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Moons' M56S Series Hardware Manual

Ethercat type ac servo
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M56S Series AC Servo
EtherCAT Type
Hardware Manual
SHANGHAI AMP&MOONS' AUTOMATION CO.,LTD.
Rev: 1.0
05/14/2024

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Summary of Contents for Moons' M56S Series

  • Page 1 M56S Series AC Servo EtherCAT Type Hardware Manual SHANGHAI AMP&MOONS’ AUTOMATION CO.,LTD. Rev: 1.0 05/14/2024...

  • Page 2: Table Of Contents

    M56S EtherCAT Type Hardware Manual Contents 1 Introduction ........................7 1.1 About This Manual ....................7 1.2 Documentation Set for M56S EtherCAT Servo ........... 7 1.3 Safety ........................7 1.4 Safety Symbols ....................8 1.5 Safety Precautions ....................8 1.5.1 Installation Precautions ................8 1.5.2 Wiring ......................
  • Page 3 M56S EtherCAT Type Hardware Manual 2.5.1 Motor Brake Specifications ............... 33 2.6 Drive Motor Matching Table ................34 2.6.1 220VAC System ..................34 2.6.2 400VAC System ..................36 2.7 Matching Cable and Connector Accessories ............. 38 2.7.1 Servo Motor Matching Cable ..............38 2.7.2 Drive Plug Kit ....................
  • Page 4 M56S EtherCAT Type Hardware Manual 4.3.4 Servo Drive Connectors and Terminals (5.0/6.0/7.5kW Type) ....56 4.3.5 Connections and Wiring Notes ..............57 4.3.6 Precautions for The Use of Towline Cables ..........58 4.3.7 Recommended Wires ................59 4.3.8 Ground Wire Terminal ................60 4.4 Drive Power Supply Interface ................
  • Page 5 M56S EtherCAT Type Hardware Manual 4.12.1 Safety Precautions ................. 96 4.12.2 STO Input/Output Signals ............... 96 5 Display and Operation ....................98 5.1 Description of Control Panel ................98 5.2 Mode Switch Control ..................98 5.3 LED Display Description .................. 100 5.3.1 Decimal Point And Negative Sign Description ........

  • Page 6: Customer Service

    M56S EtherCAT Type Hardware Manual Disclaimer The information in this manual is accurate and reliable during its release. Shanghai AMP&MOONS’Automation Co., Ltd. has the right to change the product specifications described in this manual without notice. Right of Trade Mark All proprietary names mentioned in this manual are trademarks of their respective owners.

  • Page 7: Introduction

    M56S Servo System is widely used in solar processing equipment, battery processing equipment, semiconductor equipment, medical equipment, industrial robots and custom equipment etc. 1.1 About This Manual This manual describes the M56S Series Servo. It provides the information required for installation, configuration and basic operation of the M56S series AC servo drive.

  • Page 8: Safety Symbols

    M56S EtherCAT Type Hardware Manual 1.4 Safety Symbols Safety symbols indicate a potential for personal injury or equipment damage if the recommended precautions and safe operating practices are not followed. The following safety-alert symbols are used on the drive and in the documentation: Caution Dangerous Voltage Earth...

  • Page 9: Certified Specifications

    M56S EtherCAT Type Hardware Manual 1.6 Certified Specifications M56S Series servo products are designed to meet the following standards. Drive Motor EN 60034-1 EN 61800-3 EN 6100-6-2 Directive Europe EN 6100-6-4 EN 60034-1 EN 61800-5-1 EN 60034-5 UL61800-5-2(SIL 3) Functional Safety(STO)

  • Page 10: Product Introduction

    M56S EtherCAT Type Hardware Manual 2 Product Introduction 2.1 Unpacking Check Please refer to the following chapters to confirm the model of servo drive and motor. A complete and operable servo system should include the following parts: ● Servo drive and servo motor with matching power ●...

  • Page 11: Drive Model Description

    M56S EtherCAT Type Hardware Manual 2.2.2 Drive Model Description M56S - 2 3A0 EC X - *** ① ② ③ ④ ⑤ ⑥ ① M56S Series ③ Current ② Supply Voltage Supply Rated Current Peak Current Rated Current Voltage Power...
  • Page 12 M56S EtherCAT Type Hardware Manual hree phase 220VAC servo drive ■ Drive Model M56S-213AECX Main circuit power supply Three-phase, AC200 ~ 240V±10%，50/60Hz Control circuit power supply Single-phase, AC200 ~ 240V±10%，50/60Hz Continuous Output Current A(rms) Max. Output CurrentA(rms) Primary side to ground: withstand voltage 1500VAC, 1 min, (leakage: 20mA) Insulation Voltage 【220V Input】...
  • Page 13 M56S EtherCAT Type Hardware Manual 2.2.3.3 AC400V Electrical specifications Theree phase 400VAC servo drive ■ Drive Model M56S-36A0ECX M56S-313AECX M56S-317AECX M56S-321AECX M56S-326AECX Main circuit power supply Three-phase, AC380 ~ 480V±10%, 50/60Hz Control circuit power supply Single-phase, AC380 ~ 480V±10%, 50/60Hz Continuous Output Current A(rms) Max.

  • Page 14: Ethercat Communication Specification

    M56S EtherCAT Type Hardware Manual 2.2.4 EtherCAT Communication Specification Communication standards IEC 61158 Type12，IEC 61800-7 CiA402 Drive Profile Physical Layer 100Base - Tx Communication port RJ45 x 2 (Input: IN，Output: OUT) Communication speed 2 x 100 Mbps (Full duplex) Communication cable Shielded twisted pair cable CAT5e (through/crossover) Transmission Distance Max.100m Between nodes/daisy chain...

