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SSM23C

Integrated Step-Servo Motor

User Manual

Rev. 1.0

AMP & MOONS’ Automation

Summary of Contents for SSM23C

Page 1: ...SSM23C Integrated Step Servo Motor User Manual Rev 1 0 AMP MOONS Automation...

Page 2: ...Supply 13 3 2 Connecting the SSM23C Communications 14 3 2 1 Node ID 14 3 2 2 Setting the Bitrate 14 3 3 Inputs and Outputs 15 3 3 1 Connector Pin Diagram 15 3 3 2 IN1 IN2 Inputs 15 3 3 3 IN3 Input 16...

Page 3: ...KD 28 5 2 4 Deri Filter Torque Command Filter Term KE 29 5 3 Notch filter 29 5 3 1 Frequency Notch Filter Center Frequency 30 5 3 2 BandWidth Notch Filter Frequency Bandwidth 30 5 4 Getting Ready for...

Page 4: ...2 Motion Status 41 6 3 Monitor 42 6 4 I O Status 42 6 5 Alarm 42 6 6 Drive Status 44 7 Troubleshooting 45 8 Reference Materials 46 8 1 Mechanical Outlines 46 8 2 Technical Specifications 47 8 3 Torqu...

Page 5: ...Operates from a 12 to 70 volts DC power supply Modes of Operation CANopen complant CiA DSP402 Profile Torque Profile Velocity Profile Position Homing Q Programing Execute stored Q programs via MOONS...

Page 6: ...al Iso Optical Iso IN1 Digital Filter Digital Filter Digital Filter Software Filter Software Filter Software Filter IN1 5 to 24 Volts CW Limit General Purpose IN2 5 to 24 Volts CCW Limit General Purpo...

Page 7: ...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...

Page 8: ...o available at MOONS website Connect the drive to the PC using the RS 232 programming cable Connect the drive to the power supply See instructions below Launch the software by clicking Start Programs...

Page 9: ...able operation Absolute minimum power supply input is 10 VDC If the Input supply drops below 10 VDC the low voltage alarm will be triggered This will not fault the drive Absolute maximum power supply...

Page 10: ...tage 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 Estimat...

Page 11: ...us Torque 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 SSM23C 3CG 24V Power Amps Continuous Torque Boost Supply Current Full L...

Page 12: ...0 0006302011 SSM23C User Manual 86 400 820 9661 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 Torque N m Speed RPS SSM17C 2CG 48V Power Amps Continuous Torque Boost Supply Current Full Load...

Page 13: ...ernal fuse on the drive and void the warranty RC880 SSM V V V V Vin Vout SSM To Power Supply To Power Supply To Earth Ground Power Supply Vin Vout 23C 3CG MOONS offers two matched power supplies for u...

Page 14: ...nnector Note If the PC does not have an RS 232 serial port a USB Serial Converter will be needed You can contact MOONS to buy a USB to RS 232 converter The RS 232 circuitry does not have any extra ele...

Page 15: ...evices like sensors switches relays PLCs etc SSM23 Programmable digital inputs Output 2 Output 1 IN1 IN2 IN2 5v to 24v out IN1 IN3 IN3 Output 3 Connecting to Indexer with Sinking Outputs Indexer With...

Page 16: ...to 24 volt Power Supply SSM23 Connecting an NPN type Proximity Sensor to an input when prox sensor activates input goes low IN IN out put NPN Proximity Sensor 5 to 24 volt Power Supply SSM23 Connecti...

Page 17: ...put SO The output can be used to drive LEDs relays and the inputs of other electronic devices like PLCs and counters The OUT collector and OUT emitter terminals of the transistor are available at the...

Page 18: ...20 9661 Do not connect the output to more than 30 volts The current through the output terminal must not exceed 100mA 5 24 volt Power Supply Driving a Relay 1N4935 suppression diode relay SSM23C OUT O...

Page 19: ...ing all the SSM Quick Tuner files on the hard drive When a large number of identical machines are being built it is useful to be able to exactly duplicate each set up When development of one machine i...

Page 20: ...he SSM stores a log of previous alarm conditions viewable in the Alarm History When an alarm occurs the drive stores the information on which alarm conditions were triggered As a fault may trigger mor...

Page 21: ...be selected from the drop down lists The model and sub model information is found on the label of the SSM integrated motor 4 1 6 Communication When the SSM Quick Tuner is connected to an SSM Integrat...

Page 22: ...fault condition must be cleared See Alarm Reset below 4 1 8 Alarms Indicator When a fault occurs the Alarm indicator will flash red a warning will trigger a flashing orange signal Green indicates ther...

Page 23: ...m is working in degrees the drive can be programmed to operate at 36 000 steps rev resulting in an even number of steps 100 per degree 4 2 4 Positioning Error Fault Positioning error is the difference...

Page 24: ...also used as a quick stop when meeting with limit sensor or other stop commands 4 3 Node ID Each node ID on a CANopen network must have a unique Node ID The Node ID is configured using a sixteen posit...

Page 25: ...hen open the motor has no power when the input is closed Reset alarm when closing an alarm or fault can be cleared by closing the input Reset alarm when opening an alarm or fault can be cleared by ope...

