Moons' SSDC-R Series Hardware Manual
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Moons' SSDC-R Series Hardware Manual

Step-servo system
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SSDC-R/C
Step-Servo System
Hardware Manual
SSDC03-R SSDC06-R SSDC10-R
SSDC03-C SSDC06-C SSDC10-C
SHANGHAI AMP&MOONS' AUTOMATION CO.,LTD.
Rev. 1.0
10222018

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Summary of Contents for Moons' SSDC-R Series

  • Page 1 SSDC-R/C Step-Servo System Hardware Manual SSDC03-R SSDC06-R SSDC10-R SSDC03-C SSDC06-C SSDC10-C SHANGHAI AMP&MOONS’ AUTOMATION CO.,LTD. Rev. 1.0 10222018...

  • Page 2: Table Of Contents

    SSDC-R/C Hardware Manual Contents 1 Introduction ..........................4 1.1 Features ......................... 4 1.2 Block Diagram ........................ 5 1.3 Safety Instructions ......................6 2 Getting Started ........................... 7 2.1 Installing Software ......................8 2.2 Connecting to the Communication Port ................. 9 2.2.1 RS-485/422 communication port（-R type）...

  • Page 3: Introduction

    SSDC-R/C Hardware Manual 1 Introduction Thank you for selecting the MOONS’ SSDC series Step-Servo drive and motor. SSDC series combines servo technology with a stepper motor to create a product with exceptional feature and broad capability. The SSDC series is a high performance, intelligent Step-Servo system with multi-axes field bus control.

  • Page 4: Block Diagram

    SSDC-R/C Hardware Manual 1.2 Block Diagram SSDC Block Diagram Power Supply: Filter SSDC06/10: 24-70VDC SSDC03: 12-48VDC Internal DC Input Voltage Logic Power Temp. Converter Supply Det. High Speed Input Mosfet Digital Software Optical Filter Filter Ioslation Power Amplifier Over Current Input Det.

  • Page 5: Safety Instructions

    SSDC-R/C Hardware Manual 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.

  • Page 6: Getting Started

    SSDC-R/C Hardware Manual 2 Getting Started The following items are needed: • A 12-70VDC 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” •...

  • Page 7: Installing Software

    SSDC-R/C Hardware Manual 2.1 Installing Software Step-Servo Quick Tuner 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 Step-Servo Quick Tuner. It also contains an oscilloscope function to help set the servo control gains.

  • Page 8: Connecting To The Communication Port

    SSDC-R/C Hardware Manual 2.2 Connecting to the Communication Port RS-485/422 communication port（-R type） 2.2.1 RS-485/422 communication port Definition Color Orange/White Orange Green/White Blue Blue/White Green Brown/Whitelv Brown Connecting to a Host using RS-485 Before configure the drive by Step-Servo Quick tuner software, use the CAT5 cable to connect the drive(COM1 or COM2) and host.
  • Page 9 SSDC-R/C Hardware Manual RS-485 network connection Multiple –R model drive network can be built via dual RS-485 communication port by daisy chain cable or network cable provided. RS-485 Four-wire Configuration RS-485 four-wire system utilize separate transmit and receive wires. One pair of wires connect the host’s transmit signals(TX+/TX-) to each drive’s RX+/RX- receive terminals.

  • Page 10: Canopen Connecting Communication（-C Type

    SSDC-R/C Hardware Manual CANopen Connecting communication（-C type） 2.2.2 CANopen COM Port COM1 COM2 COM1 Signal COM2 Signal Color CAN_H CAN_H Orange/White CAN_L CAN_L Orange Green/White RS-232_TX Blue RS-232_RX Blue/White Green Brown/Whitelv Brown PC connection with RS-232 cable Before using Step-Servo Quick Tuner for -C drive configuration, please connect COM1 on the driver to host PC by RS-232 programming cable.

  • Page 11: Setting Node Id And Baud Rate

    SSDC-R/C Hardware Manual 2.3 Setting Node ID and baud rate SSDC drives have one rotary switch and one piano switch to set the Node ID, baud rate and terminal resistor. 终端匹配电阻 2.3.1 RS-485 Node ID and baud rate settings（-R type） RS-485波特率...
  • Page 12 SSDC-R/C Hardware Manual 2.3.2 CANopen Node ID and baud rate settings(-C model) 终端匹配电阻 Set the lower 4 bits of drive’s CANopen Node ID by rotary switch S1 CANopen波特率 Set drive’s CANopen baud rate and terminal resistor by piano switch S2 CANopen地址...