  • Page 15: Drive Mechanical Dimensions(Unit: Mm)

    M56S EtherCAT Type Hardware Manual 2.2.6 Drive Mechanical Dimensions(Unit: mm) M56S-21A8EC ◆（200W） ■ Ø5 Ø5 Ø5 35.5 Ø5.2 M56S-23A0EC ◆（400W） ■ 35.5 Ø5 Ø5.2 35.5 Ø5.2 49.5 7.5 Ø5.2 35.5 49.5 Ø5.2 7.5 Ø5.2 M56S-24A5EC ■ 49.5 ◆（750W） 7.5 Ø5.2 57.5 176.5 Ø5.2...
  • Page 16 M56S EtherCAT Type Hardware Manual X（1.5kW） M56S-36A0EC ■ 57.5 176.5 X（3.0kW） M56S-313AEC 57.5 176.5 Ø5.2 Ø5.2 173.4 X（5.0kW） M56S-317AEC ■ 173.4 X（6.0kW） M56S-321AEC ■ 2-Ø5.3 X（7.5kW） M56S-326AEC ■ 2-Ø5.3 2-5.3 230.2 2-5.3 230.2 Rev: 1.0 400-820-9661 05/14/2024...

  • Page 17: Motor Model Introduction

    M56S EtherCAT Type Hardware Manual 2.3 Motor Model Introduction 2.3.1 Motor Name Plate Description AC SERVO MOTOR Model Number Model No:SM3L-061AANDV Input Voltage Input:3ΦAC 208~240V 1.5A DC Source 320V Rated Power Rated Output:200W Rated Torque Rated Torque:0.64Nm Rated Speed Rated Speed:3000rpm Max.

  • Page 18: 40Mm Frame Low Inertia 220Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.3 □40mm Frame Low Inertia 220VAC winding □ Specification Type* SM3L - 042A◇□D△ Rated Output Power watts Rated Speed 3000 Max.Speed 6000 Rated Torque N·m 0.32 Peak Torque N·m 1.28 Rated Current A (rms) Peak Current A (rms) Voltage Constant ±5% V (rms) / K rpm...

  • Page 19: 40Mm Frame High Inertia 220Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.4 □40mm Frame High Inertia 220VAC winding □ Specification Type* SM3H - 041A◇□P△ SM3H - 042A◇□P△ Rated Output Power watts Rated Speed 3000 3000 Max.Speed 6000 6000 Rated Torque N·m 0.16 0.32 Peak Torque N·m 0.64 1.28 Rated Current...

  • Page 20: 60Mm Frame Low Inertia 220Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.5 □60mm Frame Low Inertia 220VAC winding □ Specification Type* SM3L - 061A◇□P△ SM3L - 062A◇□P△ Rated Output Power watts Rated Speed 3000 3000 Max.Speed 6000 6000 Rated Torque N·m 0.64 1.27 Peak Torque N·m Rated Current A (rms) Peak Current...

  • Page 21: 60Mm Frame High Inertia 220Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.6 □60mm Frame High Inertia 220VAC winding □ Specification Type* SM3H - 061A◇□P△ SM3H - 062A◇□P△ Rated Output Power watts Rated Speed 3000 3000 Max.Speed 6000 6000 Rated Torque N·m 0.64 1.27 Peak Torque N·m 2.24 4.445 Rated Current...

  • Page 22: 80Mm Frame Low Inertia 220Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.7 □80mm Frame Low Inertia 220VAC winding □ Specification Type* SM3L - 083A◇□P△ SM3L - 084A◇□P△ Rated Output Power watts 1000 Rated Speed 3000 3000 Max.Speed 6000 6000 Rated Torque N·m Peak Torque N·m Rated Current A (rms) Peak Current A (rms)

  • Page 23: 80Mm Frame High Inertia 220Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.8 □80mm Frame High Inertia 220VAC winding □ Specification Type* SM3H - 083A◇□P△ Rated Output Power watts Rated Speed 3000 Max.Speed 6000 Rated Torque N·m Peak Torque N·m Rated Current A (rms) Peak Current A (rms) 16.7 Voltage Constant ±5% V (rms) / K rpm...

  • Page 24: 100Mm Frame Low Inertia 220Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.9 □100mm Frame Low Inertia 220VAC winding □ Specification SM3L-042 (100Watts) DC Bus: 320VDC (230VAC) 1.2 Amps SM3L - SM3L - SM3L - SM3L - Type* 102A◇□U△ 103A◇□U△ 104A◇□U△ 105A◇□U△ Rated Output Power watts 1000 1500 2000 2500...

  • Page 25: 100Mm Frame Low Inertia 400Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.10 □100mm Frame Low Inertia 400VAC winding □ Specification SM3L-042 (100Watts) DC Bus: 320VDC (230VAC) 1.2 Amps SM3L - SM3L - SM3L - SM3L - Type* 102Y◇□U△ 103Y◇□U△ 104Y◇□U△ 105Y◇□U△ Rated Output Power watts 1000 1500 2000 2500...

  • Page 26: 130Mm Frame Medium Inertia 220Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.11 □130mm Frame Medium Inertia 220VAC winding □ Specification Type* SM3M - 132A◇□U△ SM3M - 133A◇□U△ SM3M - 134A◇□U△ Rated Output Power watts 1000 1500 2000 Rated Speed 2000 2000 2000 Max.Speed 3000 3000 3000 Rated Torque N·m 4.77...

  • Page 27: 130Mm Frame Medium Inertia 400Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.12 □130mm Frame Medium Inertia 400VAC winding □ Specification Type* SM3M - 132Y◇□U△ SM3M - 133Y◇□U△ SM3M - 134Y◇□U△ Rated Output Power watts 1000 1500 2000 Rated Speed 2000 2000 2000 Max.Speed 3000 3000 3000 Rated Torque N·m 4.77...
  • Page 28 M56S EtherCAT Type Hardware Manual SM3M-062 (400Watts) - 2.8 Amps DC Bus: 320VDC (230VAC) □ Specification Type* SM3M - 135Y◇□M△ Rated Output Power watts 3000 Rated Speed 2000 Max.Speed 3000 3,000 6,000 Speed (rpm) Rated Torque N·m 14.3 Peak Torque N·m 42.9 Max.

