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Rev. 1.0

0006302011

SSM24C User Manual

+86-400-820-9661

1 Introduction

Thank you for selecting the MOONS’ SSM24C Integrated Motor.The

SSM line of integrated step-servo motors combines servo technology

with an integrated motor to create a product with exceptional feature and broad

capability. We hope our commitment to performance, quality and economy will

result in a successful motion control project.

1.1 Features

•

Programmable, Digital servo driver and motor in an integrated package

•

Operates from a 12 to 70 volts DC power supply

•

Modes of Operation:

CANopen(complant CiA DSP402)

•  Profi le Torque
•  Profi le Velocity
•  Profi le Position
•

Homing

Q Programing

• Execute stored Q programs via MOONS’ specifi c CANopen objects

•

Communications:

CANopen & RS-232

•

5000 line (20,000 counts/rev) encoder feedback

•

Available torque:

SSM24C-3CG: Up to 2.4N•m Continuous(3.0 N•m Boost)

•

I/O:

3 optically isolated digital inputs, with adjustable bandwidth digital noise rejection fi lter, 5 to 24 volts

1 optically isolated digital output, 30V/100 mA max.

•

Technological advances:

Full servo control, Closed loop

Effi cient, Accurate, Fast, Smooth

Intelligent, Compact

Содержание SSM24C

Страница 1: ...SSM24C Integrated Step Servo Motor User Manual Rev 1 0 AMP MOONS Automation...

Страница 2: ...Supply 12 3 2 Connecting the SSM24C Communications 13 3 2 1 Node ID 13 3 2 2 Setting the Bitrate 13 3 3 Inputs and Outputs 14 3 3 1 Connector Pin Diagram 14 3 3 2 IN1 IN2 Inputs 14 3 3 3 IN3 Input 14...

Страница 3: ...KD 26 5 2 4 Deri Filter Torque Command Filter Term KE 26 5 3 Notch filter 27 5 3 1 Frequency Notch Filter Center Frequency 27 5 3 2 BandWidth Notch Filter Frequency Bandwidth 27 5 4 Getting Ready for...

Страница 4: ...t 39 6 2 Motion Status 39 6 3 Monitor 40 6 4 I O Status 40 6 5 Alarm 40 6 6 Drive Status 42 7 Troubleshooting 43 8 Reference Materials 44 8 1 Mechanical Outlines 44 8 2 Technical Specifications 46 8 3...

Страница 5: ...in an integrated package 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 stor...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 10: ...ess 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 mu...

Страница 11: ...2011 SSM24C User Manual 86 400 820 9661 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 SSM24C 3CG 70V Power Amps Continuous Torque Boost Supply Current F...

Страница 12: ...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 24C 3CG MOONS offers two matched power supplies for u...

Страница 13: ...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...

Страница 14: ...of an input the logic state of that input is low or closed If no current is flowing or the input is not connected the logic state is high or open 3 3 3 IN3 Input SSM24 Programmable digital inputs Outp...

Страница 15: ...s Many high speed indexers have differential outputs 5 to 24 volt Power Supply SSM24 Connecting an NPN type Proximity Sensor to an input when prox sensor activates input goes low IN IN out put NPN Pro...

Страница 16: ...This allows the output to be configured for current sourcing or sinking Diagrams of various connection types follow Do not connect the output to more than 30 volts The current through the output termi...

Страница 17: ...the advantages of programmable digital control is this easy duplication of system settings With the Save button a set up can be saved to the hard drive Long file names may be used just as with other...

Страница 18: ...alarm warnings only prevents the indication of the alarm by the LEDs The alarm warning will still be set in the Alarm status code and in the Alarm History See section 7 on Troubleshooting below for a...

Страница 19: ...the connection Port The correct COM port may need to be selected When the software is loaded it looks for the first available COM port but may not always find the one connected to the drive After a s...

Страница 20: ...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...

Страница 21: ...ber of steps 100 per degree 4 2 4 Positioning Error Fault Positioning error is the difference in encoder counts between the actual position and the commanded position of the motor A small amount of po...

