ss-p hardware manual

Rev. 1.10004102014

SS-P/RStep-Servo Drive

Hardware Manual

SHANGHAI AMP & MOONS AUTOMATION CO.,LTD.

2Rev. 1.10004102014

SS03/05/10-P/R Hardware Manual

400-820-9661

Contents1 Introduction .................................................................................. 4

1.1 Features .............................................................................................41.2 Block Diagram ...................................................................................51.3 Safety Instructions .............................................................................6

2 Getting Started ............................................................................ 72.1 Installing Software .............................................................................72.2 Connecting to the PC using RS-232 ..................................................92.3 Connecting the Power Supply ...........................................................92.4 Choosing a Power Supply .................................................................9

2.4.1 Voltage ..................................................................................................92.4.2 Current .................................................................................................10

2.5 Connecting the motor ......................................................................203 Input and output ......................................................................... 21

3.1 Digital Inputs ....................................................................................223.1.1 X1/STEP and X2/DIR High Speed Digital Inputs .................................223.1.2 X3/CW LIMIT and X4/CCW LIMIT High-speed Digital Inputs ...............233.1.3 X5/EN And X6/AR Digital Inputs ...........................................................24

3.2 Digital Ouputs .................................................................................253.2.1 Y1/ALARM and Y2/IN POSITION Digital Outputs ................................25

3.3 Encoder output ................................................................................264 Switch Setting ............................................................................ 265 Driver installation ....................................................................... 296 LED Display ............................................................................... 29

6.1 Operation Mode ...............................................................................296.2 Alarm Error Code .............................................................................30

7 Reference Materials .................................................................. 317.1 Drive Mechanical Outlines ...............................................................317.2 Speci cations ...................................................................................327.3 Recommanded Motor ......................................................................327.4 Motor Outlines .................................................................................337.5 Torque Curves .................................................................................357.6 Motor Numbering System ...............................................................377.7 Drive Numbering System ................................................................37

8 Optional Accessories (Sold separately) ..................................... 389 Contacting MOONS ............................................................... 40

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This User Manual is only applicable to the following models.

ModelCommunication

Switch SettingRS-232

SS03-P-A

SS05-P-A

SS10-P-A

SS03-R-A

SS05-R-A

SS10-R-A

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1 IntroductionThank you for selecting the MOONS SS series Step-Servo drive and motor. SS series combines servo technology with a stepper motor to create a product with exceptional feature and broad capability.

1.1 Features Programmable, digital step-servo drive and motor package Operates from a 24 to 75 volt DC power supply Control mode: Position Control

* Pulse &Direction * CW/CCW Pulse * A/B quadrature(Encoder following)

RS232 serial communication Optional switch setting board (model: SS03-R-A, SS05-R-A and SS10-R-A) Encoder resolution: 20000 counts/rev for AM17/23/24/34SS motor

4096 counts/rev for AM11SS motor SS03 output current: continuous 3A, boost 4.5A SS05 output current: continuous 5A, boost 7.5A SS10 output current: continuous 10A, boost 15A 6 optically isolated digital inputs, 5-24VDC 2 optically isolated digital outputs, max 30V/100mA Differential encoder signal output (AOUT , BOUT , ZOUT )

26C31 line driver, 20mA sink or source current Technological advance

Full servo control, Closed loop,Ef cient, Accurate, Fast, SmoothIntelligent, Compact

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1.2 Block Diagram

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1.3 Safety InstructionsOnly quali ed personnel should transport, assemble, install, operate, or maintain this equipment. Properly quali ed personnel are persons who are familiar with the transport, assembly, installation, operation, and maintenance of motors, and who meet the appropriate quali cations 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. These codes may vary from area to area and it is the responsibility of the operating personnel to determine which codes should be followed, and to verify that the equipment, installation, and operation are in compliance with the latest revision of these codes.

Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards. MOONS does not guarantee the products described in this publication are suitable for a particular application, nor do they assume any responsibility for product design, installation, or operation.

Read all available documentation before assembly and operation. Incorrect handling of the products referenced in this manual can result in injury and damage to persons and machinery. All technical information concerning the installation requirements must be strictly adhered to.

It is vital to ensure that all system components are connected to earth ground. Electrical safety is impossible without a low-resistance earth connection.

This product contains electrostatically sensitive components that can be damaged by incorrect handling. Follow quali ed anti-static procedures before touching the product.

During operation keep all covers and cabinet doors shut to avoid any hazards that could possibly cause severe damage to the product or personal health.

During operation, the product may have components that are live or have hot surfaces.

Never plug in or unplug the Integrated Motor while the system is live. The possibility of electric arcing can cause damage.

Be alert to the potential for personal injury. Follow recommended precautions and safe operating practices emphasized with alert symbols. Safety notices in this manual provide important information. Read and be familiar with these instructions before attempting installation, operation, or maintenance. The purpose of this section is to alert users to the possible safety hazards associated with this equipment and the precautions necessary to reduce the risk of personal injury and damage to equipment. Failure to observe these precautions could result in serious bodily injury, damage to the equipment, or operational dif culty.

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2 Getting StartedThe following items are needed:

A 24-75 Volt DC power supply, see the section below entitled Choose a Power Supply for help in choosing the right one.