  • Page 29: 130Mm Frame High Inertia 220Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.13 □130mm Frame High Inertia 220VAC winding □ Specification Type* SM3H - 132A◇□U△ SM3H - 133A◇□U△ SM3H - 134A◇□U△ Rated Output Power watts 1300 1800 Rated Speed 1500 1500 1500 Max.Speed 3000 3000 3000 Rated Torque N·m 5.39 8.34...

  • Page 30: 130Mm Frame High Inertia 400Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.14 □130mm Frame High Inertia 400VAC winding □ Specification Type* SM3H - 132Y◇□U△ SM3H - 133Y◇□U△ SM3H - 134Y◇□U△ Rated Output Power watts 1300 1800 Rated Speed 1500 1500 1500 Max.Speed 3000 3000 3000 Rated Torque N·m 5.39 8.34...

  • Page 31: 180Mm Frame High Inertia 400Vac Winding

    M56S EtherCAT Type Hardware Manual 2.3.15 □180mm Frame High Inertia 400VAC winding SM3H-061 (200Watts) SM3H-062 (400Watts) □ Specification DC Bus: 320VDC (230VAC) 1.7 Amps DC Bus: 320VDC (230VAC) 2.8 Amps Type* SM3H - 182Y◇□U△ SM3H - 183Y◇□U△ Rated Output Power watts 2900 4400...

  • Page 32: 180Mm Frame High Inertia 400Vac Winding

    3,000 6,000 3,000 6,000 Speed (rpm) Speed (rpm) M56S EtherCAT Type Hardware Manual Max. Intermittent Torque Max. Continuous Torque 2.3.16 □180mm Frame High Inertia 400VAC winding SM3H-083 (750Watts) DC Bus: 320VDC (230VAC) 4.5 Amps □ Specification Type* SM3H - 184Y◇□U△ SM3H - 185Y◇□U△...

  • Page 33: Motor Common Specification

    M56S EtherCAT Type Hardware Manual 2.4 Motor Common Specification Encoder Type 26-bit, 21-bit, 17-bit multi-turn absolute encoder Insulation Class Class F (155℃) Protection Level IP67 ( Except transfixion part of shaft ) Installation Conditions Indoor installation, avoiding direct sunlight, corrosive and flammable gas Working temperature: 0℃~ 40℃...

  • Page 34: Drive Motor Matching Table

    M56S EtherCAT Type Hardware Manual 2.6 Drive Motor Matching Table 2.6.1 220VAC System Servo Drive 26pin Plug-in Type I/O Connector M56S-21A8ECX M56S-23A0ECX M56S-24A5ECX EtherCAT M56S-21A8ECN M56S-23A0ECN M56S-24A5ECN Matching Motor Motor Frame Size & Power Frame 40, 50W, 100W Frame 60, 200W Frame 40, 400W Frame 80, 750W SM3L-042A◇ND△...
  • Page 35 M56S EtherCAT Type Hardware Manual Servo Drive 26pin Plug-in Type I/O Connector EtherCAT M56S-26A0ECX M56S-210AECX M56S-213AECX Matching Motor Motor Frame Size & Power Frame 80, 1000W Frame 100, 2000W Frame 100, 1000W Frame 100, 1500W Frame 100, 2500W Frame 130, 850W, 1000W Frame 130, 1300W, 1500W Frame 130, 1800W, 2000W SM3L-084A◇NP△...

  • Page 36: 400Vac System

    M56S EtherCAT Type Hardware Manual 2.6.2 400VAC System Servo Drive 26pin Plug-in type I/O Connector EtherCAT M56S-36A0ECX M56S-313AECX Matching Motor Motor Frame Size & Power Frame 100, 1000W, 1500W Frame 100, 2000W, 2500W Frame 130, 850W, 1000W Frame 130, 3000W 1300W, 1500W Frame 180, 2900W SM3L-102Y◇NU△...
  • Page 37 M56S EtherCAT Type Hardware Manual Servo Drive 26pin Plug-in type I/O Connector EtherCAT M56S-317AECX M56S-321AECX M56S-326AECX Matching Motor Motor Frame Size & Power Frame 180, 4400W Frame 180, 5500W Frame 180, 7500W Without SM3H-183YTNU△ SM3H-184YTNU△ SM3H-185YTNU△ Brake High Inertia With Brake SM3H-183YTBU△...

  • Page 38: Matching Cable And Connector Accessories

    M56S EtherCAT Type Hardware Manual 2.7 Matching Cable and Connector Accessories 2.7.1 Servo Motor Matching Cable Common Type Flexible Type Length Motor Model 1* Description Model Model 2* (Unit: m) 2639-0100 2639-0100-C10 2639-0200 2639-0200-C10 2639-0300 2639-0300-C10 Encoder Cables 2639-0400 2639-0400-C10 With Battery SM3L-042A ◇□...
  • Page 39 M56S EtherCAT Type Hardware Manual Common Type Flexible Type Length Motor Model 1* Description Model Model 2* (Unit: m) 2642-0100 2642-0100-C10 SM3L-102○◇□U△ SM3L-103○◇□U△ 2642-0300 2642-0300-C10 Encoder Cables SM3L-104○◇□U△ With Battery 2642-0500 2642-0500-C10 SM3L-105○◇□U△ Absolute Encoder 2642-1000 2642-1000-C10 Standard SM3M-132○◇□U△ Shielded SM3M-133○◇□U△...
  • Page 40 M56S EtherCAT Type Hardware Manual Common Type Flexible Type Length Motor Model 1* Description Model Model 2* (Unit: m) 1682-0100 1682-0100-C10 1682-0300 1682-0300-C10 Motor Cables 1682-0500 1682-0500-C10 SM3H-182Y◇NU△ Standard 1682-1000 1682-1000-C10 Unshielded 1682-1500 1682-1500-C10 1682-2000 1682-2000-C10 1683-0100 1683-0100-C10 1683-0300 1683-0300-C10 Motor Cables With 1683-0500 1683-0500-C10...

