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Moons' MSSTAC6 User Manual

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MSSTAC6 Step Motor Drive
User Manual Rev.3
SHANGHAI AMP & MOONS' AUTOMATION CO. LTD.
2009-04

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  • Page 1 MSSTAC6 Step Motor Drive User Manual Rev.3 SHANGHAI AMP & MOONS’ AUTOMATION CO. LTD. 2009-04...

  • Page 2: Table Of Contents

    MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual Contents Introduction ..................- 3 - Overview ................... - 3 - Features ..................- 3 - Block diagram ................- 4 - Specifications ................- 4 - Getting Started................- 6 - Installation..................

  • Page 3: Introduction

    RS-232 communication interface Software selectable micro step resolutions from in 2 step/rev increments Power supply: External 94—135VAC (MSSTAC6)/94-265 VAC (MSSTAC6-220) Software selectable motor current 0.5-6.0/0.5-3.2 amps/phase in 0.01 amp increments Self test and auto setup measures motor parameters and optimizes the system performance...

  • Page 4: Block Diagram

    MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual 1.3 Block diagram 1.4 Specifications POWER AMPLIFIER SECTION: MSSTAC6-S, MSSTAC6-Q, MSSTAC6-I AMPLIFIER TYPE MOSFET , Dual H-Bridge, 4 Quadrant CURRENT CONTROL 4 state PWM at 20 KHz OUTPUT CURRENT 0.5 — 6.0 in 0.01 amp increments...
  • Page 5 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual POWER AMPLIFIER SECTION: MSSTAC6-S-220, MSSTAC6-Q-220, MSSTAC6-I-220 AMPLIFIER TYPE MOSFET , Dual H-Bridge, 4 Quadrant CURRENT CONTROL 4 state PWM at 20 KHz OUTPUT CURRENT 0.5 — 3.2 in 0.01 amp increments POWER SUPPLY...

  • Page 6: Getting Started

    2.1.1 Connecting AC Power The MSSTAC6 accepts an AC supply voltage from 94 to 135 VAC, 50/60 Hz. The MSSTAC6-220 accepts an AC supply voltage from 94 to 265 VAC, 50/60 Hz. Using the connector supplied connect to the AC supply as in the diagram below. Use 16 AWG wire for Line (L) and Neutral (N).

  • Page 7: Connecting The Motor

    MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual 2.1.2 Connecting the Motor Never connect the motor to or disconnect it from the drive. Insulate unused motor leads separately, and then secure. Never connect motor leads to ground or to a power supply.

  • Page 8: Connecting To The Pc Using Rs-232

    Do not exceed 50 feet (15.24 meters). Never connect a MSSTAC6 drive to a telephone circuit. It uses the same connectors and cords as telephones and modems, but the voltages are not compatible.
  • Page 9 “noise tolerant” differential line drivers. 4 wire RS-485/RS-422 Network On the MSSTAC6, RS-485 is implemented as a RS485 implementation is a 4-wire multi-drop network with separate transmit and receive wires. One pair of wires connects from the host computer’s TX+ and TX- signals to each drive’s RX+ and RX- terminals.
  • Page 10 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual To connect RS-485 to a 25 pin serial port, a converter is required. Part number 117701 from Jameco Electronics (www.jameco.com) is recommended. If the PC has a 9 pin serial port, a Jameco cable #31721 is also required.

  • Page 11: Connecting The Inputs And Outputs

    Connecting the inputs and outputs Connecting Digital Inputs on the IN/OUT1 connector The MSSTAC6 drives include two high speed inputs called STEP and DIR. They accept 5 volt single-ended or differential signals, up to 2 MHz. These are configured using the STAC6 Configurator software.
  • Page 12 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual Connections Connecting to Indexer with Sinking Outputs (includes MOONS’ I-1 Indexer) Using High Speed Inputs with 12-24 Volt Signals PLCs do not commonly use 5 volt logic. Signal levels as high as 24 volts may be connected to the STEP...
  • Page 13 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual • For 12 volt logic, add 820 ohm, 1/4 watt resistors • For 24 volt logic, use 2200 ohm, 1/4 watt resistors WARNING: The maximum voltage that can be applied directly to a high speed input terminal is 5 volts.
  • Page 14 MSSTAC6 Step Motor Drive User Manual The MSSTAC6 drives include single ended, optically isolated input circuits that can be used with sourcing or sinking signals of 12 to 24 volts. This allows connection to PLCs, sensors, relays and mechanical switches.
  • Page 15 MOONS’ MSSTAC6 Step Motor Drive User Manual Connecting Limit switches to the MSSTAC6 Drive The CWLIMIT and CCWLIMIT inputs are used for connecting end of travel sensors. These inputs are differential, allowing the use of signals that are sinking (NPN), sourcing (PNP) or differential (line driver).
  • Page 16 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual Wiring a Mechanical Limit Switch Normally open or normally closed limit switches may be used and should be wired as below: Wiring a Limit Sensor Some systems use active limit sensors that produce a voltage output rather than a switch or relay closure.
  • Page 17 Connecting Analog Input on the IN/OUT1 connector The MSSTAC6 has a ±10 Volt analog input that can be used by the drive for a number of dedicated purposes for controlling the motor or can be used for general purpose analog input signals.
  • Page 18 Connecting Digital Outputs on the IN/OUT1 connector The MSSTAC6 drives feature three digital outputs: Brake: controls an electric brake relay, automatically releasing and engaging as the drive requires...
  • Page 19 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual The Brake, Alarm and Motion outputs can only sink current. An optional I/O board adds four additional programmable outputs which can be used to drive LEDs, relays and the inputs of other electronic devices such as PLCs and counters.
  • Page 20 Digital Inputs Single Ended Inputs The MSSTAC6 includes single ended, optically isolated input circuits that can be used with sourcing or sinking signals of 12 - 24 volts. allowing connection to PLCs, sensors, relays and mechanical switches. Because these input circuits are isolated, they require a source of power. If you are connecting to a PLC, you should be able to get power from the PLC power supply.
  • Page 21 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual Connecting an Input to a Switch or Relay Use normally open momentary switch to trigger drive using Wait Input instruction. Use single throw switch for parameter selection using If Input instruction. Use normally open momentary switch for jogging.
  • Page 22 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual Digital Outputs The expanded I/O board adds four additional programmable outputs. The outputs can be used to drive LEDs, relays and the inputs of other electronic devices like PLCs and counters. On the IN/OUT 2 connector outputs, both the “+”...
  • Page 23 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual Connecting Analog Inputs on the IN/OUT2 connector - 23 - www.moons.com.cn...

