Moons' SSM24C User Manual
  1. Manuals
  2. Brands
  3. Moons' Manuals
  4. Servo Drives
  5. SSM24C
  6. User manual

Moons' SSM24C User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
SSM24C
Integrated Step-Servo Motor
User Manual
Rev. 1.0
AMP & MOONS' Automation

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the SSM24C and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Moons' SSM24C

Summary of Contents for Moons' SSM24C

  • Page 1 SSM24C Integrated Step-Servo Motor User Manual Rev. 1.0 AMP & MOONS’ Automation...

  • Page 2: Table Of Contents

    2.3.2 Regeneration Clamp ................9 2.3.3 Current ....................10 3 Installation/Connections ............12 3.1 Connecting the Power Supply ............12 3.2 Connecting the SSM24C Communications ........13 3.2.1 Node ID ....................13 3.2.2 Setting the Bitrate .................13 3.3 Inputs and Outputs ................14 3.3.1 Connector Pin Diagram ................14 3.3.2 IN1 &...
  • Page 3 SSM24C User Manual 4.2.3 Electronic Gearing ................21 4.2.4 Positioning Error Fault ................21 4.2.5 Maximum Acceleration ................21 4.3 Node ID .....................22 4.3.1 I/O Definition ..................22 5 Tuning - Sampling ..............24 5.1 Velocity Control Loop (V Loop) ............24 5.1.1 Gain: The Velocity Proportional Term (VP) ...........24 5.1.2 IntegGain: The Velocity Integral Term (VI) ..........24...
  • Page 4 SSM24C User Manual 5.8 Setting the Notch filter ..............37 6 SCL Test & Monitor ..............39 6.1 SCL Test ...................39 6.2 Motion Status ..................39 6.3 Monitor ....................40 6.4 I/O Status ..................40 6.5 Alarm ....................40 6.6 Drive Status ..................42 7 Troubleshooting ................. 43 8 Reference Materials ..............

  • Page 5: Introduction

    SSM24C User Manual 1 Introduction Thank you for selecting the MOONS’ SSM24C 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.

  • Page 6: Block Diagram

    SSM24C User Manual 1.2 Block Diagram SSM24C Block Diagram 12-70 VDC External 5 Volt DC Power Supply Power Supply RS-232 RS-232 TX, RX, GND 3.3VDC Internal Voltage Logic Temp Supply CANopen Det. CANopen MOSFET CANH, CANL, GND motor Power Amplifier...

  • Page 7: Safety Instructions

    SSM24C User 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.

  • Page 8: Getting Started

    2.2 Mounting the Hardware As with any step motor, the SSM24C must be mounted so as to provide maximum heat sinking and airflow. Keep enough space around the Integrated Motor to allow for airflow. •...

  • Page 9: Choosing A Power Supply

    2.3.1 Voltage The SSM24C 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 SSM24C to produce higher temperatures.

  • Page 10: Current

    SSM24C User Manual 2.3.3 Current The maximum supply currents required by the SSM24C are shown in the charts below at different power supply voltage inputs. The SSM24C power supply current is lower than the winding currents because it uses switching amplifiers to convert a high voltage and low current into lower voltage and higher current.
  • Page 11 SSM24C User Manual SSM24C-3CG 70V Power Torque Continuous Boost Supply Current Full Load No Load Speed(RPS) Rev. 1.0 +86-400-820-9661 0006302011...

  • Page 12: Installation/Connections

    SSM24C User Manual 3 Installation/Connections 3.1 Connecting the Power Supply Use 16 to 20-gauge wire to connect the SSM24 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 “+”...

  • Page 13: Connecting The Ssm24C Communications

    Locate the SSM24C 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 SSM24C. Secure the cable to the PC with the screws on the DB9 connector.

  • Page 14: Inputs And Outputs

    SSM24C User Manual 3.3 Inputs and Outputs The SSM24C 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.

  • Page 15: Programmable Output

    Connecting an PNP type Proximity Sensor to an input (when prox sensor activates, input goes low) The SSM24C 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).
  • Page 16 SSM24C User Manual 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 configured for current sourcing or sinking.

  • Page 17: Drive Configuration

    OUT- SSM24C User Manual Connecting a Sourcing Output again 5 – 24 volt Power Supply relay OUT+ SSM24C 1N4935 suppression diode OUT- Driving a Relay 4 Drive Configuration SSM Quick Tuner is the PC based software application used to configure, and perform servo tuning, drive testing and evaluation of the SSM.