Page 26: ...Position Loop control requires first tuning the Velocity Loop As mentioned above Current Loop tuning is not required as it is already optimized for the motor 5 1 Velocity Control Loop V Loop The Velo...

Page 27: ...locity calculation has reported and produces a torque that is added to the torque command from the VP term The equation for this is T VP Vn VI V In the example the VP term allowed the motor to reach e...

Page 28: ...position the more the torque will increase The KP term also called KP gain governs how much torque will be applied for a given amount of error Un In general more load inertia or load friction require...

Page 29: ...similar to the PID Filter in that it is active even when the driveis being used in Torque Control Mode Notch filters are typically used to filter at a particular frequency when there is a resonant co...

Page 30: ...e system resonance is eliminated 5 3 2 BandWidth Notch Filter Frequency Bandwidth This defines the frequency span where the signal is reduced by at least 3dB For example if the center frequency is set...

Page 31: ...the move is needed to operate the load in the same way as what will be expected during online operation Accelerating the load quickly may induce significant ring into the motion profile Accelerating s...

Page 32: ...e during the move 5 5 Tuning the Velocity Loop 5 5 1 Entering a Sample Move Start by selecting the V Loop tab in the Control Loop dialog section This will cause the Sampling to perform moves that are...

Page 33: ...king the Start button If the drive continues to fault it is possible the maximum current or position error parameters are being exceeded These can be set in the Drive Configuration tab The current set...

Page 34: ...0 9661 This first plot is performed with the default tuning values and no load added to the motor The second plot is performed with higher gain values for the VP 25000 and VI 3000 as can be seen the v...

Page 35: ...With loads that have greater inertia this can provide a significant improvement NOTE The FF Term KK is not available when operating in the Pulse Direction Control Mode Setting this value will have no...

Page 36: ...p does not need to be tuned as it is not used After verifying the drive current the Notch Filter may be the only setting still needing adjusting See section 5 8 on Setting the Notch Filter If the SSM...

Page 37: ...sampling the tuning gains can be changed at any time and will be updated automatically This enables more dynamic adjustment of the gains for speeding up the tuning process 5 6 2 Performing a Move Onc...

Page 38: ...the output filter when gain values increase The filter frequency may then need to be decreased in value to prevent ringing or oscillation 5 6 6 Verify the Drive Current The amount of drive current can...

Page 39: ...300 seconds and there will be a 10 Capture delay from the beginning of the capture to the trigger point The Capture delay allows viewing of the data prior to the trigger point so that a more complete...

Page 40: ...requency present in the system and good performance requires that only the bad frequency be removed Sometimes the resonate frequency is low enough that it should only be removed using the notch filter...

Page 41: ...peed and reliable communications with the drive during the configuration tuning or testing operations The response window will indicate the exact command syntax that is being used This means that the...

Page 42: ...s convention 6 5 Alarm The SSM has a number of different Alarm indications that will give either fault or warning conditions of the drive Alarms are shown in the 2 different categories of Faults or Wa...

Page 43: ...ad Encoder not implemented at this time Warnings CCW Limit when the DL Define Limits command is configured Input 2 has been triggered CW Limit when the DL Define Limits command is configured Input 1 h...

Page 44: ...erations Tuning the drive is in the process of tuning data capture Fault an alarm fault condition has occured check Alarm Status InPosition command position is within the PL Position Limit range Movin...

Page 45: ...lashing above for information on how to do this and which warnings may be masked Code Error solid green flashing green 1 red 1 green 1 red 2 green 2 red 1 green 2 red 2 green 3 red 1 green 3 red 2 gre...

Page 46: ...nes L 1 82 75 5 85 Flat 6 35 38 1 4 5 47 14 56 4 MAX 56 4 MAX 47 14 20 15 1 6 4 8 50 9 M Model SSM23C 2CG SSM23C 3CG 92 4 114 4 22 44 Length L Length M L 1 77 75 5 85 Flat 6 35 38 1 4 5 47 14 56 4 MAX...

Page 47: ...Operation CANopen slave node plus stored Q Program execution Digital Inputs IN1 Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function CW limit CW jog or gener...

Page 48: ...rque curves were measured at 20 000 steps rev Note 5 amp rating is continuous 7 5 amp rating is boost 0 0 5 1 1 5 2 2 5 0 10 20 30 40 50 SSM23C 3CG 24V 48V 70V 24V 48V 70V N m rps 0 0 3 0 6 0 9 1 2 1...

Page 49: ...ware which drive is connected and what the firmware version is There are two types of SCL commands buffered and immediate Buffered commands are loaded into and then executed out of the drive s command...

Page 50: ...that will adjust a drive s serial communications protocol to best fit an application Typically this command is used when configuring a drive and saved as part of the startup parameters But it can be u...

Page 51: ...n 518001 P R China Tel 86 0 755 25472080 Fax 86 0 755 25472081 Beijing Branch Office Room 202 Unit 2 7th Building Huilongsen International Science Technology Industry Park No 99 Kechuang 14th Street B...

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