Moons' SS-EC Series Hardware Manual Download

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Rev. 1.0

06/21/2016

SS-EC

Step-Servo EtherCAT Drive

Hardware Manual

SS03-EC-D SS05-EC-D SS10-EC-D

SHANGHAI AMP & MOONS’ AUTOMATION CO.,LTD.

Summary of Contents for SS-EC Series

Page 1: ...Rev 1 0 06 21 2016 SS EC Step Servo EtherCAT Drive Hardware Manual SS03 EC D SS05 EC D SS10 EC D SHANGHAI AMP MOONS AUTOMATION CO LTD...

Page 2: ...Motor 23 2 9 Connecting the EtherCAT 24 2 9 1 EtherCAT Status Indicator LEDs 24 2 10 Connecting the STO 25 2 10 1 Safety Precautions 25 2 10 2 STO Internal Circuit Diagram 25 2 10 3 CN4 Connector dia...

Page 3: ...3 Parameter list 42 4 7 Control Panel Lock 45 4 8 Warning And Fault Display 45 4 9 LED Character Reference 47 5 Reference Materials 48 5 1 Drive Mechanical Outlines 48 5 2 Drive Technical Specificati...

Page 4: ...ed modes Profile Position Profile Velocity Profile Torque Cyclic Synchronous Position Cyclic Synchronous Velocity and Homing as well as MOONS own Q mode Dual port EtherCAT communication USB port for c...

Page 5: ...er High Speed Input Optical Isolation Input Optical Isolation Digital Filter Software Filter Digital Filter Software Filter Output Optical Isolation Single Ended Input Isolation X1 X1 X2 X2 X3 X3 X4 X...

Page 6: ...t 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 conn...

Page 7: ...chain connection included An STO connector for CN4 connection included Optional motor extension cable Optional encoder extension cable Optional I O cable 2 1 Installing the Software Step Servo Quick...

Page 8: ...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 1 5cm of s...

Page 9: ...this new COM n port in the Step Servo Quick Tuner software 2 5 Connecting the Main Power Supply Connect power supply terminal to the drive terminal labeled V Connect power supply terminal to the drive...

Page 10: ...as low as 18VDC minimum to as high as 75VDC maximum When operating below 18VDC the SS EC may become unstable The supply input cannot go below 18VDC for reliable operation If the input supply drops bel...

Page 11: ...us Torque Boost Supply Current Full Load No Load AM11SS2DMA 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 Torque mN m Speed RPS Amps Continuous Torque Boost Supply Current F...

Page 12: ...tinuous Torque Boost Supply Current Full Load No Load 0 0 5 1 1 5 0 0 1 0 2 0 3 0 4 0 10 20 30 40 50 Torque N m Speed RPS AM17SS1DG N 48V Power Amps Continuous Torque Boost Supply Current Full Load No...

Page 13: ...tinuous Torque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM17SS3DG N 48V Power Amps Continuous Torque Boost Supply Current...

Page 14: ...ous Torque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM23SS2DG N 24V Power Amps Continuous Torque Boost Supply Current...

Page 15: ...s Torque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM23SS2DG N 70V Power Amps Continuous Torque Boost Supply Current Fu...

Page 16: ...orque Boost Supply Current Full Load No 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 Torque N m Speed RPS AM23SS3DG N 48V Power Amps Continuous Torque Boost Supply Current Full Load...

Page 17: ...Torque Boost Supply Current Full Load No Load 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 0 1 0 5 2 1 5 2 5 3 3 5 0 10 20 30 40 50 Torque N m Speed RPS AM23SS4DGA N 48V Power Amps Continuous Torque Boost Supply Cur...

Page 18: ...ntinuous Torque Boost Supply Current Full Load No Load 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 5 0 0 5 1 1 5 2 2 5 3 3 5 0 10 20 30 40 50 Torque N m Speed RPS AM24SS3DG N 48V Power Amps Continuous Torque Boost...

Page 19: ...nuous Torque Boost Supply Current Full Load No Load 0 1 2 3 4 5 6 0 0 5 1 1 5 2 2 5 3 0 10 20 30 40 50 Torque N m Speed RPS AM34SS1DGA N 70V Power Amps Continuous Torque Boost Supply Current Full Load...

Page 20: ...s Continuous Torque Boost Supply Current Full Load No Load 0 1 2 3 4 5 6 0 1 2 3 4 5 6 0 10 20 30 40 50 Torque N m Speed RPS AM34SS3DGA N 48V Power Amps Continuous Torque Boost Supply Current Full Loa...

