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SSM23Q/IP
Integrated Step-Servo Motor
920-0090
1/13/2015
Hardware Manual
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SSM23Q/IP Hardware Manual
Contents
1 Introduction .................................................................................. 4
1.1 Features ............................................................................................. 4
1.2 Block Diagram ...................................................................................5
1.3 Safety Instructions .............................................................................6
2 Getting Started ............................................................................ 7
2.1 Installing Software .............................................................................7
2.2 Mounting the Hardware .....................................................................7
2.3 Choosing a Power Supply .................................................................8
2.3.1 Voltage ..................................................................................................8
2.3.2 Regeneration Clamp ..............................................................................8
2.3.3 Current ...................................................................................................9
3 Installation/Connections ............................................................ 13
3.1 Connecting the Power Supply .........................................................13
3.2 Connecting the Drive to Your PC using Ethernet ............................. 14
3.3 Inputs and Outputs ..........................................................................22
3.3.1 Connector Pin Diagram ........................................................................22
3.3.2 STEP & DIR Digital Inputs ....................................................................23
3.3.3 EN Digital Input ....................................................................................24
3.3.4 AIN Input ...............................................................................................25
3.3.5 Programmable Output ..........................................................................25
4 Troubleshooting ......................................................................... 27
5 Reference Materials .................................................................. 28
5.1 Mechanical Outlines ........................................................................28
5.2 Technical Specications ...................................................................29
5.3 Torque-Speed Curves ......................................................................30
5.4 SCL Command Reference ..............................................................31
6 Contacting Applied Motion Products .......................................... 33
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Model
Communications
Ethernet EtherNet/IP
SSM23Q-2EG
SSM23Q-3EG
SSM23Q-4EG
SSM23IP-2EG
SSM23IP-3EG
SSM23IP-4EG
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1 Introduction
Thank you for selecting the Applied Motion Products SSM23Q/IP 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 volt DC power supply
• Control Modes:
Torque Control
• Analog input
• eSCL commanded
Velocity Control
• Digital input Control Velocity
• Analog velocity
• eSCL Commanded Velocity (Jogging)
Position Control
• Digital Signal type
• Step & Direction
• CW & CCW pulse
• A/B Quadrature (Encoder Following)
• Analog Position
• Serial Commanded Position
Q Programming
• Executes stored Q programs
• Conditional processing & multi-tasking
• Math functions, register manipulation
• Communications:
Ethernet TCP/IP or UDP, EtherNet/IP industrial networking
• 5000 line (20,000 counts/rev) encoder feedback
• Available torque:
SSM23Q/IP-2EG: Up to 1.0N•m Continuous(1.3 N•m Boost)
SSM23Q/IP-3EG: Up to 1.5N•m Continuous(2.0 N•m Boost)
SSM23Q/IP-4EG: Up to 2.4N•m Continuous(3.2 N•m Boost)
• I/O:
3 optically isolated digital inputs,
1 optically isolated digital output, 30V/100 mA max.
1 analog input for speed and position control, 0 to 5 volts
• Technological advances:
Full servo control, Closed loop
Efcient, Accurate, Fast, Smooth
Intelligent, Compact
with adjustable bandwidth digital noise rejection lter, 5 to 24 volts
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1.2 Block Diagram
SSM23Q/IP
Block Diagram
12 - 70 VDC
External
Power Supply
100Mbit Ethernet
GND
STEP+
STEP-
DIR+
DIR-
OUT+
OUT-
+5V
EN+
EN-
AIN
+
-
Conn
Power
Conn
Comm
Ethernet
GND
+5VDC (100mA max)
Optical
Iso
Digital
Filter
Software
Filter
5 Volt DC
Power Supply
3.3VDC
Internal
Logic
Supply
DSP
Voltage
Temp
Detect
MOSFET
PWM
Power
Amplifier
motor
Driver
Optical
Iso
Optical
I/O Connector
Iso
Optical
Iso
Digital
Filter
Digital
Filter
Software
Filter
Software
Filter
Controller
Status
Over
Current
Detect
encoder
I/O Configurations
STEP (5 to 24 volts)
Step
CW step
A quadrature (encoder following)
CW limit
CW jog
Start/stop (oscillator mode)
General purpose input
DIR (5 to 24 volts)
Direction
CCW step
B quadrature (encoder following)
CCW limit
CCW jog
Direction (oscillator mode)
General purpose input
EN (5 to 24 volts)
Enable
Alarm/fault reset
Speed 1/speed 2 (oscillator mode)
General purpose input
OUT (30V, 100mA)
Fault
Motion
Tach
In position
Brake
General purpose programmable
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1.3 Safety Instructions
Only qualied personnel should transport, assemble, install, operate, or maintain this equipment.