  • Page 18: Led Flashing

    SSM24C User Manual drive stores up to 8 sets of alarm conditions. The Alarm History dialog can also be used to clear the Alarm History. 4.1.4 LED Flashing Clicking on this button will bring up a screen where the LED flashing for certain warnings can be masked.
  • Page 19 SSM24C User Manual When the SSM Quick Tuner is connected to an SSM Integrated Motor the drive model and sub-model will cause the communications to be set to RS-232. If SSM Quick Tuner is unable to connect to the SSM Integrated Motor, manually selecting the communications type may help establish the connection.

  • Page 20: Servo Enable/Disable

    SSM24C User Manual Uses Check Sum The SSM Integrated Motor supports using a check sum in the communication protocol. For more reliable communications this option can be selected. Checksum is used automatically when the SSM is being configured, tuned or operated in the target environment. This can prevent mis-information being sent to or received back from the drive.

  • Page 21: Basic Configuration

    This is very useful when a step motor drive is being replaced with a step-servo system, as the SSM can have the same number of steps/revolution as the stepper. For example, SSM24C can be programmed to operate at 200 steps/rev, like a full step drive. If the system is working in degrees, the drive can be programmed to operate at 36,000 steps/rev resulting in an even number of steps (100) per degree.

  • Page 22: Node Id

    SSM24C User Manual This value is also used as a quick stop when meeting with limit sensor or other stop commands. 4.3 Node ID Each node ID on a CANopen network must have a unique Node ID. The Node ID is configured using a sixteen position switch to set the lower four bits of the Node ID while the upper three bits are configured by using SSM Quick Tunner.
  • Page 23 SSM24C User Manual Options for IN2 are: • At end of travel, CCW limit input will be closed • At end of travel, CCW limit input will be open • Not used - generic programmable input Options for IN3 are: •...

  • Page 24: Tuning - Sampling

    SSM24C User Manual 5 Tuning - Sampling Being a servo motor, the SSM Integrated Motor employs sophisticated algorithms and electronics for controlling the torque, velocity and position of the motor to achieve a well behaved operation of the load. Because the motor encoder continuously tells the drive what the motor is doing, the drive can alter the current applied to the motor until the motor achieves the desired operation.

  • Page 25: Ff Gain: Acceleration Feed-Forward Term (Kk)

    SSM24C User Manual one ounce-inch of torque were applied to the motor, it would move at a slower speed. The VP term will increase the motor torque until it is producing as much torque as the force attempting to move it.

  • Page 26: Gain: The Position Proportional Term (Kp)

    SSM24C User Manual The Position Control Loop is designed to provide the typical positioning control for a servo system. All positioning type operations use this loop including when operating in the Pulse & Direction Position Control Mode. The Position loop can also be...

  • Page 27: Notch Filter

    SSM24C User Manual positioning control, it can cause objectionable audible or observable noise to the system. The filter is a very simple single-pole low pass filter that is used to limit this high frequency noise and make the system quieter and more stable.

  • Page 28: Getting Ready For Tuning

    SSM24C User Manual center frequency is set to 400Hz and the bandwidth to 200 the signal will be reduced by 3dB starting at 300hz. It will have the greatest reduction at 400Hz, and then will be greater than 3dB above 500Hz. When setting the notch filter a chart is displayed that provides an indication of the filtering that will be accomplished.

  • Page 29: Tuning The Velocity Loop

    SSM24C User Manual proper voltage during the move. 5.5 Tuning the Velocity Loop 5.5.1 Entering a Sample Move Start by selecting the V Loop tab in the Control Loop dialog section. This will cause the Sampling to perform moves that are based on Time and operates the drive in the Speed Only Velocity mode.
  • Page 30 SSM24C User Manual Start with a known direction before switching to toggle. Sample Once: after the Start button is clicked, a single move is performed, the motor stops, and the results will be displayed. Sample Continuously: after the Start button is clicked, the move will be repeated and the results displayed until the Stop button is clicked.

  • Page 31: Performing A Move

    SSM24C User Manual 5.5.2 Performing a Move Once the move settings are correct the mechanism to be moved shold also be checked to ensure it is ready to move. It is especially important to make sure the direction is set correctly. In some cases it is wise to select alternate to avoid running the mechanism into a hard stop.

  • Page 32: Adding In The Ff Gain (Kk) Parameter

    SSM24C User Manual VP and VI parameters and observe the results. VP and VI shold be adjusted at the same time and in small increments. The following two figures shows responses with different VP and VI settings. This first plot is performed with the default tuning values and no load added to the motor.
  • Page 33 SSM24C User Manual tuning is complete. The Position Loop (P Loop) does not need to be tuned as it is not used. After verifying the drive current, the Notch Filter may be the only setting still needing adjusting. See section 5.8 on “Setting the Notch Filter”.

