SS-EC. Step-Servo EtherCAT Drive. Hardware Manual SS03-EC-D SS05-EC-D SS10-EC-D SHANGHAI AMP & MOONS AUTOMATION CO.,LTD.

Transcription

1 SS-EC Step-Servo EtherCAT Drive Hardware Manual SS-EC-D SS5-EC-D SS-EC-D SHANGHAI AMP & MOONS AUTOMATION CO.,LTD. Rev.. 6//6

2 SS/5/-EC Hardware Manual Table of Contents Introduction Features Block Diagram Safety Instructions... 6 Getting Started Installing the Software Mounting the Drive Connecting to the PC using mini USB Choosing the Right COM Port Connecting the Main Power Supply Connecting the Auxiliary Power Supply....7 Choosing a Power Supply Supply Voltage Auxiliary Supply Voltage (Keep Alive Function) Keep Alive Recovery with I/O Function Keep Alive Recovery with the Master Controller....8 Connecting the Motor....9 Connecting the EtherCAT EtherCAT Status Indicator LEDs Connecting the STO Safety Precautions STO Internal Circuit Diagram CN4 Connector diagram STO Signal Definition STO Connection Diagrams... 6 Inputs and Outputs Digital Inputs X, X, X and X4 Digital Inputs X5, X6, X7 and X8 Digital Inputs Y, Y, Y and Y4 Digital Outputs.... Analog Inputs....4 Encoder output... 4 Control Panel (LED display and keys) Description of Control Panel Mode Switch Control LED display description Decimal Point And Negative Sign Description Parameter View Setting Parameter Save Setting Point To Point Motion Mode Jog Mode Control Panel Lock Status Monitoring Selection Mode... 6 Rev.. 6/7/

3 SS/5/-EC Hardware Manual 4.5 Function Control Mode Function Mode Description Operation Flow Chart Parameter Setting Mode Parameter Setting Description Parameter Editing Examples Parameter list Control Panel Lock Warning And Fault Display LED Character Reference Reference Materials Drive Mechanical Outlines Drive Technical Specifications Recommended Motors and Specifications Motor Mechanical Outlines Curves Motor Numbering System Drive Numbering System Optional Accessories (Sold separately) Cables Mating Connectors Contacting MOONS Rev.. 6/7/

4 SS/5/-EC Hardware Manual Introduction Thank you for selecting the MOONS SS-EC Step-Servo drive and motor. The SS-EC series combines servo technology with a stepper motor to create a product with exceptional features and broad capability. The SS-EC drive can operate as a standard EtherCAT slave using CANopen over EtherCAT (CoE).. Features Programmable, digital step-servo drive and motor package Operates from a 4 to 7 volt DC power supply CANopen over EtherCAT (CoE) with full support of CiA4. Based on the widely used BASE-TX cabling system and with a baud rate of Mbps full-duplex, EtherCAT enables high speed and highly reliable communication Supported modes: Profile Position, Profile Velocity, Profile, Cyclic Synchronous Position, Cyclic Synchronous Velocity, and Homing; as well as MOONS own Q mode Dual port EtherCAT communication USB port for configuration Encoder resolution: counts/rev for AM7//4/4SS motor, 496 counts/rev for AMSS motor SS-EC output current: continuous A, boost 4.5A SS5-EC output current: continuous 5A, boost 7.5A SS-EC output current: continuous A, boost 5A 8 optically isolated digital inputs, 5-4VDC high level voltage 4 optically isolated digital outputs, max V/mA sink or source current analog inputs, can be configured to -5V, -V, ±5V or ±V signal ranges Differential encoder signal output (AOUT +/-, BOUT +/-, ZOUT +/-), 6C line driver, ma sink or source current Keep Alive function available with an auxiliary power supply Front panel with 4 keys and 5 digit LED display for setting parameters STO function Rev.. 6/7/

5 SS/5/-EC Hardware Manual. Block Diagram SS EtherCAT Block Diagram Power Supply (4-7VDC) EMC Filter Internal Regen Clamp Auxiliary Power (-48VDC) DC Input Power Converter Internal Logic Supply Voltage Temp. Det. X+ X- X+ X- X+ X- X4+ X4- High Speed Input Optical Isolation Input Optical Isolation Digital Filter Digital Filter Software Filter Software Filter Over Current Det. Mosfet PWM Power Amplifier ANALOG ANALOG Operational Amplifter DSP DSP Motor X5 X6 X7 X8 XCOM Single Ended Input Isolation Software Filter Encoder USB Y+/- Y+/- Y+/- Y4+/- Output Optical Isolation Software Filter EtherCAT STO A+/- B+/- Z+/- Encoder Output LED Rev.. 6/7/

6 SS/5/-EC Hardware Manual. Safety Instructions Only qualified personnel should transport, assemble, install, operate, or maintain this equipment. Properly qualified personnel are persons who are familiar with the transport, assembly, installation, operation, and maintenance of motors, and who meet the appropriate qualifications for their jobs. To minimize the risk of potential safety problems, all applicable local and national codes regulating the installation and operation of equipment should be followed. 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 qualified 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 difficulty. Rev.. 6/7/

7 SS/5/-EC Hardware Manual Getting Started The following items are needed: A 4-7 volt DC power supply, see Section.7 Choosing a Power Supply for help in choosing the right one. An optional -48 volt DC power supply for Keep Alive function A compatible SS motor, see Section 5. Recommended Motors and Specifications A small flat blade screwdriver for tightening the connectors (included) A PC running Microsoft Windows XP, Windows 7, Windows 8/ (-bit or 64-bit) operating system A mini USB cable for configuration (not included) Step-Servo Quick Tuner software (available from MOONS website) A CAT5 cable for EtherCAT daisy chain connection (included) An STO connector for CN4 connection (included) Optional motor extension cable Optional encoder extension cable Optional I/O cable. Installing the Software Step-Servo Quick Tuner is the PC based software application used to configure and perform servo tuning, drive testing, and evaluation on MOONS step-servo products. System servo control gains, drive functionality, and I/O configuration are set with Step-Servo Quick Tuner. It also contains an oscilloscope function to help to 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 the PC with the mini USB cable. Select right COM port in the software. See Section.4 Choosing the Right COM Port. Connect the drive to the power supply. Connect the motor to the drive Rev.. 6/7/