Properly qualied personnel are persons who are familiar with the transport, assembly, installation,
operation, and maintenance of motors, and who meet the appropriate qualications 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. Applied Motion Products 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 qualied 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 difculty.
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2 Getting Started
The following items are needed:
• a 12 - 70 volt DC power supply, see the section below entitled “Choosing a Power Supply” for
help in choosing the right one
• a small at blade screwdriver for tightening the connectors (included)
• a PC running Microsoft Windows XP, Vista, or Windows 7 or 8
• A CAT5 network cable (not included).
2.1 Installing Software
Before utilizing the SSM23Q/IPIntegrated Step-Servo Motor and Step-Servo Quick Tuner Software
in an application, the following steps are necessary:
• Download and install the Step-Servo Quick Tuner software.
• If you intend to connect the drive directly to your PC, congure your computer to use IP
address 10.10.10.11. (For instructions on connecting your SSM drive to a local area network
(LAN), please consult the appropriate hardware manual)
• On the SSM drive, select switch position 0, which will assign IP address 10.10.10.10. (See the
hardware manual for further details on selecting IP addresses for the drive and PC)
• Launch the software by clicking: Start / All Programs / Applied Motion Products / Step-Servo
Quick Tuner
• Apply power to the drive.
• The software will recognize the drive and display the model and rmware version. At this point,
it is ready for use.
2.2 Mounting the Hardware
As with any step motor, the SSM23Q/IPmust be mounted so as to provide maximum
heat sinking and airow. Keep enough space around the Integrated Motor to allow for
airow.
• Never use the drive where there is no airow or where other devices cause the
surrounding air to be more than 40°C (104°F).
• Never put the drive where it can get wet.
• Never use the drive where metal or other electrically conductive particles can
inltrate the drive.
• Always provide airow around the drive.
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2.3 Choosing a Power Supply
The main considerations when choosing a power supply are the voltage and current requirements
for the application.
2.3.1 Voltage
The SSM23Q/IPis designed to give optimum performance between 24 and 48 Volts DC. Choosing
the voltage depends on the performance needed and 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 SSM23Q/IPto produce higher temperatures. Using power supplies with voltage
outputs that are near the drive maximum may signicantly reduce the operational duty-cycle.
The extended range of operation can be as low as 10 VDC minimum to as high as 75 VDC
maximum. When operating below 18 VDC, the power supply input may require larger capacitance
to prevent under-voltage and internal-supply alarms. Current spikes may make supply readings
erratic. The supply input cannot go below 10 VDC for reliable 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 input is 75 VDC 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 75 VDC, 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 75 VDC.
2.3.2 Regeneration Clamp
If a regulated power supply is being used, there may be a problem with regeneration. When a
load decelerates rapidly from a high speed, some of the kinetic energy of the load is transferred
back to the power supply, possibly tripping the over-voltage protection of a regulated power
supply, causing it to shut down. This problem can be solved with the use of an Applied Motion
Products RC880 Regeneration Clamp. It is recommended that an RC880 initially be installed in an
application. If the “regen” LED on the RC880 never ashes, the clamp is not necessary.