  • Page 41: Drive Plug Kit

    M56S EtherCAT Type Hardware Manual 2.7.2 Drive Plug Kit Name Description I/O Connector M2-50P CN2, 50pin Density IO connector Motor Encoder Connector MSOP-CN310P CN3, Drive side motor encoder connector Second encoder Connector MSOP-CN408P CN4, Full closed loop function encoder connector STO Function Connector STO Connector Kit CN5, STO Connector...

  • Page 42: Installation

    M56S EtherCAT Type Hardware Manual 3 Installation 3.1 Storage Conditions 3.1.1 Drive Storage Environment Conditions Please note the following when storing: ● Correctly packaged and store in a clean and dry place, avoid direct sunlight. ● Store within an ambient temperature range of -10℃～+65℃. ●...

  • Page 43: Drive Installation Space

    M56S EtherCAT Type Hardware Manual 3.3 Drive Installation Space ● When installing the drive, please reserve enough around space for the drive to ensure a good circulating cooling effect. ● Do not block the cooling holes of the drive. ● To ensure the temperature in the cabinet, it is recommended to install a cooling fan in the cabinet. ●...

  • Page 44: Precautions For Motor Use In Oil Or Water Environment

    M56S EtherCAT Type Hardware Manual ● When disassembling the pulley, please use professional tools such as pulley remover to prevent the bearing from being injured. ● When connecting the shaft, make sure to achieve the required concentricity. If the concentricity is not good, it will produce vibration and damage the bearing and encoder.

  • Page 45: Motor Temperature Rise

    M56S EtherCAT Type Hardware Manual 3.4.4 Motor Temperature Rise Servo motors are rated for continuous operation when mounted on a standard heat sink and in an ambient temperature of 40°C. When the servo motor is installed in a small device, the temperature may rise significantly due to the reduced heat dissipation area of the servo motor.

  • Page 46: Wiring

    M56S EtherCAT Type Hardware Manual 4 Wiring 4.1 EtherCAT Communication Port 4.1.1 Communication Interface RUN: EtherCAT Status Indicator Lamp ERR: Malfunction Indicator Link/Activity: EtherCAT Communication Output Network Status Display EtherCAT Communication Input CHARGE 4.1.2 EtherCAT Communication Status Indicator Light Colour Status Description No Ethernet connection...

  • Page 47: Rj45(8P8C) Pin Definition

    M56S EtherCAT Type Hardware Manual Note: Flickering 50ms 50ms Blinking 200ms 200ms Single Flash 200ms 1000ms Double Flash 200ms 1000ms 4.1.3 RJ45(8p8c) Pin Definition PIN1 PIN8 PIN1 PIN8 PIN NO. Signal Name Description Transmit + Transmit - Receive + Receive - Rev: 1.0 400-820-9661 05/14/2024...

  • Page 48: Emc Control

    M56S EtherCAT Type Hardware Manual 4.2 EMC Control M56S servo drive uses high-speed switching elements inside, which will generate high frequency or low frequency during normal operation interference, and interfere with peripheral equipment through conduction or radiation. There is also a low-voltage unit inside the servo drive, which is likely to be interfered by the noise of the drive's peripheral equipment.

  • Page 49: Grounding

    M56S EtherCAT Type Hardware Manual In addition to installation and wiring in accordance with the manual, you also need to pay attention to: ● Remove the paint layer on the contact surface when the drive is mounted on a metal plate. ●...

  • Page 50: Recommended Model Of Emi Filter

    M56S EtherCAT Type Hardware Manual 4.2.4 Recommended Model of EMI Filter When the servo drive is running normally, electromagnetic interference will be generated. In order to prevent interference to external sensitive equipment, select appropriate EMI noise filters to minimize interference. Note: ●...

  • Page 51: Ferrite Ring

    M56S EtherCAT Type Hardware Manual 4.2.5 Ferrite Ring The ferrite magnetic ring can effectively absorb the radiation interference of the wire harness. The magnetic ring has different impedance characteristics at different frequencies. Generally, the impedance is very small at low frequencies. When the signal frequency increases, the impedance shown by the magnetic ring rises sharply, which makes it easy for normal useful signals to pass through, and can effectively suppress high frequencies.

  • Page 52: External Main Circuit Wiring

    M56S EtherCAT Type Hardware Manual 4.3 External Main Circuit Wiring 4.3.1 System Configuration 4.3.1.1 200/400/750W Type AC Power Non Fuse Breaker LED Display The 5 digit, 7 segment LED displays the drive status and faults. Operation Panel Function keys are used to perform status Line Filter display, monitor and diagnostic, (optional)
  • Page 53 M56S EtherCAT Type Hardware Manual 4.3.1.2 1.0/1.5/2.5/3.0kW Type AC Power Non Fuse Breaker LED Display The 5 digit, 7 segment LED displays the drive status and faults. Operation Panel Function keys are used to perform status Line Filter display, monitor and diagnostic, (optional) function and parameter setting.
  • Page 54 M56S EtherCAT Type Hardware Manual 4.3.1.3 5.0/6.0/7.5kW Type AC Power LED Display The 5 digit, 7 segment LED displays the drive status and faults. Non Fuse Operation Panel Breaker Function keys are used to perform status display, monitor and diagnostic, function and parameter setting.

  • Page 55: Servo Drive Connectors And Terminals (750W And Below Type)

    M56S EtherCAT Type Hardware Manual 4.3.2 Servo Drive Connectors and Terminals (750W and below Type) Terminal Identification Description Details L1、L2、L3 Used to connect three-phase AC main circuit power L1C、L2C Used to connect single-phase AC for control circuit power Used to connect servo motor Terminal Symbol Wire color Description...