8 SS/5/-EC Hardware Manual. Mounting the Drive Use M4 screws to securely mount the SS-EC series drive to a smooth, flat metal surface that will help to conduct heat away from the chassis. If a heat conducting surface is not available, forced airflow from a fan may be required to prevent the drive from overheating. Never use the drive in a place where there is no air flow or the surrounding air is more than 4 C. Never put the drive where it can get wet or where metal or other electrically conductive particle particles can get on the circuity. Always provide air flow around the drive. When mounting multiple SS drives near each other, maintain at least.5cm of space between drives. The connectors and other points of interest are illustrated below: Control Panel (LED display and keys) Mini USB Encoder Connector EtherCAT LINK IN EtherCAT LINK OUT Motor Connector STO Power Connector I/O Connector. Connecting to the PC using mini USB Port CN is used to connect the drive with PC. Use Step-Servo Quick Tuner software to configure the drive and perform servo tuning and drive testing. PIN Symbol Function +5V +5V Power Supply D- Data- D+ Data+ 4 - Reserved 5 GND Ground Rev.. 6/7/

9 SS/5/-EC Hardware Manual.4 Choosing the Right COM Port Open the Device Manager on the PC. There may or may not be a Ports selection. Connect the mini USB cable to the PC. The connected COM port should then be displayed. Choose this new COM(n) port in the Step-Servo Quick Tuner software..5 Connecting the Main Power Supply Connect power supply + terminal to the drive terminal labeled V+. Connect power supply - terminal to the drive terminal labeled V-. The SS-EC accepts DC voltage ranging from 4 to 7VDC Warning: DO NOT reverse the wires NOTE: DO NOT apply power until all connections to the drive have been made P AUX V - V+ Power Connector Read Section.7 Choosing a Power Supply for more details Rev.. 6/7/

10 SS/5/-EC Hardware Manual.6 Connecting the Auxiliary Power Supply If the Keep Alive function is needed, an auxiliary power supply is required. Connect the auxiliary power supply + terminal to the drive terminal labeled AUX. Connect the auxiliary power supply - terminal to the drive terminal labeled V-. The SS-EC auxiliary Power Supply input accepts DC voltage range from to 48VDC. Warning: DO NOT reverse the wires NOTE: DO NOT apply power until all connections to the drive have been made.7 Choosing a Power Supply The main considerations when choosing a power supply are the voltage and current requirements of the application..7. Supply Voltage The SS-EC is designed to give optimum performance at 4-48 volts DC. Choosing the voltage depends on the performance needed and the 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 SS-EC to produce higher temperatures. Using power supplies with voltage outputs that are near the drive s maximum may significantly reduce the operational duty-cycle. The extended range of operation can be as low as 8VDC minimum to as high as 75VDC maximum. When operating below 8VDC, the SS-EC may become unstable. The supply input cannot go below 8VDC for reliable operation. If the input supply drops below 8VDC the under voltage alarm will be triggered and the drive will stop working. Absolute maximum power supply input is 75VDC at which point an over-voltage alarm and fault will occur. When using a power supply that is regulated and is near the drive maximum voltage of 75VDC, a voltage clamp may be required to prevent over-voltage when regeneration occurs. When using an unregulated power supply, make sure the no-load voltage of the supply does not exceed the drive s maximum input voltage of 75VDC..7. The maximum supply currents required by the SS-EC are shown in the charts below at different power supply voltage inputs. The SS-EC 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. The more the power supply voltage exceeds the motor voltage, the less current will be required from the power supply. It is important to note that the current draw is significantly different at higher speeds depending on the torque load to the motor. Estimating how much current is necessary may require a good analysis of the load the motor will encounter. Rev.. 6/7/

11 SS/5/-EC Hardware Manual AMSSDMA 4V Power. 8. (mn.m) AMSSDMA 4V Power. (mn.m) AMSSDMA 4V Power. (mn.m) Rev.. 6/7/

12 SS/5/-EC Hardware Manual.4 AM7SSDG -N 4V Power.5 (N.m) AM7SSDG -N 48V Power.5 (N.m) AM7SSDG -N 4V Power.5 (N.m) Rev.. 6/7/

13 SS/5/-EC Hardware Manual AM7SSDG -N 48V Power (N.m) AM7SSDG -N 4V Power.5 (N.m) AM7SSDG -N 48V Power.5 (N.m) Rev.. 6/7/

14 SS/5/-EC Hardware Manual.5 AM7SS4DG -N 4V Power.5. (N.m) AM7SS4DG -N 48V Power.5 (N.m) (N.m) AMSSDG -N 4V Power Rev.. 6/7/

15 SS/5/-EC Hardware Manual.5 AMSSDG -N 48V Power.5 (N.m) AMSSDG -N 7V Power.5 (N.m) AMSSDG -N 4V Power.5 (N.m) Rev.. 6/7/

16 SS/5/-EC Hardware Manual.5 AMSSDG -N 48V Power.5 (N.m) AMSSDG -N 7V Power.5 (N.m) (N.m) AMSS4DGA-N 4V Power Rev.. 6/7/

17 SS/5/-EC Hardware Manual AMSS4DGA-N 48V Power (N.m) (N.m).5.5 AMSS4DGA-N 7V Power AM4SSDG -N 4V Power.5 5 (N.m) Rev.. 6/7/

18 SS/5/-EC Hardware Manual AM4SSDG -N 48V Power.5 5 (N.m) AM4SSDG -N 7V Power.5 5 (N.m) AM4SSDGA-N 4V Power 6 5 (N.m) Rev.. 6/7/