LEDs
Green - Power
RC880 Regen Clamp
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Red - Regen on
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2.3.3 Current
The maximum supply currents required by the SSM23Q/IP are shown in the charts below at
different power supply voltage inputs. The SSM23Q/IP power supply current is lower than the
winding currents because it uses switching ampliers 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 signicantly 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.
SSM23□-2EG 24V Power
1.5
3.5
1.2
0.9
0.6
Torque(N.m)
0.3
0
0 10 20 30 40 50
Speed(RPS)
SSM23□-2EG 48V Power
1.5
1.2
0.9
0.6
Torque(N.m)
0.3
3
2.5
2
1.5
1
0.5
0
3.5
3
2.5
2
1.5
1
0.5
Torque
Supply Current
Amps
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
Continuous
Boost
Full Load
No Load
0
0 10 20 30 40 50
Speed(RPS)
9
0
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SSM23□-2EG 70V Power
1.5
3.5
1.2
0.9
0.6
Torque(N.m)
0.3
0
0 10 20 30 40 50
Speed(RPS)
SSM23□-3EG 24V Power
2.5
2
1.5
1
Torque(N.m)
0.5
3
2.5
2
1.5
1
0.5
0
3.5
3
2.5
2
1.5
1
0.5
Torque
Supply Current
Amps
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
Continuous
Boost
Full Load
No Load
0
0 10 20 30 40 50
Speed(RPS)
SSM23□-3EG 48V Power
2.5
2
1.5
1
Torque(N.m)
0.5
0
0 10 20 30 40 50
Speed(RPS)
0
3.5
3
2.5
2
1.5
1
0.5
0
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
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SSM23□-3EG 70V Power
2.5
3.5
2
1.5
1
Torque(N.m)
0.5
0
0 10 20 30 40 50
Speed(RPS)
SSM23□-4EG 24V Power
5
4
3
2
Torque(N.m)
1
0
0 10 20 30 40 50
3
2.5
2
1.5
1
0.5
0
4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Torque
Supply Current
Amps
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
Continuous
Boost
Full Load
No Load
Speed(RPS)
SSM23□-4EG 48V Power
5
4
3
2
Torque(N.m)
1
0
0 10 20 30 40 50
Speed(RPS)
11
4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
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SSM23□-4EG 70V Power
5
4
3
2
Torque(N.m)
1
0
0 10 20 30 40 50
Speed(RPS)
4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Torque
Supply Current
Amps
Continuous
Boost
Full Load
No Load
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3 Installation/Connections
3.1 Connecting the Power Supply
Use 16 to 20-gauge wire to connect the SSM23 to a power supply. It contains an internal fuse
connected to the “+” terminal that is not user replaceable. If a user serviceable fuse is desired,
install a 4 amp fast acting fuse in line with the “+” power supply lead.
Be careful not to reverse the wires. Reversing the connection may open the
internal fuse on the drive and void the warranty.
Power Supply
To Earth Ground
To Power Supply+
-
To Power Supply-
Vin
+
+
Vout
RC880
Applied Motion Products offers two matched power supplies for use with the SSM.
A 24VDC, 150W(P/N PS150A24) and a 48VDC 320W(P/N PS320A48).
These power supplies have current over load capability making them ideal for use.
(To use with a switch power supplier, a RC880 regen must be connected in system)
-
V- V+
V- V+
SSM
The RC880 regeneration clamp is for use where regeneration from the motor may cause damage to
the drive. In these cases the RC880 is connected between the drive and power supply and absorbs
regenerated energy.
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3.2 Connecting the Drive to Your PC using Ethernet
This process requires three steps
• Physically connect the drive to your network (or directly to the PC)
• Set the drive’s IP address
• Set the appropriate networking properties on your PC.
Note: the following pages are an excerpt from the “eSCL Communication Reference Guide”. For more information,
please read the rest of the guide.
Addresses, Subnets, and Ports
Every device on an Ethernet network must have a unique IP address. In order for two devices to
communicate with each other, they must both be connected to the network and they must have
IP addresses that are on the same subnet. A subnet is a logical division of a larger network.