  • Page 34: Tuning The Position Loop

    SSM24C User Manual If the SSM will be operated in a Position Control Mode, proceed to section 5.6 ”Tuning the Position Loop” below. See Section 5.7 below on “Using Auto Trigger Sampling” for tuning the SSM while using an external Pulse & Direction controller.

  • Page 35: Performing A Move

    SSM24C User Manual Actual Speed and Position Error are selected. For Position tuning these are typical values. Sample Move: move profile values are entered in the Sampling section. This example sets a move Distance of 3.00 revs at a Max Speed of 20,000 rev/sec and an Accel/Decel rate of 300 rev/s/s.

  • Page 36: The Deri Filter (Ke) Parameter

    SSM24C User Manual Adjust the KP and KD parameters and observe the results. Increasing the KP may improve the positioning performance, but it may also cause the system to be more unstable. To counter this the KD can be increased. The KD parameter is important: too little gain will cause the system to oscillate;...

  • Page 37: Setting Up Auto Trigger

    SSM24C User Manual 5.7.1 Setting up Auto Trigger When using Auto Trigger, the primary effort is to select the conditions that will trigger the sampling. Begin by selecting the desired trigger value in the Plot 1 list. This selection is what is monitored by the Auto Trigger, Plot 2 is not monitored.
  • Page 38 SSM24C User Manual Rev. 1.0 +86-400-820-9661 0006302011...

  • Page 39: Scl Test & Monitor

    SSM24C User Manual 6 SCL Test & Monitor 6.1 SCL Test The SCL (Serial Command Language) Test tool is used to send commands to the serial port of the connected drive. A command can be entered manually in the Command window at the bottom of the screen.

  • Page 40: Monitor

    SSM24C User Manual 6.3 Monitor The Monitor tool allows the user to view five of nine different parameters at any one time. Each of the 5 dropdown lists contains the same 9 parameters that can be selected and displayed. These parameters are updated as part of the polling process and therefore the values may lag behind the actual value in the SSM.
  • Page 41 SSM24C User Manual tion Error the drive exceeded the position fault limit as set by the PF (Position Fault) command e Overtemperature the DSP temperature exceeded 95 C or the drive internal PCB exceeded 85℃ r Voltage the DC bus voltage exceeded 75 VDC...

  • Page 42: Drive Status

    SSM24C User Manual 6.6 Drive Status The Drive Status is an overall indication of the drive condition. In a typical application this is the most common information that should be collected from the drive. Collecting the drive status information allows the system controller to keep track of drive operations and conditions.

  • Page 43: Troubleshooting

    SSM24C User Manual 7 Troubleshooting LED Error Codes The SSM24C uses red and green LEDs to indicate status. When the motor is enabled, the green LED flashes slowly. When the green LED is solid, the motor is disabled. Errors are indicated by combinations of red and green flashes as shown below.

  • Page 44: Reference Materials

    SSM24C User Manual 8 Reference Materials 8.1 Mechanical Outlines SSM24C-3CG Code Error solid green motor disabled flashing green motor enabled 1 red, 1 green position limit 1 red, 2 green drive disabled 2 red, 1 green ccw limit 2 red, 2 green...
  • Page 45 SSM24C User Manual 125.5±1 20.6 60.5MAX. 47.14 50.9 Rev. 1.0 +86-400-820-9661 0006302011...

  • Page 46: Technical Specifications

    Amplifier Type Dual H-Bridge, 4 Quadrant Current Control 4 state PWM at 20 KHz Output Torque SSM24C-3CG: Up to 2.4N•m Continuous(3.0 N•m Boost) Power Supply External 12 - 70 VDC power supply required Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to- Protection...

  • Page 47: Torque-Speed Curves

    SSM24C User Manual 8.3 Torque-Speed Curves Note: all torque curves were measured at 20,000 steps/rev. Note: 6 amp rating is continuous,7.5 amp rating is boost Continuous SSM24C-3CG Boost Speed(rps) Rev. 1.0 +86-400-820-9661 0006302011...

  • Page 48: Scl Command Reference

    In SCL mode, the SSM24C receives commands from the host, executing them immediately or sending them to a command buffer and then executing them directly from the buffer. It cannot, however, create a stored program for stand-alone operation.
  • Page 49 The SCL Utility Software Manual contains the complete command listing as well as instructions on connecting and configuring the SSM24C for use in SCL mode, using the Data Registers and the Protocol command. It also contains detailed information on: •...

  • Page 50: Contacting Moons

    SSM24C User Manual 9 Contacting MOONS’ Service Center +86-400-820-9661 Headquarters No. 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107, P.R. China Tel: +86(0)21-52634688 Fax: +86(0)21-62968682 E-mail: info@moons.com.cn MOONS' Industries (Europe) S.r.l. Via Torri Bianche n.1 20059 Vimercate(MB) Italy...

Table of Contents