A compatible SS motor, please see the section below entitled Recommended Motor A small at blade screwdriver for tightening the connectors screw(included) A PC running Microsoft Windows XP/Vista/Windows7 (Using serial communication port. Need

a USB to Serial converter if the PC doesn t have.) A RS-232 communication cable(included)

2.1 Installing SoftwareStep-Servo Quick Tuner is the PC based software application used to con gure, and perform servo tuning, drive testing and evaluation of the step-servo products. System servo control gains, drive functionality and I/O con guration are set with Step-Servo Quick Tuner. It also contains an oscilloscope function to help set the servo control gains.

Download the Step-Servo Quick Tuner from the MOONS website and install it.

Launch the software by clicking Start-----Programs ----MOONS

Connect the drive to PC by RS-232 cable. Please select right COM port in the software.

Connect the drive to the Power Supply.

Connect the motor to the drive.

Power up the drive.

The software will recognize your drive, display the model and rmware version and be ready for action.

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The connectors and other points of interest are illustrated below:

ModelSS03-P-ASS05-P-ASS10-P-A

ModelSS03-R-ASS05-R-ASS10-R-A

Ground Screw

LED

RS-232 Connector

I/O Connector

Encoder Connector

Motor Connector

Power Connector

LED Display

RS-232 Connector

I/O Connector

Encoder Connector

Motor Connector

Power ConnectorGround Screws

Rotary Switch

DIP Switch

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2.2 Connecting to the PC using RS-232The SS drives are shipped with a 1.5 meters RS-232 communication cable. The DB9 connector is used to connect to PC. The small end is a crimping connector used to connect to the drive.Located the SS drive within 1.5 meters of the PC. Plug the DB9 connector into the serial COM port of the PC. Plug the small end crimping connector into the RS-232 port of the drive. Do not hot plug. If the PC doesn t have a RS-232 serial port, a USB to RS232 converter will be needed.You can contact MOONS to buy a USB to RS-232 converter.

RS-232 Connector Diagram

2.3 Connecting the Power SupplyThe SS drives 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. Plug the cable into the power connector of the drive. The red wire is connected to the V+ of the drive. The black wire is connected to the V- of the drive. Do not reverse them. Connect the chassis to the earth ground through the grounding screws.

Power ConnetcorThe section below entitled Choosing a Power Supply will help you to select a right power supply.

2.4 Choosing a Power SupplyIn the choice of the power, the most important is reasonable considering the voltage and current application.

2.4.1 Voltage The SS step-servo drive and motor is designed to give optimum performance between 24~48 Volts DC. Choosing the voltage depends on the performance needed and diver/motor heating that acceptable and/or does not cause a drive over-temperature. Higher voltage will give higher speed performance,but will cause the drive to produce higher temperatures. Using power supplies with

The SS extended range of operation can be as low as 18VDC minimum to as high as 80VDC maximum. When operation below 18VDC, the SS series will work unstable. The supply input cannot go blow 18VDC for reliable operation, otherwise under voltage alarm will be triggered. SS drive will stop working when this alarm is triggered.

If a regulated power supply is used,and that is near the driver maximum voltage of 80VDC ,a voltage clamp may be required to prevent the voltage over 80VDC which will occurs a over-voltage fault. When using an unregulated power supply, make sure the no-load voltage of the supply does not exceed the maximum input voltage 80VDC.

GND TX +5V RX

VV11

VV++22

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2.4.2 CurrentThe maximum supply currents required by the SS series step servo drive and motor are shown below in chats at different power supply voltage input. The SS drive power supply current is lower

low current into low voltage and high current. The more power supply voltage exceeds the motor voltage,the less current will be required from the power supply.

depending on the torque load to the motor. Estimating how much current is necessary may require a good analysis of the load to the motor.

AM11SS1DMA 24V Power

0.0

0.2

0.4

0.6

0.8

1.0

1.2

0

20

40

60

80

100

0 10 20 30 40 50

Torq

ue(m

N.m

)

Speed(RPS)A

mps

ContinuousTorque

BoostSupply Current

Full LoadNo Load


0.0

0.2

0.4

0.6

0.8

1.0

1.2

0

20

40

60

80

100

0 10 20 30 40 50

Torq

ue(m

N.m

)

Speed(RPS)

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

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0.0

0.2

0.4

0.6

0.8

1.0

1.2

0

30

60

90

120

150

0 10 20 30 40 50

Torq

ue(m

N.m

)

Speed(RPS)

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

0

0.5

1

1.5

0

0.1

0.2

0.3

0.4

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM17SS1DG 24V Power

Am

psContinuous

Torque

BoostSupply Current

Full LoadNo Load

0

0.5

1

1.5

0

0.1

0.2

0.3

0.4

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM17SS1DG 48V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

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0

0.5

1

1.5

0

0.1

0.2

0.3

0.4

0.5

0.6

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM17SS2DG 24V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

0

0.5

1

1.5

0

0.1

0.2

0.3

0.4

0.5

0.6

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM17SS2DG 48V Power

Am

psContinuous

Torque

BoostSupply Current

Full LoadNo Load

0

0.5

1

1.5

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM17SS3DG 24V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