19 SS/5/-EC Hardware Manual AM4SSDGA-N 48V Power (N.m) (N.m) AM4SSDGA-N 7V Power AM4SSDGA-N 4V Power 6 5 (N.m) Rev.. 6/7/

20 SS/5/-EC Hardware Manual AM4SSDGA-N 48V Power (N.m) AM4SSDGA-N 7V Power (N.m) AM4SS5DGA-N 4V Power (N.m) Rev.. 6/7/

21 SS/5/-EC Hardware Manual AM4SS5DGA-N 48V Power (N.m) AM4SS5DGA-N 7V Power (N.m) Rev.. 6/7/

22 SS/5/-EC Hardware Manual.7. Auxiliary Supply Voltage (Keep Alive Function) In addition to the main power supply input, the SS-EC also has an auxiliary power input (AUX power) for Keep Alive function of the drive. When the main power supply is off, the AUX power will keep the logic power on, allowing the drive to remember its state data (motor position, etc.). This allows the motor to resume operation from its previous position without a homing routine when the main power is switched back on. If the main power is removed while the auxiliary power is still on and the drive is disabled, the drive will show a warning. The LED display will read indicating under voltage. When the main power is restored, the drive will automatically clear the warning. If the main power is removed while the auxiliary power is still on and the drive is enabled, the drive will show a fault. The LED display will read indicating the internal voltage is out of range. When the main power is restored, the drive will not automatically clear the fault. It will need to be cleared by either the I/O alarm reset function or a clear fault command from the master controller..7.. Keep Alive Recovery with I/O Function After the main power supply has been restored, the fault must be cleared. Use the alarm reset function through input 6 (X6) if configured for alarm reset function. (See Section.. for configuring this input via the Step-Servo Quick Tuner software.) When an internal voltage out of range alarm occurs, the motor is disabled. Use the servo on function through input 5 (X5), also configurable via the software, to re-enable it. Resume motion and normal program operation..7.. Keep Alive Recovery with the Master Controller After the main power supply has been restored, the fault must be cleared. The master controller program can write x8 to Control Word (x64) to clear the fault. When an internal voltage out of range alarm occurs, the motor is disabled. The master controller program can write xf to Control Word (x64) to enable the motor. Resume motion and normal program operation. Rev.. 6/7/

23 SS/5/-EC Hardware Manual.8 Connecting the Motor The SS motors have two cables - the motor power cable, and the encoder feedback cable. Use the optional motor extension cable and/or encoder extension cable, or make extension cables using connector housing and crimps included in package if more length is needed. Connect the motor power cable s black, green, red and blue wires respectively to the drive s A+, A-, B+ and B- connections. Plug the encoder feedback cable into the encoder feedback connector on the drive. DO NOT drag the motor by the cables as this may damage it. B - B+ A - A+ P Wire Colors Blue Red Green Black Motor Connector A- B- Z- GND U- V- W CN A+ B+ Z+ +5V NC U+ V+ W+ Encoder Feedback Connector See Section 6 Optional Accessories (Sold Separately) for cables and mating connectors Rev.. 6/7/

24 SS/5/-EC Hardware Manual.9 Connecting the EtherCAT Dual RJ-45 connectors (connection CN) accept standard Ethernet cables and are categorized as BASE-TX ( Mb/sec) ports. CAT5 or CAT5e (or higher) cables should be used. The IN port connects to a master, or to the OUT port of an upstream node. The OUT port connects to a downstream node. If the drive is the last node on a network, only the IN port is used. No terminator is required on the OUT port..9. EtherCAT Status Indicator LEDs The LEDs are used for indicating status of the EtherCAT. There are two Link/Activity LEDs (one for each RJ-45 Ethernet connector) and two status LEDs (RUN and ERR). Link/Activity Link/Activity ERR RUN LED indicator codes: Notes: LED Color Status Description OFF no Ethernet connection Link/Activity Green ON Ethernet is connected Flickering activity on line OFF initialization state RUN Green Blinking pre-operational state Single Flash safe-operational state ON operational state OFF no error ERR Red Blinking general error Single Flash sync error Double Flash watch dog error Flickering: Rapid flashing with a period of approximately 5ms (Hz) Blinking: Flashing with equal on and off periods of ms (.5Hz) Single Flash: Repeating on for ms and off for s Double Flash: Two flashes with a period of ms followed by off for s Rev.. 6/7/

25 SS/5/-EC Hardware Manual. Connecting the STO On the SS EtherCAT step-servo drives, the STO (Safe Off) function is connected via port CN4. The STO function shuts off the motor s current turning off the motor output torque by forcibly turning off the signal of the drive s power transistor. This is done internally through the STO Input/ Output signal circuit... Safety Precautions If you want to bypass the STO function, make sure the STO connector is plugged into CN4 on the drive correctly. When using the STO function, perform an equipment risk assessment to ensure that the system conforms to the safety requirements. Even when the STO function is enabled, the motor may move due to external force (e.g. gravitational force on the vertical axis). Make sure a holding brake is used in applications where this is possible. When the STO function engages and the torque is removed, the motor will be free running, requiring more distance until the motion stops. Make sure this will not be a safety issue. When the STO function operates, it will turn off the current to the motor, but it does not turn off the power to the drive. Make sure to disconnect the power to the drive before performing any maintenance on it. After the STO function is triggered, the drive will have a fault alarm status, and the motor will remain disabled even after the STO function switch is plugged back in. To restore the system to normal operation, clear the fault alarm, and then enable the drive and motor... STO Internal Circuit Diagram SF+.5K SF- SF+.5K EDM+ SF- EDM-.. CN4 Connector diagram Rev.. 6/7/