  • Page 13: Choosing The Right Com Port

    SSDC-R/C Hardware Manual 2.4 Choosing the Right COM Port Open the “Device Manager” on the PC. There may or may not be a “Ports” selection. Connect the mini USB cable to the PC. The connected COM port should then be displayed. Choose this new COM(n) port in the Step-Servo Quick Tuner software.

  • Page 14: Connecting The Power Supply

    SSDC-R/C Hardware Manual 2.5 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.

  • Page 15: Choosing A Power Supply

    SSDC-R/C Hardware Manual 2.6 Choosing a Power Supply The main considerations when choosing a power supply are the voltage and current requirements for the application. 2.6.1 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.

  • Page 16: Current

    SSDC-R/C Hardware Manual 2.6.2 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.
  • Page 17 SSDC-R/C Hardware Manual AM11RS3DMA 24V Power Torque Continuous Boost Supply Current Full Load No Load Speed (rps) □ □ AM17SS1DG -N AM17RS1DM 24V Power Torque Continuous Boost Supply Current Full Load No Load Speed (rps) □ □ AM17SS1DG AM17RS1DM 48V Power Torque Continuous Boost...
  • Page 18 SSDC-R/C Hardware Manual □ □ AM17SS2DG -N AM17RS2DM 24V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) □ □ AM17SS2DG -N AM17RS2DM 48V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) □ □...
  • Page 19 SSDC-R/C Hardware Manual □ □ AM17SS3DG -N AM17RS3DM 48V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) □ □ AM17SS4DG -N AM17RS4DM 24V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) □ □...
  • Page 20 SSDC-R/C Hardware Manual □ □ AM23SS2DG -N AM23RS2DM 24V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) □ □ AM23SS2DG -N AM23RS2DM 48V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) □ □...
  • Page 21 SSDC-R/C Hardware Manual □ □ AM23SS3DG -N AM23RS3DM 24V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) □ □ AM23SS3DG -N AM23RS3DM 48V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) □ □...
  • Page 22 SSDC-R/C Hardware Manual □ □ AM24SS3DG -N AM24RS3DM 24V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) □ □ AM24SS3DG -N AM24RS3DM 48V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) □ □...
  • Page 23 SSDC-R/C Hardware Manual AM34SS1DGA-N AM34RS1DMA 24V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) AM34SS1DGA-N AM34RS1DMA 48V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) AM34SS1DGA-N AM34RS1DMA 70V Power Torque Continuous Boost Supply Current Full Load Full Load...
  • Page 24 SSDC-R/C Hardware Manual AM34SS3DGA-N AM34RS3DMA 24V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) AM34SS3DGA-N AM34RS3DMA 48V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) AM34SS3DGA-N AM34RS3DMA 70V Power Torque Continuous Boost Supply Current Full Load Full Load...
  • Page 25 SSDC-R/C Hardware Manual AM34SS5DGA-N AM34RS5DMA 24V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) AM34SS5DGA-N AM34RS5DMA 48V Power Torque Continuous Boost Supply Current Full Load Full Load Speed (rps) AM34RS5DMA AM34SS5DGA-N 70V Power Torque Continuous Boost Supply Current Full Load Full Load...

  • Page 26: Connecting The Motor

    SSDC-R/C Hardware Manual 2.7 Connecting the Motor The SS/RS motors have two cables. One is the motor power cable, the other one is the encoder feedback cable. Plug the motor power cable into the motor connector on the drive and plug the encoder feedback cable into the encoder feedback connector on the drive.

  • Page 27: Inputs And Outputs

    SSDC-R/C Hardware Manual 3 Inputs and Outputs SSDC inputs and outputs include： • 8 optically isolated digital inputs,5 - 24VDC logic • 4 Optically isolated, Open Collector, 30V/100 mA max, • 2 analog inputs can be configured to 0-5V, 0-10V, ±5V or ±10V signal ranges •...

  • Page 28: Digital Inputs

    SSDC-R/C Hardware Manual 3.1 Digital Inputs 3.1.1 X1, X2, X3 and X4 Digital Inputs X1, X2: Optically isolated, differential, 5-24VDC; Minimum pulse width = 250ns, Maximum pulse frequency = 2MHz; X3, X4: Optically isolated, differential, 5-24VDC; Minimum pulse width = 100μs, Maximum pulse frequency = 5KHz X1 can be configured as general purpose input X2 can be configured as general purpose input...