  • Page 56: Servo Drive Connectors And Terminals (5.0/6.0/7.5Kw Type)

    M56S EtherCAT Type Hardware Manual 4.3.4 Servo Drive Connectors and Terminals (5.0/6.0/7.5kW Type) Terminal Identification Description Details R、S、T Used to connect three-phase AC main circuit power L1C、L2C Used to connect single-phase AC for control circuit power Ensure the circuit is closed between B2 and B3, and Internal Resistor the circuit is open between B1+ and B3.

  • Page 57: Connections And Wiring Notes

    M56S EtherCAT Type Hardware Manual 4.3.5 Connections and Wiring Notes ● Please ensure grounding wires are securely connected, wires with more than AWG 10(5.3mm on sectional area is recommended. ● Please DO NOT power on when the screws or cables are loose. ●...

  • Page 58: Precautions For The Use Of Towline Cables

    M56S EtherCAT Type Hardware Manual 4.3.6 Precautions for The Use of Towline Cables When you need to move the motor cable or install the cable in a drag chain, please use a dedicated flexible cable. Ordinary cables are easy to be damaged during repeated bending, causing the servo motor to fail to work normally.

  • Page 59: Recommended Wires

    M56S EtherCAT Type Hardware Manual 4.3.7 Recommended Wires ● The main circuit is recommended to use insulated wires with a withstand voltage of 600V and above 75°C. ● Be sure to choose the corresponding allowable current cable to prevent the cable from overheating. Recommended wires for each part of the drive are as follows: Diameter of Cable (AWG) Rated...

  • Page 60: Ground Wire Terminal

    M56S EtherCAT Type Hardware Manual ● Please use insulated pin terminals for power connectors P1 and P2 ◆ Crimp Type ◆ Sleeve Type ◆ Parallel Terminal ● Please select the pin terminal according to the recommended wire Connector applicable wire type: AWG14～AWG18 The outer diameter of the wire for the connector: ø2.1～4.2mm 4.3.8 Ground Wire Terminal ●...

  • Page 61: Drive Power Supply Interface

    M56S EtherCAT Type Hardware Manual 4.4 Drive Power Supply Interface 220V AC servo drive supports single phase or three phase wiring method. Three phase wiring method for 1.5kW and above drives are recommended. 4.4.1 Single-Phase Power Supply Connection-AC220V (750W and below Type) MCCB P_off E_stop...

  • Page 62: Three-Phase Power Supply Connection-Ac220V (750W And Below Type)

    M56S EtherCAT Type Hardware Manual 4.4.2 Three-Phase Power Supply Connection-AC220V (750W and below Type) MCCB P_off E_stop P_on MC Alarm Alm_R Use external regenerative resistor Use internal Servo Drive regenerative resistor Motor Yellow Blue Yellow / Green Alm_R Encoder 24VDC Note: Three-phase 220V is the line voltage Notes：...

  • Page 63: Single-Phase Power Supply Connection-Ac220V (1.0/1.5Kw Type)

    M56S EtherCAT Type Hardware Manual 4.4.3 Single-Phase Power Supply Connection-AC220V (1.0/1.5kW Type) MCCB P_off E_stop P_on Alarm Alm_R Use external regenerative resistor Use internal regenerative resistor Servo Drive Dynamic braking resistor Yellow Motor Blue Yellow / Green Alm_R 24VDC Encoder Notes：...

  • Page 64: Three-Phase Power Supply Connection-Ac220V (1.0/1.5/2.5Kw Type)

    M56S EtherCAT Type Hardware Manual 4.4.4 Three-Phase Power Supply Connection-AC220V (1.0/1.5/2.5kW Type) MCCB P_off E_stop P_on MC Alarm Alm_R Use external regenerative resistor Use internal regenerative resistor Servo Drive Dynamic braking resistor Yellow Blue Motor Yellow / Green Alm_R Encoder 24VDC Note: Three-phase 220V is the line voltage Notes：...

  • Page 65: Three-Phase Power Supply Connection-Ac400V (1.5/3.0Kw Type)

    M56S EtherCAT Type Hardware Manual 4.4.5 Three-Phase Power Supply Connection-AC400V (1.5/3.0kW Type) MCCB P_off E_stop P_on MC Alarm Alm_R Use external regenerative resistor Use internal regenerative resistor Servo Drive Dynamic braking resistor Yellow Blue Motor Yellow / Green Alm_R Encoder 24VDC Note: Three-phase 400V is the line voltage Notes：...

  • Page 66: Three-Phase Power Supply Connection-Ac400V (5.0/6.0/7.5Kw Type)

    M56S EtherCAT Type Hardware Manual 4.4.6 Three-Phase Power Supply Connection-AC400V (5.0/6.0/7.5kW Type) MCCB P_off E_stop P_on MC Alarm Alm_R Yellow Blue Servo Drive Dynamic braking resistor Use internal regenerative resistor Motor Yellow / Green Alm_R Encoder 24VDC Note: Three-phase 400V is the line voltage Notes：...

  • Page 67: Wiring To The Connector P2

    M56S EtherCAT Type Hardware Manual 4.5 Wiring to the Connector P2 4.5.1 Motor Power Cable Configuration P2 interface of the drive Fasten with a Screwdriver Motor Power Connector Base 4.5.2 Motor Power Cable Connector Specifications 4.5.2.1 Motor Power Connectors Definition of Pins for □80mm and Below Motor Model PIN.No Name...
  • Page 68 M56S EtherCAT Type Hardware Manual 4.5.2.3 Motor Power Connectors Definition of Pins for □180mm Motor Model PIN.No Name Define Interface Diagram Motor Ground Wire Connector for Motor Use U Phase SM3H-182Y◇□U△ V Phase SM3H-183Y◇□U△ SM3H-184Y◇□U△ W Phase SM3H-185Y◇□U△ Brake Power Brake 1 Supply + Brake Power...