26 SS/5/-EC Hardware Manual..4 STO Signal Definition Signal Symbol Pin Description Control Mode Safety Input SF Safety Input SF SF+ When SF has no input signal, e.g. the port is disconnected, SF will be SF- considered OFF. The upper half of the internal power transistor will be shut off. SF+ When SF has no signal input, e.g. the port is disconnected, SF will be SF- 5 considered OFF. The upper half of the internal power transistor will be shut off. Compatible with all control modes Safety Output EDM+ 6 Output monitor signal used to check the EDM- 4 safety function Ground DGND 7, 8 +5VDC power ground +5V power +5V 9, +5VDC power supply..5 STO Connection Diagrams Connection to safety switch 4VDC Safety Switch SS EtherCAT Drive SF+ Safety Input SF- SF+ Safety Input EDM+ VDC SF- Safety Output EDM- Safety light connection SS EtherCAT Drive Safety Output Rev.. 6/7/

27 SS/5/-EC Hardware Manual Inputs and Outputs The SS-EC drive s inputs and outputs include: 8 optically isolated digital inputs, 5-4VDC high level voltage 4 optically isolated digital outputs, max V/mA sink or source current analog inputs, can be configured to -5V, -V, ±5V or ±V signal ranges. Differential encoder signal output (AOUT +/-, BOUT +/-, ZOUT +/-), 6C line driver, ma sink or source current X- X- X- X4- X6 X8 Y4- AOUT- BOUT- ZOUT- XCOM +5V AIN Y- Y- Y- CN I/O Connector X+ X+ X+ X4+ X5 X7 GND AIN Y+ Y+ Y+ Y4+ AOUT+ BOUT+ ZOUT Rev.. 6/7/

28 SS/5/-EC Hardware Manual. Digital Inputs.. X, X, X and X4 Digital Inputs X, X, X and X4: optically isolated, differential, 5-4VDC, minimum pulse width 5ns, maximum pulse frequency MHz X can be used as general purpose input. X can be used as general purpose input. X can be used as CW limit input or general purpose input. X4 can be used as CCW limit input or general purpose input. Use Step-Servo Quick Tuner software for X, X, X and X4 function configuration. The following graphs show some common connection methods for the inputs: 5-4 VDC Power Supply + - Switch or Relay (closed = logic Low) X///4+ X///4- SS-EC Drive Connecting the inputs to a switch or relay 5-4 VDC Power Supply NPN Output output X///4+ X///4- SS-EC Drive Connecting the inputs to an NPN type output 5-4 VDC Power Supply PNP Output output X///4+ X///4- SS-EC Drive Connecting the inputs to a PNP type output Rev.. 6/7/

29 SS/5/-EC Hardware Manual.. X5, X6, X7 and X8 Digital Inputs X5, X6, X7 and X8: optically isolated, single-ended, 5-4VDC, minimum pulse width 5μs, maximum pulse frequency KHz X5 can be used as servo on input or general purpose input. X6 can be used as alarm reset input or general purpose input. X7 can be used as general purpose input. X8 can be used as general purpose input. Because the input is an optically isolated circuit, a 5-4V 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 a 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 +. Use Step-Servo Quick Tuner software for X5, X6, X7 and X8 function configuration. The following graphs show some common connection methods for the inputs: 5-4 VDC Power Supply + - Switch or Relay (Closed: logic low) XCOM X5/X6/X7/X8 SS-EC Drive Connecting to a switch or relay 5-4 VDC Power Supply NPN Type Output - output XCOM X5/X6/X7/X8 SS-EC Drive Connecting an NPN type output to an input 5-4 VDC Power Supply PNP Type Output - output X5/X6/X7/X8 XCOM SS-EC Drive Connecting a PNP type output to an input Rev.. 6/7/

30 SS/5/-EC Hardware Manual. Y, Y, Y and Y4 Digital Outputs Y can be used as an alarm signal output. It can also be used as a static in position signal output (static, checking in position when the motor is stopped), or as a dynamic in position signal output (dynamic, checking in position all the time). Y can be used as a tach signal output. Tach output produces pulses relative to the motor position with configurable resolution. It can also be used as a static in position signal output (static, checking in position when the motor is stopped), or as dynamic in position signal output (dynamic, checking in position all the time), or as a timing signal output (5 pulses per rotation). Y can be used as a signal output to release a brake. It can also be used as a static in position signal output (static, checking in position when the motor is stopped), or as a dynamic in position signal output (dynamic, checking in position all the time). Y4 can be used as a static in position signal output (static, checking in position when the motor is stopped), or as a dynamic in position signal output (dynamic, checking in position all the time). Use Step-Servo Quick Tuner software for Y, Y, Y and Y4 function configuration. The following graphs show some common connection methods for the outputs: NOTE: Do not connect the outputs to more than VDC power supply. And the current of each output terminal must not exceed ma. 5-4 VDC Power Supply + SS-EC Drive Y///4+ Y///4- Load Connecting a sinking output 5-4 VDC Power Supply + SS-EC Drive Y///4+ Y///4- COM IN PLC Connecting a sinking output to a PLC s input Rev.. 6/7/

31 SS/5/-EC Hardware Manual 5-4VDC Power Supply + SS-EC Drive Y///4+ COM PLC Y///4- IN Connecting a sourcing output to a PLC s input relay 5-4 VDC Power Supply + SS-EC Drive Y///4+ Y///4- N495 suppression diode Driving a relay. Analog Inputs The SS series drive has two analog signal inputs which can accept signal range of -5V, -V, ±5V or ±V. The drive can be configured to operate at velocity mode or position mode that is proportional to the analog input. Use Step-Servo Quick Tuner software to configure the input range, offset, deadband and noise filter frequency. The SS series provides a +5V, ma limit power supply that can be used to power external devices such as potentiometer. For more precise readings use an external supply that can provide the desired accuracy. - k pot Ω +5v OUT AIN GND SS-EC Drive Connecting a Potentiometer to an analog input Rev.. 6/7/

32 SS/5/-EC Hardware Manual.4 Encoder output The SS-EC drive has differential encoder outputs (AOUT+, AOUT-, BOUT+, BOUT-, ZOUT+, ZOUT-), with 6C line driver, ma sink or source current max. These signals can be connected to the motion controller to provide feedback of the motor position. SS-EC Host Controller AOUT+ A+ A- BOUT+ B+ B- ZOUT+ Z+ AOUT- BOUT- ZOUT- Z- GND GND Rev.. 6/7/