  • Page 29: X5, X6, X7 和 X8 Digital Inputs

    SSDC-R/C Hardware Manual 3.1.2 X5, X6, X7 和 X8 digital Inputs X5 ~ X8: Optically isolated, differential, 5-24VDC; Minimum pulse width = 100μs, Maximum pulse frequency = 5KHz; X5 can be configured as servo on input or general purpose input X6 can be configured as alarm reset signal input or general purpose input X7 can be configured as Touch Probe 1 trigger input or general purpose input X8 can be configured as Touch Probe 2 trigger input or general purpose input...

  • Page 30: Digital Outputs

    SSDC-R/C Hardware Manual 3.2 Digital Outputs Y1, Y2, Y3 and Y4 Digital Outputs Y1 can be configured as alarm signal output. It can also be configured as static in position signal output(static, checking in position when motor is stopped) ,or as dynamic in position signal output (dynamic, checking in position all the time.) Y2 can be configured as Tach signal output, tach output produce pulsed relative to the motor position with configurable resolution.
  • Page 31 SSDC-R/C Hardware Manual 5 - 24V Power Su pply – Load Y1/2/3/4+ SSDC Y1/2/3/4- Connecting a sourcing output to load 5 - 24V Power Su pply – Y1/2/3/4+ SSDC Y1/2/3/4- Connecting a sinking output to PLC's input 5 - 24V Power Su pply –...

  • Page 32: Analog Inputs

    SSDC-R/C Hardware Manual 3.3 Analog Inputs SSDC series drive has two analog signal inputs which can accept signal range of 0-5V, 0-10V, ±5V and ±10V. The drive can be configured to operate at velocity mode or position mode that is proportional to the analog input.

  • Page 33: Secondary Encoder Input

    SSDC-R/C Hardware Manual 3.5 Secondary Encoder Input SSDC series supports 2-way encoder feedback, one way connect to the motor encoder position feedback, the other way connect to the load side position feedback such as scale, connect to the ENC A+/-，ENC B+/-，ENC Z+/-, the secondary encoder input can be accepted both of single- ended and differential signal.

  • Page 34: Mounting The Drive

    SSDC-R/C Hardware Manual 4 Mounting the Drive Use the M3 or M4 screw to mount the SSDC series drive .The drive should be securely fastened to a smooth, flat metal surface will help conduct heat away from the chassis. If this is not possible, forced airflow from a fan maybe required to prevent the drive from overheating.

  • Page 35: Reference Materials

    SSDC-R/C Hardware Manual 6 Reference Materials 6.1 Drive Mechanical Outlines Unit:mm Model SSDC03-R SSDC06-R SSDC10-R SSDC03-C SSDC06-C SSDC10-C Rev. 1.0 400-820-9661 10/22/2018...

  • Page 36: Technical Specifications

    SSDC-R/C Hardware Manual 6.2 Technical Specifications Power Amplifier Amplifier Type Dual H-Bridge, 4 Quadrant Current Control 4 state PWM at 20 KHz SSDC03: Continuous Current 3A max, Boost Current 4A max (1.5s), current limitation auto set-up by attached motor SSDC06: Output Current Continuous Current 6A max, Boost Current 7.5A max (1.5s), current limitation auto set-up by attached motor SSDC10:...

  • Page 37: Recommended Motors

    SSDC-R/C Hardware Manual 6.3 Recommended Motors Permissible Overhung Load(N) Rotor Encoder Maximum Frame Permissible Torque Mass Drive Inertia Resolution Speed Size Model Distance(L) from Shaft End(mm) Thrust Load counts/rev AM11RS1DMA 0.065 AM11RS2DMA SSDC03 0.08 AM11RS3DMA 0.125 AM17RS1DM□ 0.26 4096 AM17RS2DM□ 0.42 AM17RS3DM□...

  • Page 38: Motor Dimensions (Unit:mm)