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0

0.5

1

1.5

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM17SS3DG 48V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

0

0.5

1

1.5

0

0.3

0.6

0.9

1.2

1.5

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM17SS4DG 24V Power

Am

psContinuous

Torque

BoostSupply Current

Full LoadNo Load

0

0.5

1

1.5

0

0.3

0.6

0.9

1.2

1.5

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM17SS4DG 48V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

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0

0.5

1

1.5

2

2.5

3

3.5

0

0.3

0.6

0.9

1.2

1.5

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM23SS2DG 24V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

0

0.5

1

1.5

2

2.5

3

3.5

0

0.3

0.6

0.9

1.2

1.5

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM23SS2DG 48V Power

Am

psContinuous

Torque

BoostSupply Current

Full LoadNo Load

0

0.5

1

1.5

2

2.5

3

3.5

0

0.3

0.6

0.9

1.2

1.5

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM23SS2DG 70V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

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0

0.5

1

1.5

2

2.5

3

3.5

0

0.5

1

1.5

2

2.5

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM23SS3DG 24V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

0

0.5

1

1.5

2

2.5

3

3.5

0

0.5

1

1.5

2

2.5

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM23SS3DG 48V Power

Am

psContinuous

Torque

BoostSupply Current

Full LoadNo Load

0

0.5

1

1.5

2

2.5

3

3.5

0

0.5

1

1.5

2

2.5

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM23SS3DG 70V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

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00.511.522.533.544.55

0

0.5

1

1.5

2

2.5

3

3.5

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM24SS3DG 24V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

00.511.522.533.544.55

0

0.5

1

1.5

2

2.5

3

3.5

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM24SS3DG 48V Power

Am

psContinuous

Torque

BoostSupply Current

Full LoadNo Load

00.511.522.533.544.55

0

0.5

1

1.5

2

2.5

3

3.5

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM24SS3DG 70V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

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0

1

2

3

4

5

6

0

0.5

1

1.5

2

2.5

3

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM34SS1DG 24V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

0

1

2

3

4

5

6

0

0.5

1

1.5

2

2.5

3

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM34SS1DG 48V Power

Am

psContinuous

Torque

BoostSupply Current

Full LoadNo Load

0

1

2

3

4

5

6

0

0.5

1

1.5

2

2.5

3

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM34SS1DG 70V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

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0

1

2

3

4

5

6

0

1

2

3

4

5

6

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM34SS3DG 24V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

0

1

2

3

4

5

6

0

1

2

3

4

5

6

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM34SS3DG 48V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

0

1

2

3

4

5

6

0

1

2

3

4

5

6

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM34SS3DG 70V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

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0

1

2

3

4

5

6

0

2

4

6

8

10

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM34SS5DG 24V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

0

1

2

3

4

5

6

0

2

4

6

8

10

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM34SS5DG 48V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

0

1

2

3

4

5

0

2

4

6

8

10

0 10 20 30 40 50

Torq

ue(N

.m)

Speed(RPS)

AM34SS5DG 70V Power

Am

ps

ContinuousTorque

BoostSupply Current

Full LoadNo Load

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2.5 Connecting the motorThe SS 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 feed back connector on the drive.

Do not damage or drag the cables on the motor.

Motor connector

Encoder Feedback Connector

MMAA++

MMBB11

MMBB++2

MMAA33

4

1

3

5

7

9

11

13

15

2

4

6

8

10

12

14

16

A+

B+

Z+

+5V

U+

V+

W+

GND

A

B

Z

U

V

W

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3 Input and outputSS03/05/10-P/R inputs and outputs include:

6 optically isolated digital inputs,5 - 24VDC logic2 optically isolated digital outputs, maximum 30/100mA output Differential encoder signal outputs(AOUT±, BOUT±, ZOUT±)

I/O Con guration Diagram

NNCC

YY11//AALLMM++YY11//AALLMM --YY22//IINNPP++YY22//IINNPP --

GGNNDD

NNCCNNCC

AAOOUUTT++AAOOUUTT --BBOOUUTT++BBOOUUTT --

++55VV

112233445566778899

1100111111221133

1144115511661177118811992200221122222233224422552266

XX11//SSTTEEPP++XX11//SSTTEEPP --XX22//DDIIRR++XX22//DDIIRR --

XX33//CCWWLLMMTT++XX33//CCWWLLMMTT --

XX44//CCCCWWLLMMTT++XX44//CCCCWWLLMMTT --

XX55//EENNXX66//AARRZZOOUUTT++ZZOOUUTTXXCCOOMM

--

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3.1 Digital Inputs

3.1.1 X1/STEP and X2/DIR High Speed Digital InputsX1/STEP and X2/DIR are high-speed digital inputs operation 5-24V optical isolated single-ended or differential signal. The maximum input frequency is 2MHz.

In Pulse and Direction mode, X1/STEP is pulse input,and X2/DIR is direction signal input.

In CW/CCW mode, X1/STEP is CW pulse input,and X2/DIR is CCW pulse input.

In A/B quadrature signal mode (Encoder follows), X1/STEP is signal A input, X2/DIR is signal B input.