  • Page 69: Motor Power Cable Connector Specifications

    M56S EtherCAT Type Hardware Manual 4.5.3 Motor Power Cable Connector Specifications 4.5.3.1 □80mm and below Motor Power Cable Wiring Definition Plug connector E1006(KS) O-type plug connector SRA-51T-4(JST) Drive Side Motor Side Motor Model Item Color (JST)061JFAT-SBXGF-I DGFA4S-B1-00A(H) SM3L-042A◇□D△ Grounding Screw Yellow/Green SM3L-061A◇□P△...
  • Page 70 M56S EtherCAT Type Hardware Manual 4.5.3.3 □180mm Motor Power Cable Wiring Definition 100±5mm A View A View Motor side mating connector Motor Model Drive side Item Color WS32K6TS Yellow Blue SM3H-182Y◇□U△ Grounding Screw Yellow/Green Brake 1 Brake 2 Black □Encoder Options ◇Brake Optionst △Oil seal Options 100±5mm A View A View...

  • Page 71: Cn3 Encoder Connector

    M56S EtherCAT Type Hardware Manual 4.6 CN3 Encoder Connector 4.6.1 Motor Encoder Feedback Cable Configuration Fasten with a Screwdriver Drive CN3, Motor Encoder Interface Encoder Connector Interface 4.6.2 CN3-Encoder PIN Assignment Rear view Front view PIN.No Symbol Description Encoder Power Encoder +5V Encoder Power GND CLK-...

  • Page 72: Motor Encoder Wire Connection Specification

    M56S EtherCAT Type Hardware Manual 4.6.3 Motor Encoder Wire Connection Specification 4.6.3.1 Frame size 80mm and below Motor Encoder Connector PIN Definition Encoder Connector PIN.No Symbol Description Motor Model Shield Shield SM3L-042AT□D△ SM3L-042AX□D△ SM3L-061AT□P△ SM3L-061AX□P△ SM3L-062AT□P△ SM3L-062AX□P△ Encoder Power 5V SM3L-083AT□P△...

  • Page 73: Motor Encoder Wire Connection Definition

    M56S EtherCAT Type Hardware Manual 4.6.4 Motor Encoder Wire Connection Definition 4.6.4.1 □80mm and below Motor Encoder Wire Connection Definitio MSOP-CN310P Battery Box (20-bit Absolute-Encoder for Motors) Front View of J1-side Drive Side Motor Side Encoder Type Battery Signal Color VCC_GND Black Vbat+...

  • Page 74: Battery Of Absolute Encoder

    M56S EtherCAT Type Hardware Manual 4.6.5 Battery of Absolute Encoder When the SM3 series 20-bit absolute encoder motor is used in a multi-turn absolute value system, it needs to use battery power to record multi-turn data when the drive is powered off. After power- on, the drive calculates the absolute position of the mechanical load through the absolute position of the encoder.
  • Page 75 M56S EtherCAT Type Hardware Manual ■ Precautions for battery use 1. Connect the positive and negative electrodes correctly. 2. If a battery that has been used for a long time or an unusable battery is installed in the machine, liquid leakage may occur. It will not only corrode the surrounding parts, but also has the risk of short circuit.

  • Page 76: Electromagnetic Brake

    M56S EtherCAT Type Hardware Manual 4.7 Electromagnetic Brake Servo motors are used in applications such as vertical axes. When the motor is disabled or powered off, to prevent the mechanical mechanism driven by the motor from falling due to gravity and other reasons, it is necessary to use a servo motor with an electromagnetic brake.
  • Page 77 M56S EtherCAT Type Hardware Manual Connector for Motor Use Brake Power Supply + SM3H-182Y◇BU△ SM3H-183Y◇BU△ SM3H-184Y◇BU△ SM3H-185Y◇BU△ Brake Power Supply - ○ Winding Specification，◇ Encoder Options，△ Oil Seal Options Rev: 1.0 400-820-9661 05/14/2024...

  • Page 78: Precautions For The Use Of Brake

    M56S EtherCAT Type Hardware Manual 4.7.2 Precautions for The Use of Brake ● The signal of the drive control brake can not directly drive the motor's brake. The external 24V power supply and relay must be provided. It is best to try a separate 24V power supply to prevent other equipment from causing abnormal power supply which will eventually cause the motor brake to malfunction.

  • Page 79: Regeneration Resistor P2

    M56S EtherCAT Type Hardware Manual 4.8 Regeneration Resistor P2 When the output torque of the motor shaft is opposite to the direction of rotation, the energy is fed back from the motor load end to the drive bus capacitor, making the bus voltage value increase. When it rises to the braking voltage point, the energy can only be consumed by the regeneration resistor, otherwise it will damage the servo drive.

  • Page 80: Calculation Method Of Regenerative Energy

    M56S EtherCAT Type Hardware Manual 4.8.1 Calculation Method of Regenerative Energy A. Reciprocating motion When the motor decelerates, the kinetic energy during deceleration will be converted into electrical energy and fed back to the bus capacitor. The energy during deceleration is divided into two parts: A) Energy generated when the motor decelerates B) Energy generated when the external load decelerates The following provides a simple method to simply calculate the required regenerative energy...

  • Page 81: For Example

    M56S EtherCAT Type Hardware Manual For example： Use 400W motor SM3L-062A****，The load inertia is 15 times the motor inertia. Assuming tdec (deceleration time + interval between two deceleration’s) is 0.5s, and each movement is decelerated from 3000rpm to 0rpm, the required power of the regeneration resistance is calculated as:：...

  • Page 82: Regeneration Resistor Connection

    M56S EtherCAT Type Hardware Manual 4.8.2 Regeneration Resistor Connection In some applications, when the internal resistor cannot meet the absorption of the regenerative electromotive force, in order to prevent the drive from causing an over voltage alarm, an external resistor with a larger power is required; the wiring method of the resistor is as follows: Using built-in resister Using external resistor Please short-circuit the B2 and B3 of the P2 connector.