Page 21: ...4 6 8 10 0 10 20 30 40 50 Torque N m Speed RPS AM34SS5DGA N 70V Power Amps Continuous Torque Boost Supply Current Full Load No Load 0 1 2 3 4 5 6 0 2 4 6 8 10 0 10 20 30 40 50 Torque N m Speed RPS AM...

Page 22: ...nal 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...

Page 23: ...f 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 con...

Page 24: ...herCAT There are two Link Activity LEDs one for each RJ 45 Ethernet connector and two status LEDs RUN and ERR ERR Link Activity Link Activity RUN LED indicator codes LED Color Status Description Link...

Page 25: ...he 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 torq...

Page 26: ...fety Input SF2 SF2 3 When SF2 has no signal input e g the port is disconnected SF2 will be considered OFF The upper half of the internal power transistor will be shut off SF2 5 Safety Output EDM 6 Out...

Page 27: ...tputs max 30V 100mA sink or source current 2 analog inputs can be configured to 0 5V 0 10V 5V or 10V signal ranges Differential encoder signal output AOUT BOUT ZOUT 26C31 line driver 20mA sink or sour...

Page 28: ...put X4 can be used as CCW limit input or general purpose input Use Step Servo Quick Tuner software for X1 X2 X3 and X4 function configuration The following graphs show some common connection methods f...

Page 29: ...ch 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...

Page 30: ...t 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 ca...

Page 31: ...noise filter frequency The SS series provides a 5V 100mA limit power supply that can be used to power external devices such as potentiometer For more precise readings use an external supply that can...

Page 32: ...drive has differential encoder outputs AOUT AOUT BOUT BOUT ZOUT ZOUT with 26C31 line driver 20 mA sink or source current max These signals can be connected to the motion controller to provide feedbac...

Page 33: ...Button Press to enter a mode Press and hold to save parameters settings 4 2 Mode Switch Control 1 Press the button and the button to change modes between status monitoring function control parameter s...

Page 34: ...and hold for 1 second the SET key to confirm setting value Note 3 S M Press and hold the MODE key for 1 second Press SET key back to Drive Parameters Configuration mode without changing NOTE 2 NOTE 1...

Page 35: ...igit of a value is flashing it means only the lower 5 digits are shown Press to display the upper 5 digits The graph is showing 12802345 4 3 3 Parameter Save Setting LED display Description In paramet...

Page 36: ...Press and hold for 1 second while in status monitoring mode to lock it When the control panel is locked press and hold for 1 second to unlock it 4 4 Status Monitoring Selection Mode To change the sta...

Page 37: ...1 Position Error counts n 02 Pulse Counter counts n 03 Encoder Counter counts n 04 Command Position Counter counts n 05 Drive Temperature x 0 1 C n 06 DC Bus Voltage x 0 1V n 07 SCL Address n 08 Alarm...

Page 38: ...00 FL and F 01 CJ excepted Function Mode Selection Press UP and DOWN key to select display detail S Press and Hold Set key to select and execute the function Status display selection M Press and Hold...

Page 39: ...te 1 rev in CW direction press motor rotate 1 rev in CCW direction press to stop the motor press to return back status monitoring selection M press and hold MODE key for 1 second F 00 point to point m...

Page 40: ...ss to view or edit the parameter Press again to quit and no change will be saved Press and hold for 1 second to save the parameter change However this change will NOT be saved at the next power on To...

Page 41: ...se or decrease value Press and hold set key to save parameter S M Press and hold mode key Press up and down key to select display detail Function mode selection F 04 to save parameter S Press and hold...

Page 42: ...op integrator gain P05 reserved P06 KK inertia feedforward gain P07 KC overall filter P08 SF step smoothing filter frequency P09 CM command mode P10 reserved P11 PM power up mode P12 JM jog mode P13 G...

Page 43: ...osition limit for dynamic in position P42 PD position limit for static in position P43 PE in position timing P44 TT pulse complete timing P45 AP analog position gain P46 AG analog velocity gain P47 AN...

Page 44: ...r X5 P66 FI filter input for X6 P67 FI filter input for X7 P68 FI filter input for X8 P69 reserved P70 reserved P71 IF immediate format P72 PR protocol P73 TD transmit delay P74 BR baud rate P75 reser...

Page 45: ...and hold set key for 1 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 wi...

Page 46: ...ide 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 Fai...