33 SS/5/-EC Hardware Manual 4 Control Panel (LED display and keys) 4. Description of Control Panel LED Display Mode Key Set Key M S Up Key Down Key Symbol Name Details LED Display MODE Button The LED display (5 digits, 7 segments) show the drive s operating condition and warning codes, parameters and settings values. Press and hold the MODE button to change the LED display mode a) Monitoring selection mode b) Function selection mode c) Parameter setting mode When editing the parameters, press the MODE button to move the cursor to the left and then change the parameters by using the arrow keys. UP/DOWN Button Press the UP or DOWN button to scroll through and change monitor codes, parameter groups and various parameter settings. SET Button Press to enter a mode Press and hold to save parameters/settings 4. Mode Switch Control () Press the button and the button to change modes between status monitoring, function control, parameter setting, etc. () If no warnings or faults have occurred, the drive will not go into warning and fault display mode. () If any warnings are detected by the drive, the LED display will immediately switch into warning or fault display mode. Pressing any key will switch back to the previous display mode. (4) When no button(s) on the control panel has been pressed for seconds, the display will switch back to the previous status monitoring display mode. (5) In monitoring selection mode, function selection mode and parameter setting mode, when editing the parameters, press to move the cursor to the left, then change the parameters by using the buttons. (6) In status monitoring mode, press and hold the button to lock the control panel. To unlock the panel, press and hold the button again Rev.. 6/7/

34 SS/5/-EC Hardware Manual Control mode switch flowchart: Power On In factory default mode, it will display motor s rotatory velocity.(*note ) The last dot shows whether the drive is enable or disable. Monitor Status Press any key Press SET key back to Monitor Status S Monitor Parameters Press and hold the MODE key for second M Press the UP and DOWN key to scroll through and change monitor status Press and hold the MODE key for second M Function Parameters Press and hold SET key to confirm selection and execute it. Press and hold the MODE key for second(*note 4) M Press the UP and DOWN key to scroll through and change function selection S Drive Parameters Configuration Press the UP and DOWN key to scroll through and change parameter selection. Press SET key enter to value setting mode S Press SET key back to Drive Parameters Configuration mode without changing. *NOTE() Press and hold for second the SET key to confirm setting value *Note() S NOTE: () When power is applied, the drive s display will show the customer defined monitoring mode. In factory default mode, it will display motor s rotary velocity. () In parameter setting mode, press the button to exit the parameter setting mode and return to the parameter selection mode, any changes will not be saved. () In parameter setting mode, press and hold the button to confirm and apply the current parameter setting. This will take effect immediately. However, this change will not save to the drive s flash. If this parameter is required for permanent use, go to function mode, and then press and hold the button to save the parameter change. (4) When the drive is connected to the host computer with Step-Servo Quick Tuner on, the parameter setting mode CANNOT be accessed directly on the drive s control panel. Rev.. 6/7/

35 SS/5/-EC Hardware Manual 4. LED display description 4.. Decimal Point And Negative Sign Description LED display Description Negative sign: when the value to be displayed is a negative number -9999,the highest digit will display as a negative sign. negative sign motor enable sign Decimal point: when the value to be displayed is a negative number -, a decimal point will be displayed. 4.. Parameter View Setting LED display Description There are only 5 digits on the LED display, when a value with more than 5 digits needs to be displayed, it will be shown in segments. When the highest digit of a value is flashing, it means only the lower 5 digits are shown. Press upper 5 digits. The graph is showing -845 to display the 4.. Parameter Save Setting LED display Description In parameter setting mode, pressing and holding the button will save the change. Saved will also be displayed on the LED. In parameter setting mode when the motor is rotating, pressing and holding the button will cause the LED display to show the status as busy meaning that the current parameter cannot be saved. Stop the motion of the motor and save the parameter again Point To Point Motion Mode LED display Description When the LED display reads P-CW it means the motor is rotating in a CW direction in the point-to-point mode When the LED display reads P-CCW it means the motor is rotating in a CCW direction in the point-to-point mode Rev.. 6/7/

36 SS/5/-EC Hardware Manual 4..5 Jog Mode LED display Description When the LED display reads J--CW it means the motor is rotating in a CW direction in JOG mode. When the LED display reads J--CCW it means the motor is rotating in a CCW direction in JOG mode 4..6 Control Panel Lock LED display Description This means the key panel is locked. Press and hold for second while in status monitoring mode to lock it. When the control panel is locked, press and hold for second to unlock it. 4.4 Status Monitoring Selection Mode To change the status monitoring type, press to enter monitoring selection mode, and then use to make selections, and press to confirm. Steps are shown as follows: Power ON Press Any Key Stats Display Default display is current motor velocity The last decimal point is drive enable sign Press SET key to select display mode Status Monitoring Selection Press UP and DOWN key to select display detail. S Rev.. 6/7/

37 SS/5/-EC Hardware Manual N mode selection and setting LED display Description Unit n- Motor Rotation Speed RPM n- Position Error counts n- Pulse Counter counts n- Encoder Counter counts n-4 Command Position Counter counts n-5 Drive Temperature x. C n-6 DC Bus Voltage x.v n-7 SCL Address n-8 Alarm History n-9 Alarm History n- Alarm History n- Alarm History 4 n- Alarm History 5 n- Alarm History 6 n-4 Alarm History 7 n-5 Alarm History Rev.. 6/7/