  • Page 24: Configuration

    Connecting to the Aux Analog Input The auxiliary analog input on the MSSTAC6 IN/OUT 2 connector can be used by Feed to Sensor commands and other input functions when operating the drive in Host mode. The analog input can also be read back to the Host using the IA immediate type and RA buffered type Host commands.
  • Page 25 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual The Drive menu provides access to several features: Alarm History will display the last eight alarms and/or faults. If an alarm or fault condition is being displayed, Clear Alarm will clear it.

  • Page 26: Drive

    2) Applications where a host PC or PLC sends high level commands over a serial port (RS-232 or RS-485) using the Serial Command Language (SCL) 3) Multi-axis applications where a control program is stored in a MisNet Hub and one or more MSSTAC6 drives are connected to it.
  • Page 27 The motor must also be constructed from high quality magnetic materials that are suitable for operation with the 160 volt busses used on the MSSTAC6. To define a Custom Motor, that circle should be checked and the Define Custom Motor button clicked. In the Add New Motor dialog box, current, torque and inertia values are entered.

  • Page 28: Motion

    In the example below, the lead angle is increased steadily from 90° at low speeds to 135° at 40 rev/sec, so you would enter "135 degrees at 40 rev/sec", as shown above. If you are not using Stall Prevention, these values are not needed by the MSSTAC6. 2.2.4...
  • Page 29 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual Pulse Input Mode is for systems where the position of the motor is determined by a digital input signal in the form of pulses. The three modes available are: Pulse & Direction. A signal such as that generated by a step motor controller is used. In this mode, the frequency of the pulses fed into one input determines the speed of the motor.
  • Page 30 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual Step Smoothing Filter If an application requires the drive to accept pulse & direction signals from a low speed motion controller, it may need to be setup for a low step/rev setting such as full step (200 steps/rev) or half step (400 steps/rev) in order to achieve the desired motor speeds.
  • Page 31 If need two speeds are needed, check "If X5 closed,change speed to” and enter a second speed. The MSSTAC6 will accel or decel to the second speed anytime X5 is closed. When X5 opens, the motor speeds changes to the first speed, again according to the accel and decel rates entered above.
  • Page 32 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual of voltages in which the motor does not run and is useful for stopping the motor when the joystick is released. Direction The X2 input is used to select the direction of rotation. If the motor is moving when the state of the direction input is changed, the motor will decelerate to stop then accelerate to the same speed in the opposite direction.
  • Page 33 MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual SCL Address To assign each drive a unique address, select the address character and perform the download. Up to 32 drives can be connected in this manner on a single serial link.
  • Page 34 Mis Programmer To create a Mis program for a MSSTAC6, use the MisProgrammer Software to configure the drive, and create and test your Mis program. The MSSTAC6 includes several inputs and outputs that can be assigned for special purposes, such as end of travel limits or signaling a drive fault.
  • Page 35 Limit The MSSTAC6 has two inputs that can be configured as end of travel limit switches. These are useful for linear applications such as actuators. Options in the drop down list include Closed, Open and Not used, and tell the drive the condition of any switches or sensors when they are activated or if they are not being used.

  • Page 36: Status Monitor

    3 Error Codes Status LED The MSSTAC6 includes a bi-color (red/green) LED to indicate status. Normal status is indicated by a solid green LED. If the LED changes to red, an error has occurred. The errors are indicated by combinations...
  • Page 37 The "single ended" box in the encoder dialog needs to be selected or the drive will detect a broken encoder wire. With a differential encoder, the MSSTAC6 can detect a broken wire or bad signal and issue an alarm.
  • Page 38 Fault output and cleared by the Alarm Reset input (see I/O Dialog). Stall Prevention can prevent many stalls before they occur. The MSSTAC6 achieves this by using the encoder to monitor the lead angle of the motor, a measure of torque utilization. If the motion profile begins to demand more torque than the motor can produce, the velocity is automatically reduced before the motor stalls.

  • Page 39: Drive Mounting

    • It is vital to ensure that all system components are connected to earth ground. Electrical safety is impossible without a low-resistance earth connection. • The MSSTAC6 contains electro statically sensitive components that can be damaged by incorrect handling. Discharge yourself before touching the product. Avoid contact with high insulating materials (artificial fabrics, plastic film, etc.).

  • Page 40: Trouble Shooting

    MOONS’ MOONS’ MSSTAC6 Step Motor Drive User Manual Trouble Shooting Why does the drive indicate a motor ohm error when the motor is changed? At power-up the drive automatically measures motor resistance, compares it with the last measured value and stores it. If the resistance value varies by 40% or more, an error will be given The best way to deal with this problem is to enter the proper motor parameters with the Configurator software.

This manual is also suitable for:

Msstac6-sMsstac6-qMsstac6-i

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