Page 47: ...47 Rev 1 0 2016 7 30 86 400 820 9661 SS03 05 10 EC Hardware Manual 4 9 LED Character Reference 1 2 3 4 5 6 7 8 9 10 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...

Page 48: ...48 Rev 1 0 2016 7 30 SS03 05 10 EC Hardware Manual 86 400 820 9661 5 Reference Materials 5 1 Drive Mechanical Outlines 41 150 95 6 5 5 28 5 139 5 5 R2 5 6 Unit mm...

Page 49: ...v for AM17 23 24 34SS motor 4096 counts rev for AM11SS motor Speed Range Speeds up to 3600 rpm Filters Programmable hardware digital noise filter software noise filter smoothing filter PID filter notc...

Page 50: ...S1DMA SS03 EC D 0 065 9 4096 3600 118 28 20 25 34 52 Less than the motor mass AM11SS2DMA 0 08 12 168 AM11SS3DMA 0 125 18 218 AM17SS1DG N SS03 EC D or SS05 EC D 0 3 38 20000 390 42 35 44 58 85 AM17SS2D...

Page 51: ...in 36 5 22 L 15 2 10 4 M2 5 28 23 23 28 AM11SS unit mm Model L AM11SS1DMA 43 8 AM11SS2DMA 52 9 AM11SS3DMA 64 1 Model A A1 B B1 L AM17SS1DGA N 6 5 5 20 15 59 5 AM17SS1DGB N 5 4 5 24 15 59 5 AM17SS2DGA...

Page 52: ...A A1 B B1 L AM23SS2DGA N 8 7 5 24 20 77 5 AM23SS2DGB N 6 35 5 85 20 15 77 5 AM23SS3DGA N 8 7 5 24 20 99 5 AM23SS3DGB N 6 35 5 85 20 15 99 5 AM23SS4DGA N 8 7 5 24 20 102 5 4 4 5 47 14 4 7 14 38 1 60 B1...

Page 53: ...v 1 0 2016 7 30 86 400 820 9661 SS03 05 10 EC Hardware Manual 25 10 2 L 37 14 1 3 FLAT 300 1 02 7 38 6 9 6 69 6 4 6 5 86 73 025 Model L AM34SS1DGA N 88 AM34SS3DGA N 117 5 AM34SS5DGA N 147 AM34SS N uni...

Page 54: ...m Speed rps 0 0 1 0 2 0 3 0 4 0 10 20 30 40 50 AM17SS1DG N 24V 48V 24V 48V Continuous Boost Torque N m Speed rps 0 0 1 0 2 0 3 0 4 0 5 0 6 0 10 20 30 40 50 AM17SS2DG N 24V 48V 24V 48V Continuous Boos...

Page 55: ...e N m Speed rps 0 2 0 4 0 6 0 8 0 10 0 10 20 30 40 50 24V 48V 70V 24V 48V 70V AM34SS5DGA N Continuous Boost Torque N m Speed rps 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 0 10 20 30 40 50 24V 48V 70V 24V 48V 70V...

Page 56: ...24 10 34 14 B Output shaft size 17 5 23 6 35 24 8 Motor Size 1 1 stack 2 2 stack 3 3 stack 4 4 stack 5 5 stack Step Servo Encoder G 5000 Line M 1024 Line D DC Input Note AM17 23 24 34SS motors matchin...

Page 57: ...ite Y3 8 Purple X4 24 Purple Black Y3 9 Yellow X5 25 Pink Y4 10 Green X6 26 Yellow Green Y4 11 Brown X7 27 Red White AOUT 12 Gray X8 28 Red Black AOUT 13 Shield 29 Orange White BOUT 14 White XCOM 30 O...

Page 58: ...J2 2118 300 3M 10 Blue A 1 Brown U 2118 500 5M 9 Blue Black A 2 Brown Black U 2118 1000 10M 8 Green B 3 Gray V 7 Green Black B 4 Gray Black V 6 Yellow Z 5 1 White W 15 5 Yellow Black Z 6 2 White Black...

Page 59: ...00 3M 2012 030 is included in the drive package 6 2 Mating Connectors Part Description Part Number Vendor P1 Power Connector 5435970 Phoenix Contact P2 Motor Connector 5435983 CN1 Encoder Connector Ho...

Page 60: ...8 Nanjing Room 1101 1102 Building 2 New Town Development Center No 126 Tianyuan Road Moling Street Jiangning District Nanjing 211106 P R China Tel 86 0 25 52785841 Fax 86 0 25 52785485 Qingdao Room 10...

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