The diagrams below show how to connect the X1/STEP and X2/DIR to various commonly used devices.

+5v - +24v out

DIR

STEP

DIR+

DIR-

STEP+

STEP-

Host with Sinking Outputs

Connecting to Host with Sinking Outputs

SS-P/R

DIR

COM

STEP

Host with Sourcing Outputs

DIR+

DIR-

STEP+

STEP-

Connecting to Host with Sourcing Outputs

SS-P/R

DIR+

DIR-

STEP+

DIR+

DIR-

STEP+

STEP-STEP-

Host with Differential Outputs

Connecting to Host with Differential outputs

SS-P/R

A+

A-

B+

STEP+

STEP-

DIR+

DIR-B-

Encoder

Connecting to An Encoder

SS-P/R

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3.1.2 X3/CW LIMIT and X4/CCW LIMIT High-speed Digital InputsX3/CW LIMIT and X4/CCW LIMIT are high-speed digital inputs operation 5-24V optically isolated single-ended or differential signal. The maximum input frequency is 2MHz.

X3 can be con gured as CW limit sensor input,and X4 can be con gured as CCW limit sensor input.

NOTE:

The diagrams below show how to connect to CW LIMIT and CCW LIMIT. Please select the polarity of the limit sensor by using the Step-servo Quick Tuner.

5-24VDC Power Supply

Connecting to a switch or relay

X3/X4+

X3/X4-

+

-

Switch or Relay(Closed: logic low)

SS-P/R


Connecting a NPN type Proximity Sensor to an Input(when proximity sensor activates, output goes low)

+

-

+NPN

ProximitySensor

-output

SS-P/R

X3/X4+

X3/X4-


Connecting a PNP type Proximity Sensot to an input(when proximity sensor activates, output goes high)

+

-

+

-

PNP Proximity

Sensor

output

SS-P/R

X3/X4+

X3/X4-

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3.1.3 X5/EN And X6/AR Digital InputsThe X5/EN and X6/AR are digital inputs operation 5-24V optically isolated single-ended signal.

X5 can be con gured as enable signal input to excite the motor ,and X6 can be con gured as alarm reset signal input to clear the alarm and turns to the normal status as servo off.

Because the input is an optically isolated circuit, a 5-24V power supply is needed. For example, you can use the power supply of the PLC when you are using a PLC control system,but if you want to connect a relay or mechanical switch to the input ,you must need a power supply.

XCOM is an electronics term for an single-ended signal connection to a common voltage. In the case of SS series, if you are using a sourcing(PNP) input signals, you need to connect XCOM to the ground(power supply -),if you are using a sinking(NPN) input signals ,the XCOM need to connect to the power supply +.

NOTE:

The chats below show how to connect to EN and AR. Please select the polarity of the inputs by using the Step-servo Quick Tuner.


Connecting to a Switch or Relay

XCOM

X5/X6

+

-

Switch or Relay(Closed: logic low)

SS-P/R

XCOM

X5/X6

+

-

+

-

SS-P/R5-24VDC

Power Supply

Connecting a NPN type output to an Input

NPN Type

Output output

output

Connecting a PNP type output to an input

PNP Type

Output5-24VDC Power Supply

X5/X6

XCOM

+

-

+

-SS-P/R

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3.2 Digital Ouputs

3.2.1 Y1/ALARM and Y2/IN POSITION Digital OutputsSS03/05/10-P/R drive has two optically isolated digital outputs Y1 and Y2, maximum output voltage is 30V/100mA.

Y1 can be con gured as alarm signal output. It can also be con gured 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 real time.)

Y2 can be con gured as Tach signal output,tach output produce pulses relative to the motor position with con gurable resolution. It can also be con gured 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 real time.),or as Timing signal output(50 pulses per rotation).

Y1 and Y2 can be con gured by Step-Servo Quick Tuner.

The chats below show how to connect to the output.

+

-

Y1/Y2+

Y1/Y2-

SS-P/R

Connecting a Sinking Output

Load5-24VDC

Power Supply

COM

IN

PLC+-

SS-P/R

Y1/Y2+

Y1/Y2-

Connecting a Sourcing Output

5-24VDCPower Supply

+

-

relay

SS-P/R

Y1/Y2+

Y1/Y2-

Driving a Relay

1n4935 Suppression Diode


26Rev. 1.10004102014


400-820-9661

3.3 Encoder outputSS03/05/10-P/R has differential encoder outputs (A /B /Z ), with 26C31 line driver, 20 mA sink or source current in max. These signals can be connected to the motion controller to be a feedback of the motor position.

4 Switch SettingOnl a l to the drive art number SS -R-A SS 5-R-A and SS -R-A.There are four switches on each drive: 16-position rotary switches SW1/SW2/SW3 and 4-position piano switch SW4.Note: hange settings on SW /SW2/SW are valid onl after the motion is com leted. hange setting on SW4 is valid onl after o er rec cle.