  • Page 83: Connect To Host Computer Cn1

    M56S EtherCAT Type Hardware Manual 4.9 Connect to Host Computer CN1 Port CN1 is used to connect drive with PC. Use Luna software to set control mode, change parameter values, use auto-tuning function and so on. Pin No. Symbol Function USB Power 5V USB Data- USB Data+...
  • Page 84 M56S EtherCAT Type Hardware Manual ■ I/O Diagram XCOM 1.5K 1.5K 1.5K 1.5K YCOM- 1.5K Analog Output 1.5K 1.5K 1.5K 11 DGND Analog Input AIN1 DGND AIN2 DGND 1*: The curve box is only applicable to X-type drives Note: Do not make any connections to undefined pins Rev: 1.0 400-820-9661 05/14/2024...

  • Page 85: Input And Output Pin Definition

    M56S EtherCAT Type Hardware Manual 4.10.2 Input and Output Pin Definition Symbol Description Symbol Description Digital Input 1- Digital Input 1+ Digital Input 2- Digital Input 2+ Digital Input 4 Digital Input 3 Digital Input 6 Digital Input 5 Digital Output 1+ XCOM Digital Input Common Digital Output 1-...

  • Page 86: Digital Output Signal

    M56S EtherCAT Type Hardware Manual Default Signal Symbol CN2-PIN No. Function Input Logic* Virtual-CCW-LMT Closed Virtual-CW-LMT Closed Alarm Reset Closed General purpose Closed Input Emergency Stop Closed Torque Limit Input Closed XCOM XCOM —— Touch Probe 1 Closed Homing Switch Closed Note: The level logic of the pin input is as follows: Closed: The drive's digital input circuit forms a loop, and current flows in or out of the input pin...

  • Page 87: Input Signal Wiring

    M56S EtherCAT Type Hardware Manual Default Signal Symbol CN2-PIN No. Function Input Logic* General purpose Open Output Servo Ready Closed Alarm Output Open Positioning Closed Complete Y2~Y4 Output YCOM- YCOM- —— Common Note: The level logic of the pin input is as follows: Closed: The drive's digital input circuit forms a loop, and current flows in or out of the input pin Open: The drive's digital input circuit does not form a loop, and there is no current flowing in or out of the input pin...
  • Page 88 M56S EtherCAT Type Hardware Manual ■ X1、X2、X7、X8 Input connection Diagram A. Host SINK Mode B. Host SOURCING Mode Controller 5-24VDC Controller Servo Drive 5-24VDC X1/2/7/8+ Servo Drive X1/2/7/8- X1/2/7/8+ X1/2/7/8- 0VDC 0VDC C. PNP Sensor Connection D. NPN Sensor Connection 5-24VDC 5-24VDC X1/2/7/8+...
  • Page 89 M56S EtherCAT Type Hardware Manual ■ Input X3、X4、X5、X6 The M56S EtherCAT series AC servo also has 4 optocoupler isolated single-ended input ports with a common COM point. Because these input circuits are optically isolated, they require a power supply. If it is connected to a PLC, you can use the power supply of the PLC; if it is connected to a relay or a mechanical switch, a 24VDC power supply is required.
  • Page 90 M56S EtherCAT Type Hardware Manual ■ X3、X4、X5、X6 Input Connection Diagram A. Host SINK Mode B. Host Sourcing Mode Controller 5-24VDC Controller 5-24VDC XCOM 1.5K X3/4/5/6 1.5K X3/4/5/6 1.5K XCOM 1.5K 0VDC 0VDC C. PNP Sensor Connection D. NPN Sensor Connection 5-24VDC 5-24VDC XCOM...

  • Page 91: Analog Signal Input

    M56S EtherCAT Type Hardware Manual 4.10.6 Analog Signal Input M56S EtherCAT AC servo drives, the X-type drives have 2 single-ended analog inputs. The voltage range is -10V~+10V and the speed and torque range can be set by parameters. CN2-Pin No. Signal Description X Type...

  • Page 92: Output Signal Wiring

    M56S EtherCAT Type Hardware Manual 4.10.7 Output Signal Wiring M56S EtherCAT series AC servo drives, the X-type and N-type have 1 optocoupler isolated differential output and 3 optocoupler isolated outputs with COM. The functions can be configured through software while the connection of SINK and SOURCING is supported. ■...

  • Page 93: Analog Output Signal

    M56S EtherCAT Type Hardware Manual 4.10.8 Analog Output Signal M56S EtherCAT AC servo drives, the X-type drives have 2 single-ended analog outputs to monitor the current percentage of motor current, percentage of command current, actual motor speed, motor command speed, position error and other data. The output voltage range is -10V~+10V while the maximum output current is 10mA, and the output impedance is 10Ω.

  • Page 94: Full Closed-Loop Feedback Signal Cn4

    M56S EtherCAT Type Hardware Manual 4.11 Full Closed-loop Feedback Signal CN4 The CN4 connector is used to connect the A, B, Z differential signals of an encoder or grating ruler installed externally on the machine, for the servo drive to do full closed loop control. CN4: External second encoder input interface ■...
  • Page 95 M56S EtherCAT Type Hardware Manual ■ Signal Connection Diagram Second Encoder Servo Drive Precautions: ● Please use a twisted-pair shielded cable for the external second encoder signal wire, with a wire diameter of 0.18mm (AWG22) or more. ● The total length of the cable is recommended to be within 10 meters. When the wiring is long, to prevent 5V voltage drop and signal attenuation, please increase the wire diameter.

  • Page 96: Safe Torque Off(Sto) Cn5

    M56S EtherCAT Type Hardware Manual 4.12 Safe Torque OFF(STO) CN5 In M56s EtherCAT AC servo series, the X-type drives support the safe torque off(STO) function. The STO (Safe Torque Off) function is connected via port CN5. The STO function shuts off the motor current which will turn off output torque by forcibly turning off the signal of the servo drive power transistor.
  • Page 97 M56S EtherCAT Type Hardware Manual ■ STO Signal Definition Control Signal Symbol Description Mode When SF1 has no input signal, e.g. the port is disconnected, SF1 will be SF1+ Safety Input SF1 considered OFF. The upper half of the internal power transistor will be SF1- shut off.