Members of one subnet are generally not able to communicate with members of another unless
they are connected through special network equipment (e.g. router). Subnets are dened by the
choices of IP addresses and subnet masks.
If you want to know the IP address and subnet mask of your PC, select Start…All Programs…
Accessories…Command Prompt. Then type “ipcong” and press Enter. You should see
something like this:
If your PC’s subnet mask is set to 255.255.255.0, a common setting known as a Class C subnet
mask, then your machine can only talk to another network device whose IP address matches
yours in the rst three octets. (The numbers between the dots in an IP address are called octets.)
For example, if your PC is on a Class C subnet and has an IP address of 192.168.0.20, it can
talk to a device at 192.168.0.40, but not one at 192.168.1.40. If you change your subnet mask to
255.255.0.0 (Class B) you can talk to any device whose rst two octets match yours. Be sure to
ask your system administrator before doing this. Your network may be segmented for a reason.
Your drive includes a 16 position rotary switch for setting its IP address. The factory default
address for each switch setting is shown in the table on the next page.
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Settings 1 through E can be changed using the ST Congurator software. Setting 0 is always
“10.10.10.10”, the universal recovery address. If someone were to change the other settings and
not write it down or tell anyone (I’m not naming names here, but you know who I’m talking about)
then you will not be able to communicate with your drive. The only way to “recover” it is to use the
universal recovery address.
Rotary Switch IP Address
0 10.10.10.10
1 192.168.1.10
2 192.168.1.20
3 192.168.1.30
4 192.168.0.40
5 192.168.0.50
6 192.168.0.60
7 192.168.0.70
8 192.168.0.80
9 192.168.0.90
A 192.168.0.100
B 192.168.0.110
C 192.168.0.120
D 192.168.0.130
E 192.168.0.140
F DHCP
Setting F is “DHCP”, which commands the drive to get an IP address from a DHCP server on the
network. The IP address automatically assigned by the DHCP server may be “dynamic” or “static”
depending on how the administrator has congured DHCP. The DHCP setting is reserved for
advanced users.
Your PC, or any other device that you use to communicate with the drive, will also have a unique
address.
On the drive, switch settings 1 through E use the standard class B subnet mask (i.e.
“255.255.0.0”). The mask for the universal recovery address is the standard class A (i.e.
“255.0.0.0”).
One of the great features of Ethernet is the ability for many applications to share the network at
the same time.
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Ports are used to direct trafc to the right application once it gets to the right IP address. The UDP
eSCL port in our drives is 7775. To send and receive commands using TCP, use port number
7776. You’ll need to know this when you begin to write your own application. You will also need
to choose an open (unused) port number for your application. Our drive doesn’t care what that is;
when the rst command is sent to the drive, the drive will make note of the IP address and port
number from which it originated and direct any responses there. The drive will also refuse any
trafc from other IP addresses that is headed for the eSCL port. The rst application to talk to a
drive “owns” the drive. This lock is only reset when the drive powers down.
If you need help choosing a port number for your application, you can nd a list of commonly used
port numbers at http://www.iana.org/assignments/port-numbers.
One nal note: Ethernet communication can use one or both of two “transport protocols”: UDP and
TCP. eSCL commands can be sent and received using either protocol. UDP is simpler and more
efcient than TCP, but TCP is more reliable on large or very busy networks where UDP packets
might occasionally be dropped.
Option 1: Connect a Drive to Your Local Area Network
If you have a spare port on a switch or router and if you are able to set your drive to an IP address
that is compatible with your network, and not used by anything else, this is a simple way to get
connected. This technique also allows you to connect multiple drives to your PC. If you are on a
corporate network, please check with your system administrator before connecting anything new
to the network. He or she should be able assign you a suitable address and help you get going.
If you are not sure which addresses are already used on your network, you can nd out using
“Angry IP scanner”, which can be downloaded free from http://www.angryip.org/w/Download. But
be careful: an address might appear to be unused because a computer or other device is currently
turned off. And many networks use dynamic addressing where a DHCP server assigns addresses
“on demand”. The address you choose for your drive might get assigned to something else by the
DHCP server at another time.
