Superior SLO-SYN SS2000MD7 User manual

INSTALLATION
INSTRUCTIONS
for
SLO-SYN®
MODELS SS2000MD7 &
SS2000MD7-128
TRANSLATOR/DRIVE

2
TABLE OF CONTENTS
Page
THINGS TO KNOW BEFORE USING THIS
EQUIPMENT ........................................................................... 3
WARRANTY RESTRICTIONS...................................................... 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 Connector Locations And Pin
Assignments ...................................................... 7
SECTION 4: SPECIFICATIONS................................................... 11
4.1 Mechanical Specifications ................................. 11
4.2 Electrical Specifications..................................... 11
4.3 Environmental Specifications............................. 12
4.4 Motor Compatibility............................................ 12
4.5 Current Settings................................................. 14
4.6 Step Resolution.................................................. 14
4.7 Signal Specifications.......................................... 15
4.8 Indicator Lights................................................... 18
SECTION 5: TORQUE VERSUS SPEED
CHARACTERISTICS ...................................................... 18
5.1 Motor Performance............................................ 18
5.2 Typical Torque Vs. Speed Curves..................... 19
SECTION 6: TROUBLESHOOTING............................................. 29
APPENDIX A: TROUBLESHOOTING ELECTRICAL
INTERFERENCE PROBLEMS ....................................... 31

3
THINGS TO KNOW BEFORE USING THIS
EQUIPMENT
•Only qualified personnel should install or perform servicing
procedures on this equipment. Do not operate the unit without the
enclosures in place as voltage present in this unit can cause
serious or fatal injury.
•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.
•The "PWR ON" LED must be off for approximately 30 seconds
before making or breaking the motor connections.
•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 75 Vdc input only (see Section
4.2, Electrical Specifications, Page 11).
WARRANTY RESTRICTIONS
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 SS2000MD7
Translator/Drive is installed and operated before you attempt to use it.
We strongly recommend that you read this manual completely
before proceeding with the installation of this unit.

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This manual is an installation and operating guide to the SLO-SYN
SS2000MD7 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
information 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 inter-
ference problems.
1.2 PRODUCT FEATURES
The SLO-SYN SS2000MD7(MD7-128) Translator/Drive is a bipolar,
speed adjustable, two-phase PWM drive which uses power MOSFET
devices. The MD7 can be set to operate a stepper motor in 1/2, 1/10,
1/25 or 1/100 microsteps. The MD7-128 can be set to operate a
stepper motor in Full, 1/16, 1/64, or 1/128 microsteps. The maximum
running speed is 3,000 rpm. To reduce the chances of electrical noise
problems, the control signals are optically isolated from the drive
circuit.
•UL recognized under Component Program, File #E146240
•Switch selectable current levels of 1 through 7 amperes
•Full short circuit protection (phase-to-phase and phase-to-ground)
•Undervoltage and transient overvoltage protection
•Thermal protection
•Efficient thermal design
•Optically isolated inputs
•Reduce Current and Windings Off capabilities
•Switch selectable step resolution
•Compact size
•Sturdy all-aluminum case

5
SECTION 2: EXPRESS START UP PROCE-
DURE
The following instructions define the minimum steps necessary to
make your Drive operational.
CAUTION:
Always disconnect the power to the unit and be certain that the
"PWR ON" LED is OFF before connecting or disconnecting 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 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
instructions in Section 4.5. Heat sinking is required if a current
of 4 amperes or higher is used.
3. Select the appropriate step resolution and set the switches as
described in Section 4.6.
4. Wire the motor per the "Motor Connections" description in Sec-
tion 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.

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SECTION 3: INSTALLATION GUIDELINES
3.1 MOUNTING
The SLO-SYN Drive is mounted by fastening its mounting brackets to a
flat surface as shown in Figure 3.1. If the Heat Sink Assembly, part
number 221576-001, is mounted against a bulkhead, be sure to apply a
thin coating of thermal compound between the heat sink 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 should not exceed +70º C (+158ºF). A
heat sink, such as Superior Electric Heat Sink Assembly
221576-001, must be used when the drive is operated at a
current setting of 4 amperes or more. In this case the unit
should be mounted upright (with the cooling fins vertical)
, or proper cooling will not occur. Air flow should not be
obstructed. Forced air cooling may be required to maintain
temperature within the stated limits.
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.