  • Page 98: Display And Operation

    M56S EtherCAT Type Hardware Manual 5 Display and Operation 5.1 Description of Control Panel MODE DOWN Symbol Name Details The LCD display (5 digits, 7 segments) show the drive’s operating condition LED Display and warning codes, parameters and settings values. Press and hold on mode button to switch LED display mode a).
  • Page 99 M56S EtherCAT Type Hardware Manual Control mode switch flowchart: Switch ON By default current motor speed is displayed The last decimal point indicates whether the drive is enabled Display Status Short press M button Short press S button Select the parameter to enter the parameter to be monitored edit mode...

  • Page 100: Led Display Description

    As shown in the figure, the displayed number is -2345. ■ Number display (≥5 digits) Since M56S series AC Servo LED display panel has only 5 digits, when it is necessary to display data greater than 5 bits, the following method is adopted.

  • Page 101: Other Led Display

    M56S EtherCAT Type Hardware Manual ◆ The first digit from left lights up in the middle of the 7-terminal LED, Display indicating that the data in the middle 4 digits is displayed. "3456" in Always on: it represents the middle 4-digit data as displayed one and there the middle is no higher data.

  • Page 102: Control Panel Lock

    M56S EtherCAT Type Hardware Manual 5.3.6 Control Panel Lock LED display Description This means the key panel is locked. Press and hold 'S" for 1 second while in status monitoring mode to lock. When the control panel is locked, press and hold "S" for 1 second to unlock it. 5.4 Status Monitoring Selection Mode To change the status monitoring type, please press “M”to enter monitoring selection mode, and thenuse...
  • Page 103 M56S EtherCAT Type Hardware Manual ◆ Display “315.7” VDC n-06 DC Bus Voltage 0.1V ◆ Display address is "1" EtherCAT Communication n-07 Node Address ◆ Display "r07" as alarm code n-08 Alarm history 0 ◆ Display "r07" as alarm code n-09 Alarm history 1 ◆...

  • Page 104: Function Mode Control

    M56S EtherCAT Type Hardware Manual 5.5 Function Mode Control In function mode (display F+ parameter number), you can select functions for preoperational mode, restart the drive, enable or disable the drive and so on. In status monitoring mode, press and hold for 1 second will enter function control mode.

  • Page 105: Operation Flow Chart

    M56S EtherCAT Type Hardware Manual 5.5.2 Operation Flow Chart Choose status display long press M Short press motor rotates forward Short press button for 1s for one turn and displays SET button F-00 point-to-point positioning mode Enter point-to-point positioning Short press motor reverses one turn and displays Choose...
  • Page 106 M56S EtherCAT Type Hardware Manual Short press SET button and return Short press SET button motor stops automatic setting UP or DOWN button Finish automatic setting Begin automatic setting choose the display content Long press External pulse SET button command or motion F-10 begin automatic setting command is needed to control motor`s movement...

  • Page 107: Parameter Setting Mode

    M56S EtherCAT Type Hardware Manual 5.6 Parameter Setting Mode 5.6.1 Parameter Setting Method In this mode, users can modify the parameters to be set and display them with P+ parameter number. 1) Short press M button to choose the digit needed to be set 2) Short press "UP"...

  • Page 108: Revision And Saving Parameters

    M56S EtherCAT Type Hardware Manual 5.6.2 Revision and Saving Parameters A. Revise parameters: 1) Short press "M" button to make move to higher-digit and choose the digit needed to be set 2) Long press "M" button to make move to lower-digit and choose the digit needed to be set 3) Short press "UP"...

  • Page 109: Control Panel Lock

    M56S EtherCAT Type Hardware Manual 5.7 Control Panel Lock In order to prevent misoperation by personnel unfamiliar with the drive, M56S Ether CAT series AC servo drive provides key lock function. When the button has been locked, man can not operate or modify parameters.
  • Page 110 M56S EtherCAT Type Hardware Manual LED Display Description Alarm Type Drive Status after Alarm Occurs Low voltage Fault Servo off Velocity limited Fault Servo off CW limit or CCW limit activated Warning No change to drive's status The motor cannot continue to reverse without CW limit is activated Warning changing the current state...

  • Page 111: Trial Run

    M56S EtherCAT Type Hardware Manual 6 Trial Run 6.1 Inspection Before Trial Run In order to ensure the safety of the servo drive and mechanical structure, it is strongly recommended to check the following items before powering on the drive. 1) Wiring inspection Please ensure secure wirings for power connector P1, motor connector P2, Encoder connector CN3, communication connector CN1.

  • Page 112: Jog Operation

    M56S EtherCAT Type Hardware Manual 6.3 Jog Operation Step LED display Description Press into the Function Parameters mode at the Monitor Status mode Press the key to select F05ME Press the key, The last decimal digit lights up, indicating that the servo is enabled key, Select F01CJ Jog function 、...

  • Page 113: Appendix 1: Led Character Reference

    M56S EtherCAT Type Hardware Manual 7 Appendix 1: LED Character Reference Rev: 1.0 400-820-9661 05/14/2024...

  • Page 114: Contact Us

    8 Contact Us Customer Service Center +86-400-820-9661 MOONS’ Headquarter 168 Mingjia Road, Minhang District, Shanghai 201107, P.R. China MOONS’ Taicang No. 18 Yingang Rd, Fuqiao Town, Taicang City Jiangsu Province, 215434, P.R. China Domestic Office North America Beijing MOONS' INDUSTRIES (AMERICA), INC. (Chicago) Room 1206, Jing Liang Mansion, No.16 Middle Road of East,3rd Ring, 1113 North Prospect Avenue, Itasca, IL 60143，USA Chaoyang District, Beijing 100022, P.R.

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