SW1 sets the PID parameters

SW Load Inertia Stiffness0 Default

1Load inertia ratio: 1~3

Acceleration: 1~500 rps/s

Low

2 Medium

3 High



Low

5 Medium

6 High



Low

8 Medium

9 High

ALoad inertia ratio: 5~10


Low

B Medium

C High

DPure inertia load


Load inertia ratio: 1

E Load inertia ratio: 2

F Load inertia ratio: 3

27 Rev. 1.10004102014 400-820-9661


SW2 sets the Electronic Gearing (steps/rev)

SW20 200

1 400

2 500

3 800

4 1000

5 1600

6 2000

7 3200

8 3600

9 4000

A 5000

B 6400

C 7200

D 8000

E 10000

F 20000

SW3 sets the limit on Position Error

0 0

1 10

2 20

3 50

4 100

5 200

6 500

7 800

8 1000

9 2000

A 5000

B 8000

C 10000

D 15000

E 20000

F 30000

28Rev. 1.10004102014


400-820-9661

SW4 Position 1 sets the Pulse Control Mode

OFF: Step/Direction ModeON: CW/CCW Pulse Mode

SW4 Position 2 sets the polarity of move direction when X2/DIR input is open.

OFF: CW directionON: CCW direction

SW4 Position 3 sets the drive Con guration Mode

OFF: Con guration is set through Step-Servo Quick Tuner (Switches setting is not valid)ON: Con guration is set through switch setting (Software con guration is not valid)

SW4 Position 4 Reserved

29 Rev. 1.10004102014 400-820-9661


5 Driver installationUse the M3 or M4 screw to mount the SS series drive .The drive should be securely fastened to a

more than 40 .Never put the drive where it can get wet or where metal or other electrically conductive particle particles can get on the circuity.

each other, maintain at least 1.5cm of space between drives.

6 LED DisplaySS series have two 7-segments LED,which is used to display operation mode ,error code ,bus address and communication baud rate.

LED1 is used to indicate operation mode and error code. When drive has no error ,LED1 is

indicate error code. The dot point of LED1 is to indicate whether the drive is enabled. When the dot point is on ,the drive is enabled When the dot point is off,the drive is disabled.

6.1 Operation Mode

1: CM1(Commanded Torque Mode)2: CM2(Analog Torque Mode)3: CM11~14(Analog Velocity Mode)4: CM15~18(Velocity Mode)5: CM10(Command Torque Mode)6: CM7(Digital Position Mode)7: CM21(Point to Point Mode)8: CM22(Analog Position Mode)

30Rev. 1.10004102014


400-820-9661

6.2 Alarm Error CodeThe faults of drive are shown in bold italics. Motor will disable(Servo Off) when faults occur.

Position Limit

CCW Limit

CW Limit

Over Temperature

Over Voltage

Under Voltage

Internal Voltage

Over Current

Current Foldback

Open Winding

Bad Encoder

Flash Memory Error

NV Memory Error

Communication Error

Move while Disabled

Regen Failed

Q Program Running

LED2 is used to indicate bus address and communication baud rate.

Because the power-up serial communication baud rate is always 9600(BR=1). So after power

BR Baud Rate(bps)1 96002 192003 384004 576005 115200

About 6 seconds later,LED2 turns to solid to indicate the bus address for RS-485 or CANopen

31 Rev. 1.10004102014 400-820-9661


7 Reference Materials

7.1 Drive Mechanical Outlines

SSSerial No.

DIP Switch SettingSW4-1

ONOFF

Pulse ModePulse & DirCW & CCW

SW4-2

ONOFF

Default DirCW

CCW

1

3

5

7

9

11

13

15

2

4

6

8

10

12

14

16

A+

B+

Z+

+5V

U+

V+

W+

GND

A

B

Z

U

V

W

MA+

MB1

MB+2

MA3

4

V1

V+2

SW1012345

ABCDEF

6789

EGearing200400500800

10001600

5000640072008000

1000020000

2000320036004000

SW2012345

ABCDEF

6789

SW3012345

ABCDEF

6789

PErr

Rotary Switch Setting

OP

T

SW

3S

W2

SW

1

SW4-3

ONOFF

Drive Setting

by Switchesby Software

Made in China

RoHS

ReservedSW4-4

PID012345

ABCDEF

6789

012345

ABCDEF

6789

Refer to Manual for Details.

NC

Y1/ALM+Y1/ALM -Y2/INP+Y2/INP -

GND

NCNC

AOUT+AOUT -BOUT+BOUT -

+5V

123456789

10111213

14151617181920212223242526

X1/STEP+X1/STEP -X2/DIR+X2/DIR -

X3/CWLMT+X3/CWLMT -

X4/CCWLMT+X4/CCWLMT -

X5/ENX6/ARZOUT+ZOUTXCOM

-

Available on Optional Switch Board.

4

Ø4.539 4

4.5

30

135 126

94.5

135

4

Ø4.5

4.5

304

126

39

94.5

SSSerial No.

DIP Switch SettingSW4-1

ONOFF

Pulse ModePulse & DirCW & CCW

SW4-2

ONOFF

Default DirCW

CCW

1

3

5

7

9

11

13

15

2

4

6

8

10

12

14

16

A+

B+

Z+

+5V

U+

V+

W+

GND

A

B

Z

U

V

W

MA+

MB1

MB+2

MA3

4

V1

V+2

SW1012345

ABCDEF

6789

EGearing200400500800

10001600

5000640072008000

1000020000

2000320036004000

SW2012345

ABCDEF

6789

SW3012345

ABCDEF

6789

PErr

Rotary Switch Setting

OP

T

SW

3S

W2

SW

1

SW4-3

ONOFF

Drive Setting

by Switchesby Software

Made in China

RoHS

ReservedSW4-4

PID012345

ABCDEF

6789

012345

ABCDEF

6789

Refer to Manual for Details.