    SSDC-R/C Hardware Manual 6.4 Motor Dimensions (Unit:mm) AM11 Series 16.2 4-M2.5 Depth 2.5 Min 23±0.1 Model AM11RS1DMA 43.8 AM11RS2DMA 52.9 φ22-0.052 4.5±0.1 φ5-0.012 AM11RS3DMA 64.1 AM17 Series 42.3 4-M3 Depth 4.5Min Model Connector On Cable AM17RS1DMA 59.5 φ6 Motor cable AM17RS1DMB 59.5 φ5...
  • Page 39 SSDC-R/C Hardware Manual AM23 Series 56.3 47.14 4-V5.1 V38.1 Model Connector On Cable AM23RS2DMA 77.5 Motor cable φ8 Housing: 39-01-3048 (Molex)，1pcs AM23RS2DMB 5.85 77.5 φ6.35 Crimp: 39-00-0038 (Molex)，4pcs AM23RS3DMA 99.5 φ8 Encoder cable AM23RS3DMB 5.85 99.5 φ6.35 Housing: 1-1827864-6 (Tyco)，1pcs Crimp: 1827569-2 (Tyco)，11pcs AM23RS4DMA 102.5...
  • Page 40 SSDC-R/C Hardware Manual AM24 Series 47.14 4-V4.5 V38.1 Model Connector On Cable Motor cable AM24RS3DMA φ10 Housing: 39-01-3048 (Molex)，1pcs Crimp: 39-00-0038 (Molex)，4pcs Encoder cable Housing: 1-1827864-6 (Tyco)，1pcs AM24RS3DMB 20.6 φ8 Crimp: 1827569-2 (Tyco)，11pcs Motor cable AM24SS3DGA-N φ10 Housing: 39-01-3048 (Molex)，1pcs Crimp: 39-00-0038 (Molex)，4pcs Encoder cable Housing: 1-1827864-0 (Tyco)，1pcs...
  • Page 41 SSDC-R/C Hardware Manual AM34 Series 69.6 4-Φ6.5 Φ73.025 Model Connector On Cable Motor cable AM34RS1DMA Housing: 39-01-3048 (Molex)，1pcs Crimp: 39-00-0038 (Molex)，4pcs AM34RS3DMA 117.5 Encoder cable Housing: 1-1827864-6 (Tyco)，1pcs AM34RS5DMA Crimp: 1827569-2 (Tyco)，15pcs Motor cable AM34SS1DGA-N Housing: 39-01-3048 (Molex)，1pcs Crimp: 39-00-0038 (Molex)，4pcs AM34SS3DGA-N 117.5 Encoder cable...
  • Page 42 SSDC-R/C Hardware Manual AM17SS-N-BR01 Series(With brake) 42.3 4-M3 Depth 4.5Min Ø22 73.5 Model Connector On Cable AM17SS1DGA-N-BR01 59.5 φ6 Motor cable AM17SS1DGB-N-BR01 59.5 φ5 Housing: 39-01-3048 (Molex)，1pcs AM17SS2DGA-N-BR01 φ6 Crimp: 39-00-0038 (Molex)，4pcs AM17SS2DGB-N-BR01 φ5 AM17SS3DGA-N-BR01 73.5 φ6 Encoder cable AM17SS3DGB-N-BR01 73.5 φ5 Housing: 1-1827864-0 (Tyco)，1pcs...
  • Page 43 SSDC-R/C Hardware Manual AM23SS-N-BR01 Series(With brake) 56.3 47.14 4-Ø5.1 Ø38.1 Model Connector On Cable AM23SS2DGA-N-BR01 77.5 φ8 Motor cable Housing: 39-01-3048 (Molex)，1pcs AM23SS2DGB-N-BR01 5.85 77.5 φ6.35 Crimp: 39-00-0038 (Molex)，4pcs AM23SS3DGA-N-BR01 99.5 φ8 Encoder cable AM23SS3DGB-N-BR01 5.85 99.5 φ6.35 Housing: 1-1827864-0 (Tyco)，1pcs Crimp: 1827569-2 (Tyco)，15pcs AM23SS4DGA-N-BR01 102.5...
  • Page 44 SSDC-R/C Hardware Manual AM24SS-N-BR01 Series(With brake) 47.14 4-Ø4.5 Ø38.1 Model Connector On Cable Motor cable AM24SS3DGA-N-BR01 φ10 Housing: 39-01-3048 (Molex)，1pcs Crimp: 39-00-0038 (Molex)，4pcs Encoder cable Housing: 1-1827864-0 (Tyco)，1pcs AM24SS3DGB-N-BR01 20.6 φ8 Crimp: 1827569-2 (Tyco)，15pcs Specification of brake for NEMA24 motor Voltage Torque Reactive time...
  • Page 45 SSDC-R/C Hardware Manual AM34SS-N-BR01 Series(With brake) 69.6 4-Ø6.5 Ø73.025 45.5 Model Connector On Cable Motor cable AM34SS1DGA-N-BR01 Housing: 39-01-3048 (Molex)，1pcs Crimp: 39-00-0038 (Molex)，4pcs AM34SS3DGA-N-BR01 117.5 Encoder cable Housing: 1-1827864-0 (Tyco)，1pcs AM34SS5DGA-N-BR01 Crimp: 1827569-2 (Tyco)，15pcs Specification of brake for NEMA34 motor Voltage Torque Reactive time...