Страница 22: ...een position switch to set the lower four bits of the Node ID while the upper three bits are configured by using SSM Quick Tunner CANopen Node IDs are seven bits long with a range of 1 127 or 0x01 0x7...

Страница 23: ...alarm or fault can be cleared by closing the input Reset alarm when opening an alarm or fault can be cleared by opening the input Options for Output OUT are Not used generic programmable output Close...

Страница 24: ...The Jog commands available in the drive can use this loop only for operation the advantage of this is good stability even with very high inertia loads The JM Jog Mode command is available to set this...

Страница 25: ...tion Feed forward Term KK Larger loads typically generate larger load Inertia These larger inertias can be more easily controlled by anticipating the system s torque need The Acceleration Feed forward...

Страница 26: ...ven amount of error Un In general more load inertia or load friction requires more torque and therefore a higher KP gain Because of the topology of the control loops the Position Control Loop output i...

Страница 27: ...y do this which may result in a control problem When gains are increased to improve performance the system may resonate in an uncontrollable manner The Notch Filter allows gain reduction at only the p...

Страница 28: ...ived at more through experimentation than hard calculation SSM QuickTuner provides easy entry of the profile parameters plus a display of the profile for verification The mechanical system should be s...

Страница 29: ...Error are selected These are typical values for Velocity tuning Sample Move move profile values are entered in the Sample Move section This example sets a move Time of 200ms at a Jog Speed of 20 rev...

Страница 30: ...med the motor stops and the results will be displayed Sample Continuously after the Start button is clicked the move will be repeated and the results displayed until the Stop button is clicked During...

Страница 31: ...eeded These can be set in the Drive Configuration tab The current setting can be checked by selecting Current in one of the Plot lists and clicking Start again to see what current is being required of...

Страница 32: ...have no effect If the Velocity Error goes too positive during acceleration the adjustment was too large and the value should be adjusted in smaller amounts until there is as near to zero error as pos...

Страница 33: ...400 820 9661 tuning is complete The Position Loop P Loop 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...

Страница 34: ...oves that are based on distance and operates the drive in the Point to Point Positioning mode Now the parameters for a Position based move can be entered There is one consideration that must be addres...

Страница 35: ...tomatically This enables more dynamic adjustment of the gains for speeding up the tuning process 5 6 2 Performing a Move Once the move settings are correct the mechanism to be moved shold also be chec...

Страница 36: ...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 be verified at any time dur...

Страница 37: ...the capture is complete When the capture is complete the data is displayed in the profile window Sample Continuously when the Start button is clicked the capture is repeated each time the trigger con...

Страница 38: ...38 Rev 1 0 0006302011 SSM24C User Manual 86 400 820 9661...

Страница 39: ...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...

Страница 40: ...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...

Страница 41: ...up Encoder not implemented at this time nings W Limit when the DL Define Limits command is configured Input 2 has been triggered Limit when the DL Define Limits command is configured Input 1 has been...

Страница 42: ...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...

Страница 43: ...he motor is enabled the green LED flashes slowly When the green LED is solid the motor is disabled Errors are indicated by combinations of red and green flashes as shown below This feature can be disa...

Страница 44: ...2 green 3 red 3 green 4 red 1 green 4 red 2 green 7 red 1 green 4 red 3 green 5 red 1 green 5 red 2 green 6 red 1 green 6 red 2 green 7 red 2 green motor disabled motor enabled position limit drive d...

Страница 45: ...45 Rev 1 0 0006302011 SSM24C User Manual 86 400 820 9661 38 1 60 5MAX 47 14 4 4 5 79 77 20 6 125 5 1 60 5MAX 47 14 15 8 7 5 Flat 1 5 50 9 7 55...

Страница 46: ...ation 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 general pu...

Страница 47: ...61 8 3 Torque Speed Curves Note all torque curves were measured at 20 000 steps rev Note 6 amp rating is continuous 7 5 amp rating is boost 0 0 5 1 1 5 2 2 5 3 3 5 0 10 20 30 40 50 Continuous Boost 24...

Страница 48: ...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...

Страница 49: ...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...

Страница 50: ...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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