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Rev. 1.0
2016/7/30

SS03/05/10-EC Hardware Manual

+86-400-820-9661

4.6.3 Parameter list

Refer to the

Host Command Reference

for command details.

Parameter

Number

SCL Command

LED

Display

Function

P00

position loop proportional gain

P01

position loop differential gain

P02

differential filter

P03

velocity loop proportional gain

P04

velocity loop integrator gain

P05

reserved

P06

inertia feedforward gain

P07

overall filter

P08

step smoothing filter frequency

P09

command mode

P10

reserved

P11

power up mode

P12

jog mode

P13

current command (torque mode)

P14

continuous current

P15

peak current

P16

reserved

P17

hard stop current

P18

reserved

P19

maximum velocity

P20

maximum acceleration

P21

jog speed

P22

jog acceleration

P23

jog deceleration

P24

velocity

P25

acceleration

P26

deceleration

P27

velocity change

P28

velocity mode second speed

Содержание SS-EC Series

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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