  • Page 46: Torque Curves

    SSDC-R/C Hardware Manual 6.5 Torque Curves AM11RS Series AM11RS1DMA Continuous Continuous Continuous AM11RS2DMA AM11RS3DMA Boost Boost Boost Speed(rps) Speed(rps) Speed(rps) AM17SS/RS Series □ □ □ AM17SS1DG Continuous Continuous Continuous AM17SS2DG AM17SS3DG □ □ □ AM17RS1DM 　　 Boost AM17RS2DM AM17RS3DM 　　 Boost 　　...

  • Page 47: Motor Numbering System

    SSDC-R/C Hardware Manual 6.6 Motor Numbering System AM17 SS 3 D G A-N Frame Size Mechanical Option 11,17,23,24,34 A=Shaft diameter 11:φ5 Step Servo 17:φ6 SS、RS 23:φ8 24:φ10 Motor Size 34:φ14 1 = 1 Stack B=Shaft diameter 2 = 2 Stack 17:φ5 Encoder 3 = 3 Stack...

  • Page 48: Accessories

    SSDC-R/C Hardware Manual 7 Accessories 7.1 Standard Accessories（Included） • -R Type Model Number Catagory Vendor Description 1103-200 Cable Power supply cable 2012-030 Cable 0.3m network cable Screwdriver Screwdriver Screwdriver 39-01-3048 Housing Molex Motor connector housing （J2） 501646-1600 Housing Molex Encoder connector housing （J3） 501646-3200 Housing Molex...

  • Page 49: I/O Cable

    SSDC-R/C Hardware Manual 7.2.1 I/O Cable Housing: 501646-3200(Molex) Crimp: 501648-1000(Molex) Model Length(L) Description Wiring Diagram PIN (J1) Color (Signal) PIN (J1) Color (Signal) 1117-100 Shielded Type 1117-200 Shielded Type Blue/White（X1+） Blue/Black（X1-） Green/White（X2+） Brown/White（Y1+） GreenBlack（X2-） Brown/Black（Y1-） Red（X3+） Gray/White（Y2+） Orange（X3-） Gray/Black（Y2-） Blue（X4+） Violet/White（Y3+）...

  • Page 50: Extended Motor Cable（For Ssdc Drive And Am17/23/24/34Ss-N、Am17/23/24/34Rs Motor

    SSDC-R/C Hardware Manual 7.2.3 Extended motor cable（For SSDC drive and AM17/23/24/34SS-N、AM17/23/24/34RS motor） Housing： 39-01-3049(Molex) Housing： 39-01-3048(Molex) Crimp： 39-00-0040(Molex) Crimp： 39-00-0038(Molex) Model Length(L) Description Wiring Diagram 2103-100 Standard type PIN(J1) Color (Signal) PIN(J2) 2103-300 Standard type Blue(B-) 2103-500 Standard type Red(B+) 2103-1000 Standard type Green(A-)

  • Page 51: Extended Encoder Cable（For Ssdc Drive And Am17/23/24/34Ss-N Motor

    SSDC-R/C Hardware Manual 7.2.5 Extended encoder cable（For SSDC drive and AM17/23/24/34SS-N motor） Housing: 1-1903130-0(TYCO) Housing: 501646-1600(Molex) Crimp: 1903120-1(TYCO) Crimp: 501648-1000(Molex) Length(L) Description Model Wiring Diagram PINJ1) PIN(J2) PIN(J1) PIN(J2) 2117-100 Standard type Color (Signal) Color (Signal) 2117-300 Standard type Blue(A+) Shield 2117-500 Standard type...

  • Page 52: Network Cable

    SSDC-R/C Hardware Manual 7.2.7 Network Cable Common Type Shielded Type Length(L) 2012-030 * 2013-030 0.3M 2012-300 2013-300 * 2012-030 is included in the drive package(except SSDC-A type). 7.2.8 Regeneration Clamp RC880 MOONS’offers the RC880“regeneration clamp”to solve this problem. If in doubt, use an RC880 for your first installation.

  • Page 53: Contacting Moons

    SSDC-R/C Hardware Manual 8 Contacting MOONS’ Service Center +86-400-820-9661 MOONS’Headquarter Ningbo Room 309, Tower B, Taifu Plaza, 565 Jiangjia Road, 168 Mingjia Road, Minhang District, Shanghai 201107, Jiangdong District, Ningbo, 315040, P.R. China P.R. China Tel: +86 (0)574 87052739 Tel: +86 (0)21 52634688 Fax:+86 (0)574 87052365 Fax:+86 (0)21 52634098 Guangzhou...

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