NC

Y1/ALM+Y1/ALM -Y2/INP+Y2/INP -

GND

NCNC

AOUT+AOUT -BOUT+BOUT -

+5V

123456789

10111213

14151617181920212223242526

X1/STEP+X1/STEP -X2/DIR+X2/DIR -

X3/CWLMT+X3/CWLMT -

X4/CCWLMT+X4/CCWLMT -

X5/ENX6/ARZOUT+ZOUTXCOM

-

Available on Optional Switch Board.

ModelSS03-P-ASS05-P-ASS10-P-A

ModelSS03-R-ASS05-R-ASS10-R-A

32Rev. 1.10004102014


400-820-9661

7.2 Speci cations

Ampli er Type Dual H-Bridge, 4 Quadrant

Current Control 4 state PWM at 20 KHz

Output Current

SS03 Maximum continuous current 3A, boost current 4.5A (for 1.5s)Drive auto-set the current limitation according to the attached motorSS05 Maximum continuous current 5A, boost current 7.5A (for 1.5s)Drive auto-set the current limitation according to the attached motorSS10 Maximum continuous current 10A, boost current 15A (for 1.5s)Drive auto-set the current limitation according to the attached motor

Power Supply External nominal 24 - 75 volt DC power supply requiredAbsolute maximum input voltage range 18 - 80 VDC

Protection Over-voltage, under-voltage, over-temp, over-current

Microstep Resolution Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev

Encoder Resolution 20000 counts/rev for AM17/23/24/34SS motor4096 counts/rev for AM11SS motor

Speed Range Speeds up to 3600 rpm

Filters

Non-Volatile Storage

Control Mode Position Mode(Pulse & Direction, CW & CCW Pulse, A/B Quadrature)

Digital Inputs

X1/STEP, X2/DIR, X3/CW Limit, X4/CCW Limit:Optically isolated, differential, 5-24VDC:Minimum pulse width = 250 ns, Maximum pulse frequency = 2 MHzX5/Enable, X6/Alarm Reset:Optically isolated, single-ended, 5-24VDC

Digital Outputs Y1/Alarm, Y2/In Position: Optically isolated, 30V/100 mA max

Encoder Outputs Differential encoder outputs (A±, B±, Z±), 26C31 line driver, 20 mA sink or source max

Communication RS-232

Ambient Temperature 0 to 40°C (32 to 104°F) When mounted to a suitable heatsink

Ambient Humdity 90% Max., non-condensing

7.3 Recommanded MotorMotor Part Number Frame Size Holding Torque

(N.m) Matching Drive

AM11SS1DMA28

0.05N·mSS03- -AM11SS2DMA 0.07N·m

AM11SS3DMA 0.09N·mAM17SS1DG

42

0.3N·m

SS05- -

AM17SS2DG 0.5N·mAM17SS3DG 0.6N·mAM17SS4DG 0.75N·mAM23SS2DG

560.9N·m

AM23SS3DG 1.5N·mAM24SS3DG 60 2.5N·m

SS10- -AM34SS1DGA

863.5N·m

AM34SS3DGA 6.0N·mAM34SS5DGA 8.0N·mA or B, refer to motor part numbering systemR, P, S, Q, or C, refer to driver part numbering systemA, R or C, refer to driver part numbering system

33 Rev. 1.10004102014 400-820-9661


7.4 Motor OutlinesAM11SS

Depth 2.5 Min

22-0.0520

5-0.0120

L ( M

ax.)

36 28

Max

.

16.2

23±0.1

2±0.

2

15±0

.5

4.5±0.1

10±0

.2

0.1

23

4-M2.5

AM17SS

AM23SS

300

L 2

BB1

A

A1

33

64

31

31

42.3

42.34-M3 Depth 4.5Min

V22

47.14

47.1

4

V38.1

4-V5.156.3

A

A1

BB1

1.6L

7

30033

73.6

Type(Unit: mm)

Motor Type A A1 B B1 L

AM17SS1DGA 6 5.5 20 15 59.5

AM17SS1DGB 5 4.5 24 15 59.5

AM17SS2DGA 6 5.5 20 15 65

AM17SS2DGB 5 4.5 24 15 65

AM17SS3DGA 6 5.5 20 15 73.5

AM17SS3DGB 5 4.5 24 15 73.5

AM17SS4DGA 6 5.5 20 15 89

AM17SS4DGB 5 4.5 24 15 89

Type(Unit: mm)