7
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 from any noise sources.
3.2CONNECTOR LOCATIONS AND PIN ASSIGN-
MENTS
Figure 3.2 shows the connector locations for the SLO-SYN SS2000MD7
Translator/Drive.
Figure 3.2, Connector Locations
MOTOR CONNECTIONS

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All motor connections are made via the 6-pin connector, part number
218397-006. Pin assignments for this connector are given below. Motor
connections are shown in Figure 3.3.
Pin Assignment
1M1 (Phase A)
2M3 (Phase A)
3M4 (Phase B)
4M5 (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. As a guideline, the wires for each motor phase should
be twisted about six times per foot.
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.

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*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 pins 5 and 6 of the power connector.
Pin 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 a linear
regulated supply and must be capable of operating with the added
filter capacitor. A switching regulated supply is not recommended
for use with this drive. It is important that 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 (6
twists per foot).
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 (six twists per foot). Maximum wire
length is three feet.
Use #16 AWG or larger wire.
Figure 3.4
Typical Power Supply For A Single Drive Application

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Components for circuit shown in Figure 3.4:
5 ampere or lower setting
F1 3 amp., time delay, Bussman MDA-3 or equivalent
F2 15 amp. very fast acting , Bussman GBB-15 or
equivalent
R1 5 ohm surge limiter, Phillips 2322-654-61508 or
equivalent
R2 4.7k ohm, 2 watts, ±5%
T1 160 VA, Bicron Electronics BU216AS040D, Signal
Transformer 80-2 or equivalent
BR1 General Instrument GBPC3502 or equivalent
C1 4700 µf, 6.9 amp. ripple current, 100 Vdc, United
ChemiCon 36DA472F100AL2A or equivalent
6 and 7 ampere settings
F1 6 amp. time delay, Bussman MDA-6 or equivalent
F2 15 amp. very fast acting, Bussman GBB-15 or
equivalent
R1 4 ohm surge limiter,Phillips 2322-654-61408 or
equivalent
R2 4.7k ohm, 2 watts, ±5%
T1 320 VA, Bicron Electronics BU233AS040D, Signal
Transformer 80-4 or equivalent
BR1 General Instrument GBPC3502 or equivalent
C1 6800µf, 9.4 amp. ripple current, 100 Vdc, United
Chemi-Con 36DA682F100AD2A or equivalent
SECTION 4: SPECIFICATIONS
4.1 MECHANICAL SPECIFICATIONS
Size(Inches).............. 4.375 H x 1.36 W x 5.73 D
(mm) .................. 111 H x 35 W x 146 D
Weight....................... 1.5 pounds (680 grams)
4.2 ELECTRICAL SPECIFICATIONS
DC Input Range ........ 24 Vdc min., 75 Vdc max.
DC Current................ see Motor Table
Drive Power Dissipation
(Worst Case) ..... 40 watts