38 SS/5/-EC Hardware Manual 4.5 Function Control Mode In function control mode (display reads: F+parameter number), you can select functions for preoperational mode, restart the drive, enable or disable the drive, etc. In status monitoring mode, press and hold for second to enter function control mode. Press to select a function, and then press and hold to confirm or execute the function. (NOTE: F-(FL) and F-(CJ) excepted) Press and Hold MODE key for second Status display selection M Function Mode Selection Press UP and DOWN key to select display detail. Press and Hold Set key to select and execute the function S 4.5. Function Mode Description Function mode details are as follows: Function mode number LED display Description F- point to point position mode:rps, rev F- JOG mode:jog speed rps F- Restart the drive F- Clear drive s current alarm F-4 Save parameter changes for Pxx F-5 Motor disable F-6 Motor enable F-7 Activate the analog auto offset algorithm F-8 Stop move and remove buffered command Rev.. 6/7/

39 SS/5/-EC Hardware Manual 4.5. Operation Flow Chart status monitoring selection M function selection mode press and hold MODE key for second Press UP and DOWN key to select display detail. F- point to point mode F- JOG mode press and hold SET key press M key press and hold SET key S M press M key press,motor rotate rev in CW direction press,motor rotate rev in CCW direction press S to stop the motor press M to return back NOTE: In P-P mode, rotary velocity is rps, and rev per time. press,motor rotate in CW direction Press,motor rotate in CCW direction press S stop motor press M to return back Press UP and DOWN key to select display detail. NOTE: In JOG mode, rotary velocity is rps F- Restart the drive press and hold SET key Drive restart, and back to status monitoring mode S Press UP and DOWN key to select display detail. F- Alarm clear press and hold SET key S clear current drive warning Press UP and DOWN key to select display detail. press and hold SET key F-4 save parameter S Press UP and DOWN key to select display detail. display after second To save parameter changes for P- to P-98 permanently. SAVE means success operation. F-5 motor disable press and hold SET key S To disable the drive Press UP and DOWN key to select display detail. F-6 motor enable press and hold SET key S If no alarm has occurred, enable the drive immediately Press UP and DOWN key to select display detail. F-7 Analog Input Auto-offset press SET key Analog Input Auto-offset S Press UP and DOWN key to select display detail. F-8 Stop move and remove buffered command press SET key S Stop move and remove buffered command Rev.. 6/7/

40 SS/5/-EC Hardware Manual 4.6 Parameter Setting Mode 4.6. Parameter Setting Description The parameter setting mode (P+parameter number) allows you to select, display and edit the necessary parameter. In function control mode, press and hold for second to enter parameter setting mode. Use to select the required parameter, and press to view or edit the parameter. Press again to quit and no change will be saved. Press and hold for second to save the parameter change. However this change will NOT be saved at the next power on. To save the parameter PERMANENTLY, go into function control mode (F+parameter number), and use F-4SA function. function selection mode press and hold MODE key for second M parameter setting selection Press UP and DOWN key to select display detail. press SET key to enter parameter editing mode S short press SET key to quit press and hold SET key to save parameter change S Rev.. 6/7/

41 SS/5/-EC Hardware Manual 4.6. Parameter Editing Examples M First digit flash Press mode to shift flashing digit Second digit flashing Press Press Press Press Press up or down to increase or decrease value Press SET key to enter parameter editing mode S M Second digit flashing Press mode to shift flashing digit First digit Press Press Press Press press UP or DOWN to increase or decrease value press UP or DOWN to increase or decrease value Press and hold set key to save parameter S The parameter change is only saved for current operation, it will back to original after next power up Set display for second, means save successfully Setafter second return to parameter selection page M Press and hold mode key Function mode selection Press up and down key to select display detail. F-4 to save parameter Press and hold set key S Save parameter Saved means operation successful Saved display for second and return back to previous page Rev.. 6/7/

42 SS/5/-EC Hardware Manual 4.6. Parameter list Refer to the Host Command Reference for command details. Parameter Number SCL Command LED Display Function P KP position loop proportional gain P KD position loop differential gain P KE differential filter P VP velocity loop proportional gain P4 VI velocity loop integrator gain P5 - reserved P6 KK inertia feedforward gain P7 KC overall filter P8 SF step smoothing filter frequency P9 CM command mode P - reserved P PM power up mode P JM jog mode P GC current command (torque mode) P4 CC continuous current P5 CP peak current P6 - reserved P7 HC hard stop current P8 - reserved P9 VM maximum velocity P AM maximum acceleration P JS jog speed P JA jog acceleration P JL jog deceleration P4 VE velocity P5 AC acceleration P6 DE deceleration P7 VC velocity change P8 JC velocity mode second speed Rev.. 6/7/

43 SS/5/-EC Hardware Manual P9 - reserved P - reserved P - reserved P - reserved P - reserved P4 - reserved P5 - reserved P6 ER encoder resolution P7 - reserved P8 EG electronic gearing P9 SZ pulse mode setting P4 PF position fault limit P4 PL position limit for dynamic in position P4 PD position limit for static in position P4 PE in position timing P44 TT pulse complete timing P45 AP analog position gain P46 AG analog velocity gain P47 AN analog torque gain P48 - reserved P49 - reserved P5 AV analog offset value P5 AS analog scaling P5 - reserved P5 - reserved P54 AD analog deadband P55 AF analog filter P56 AT analog threshold P57 SI enable input usage P58 AI alarm reset input usage P59 DL define limit P6 AO alarm output Rev.. 6/7/

44 SS/5/-EC Hardware Manual P6 BO brake output P6 MO motion output P6 BD brake disengage delay P64 BE brake engage delay P65 FI filter input for X5 P66 FI filter input for X6 P67 FI filter input for X7 P68 FI filter input for X8 P69 - reserved P7 - reserved P7 IF immediate format P7 PR protocol P7 TD transmit delay P74 BR baud rate P75 - reserved P76 CO node id P77 - reserved P78 PK parameter lock on control panel P79 DD default display item of LEDs P8 MA for advanced user only, not recommended P8 ZT regen resistor peak time Rev.. 6/7/