AM23SS2DGA 8 7.5 24 20 77.5

AM23SS2DGB 6.35 5.85 20 15 77.5

AM23SS3DGA 8 7.5 24 20 99.5

AM23SS3DGB 6.35 5.85 20 15 99.5

Motor Type L

AM11SS1DMA 43.8

AM11SS2DMA 52.9

AM11SS3DMA 64.1

34Rev. 1.10004102014


400-820-9661

AM24SS

AM34SS

B1B

A1

47.14

47.1

4

V38.1

60

4-V4.5

1.5

8

L

77.4

33

300

300

2537

10

L 2

V14

13FL

AT

38

13FL

AT

69.6

69.6

4-6.5

86

V73.025

Type(Unit: mm)


AM24SS3DGA 10 9.5 24 20 111

AM24SS3DGB 8 7.5 20 15 111

Type(Unit: mm)

Motor Type L

AM34SS1DGA 88

AM34SS3DGA 117.5

AM34SS5DGA 147

35 Rev. 1.10004102014 400-820-9661


7.5 Torque Curves

0

20

40

60

80

100

0 10 20 30 40 50

Torq

ue(m

N·m

)

Speed(rps)

AM11SS1DMA 24V24V

ContinuousBoost

0

20

40

60

80

100

0 10 20 30 40 50

AM11SS2DMA 24V24V

Torq

ue(m

N·m

)

Speed(rps)

ContinuousBoost

0

30

60

90

120

150

0 10 20 30 40 50

AM11SS3DMA 24V24V

Torq

ue(m

N·m

)

Speed(rps)

ContinuousBoost

0

0.1

0.2

0.3

0.4

0 10 20 30 40 50

AM17SS1DG 　24V 48V

24V 48V

Continuous

Boost

Torq

ue(N

·m)

Speed(rps)

0

0.1

0.2

0.3

0.4

0.5

0.6

0 10 20 30 40 50


24V 48V

Continuous

Boost

Torq

ue(N

·m)

Speed(rps)

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0 10 20 30 40 50

AM17SS3DG24V 48V

24V 48V

Continuous

Boost

Torq

ue(N

·m)

Speed(rps)

0

0.2

0.4

0.6

0.8

1.0

0 10 20 30 40 50


24V 48V

Continuous

Boost

Torq

ue(N

·m)

Speed(rps)

36Rev. 1.10004102014


400-820-9661

0

0.3

0.6

0.9

1.2

1.5

0 10 20 30 40 50

24V 48V 70V

24V 48V 70VAM23SS2DG

Continuous

Boost

Torq

ue(N

·m)

Speed(rps)

0

0.5

1

1.5

2

2.5

0 10 20 30 40 50

24V 48V 70V

24V 48V 70VAM23SS3DG

Continuous

Boost

Torq

ue(N

·m)

Speed(rps)

0

0.5

1

1.5

2

2.5

3

3.5

0 10 20 30 40 50

24V 48V 70V

24V 48V 70VAM24SS3DGContinuous

Boost

Torq

ue(N

·m)

Speed(rps)

0

1.0

2.0

3.0

4.0

0 10 20 30 40 50

Torq

ue(N

·m)

Speed(rps)

AM34SS1DGA24V 48V 70V

24V 48V 70V

Continuous

Boost

0

1.0

2.0

3.0

4.0

5.0

6.0

7.0

0 10 20 30 40 50

Torq

ue(N

·m)

Speed(rps)

24V 48V 70V

24V 48V 70VAM34SS3DGAContinuous

Boost

0

2.0

4.0

6.0

8.0

10

0 10 20 30 40 50

Torq

ue(N

·m)

Speed(rps)

24V 48V 70V

24V 48V 70VAM34SS5DGA

Continuous

Boost

37 Rev. 1.10004102014 400-820-9661


7.6 Motor Numbering System

7.7 Drive Numbering System

Frame Size 11,17,23,24,34 A=Output shaft size

11: 517: 623: 824: 1034: 14

B=Output shaft size17: 523: 6.3524: 8

Motor Size1 = 1Stack2 = 2Stack3 = 3Stack4 = 4Stack5 = 5Stack

Step Servo

EncoderG=5000-LineM=1024-Line

D=DC Input

AM11 SS 1 D G A

Step Servo

R=Switch Setting TypeP=Pulse Input TypeS=Basic TypeQ=Q TypeC=CANopen Type

Output Current03 - 3A05 - 5A10 - 10A

A=RS-232R=RS-485C=CANopen

SS 03 - P - A

38Rev. 1.10004102014


400-820-9661

8 Optional Accessories (Sold separately)P/N

MF150A24AG-V Switching Power Supply 150W, 24VMF320A48AG-V Switching Power Supply 320W, 48V2103- Cable Motor Extension Cable for AM17/23/24/34SS motor

2109- Cable Motor Extension Cable for AM11SS motor

2104- Cable Encoder Extension Cable for AM17/23/24/34SS motor

2108- Cable Encoder Extension Cable for AM11SS motor

Switching Power Supplier

150W,24VDC 320W,48VDC

11.5MAX

3-M4 L=4mm

LED

V ADJ.

CN3

9

1

2

3

4

5

6

7

25

117 28

12.5

25

44

170152

65 45

4-M4 L=4mm

89.

5

49.5

1863

99

21

5 4

8 1

199157

4-M4 L=4mm

Air flow direction FAN

4MAX

18

11.5MAX

8

63 99

18

5

V ADJ.

