listed on the motors are not
exceeded.
All KML motors listed have 4 leads.

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4.5 CURRENT SETTINGS
The proper current setting for each motor is shown on the individual torque
vs. speed curves. Use this current level to obtain the torque shown.
Switches 1 through 5 are used to select the current level. Select the desired
operating current by setting the appropriate switch to position 1 (ON). The
OFF position is labeled "0". Only one switch should be ON. If two or more
switches are ON, the one which selects the highest current level will be the
active switch. The switch settings are as follows:
Current
Position (amperes)
None 1.0
11.5
22.0
32.5
43.0
53.5
4.6 AUTOMATIC CURRENT REDUCTION
When switch #6 is in the OFF position, the current at standstill goes to
50% of the selected level. This occurs between 1 and 2 seconds after
the last pulse is received. When switch #6 is in the ON position, the
current at standstill remains at full value.
4.7 STEP RESOLUTION
The number of pulses per revolution is selected using positions 7 and-
8 of the switch described in Section 4.5. The following chart shows the
correct switch setting for each available step resolution.
Switch Position
7 8
Step
Resolution
Pulses Per
Revolutiion
0 (OFF) 0 (OFF) 1/2 400
1 (ON) 0 (OFF) 1/10 2,000
0 (OFF 1 (ON) 1/25 5,000
1 (ON) 1 (ON) 1/100 20,000

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J2
J1
MOTOR CURRENT &
STEP RESOLUTION
SWITCHES
Figure 4.1
Switches For Setting Current Level
And Step Resolution
4.8 SIGNAL SPECIFICATIONS
4.8.1 Terminal Assignments
All connections are made via the 4-pin terminal strip.
J1 Pin Assignment
1OPTO
2PULSE
3DIR
4AWO
4.8.2 Signal Descriptions
OPTO Opto-Isolator Supply
User supplied power for the opto-isolators.
PULSE Pulse Input

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A low to high transition on this terminal advances the motor one
step. The step size is determined by the Step Resolution switch
setting.
DIR Direction Input
When this signal is high, motor rotation will be clockwise. Rota-
tion will be counterclockwise when this signal is low.
Clockwise and counterclockwise directions are properly oriented
when viewing the motor from the end opposite the mounting
flange.
AWO All Windings Off Input
When this signal is low, AC and DC current to the motor will be
zero. Caution: There will be no holding torque when the
AWO signal is low.
NOTE: If you are using the drive with an SS2000I or SS2000I-V
control, the READY input and the OPTO input on the control
must be jumpered together.
4.8.3 Level Requirements
OPTOVoltage.................. 4.5 to 6.0 volts dc
Current.................. 16 mA per signal used
Other Signals
Voltage
Low................. ≤0.8 Vdc
≥0.0 Vdc
High................ ≤OPTO
≥OPTO - 1 volt
Current
Low................. ≤16 mA
High................ ≤0.2 mA
4.8.4 Timing Requirements
PULSE
Max. Frequency.... 500 kHz
Max. Rise And
Fall Times ............. 1 microsecond
Min. Pulse Width... 1 microsecond
Other Signals
Response Time..... ≤50 microseconds

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Suggested Methods For Control Interface
Figure 4.2
4.9 INDICATOR LIGHTS
"FAULT" LED, Red
Lights to indicate over current condition. This condition is caused by
motor wiring errors or a ground fault.
Recovery from over current condition requires removing and then re-
applying the power.

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SECTION 5: TORQUE VERSUS SPEED
CHARACTERISTICS
5.1 MOTOR PERFORMANCE
All stepper motors exhibit instability at their natural frequency and harmonics
of that frequency. Typically, this instability will occur at speeds between 50
and 1000 full steps per second and, depending on the dynamic motor load
parameters, can cause excessive velocity modulation or improper position-
ing. This type of instability is represented by the open area at the low end
of each Torque vs. Speed curve.
There are also other instabilities which may cause a loss of torque at step-
ping rates outside the range of natural resonance frequencies. One such
instability is broadly defined as mid-range instability. Usually, the damping
of the system and acceleration/deceleration through the resonance areas
aid in reducing instability to a level that provides smooth shaft velocity and
accurate positioning. If instability does cause unacceptable performance
under actual operating conditions, the following techniques can be used to
reduce velocity modulation.
1) Avoid constant speed operation at the motor's unstable frequencies.
Select a base speed that is above the motor's resonant frequencies
and adjust acceleration and deceleration to move the motor through
unstable regions quickly.
2) The motor winding current can be reduced as described in Section
4.5. Lowering the current will reduce torque proportionally. The re-
duced energy delivered to the motor can decrease velocity modulati-
on.
3) Using another step resolution may provide smoother operation and
reduce the effects of mid range instability. Note that microstepping
changes the shaft speed for a given pulse input rate.

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5.2 TYPICAL TORQUE VERSUS SPEED CURVES
NOTE: The test conditions used when obtaining the torque versus speed
data are listed in the lower left-hand corner of each curve.
1/10 MICROSTEP
M061LE08, ETC., MOTORS, SERIES CONNECTED
1/10 MICROSTEP
M061LE08, ETC., MOTORS, PARALLEL CONNECTED

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1/10 MICROSTEP
M062LE09, ETC., MOTORS, SERIES CONNECTED
1/10 MICROSTEP
M062LE09, ETC., MOTORS, PARALLEL CONNECTED
1/10 MICROSTEP
M063LE09, ETC., MOTORS, SERIES CONNECTED