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4.3 ENVIRONMENTAL SPECIFICATIONS
Temperature
Operating........... +32º F to +122ºF
(0ºC to +50ºC) free air ambient, Natural Convec-
tion. Maximum heat sink temperature of 158ºF
(70ºC) must be maintained. Forced-air cooling
may be required.
Storage.............. -40ºF to +167ºF
...................... (-40ºC to +75ºC)
Humidity.................... 95% max. noncondensing
Altitude...................... 10,000 feet (3048 m) max.
4.4 MOTOR COMPATIBILITY
Motor Types .............. Superior Electric M and KM Series
Frame Sizes
M Series ............ M061 (NEMA 23D) through M092 (NEMA 34)
KM series .......... KML060 (NEMA 23) through
KML093 (NEMA 34)
Number of
Connections....... 4, 6, 8
Minimum
Inductance......... 1 millihenry
Maximum
Resistance......... = 0.25 x Vdc Supply/I Setting
Example:
Vdc = 60 I Setting = 7
R max. = 0.25 x 60/7 = 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
SS2000MD7 TRANSLATOR/DRIVE
Power Supply CurrentMotor Winding Connection Current
Setting
(Am peres) Standstill
(Amps. DC)
Maximum
(Amps. DC)
M061 08 Series 31.0 2.0
M062 09 Series 31.0 2.0
M062 09 Parallel 61.5 4.0
M063 09 Series 31.0 2.0
M063 09 Parallel 61.5 4.0
M091 09 Series 41.5 2.0
M091 09 Parallel 61.5 4.0
M092 09 Series 42.0 2.0
M092 09 Parallel 72.0 4.0
M093 14 Series 52.0 2.0
M093 14 Parallel 72.0 4.0
KML060F05 - - 31.0 2.0
KML060F08 - - 41.0 2.0
KML061F05 - - 31.0 2.0
KML062F07 - - 31.0 3.5
KML062F13 - - 61.5 4.5
KML063F07 - - 31.0 2.0
KML063F13 - - 72.0 4.5
KML091F07 - - 41.5 2.5
KML091F13 - - 61.5 4.0
KML092F07 - - 42.0 2.0
KML092F13 - - 72.0 4.5
KML093F07 - - 42.0 2.0
KML093F14 - - 72.0 4.5
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, M092 and M093 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. Consult the factory for recommendations concerning the
use of M111 and M112 frame size motors.

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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. The access hole for the switches which set the motor current
level is located on the back of the unit (see Figure 4.1). Switches 1
through 6 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:
Position
(amperes) Current
None 1.0
12.0
23.0
34.0*
45.0*
56.0*
67.0*
*Heat sinking is recommended at current settings of 4 amperes or
higher. The drive case temperature MUST NOT exceed 70ºC.
4.6 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 settings for each available step resolution.
Switch Position Step
Resolution
Pulses Per
Revolution
7 8 MD7 MD7-
128
MD7 MD7-
128
0 0 1/2 Full 400 200
1 0 1/10 1/16 2,000 3200
0 1 1/25 1/64 5,000 12,800
1 1 1/100 1/128 20,000 25,600

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Figure 4.1
Switches For Setting Current Level
And Step Resolution
4.7 SIGNAL SPECIFICATIONS
4.7.1 Connector Pin Assignments
All connections are made via the 5-pin connector, part number
221536-005.
Pin Assignment
1OPTO
2PULSE
3DIR
4AWO
5RDCE
4.7.2 Signal Descriptions
OPTO Opto-Isolator Supply
User supplied power for the opto-isolators.
PULSE Pulse Input
A low to high transition on this pin advances the motor one
step. The step size is determined by the Step Resolution
switch setting.
DIR Direction Input

16
When this signal is high, motor rotation will be clockwise.
Rotation 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.
RDCE Reduce Current Input
The motor current will be 50% of the selected value when this
signal is low. Caution: Holding torque will also be reduced
when this 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.
4.7.3 Level Requirements
OPTO
Voltage...................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
4.7.4 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

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4.8 INDICATOR LIGHTS
"POWER" LED, Red
Lights when the drive logic power supply is present, indicating that
the drive is energized.
"FAULT" LED, Red
Lights to indicate over current condition. This condition is a result
of motor wiring errors or a ground fault.
Also lights to indicate the heat sink temperature has exceeded a
safe level for reliable operation.
Recovery from over current or over temperature condition requires
removing and then reapplying the power.
SECTION 5: TORQUE VERSUS SPEED CHAR-
ACTERISTICS
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 positioning. 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
stepping 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 reso-
nance 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.

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1) Avoid constant speed operation at the motor's unstable frequen-
cies. 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
reduced energy delivered to the motor can decrease velocity
modulation.
3) Use microstepping to provide smoother operation and reduce the
effects of mid range instability. Note that microstepping reduces the
shaft speed for a given pulse input rate.
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.
M061-LE08 MOTOR, 3 AMPERES
SERIES CONNECTION

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M062-LE09 MOTOR, 3 AMPERES
SERIES CONNECTION
M062-LE09 MOTOR, 6 AMPERES
PARALLEL CONNECTION