CN3

LED

1

2

3

4

5

6

7

9.5

4-M4 L=4mm

12.5

25 130

522512

.5

Motor Extension Cable for AM17/23/24/34SS motor

P/N Length Wiring Diagram

2103-100 1M PIN J1 Colour(Signal) PIN J2

2103-300 3M 1 Blue B- 1

2103-500 5M 2 Red B+ 2

2103-1000 10M 3 Green A- 3

4 Black A+ 4

Motor Extension Cable for AM11SS motor



2109-300 3M 1 Blue B- 1

2109-500 5M 3 Red B+ 2

2109-1000 10M 4 Green A- 3

6 Black A+ 4

Housing：39-01-3049(Molex)Crimp：39-00-0040(Molex)

Housing：39-01-3048(Molex)Crimp：39-00-0038(Molex)

2

1

4

3

2

1

4

3J1

L

J2

Housing：51065-0600(Molex)Crimp： 50212-8000(Molex)

Housing：39-01-3048(Molex)Crimp： 39-00-0038(Molex)

2

1

4

3

6

1

J1

L

J2

39 Rev. 1.10004102014 400-820-9661


Encoder Extension Cable for AM17/23/24/34SS motor



2104-300 3M A8 Blue A+ A8

2104-500 5M B8 Blue/Black A- B8

2104-1000 10M A7 Green B+ A7

B7 Green/Black B- B7

A6 Yellow Z+ A6

B6 Yellow/Black Z- B6

A5 Red +5V A5

B5 Black GND B5

A3 Brown U+ A3

B3 Brown/Black U- B3

A2 Gray V+ A2

B2 Gray/Black V- B2

A1 White W+ A1

B1 White/Black W- B1

B4 Shield B4

Encoder Extension Cable for AM11SS motor



2108-300 3M 10 Blue A+ A8

2108-500 5M 9 Blue/Black A- B8

2108-1000 10M 8 Green B+ A7

7 Green/Black B- B76 Yellow Z+ A65 Yellow/Black Z- B6

3 Red +5V A5

4 Black GND B5

Brown U+ A3

Brown/Black U- B3

Gray V+ A2

Gray/Black V- B2

1 White W+ A1

2 White/Black W- B1

12 Shield B4

L

Housing：J2DF-16V-KX-L(JST)Crimp：SJ2F-002GF-P1.0(JST)

Housing：J21DPM-16V-KX(JST)Crimp：SJ2M-002GF-M1.0N(JST)

1

8

1

8

1

8

1

8

J2J1

A BAB

Wire protect cover: J21PF-16SCA(JST)Wire protect cover: J21PF-16SCB(JST)

Housing：501646-1200(Molex)Crimp： 501648-1000(Molex) Housing：J21DF-16V-KX-L(JST)

Crimp： SJ2F-002GF-P1.0(JST)B

1

A

1

88

1

11

2

12

J1

L

J2

40Rev. 1.10004102014


400-820-9661

9 Contacting MOONS

HeadquartersNo. 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107, P.R. China Tel: +86(0)21-52634688Fax: +86(0)21-62968682E-mail: [email protected]

1113 North Prospect Avenue,Itasca, IL 60143 U.S.A.Tel: 001-630-833-5940Fax: 001-630-833-5946

Via Torri Bianche n.1 20059 Vimercate(MB) ItalyTel: +39 039 62 60 521Fax: +39 039 96 31 409

33 Ubi Avenue 3 #08-23 Vertex Singapore 408868Tel: +65 6634 1198Fax: +65 6634 1138

Room 2209, 22/F, Kerry Center,No. 2008 Renminnan Road Shenzhen 518001 P. R.ChinaTel: +86 (0)755 25472080Fax: +86 (0)755 25472081

Room 816, Block B, China Electronics Plaza,No. 3 Danling Street Haidian District Beijing, 100080 P.R. ChinaTel: +86 (0)10-5875 3312Fax: +86 (0)10-5875 2279

Room 10E, No.73 Wangjiao Mansion, mid. Hongkong Road Qingdao 266071 P. R.ChinaTel: +86 (0)532 85879625Fax: +86 (0)532 85879512

Room 3001, World Trade Tower, No.686 Jiefang Avenue, Jianghan District, Wuhan 430022 P.R.ChinaTel: +86 (0)27-85448742Fax: +86 (0)27-85448355

Room 302, Building A, Tengfei Creation Center,55 Jiangjun Avenue, Jiangning District,Nanjing 211100 P. R.ChinaTel: +86 (0)25 52785841Fax: +86 (0)25 52785485

Room 1917, Western Tower, No.19,4th Section of South People Road,Wuhou District,Chengdu 610041P.R.ChinaTel: +86 (0)28-85268102Fax: +86 (0)28-85268103

Room 1006, Block D, Wangzuo International City, No.1 Tangyan Road, Xi’an 710065 P.R. ChinaTel: +86 (0)29 81870400Fax: +86 (0)29 81870340

Room 309, Block B, Taifu Plaza,No. 565 Jiangjia Road Jiangdong District Ningbo, 315040 P.R. ChinaTel: +86 (0) 574-8705 2739Fax: +86 (0) 574-8705 2365

Service Center+86-400-820-9661

ss-p hardware manual

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