45 SS/5/-EC Hardware Manual 4.7 Control Panel Lock In order to prevent unauthorized or unintentional use of the key panel, a key panel lock is available on all SS-EC drives. When the lock feature is on, no function can be changed directly on drive s control panel. Status monitoring Press and hold set key for second If control panel is locked, press any key will show lck In control parameter lock mode, press and hold set key for second will unlock Unlock display 4.8 Warning And Fault Display If any of the following warnings are detected by the drive when power is applied, the LED display on the drive will immediately switch into warning or fault display mode. If more than one warning is detected, you can scroll through by pressing the buttons. Press or to clear the warning display and return to the previous display mode. Any Mode Warning or fault alarm occurs Bad Encoder If more than alarm has occurred, press Up or Down key to scroll through the alarms Open Winding Previous Monitoring Mode S M Press Set and Mode key to exit alarm display mode 45 Rev.. 6/7/

46 SS/5/-EC Hardware Manual LED display Description Drive Over Temperature Internal Voltage Bad Over Voltage Highside Over Current Lowside Over Current Over Current Reading Bad Encoder Open Winding Position Limit Under Voltage CCW Limit and CW Limit CCW Limit CW Limit Current Foldback Communication Error Save Failed STO Activated Regen Failed Blank Q Segment Move while Disabled NOTE: Items in bold italic represent Drive Faults, which automatically disable the motor. Rev.. 6/7/

47 SS/5/-EC Hardware Manual 4.9 LED Character Reference A B C D E F G H I J K L M N O P Q R S T U V W X Y Z Rev.. 6/7/

48 SS/5/-EC Hardware Manual 5 Reference Materials 5. Drive Mechanical Outlines R Unit:mm Rev.. 6/7/

49 SS/5/-EC Hardware Manual 5. Drive Technical Specifications Amplifier Type Current Control Output Current Power Supply Auxiliary Power Supply Protection Microstep Resolution Encoder Resolution Speed Range Filters Non-Volatile Storage Supported Protocol Supported Modes Synchronization Digital Inputs Dual H-Bridge, 4 Quadrant 4 state PWM at KHz Power Amplifier SS Maximum continuous current A, boost current 4.5A (for.5s) Drive auto-sets the current limitation according to the attached motor SS5 Maximum continuous current 5A, boost current 7.5A (for.5s) Drive auto-sets the current limitation according to the attached motor SS Maximum continuous current A, boost current 5A (for.5s) Drive auto-sets the current limitation according to the attached motor External 4-7 volt DC power supply required Absolute maximum input voltage range 8-75 VDC External - 48 volt DC power supply required Over-voltage, under-voltage, over-temp, over-current, short circuit Controller Software selectable from to 5 steps/rev in increments of steps/rev counts/rev for AM7//4/4SS motor; 496 counts/rev for AMSS motor Speeds up to 6 rpm Programmable hardware digital noise filter, software noise filter, smoothing filter, PID filter, notch filter Configurations are saved in FLASH memory on-board the DSP CoE (CiA 4 Drive profile) Profile Position, Profile Velocity, Profile, Cyclic Synchronous Position, Cyclic Synchronous Velocity, Homing, and MOONS own Q mode SM Event, DC Sync Event X, X, X, X4: optically isolated, differential, 5-4VDC, minimum pulse width 5ns, maximum pulse frequency MHz X5, X6, X7, X8: optically isolated, single-ended input, 5-4VDC Digital Output Analog Input Y, Y, Y, Y4: optically isolated, open collector, volts, ma max, maximum pulse frequency KHz AIN, AIN: individually single-ended or together differential, input resolution -bit, software configured as -5 volts, - volts, ±5 volts or ± volts (AIN referenced to GND) +5V Supply Output ma maximum Communication EtherCAT and mini USB for configuration Environment Ambient Temperature - 4 C ( - 4 F) when mounted to a suitable heatsink Humidity 9% non-condensing Rev.. 6/7/

50 SS/5/-EC Hardware Manual 5. Recommended Motors and Specifications Motor Part Number Matching Drive Holding Rotor Encoder Max. Frame Mass Inertia Resolution Speed Size Permissible Shaft Load (N) Distance (L) from shaft end (mm) N-m G-cm counts/rev RPM g mm 5 5 Permissible Thrust Load AMSSDMA AMSSDMA SS-EC-D AMSSDMA AM7SSDG -N. 8 9 AM7SSDG -N SS-EC-D or AM7SSDG -N SS5-EC-D AM7SS4DG -N AMSSDG -N AMSSDG -N SS5-EC-D AMSS4DGA-N Less than the motor mass AM4SSDG -N AM4SSDGA-N.5 95 SS-EC-D AM4SSDGA-N AM4SS5DGA-N 8. 4 : A or B, refer to motor part numbering system Thrust Load Overhung Load L Rev.. 6/7/

51 SS/5/-EC Hardware Manual 5.4 Motor Mechanical Outlines AMSS unit: mm 5 B B 4. 4-M Depth 4.5Min A 4.5 FLAT 8 4-M.5 Depth.5 Min 8 L Model L AMSSDMA AMSSDMA 5.9 AMSSDMA 64. AM7SS-N unit: mm L A FLAT φ Model A A B B L AM7SSDGA-N φ AM7SSDGB-N φ AM7SSDGA-N φ AM7SSDGB-N φ AM7SSDGA-N φ AM7SSDGB-N φ AM7SS4DGA-N φ AM7SS4DGB-N φ Rev.. 6/7/

52 SS/5/-EC Hardware Manual AMSS-N unit: mm B B φ5. A FLAT A L 7.6 φ Model A A B B L AMSSDGA-N φ AMSSDGB-N φ AMSSDGA-N φ AMSSDGB-N φ AMSS4DGA-N φ AM4SS-N unit: mm B B φ4.5 A FLAT A φ Model A A B B AM4SSDGA-N φ AM4SSDGB-N φ Rev.. 6/7/

53 .7 FLAT φ SS/5/-EC Hardware Manual AM4SS-N unit: mm φ7.5 L 8 Model L AM4SSDGA-N 88 AM4SSDGA-N 7.5 AM4SS5DGA-N Rev.. 6/7/

54 SS/5/-EC Hardware Manual 5.5 Curves AMSSDMA 4V 4V 5 AMSSDMA 4V 4V (mn m) (mn m) Speed(rps) 4 5 Speed(rps) AMSSDMA 4V 4V.4 AM7SSDG -N 4V 4V 48V 48V (mn m) 6 8 (N m) Speed(rps) 4 5 Speed(rps).6 AM7SSDG -N 4V 4V 48V 48V.7 AM7SSDG -N 4V 4V 48V 48V.5.6 (N m) Speed(rps) (N m) Speed(rps). AM7SS4DG -N 4V 4V 48V 48V.5 AMSSDG -N 4V 48V 7V 4V 48V 7V.8. (N m).6.4 (N m) Speed(rps) 4 5 Speed(rps) Rev.. 6/7/

55 SS/5/-EC Hardware Manual.5 AMSSDG -N 4V 48V 7V 4V 48V 7V.5 AMSS4DGA-N 4V 48V 7V 4V 48V 7V (N m) Speed(rps) (N m) Speed(rps).5 AM4SSDG -N 4V 48V 7V 4V 48V 7V AM4SSDGA-N 4. 4V 48V 7V 4V 48V 7V (N m).5.5 (N m) Speed(rps) 4 5 Speed(rps) AM4SSDGA-N 7. 4V 48V 7V 4V 48V 7V AM4SS5DGA-N 4V 48V 7V 4V 48V 7V (N m) (N m) Speed(rps) 4 5 Speed(rps) Rev.. 6/7/

56 SS/5/-EC Hardware Manual 5.6 Motor Numbering System Frame Size 7,, 4, 4 AM7 SS D G A-N Step Servo Motor Size = stack = stack = stack 4 = 4 stack 5 = 5 stack D = DC Input Encoder G = 5-Line M = 4-Line Mechanical Option A = Output shaft size :φ5 7:φ6 :φ8 4:φ 4:φ4 B = Output shaft size 7:φ5 :φ6.5 4:φ8 Note: AM7//4/4SS motors matching with SS-EC drive have -N suffix AMSS motors matching with SS-EC drive DO NOT have -N suffix 5.7 Drive Numbering System SS 5 - EC - D Step Servo D = Dual-port Ethernet Output Current = A 5 = 5A = A EC = EtherCAT Rev.. 6/7/

57 SS/5/-EC Hardware Manual 6 Optional Accessories (Sold separately) 6. Cables I/O Cable P/N Length(L) 7- M L Housing 5646-(Molex) Crimp 5648-(Molex) D J Wiring Diagram PIN (J) Color (Signal) PIN (J) Color (Signal) Blue/White (X+) 7 NC Blue/Black (X-) 8 NC Green/White (X+) 9 Brown/White (Y+) 4 Green/Black (X-) Brown/Black (Y-) 5 Red (X+) Gray/White (Y+) 6 Orange (X-) Gray/Black (Y-) 7 Blue (X4+) Purple/White (Y+) 8 Purple (X4-) 4 Purple/Black (Y-) 9 Yellow (X5) 5 Pink (Y4+) Green (X6) 6 Yellow/Green (Y4-) Brown (X7) 7 Red/White (AOUT+) Gray (X8) 8 Red/Black (AOUT-) Shield 9 Orange/White (BOUT+) 4 White (XCOM) Orange/Black (BOUT-) 5 Black (GND) Yellow/White (ZOUT+) 6 NC Yellow/Black (ZOUT-) Motor Extension Cable between SS-EC drive and AMSS motor Housing: 565-6(Molex) Crimp: 5-8(Molex) A 6 J L P/N Length(L) Wiring Diagram 7- M PIN(J) Color (Signal) 7- M Blue(B-) 7-5 5M Red(B+) 7- M 4 Green(A-) 6 Black(A+) Rev.. 6/7/

58 SS/5/-EC Hardware Manual Motor Extension Cable between SS-EC drive and AM7//4/4SS-N motor Housing 9--49(Molex) Crimp 9--4(Molex) 4 J L P/N Length(L) Wiring Diagram 4- M PIN(J) Color (Signal) 4- M Blue(B-) 4-5 5M Red(B+) 4- M Green(A-) 4 Black(A+) Encoder Extension Cable between SS-EC drive and AMSS Motor Housing 5646-(Molex) Crimp 5648-(Molex) Housing (Molex) Crimp 5648-(Molex) 5 6 J J L P/N Length(L) Wiring Diagram 8- M PIN(J) Color (Signal) PIN(J) PIN(J) Color (Signal) PIN(J) 8- M Blue(A+) Brown(U+) 8-5 5M 9 Blue/Black(A-) Brown/Black(U-) 8- M 8 Green(B+) Gray(V+) 7 Green/Black(B-) 4 Gray/Black(V-) 6 Yellow(Z+) 5 White(W+) 5 5 Yellow/Black(Z-) 6 White/Black(W-) 6 Red(+5V) 7 Shield 4 Black(GND) 8 Encoder Extension Cable between SS-EC drive and AM7//4/4SS-N Motor Housing -9-(TYCO) Crimp 9-(TYCO) C B A J Housing (Molex) Crimp 5648-(Molex) D 5 6 J B A C L D P/N Length(L) Wiring Diagram 7- M PIN (J) Color (Signal) PIN (J) PIN (J) Color (Signal) PIN (J) 7- M A9 Blue (A+) B5 Shield 7-5 5M B9 Blue/Black (A-) A4 Brown (U+) 7- M A8 Green (B+) B4 Brown/Black (U-) B8 Green/Black (B-) 4 A Gray (V+) A7 Yellow (Z+) 5 B Gray/Black (V-) 4 B7 Yellow/Black (Z-) 6 A White (W+) 5 A6 Red (+5V) 7 B White (W+) 6 B6 Black (GND) 8 Rev.. 6/7/