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Once you’ve chosen an appropriate IP address for your drive, set the rotary switch according the
address table above. If none of the default addresses are acceptable for your network, you can
enter a new table of IP addresses using Congurator. If your network uses addresses starting with
192.168.0, the most common subnet, you will want to choose an address from switch settings 4
through E. Another common subnet is 192.168.1. If your network uses addresses in this range, the
compatible default selections are 1, 2 and 3.
If your PC address is not in one of the above private subnets, you will have to change your subnet
mask to 255.255.0.0 in order to talk to your drive. To change your subnet mask:
1. On Windows XP, right click on “My Network Places” and select properties. On Windows 7, click
Computer.
Scroll down the left pane until you see “Network”. Right click and select properties. Select
“Change adapter settings”
2. You should see an icon for your network interface card (NIC). Right click and select properties.
3. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties
button. On Windows 7 and Vista, look for “(TCP/IPv4)”
4. If the option “Obtain an IP address automatically” is selected, your PC is getting an IP address
and a subnet mask from the DHCP server. Please cancel this dialog and proceed to the next
section of this manual: “Using DHCP”.
5. If the option “Use the following IP address” is selected, life is good. Change the subnet mask to
“255.255.0.0” and click OK.
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Using DCHP
If you want to use your drive on a network where all or most of the devices use dynamic IP
addresses supplied by a DHCP server, set the rotary switch to “F”. When the drive is connected to
the network and powered on, it will obtain an IP address and a subnet mask from the server that is
compatible with your PC. The only catch is that you won’t know what address the server assigns
to your drive. ST Congurator can nd your drive using the Drive Discovery feature, as long as
your network isn’t too large. With the drive connected to the network and powered on, select Drive
Discovery from the Drive menu.
You will see a dialog such as this:
Normally, Drive Discovery will only detect one network interface card (NIC), and will select it
automatically. If you are using a laptop and have both wireless and wired network connections, a
second NIC may appear.
Please select the NIC that you use to connect to the network to which you’ve connected your
drive. Then click OK. Drive Discovery will notify you as soon as it has detected a drive.
If you think this is the correct drive, click Yes. If you’re not sure, click Not Sure and Drive Discovery
will look for additional drives on your network. Once you’ve told Drive Discovery which drive is
yours, it will automatically enter that drive’s IP address in the IP address text box so that you are
ready to communicate.
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Option 2: Connect a Drive Directly to Your PC
It doesn’t get much simpler than this:
1. Connect one end of a CAT5 Ethernet cable into the LAN card (NIC) on your PC and the other
into the drive.
You don’t need a special “crossover cable”; the drive will automatically detect the direct connection
and make the necessary physical layer changes.
2. Set the IP address on the drive to “10.10.10.10” by setting the rotary switch at “0”.
3. To set the IP address of your PC:
a. On Windows XP, right click on “My Network Places” and select properties.
b. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click
and select properties. Select “Change adapter settings”
4. You should see an icon for your network interface card (NIC). Right click and select properties.
a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties
button.
b. On Windows 7 and Vista, look for “(TCP/IPv4)”
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5. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will
give your PC an IP address that is on the same subnet as the drive. Windows will know to direct
any trafc intended for the drive’s IP address to this interface card.
6. Next, enter the subnet mask as “255.255.255.0”.
7. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on
this subnet.
8. Because you are connected directly to the drive, anytime the drive is not powered on, your PC
will annoy you with a small message bubble in the corner of your screen saying “The network
cable is unplugged.”
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Option 3: Use Two Network Interface Cards (NICs)
This technique allows you to keep your PC connected to your LAN, but keeps the drive off the
LAN, preventing possible IP conicts or excessive trafc.
1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it
directly to the drive using a CAT5 cable. You don’t need a special “crossover cable”; the drive will
automatically detect the direct connection and make the necessary physical layer changes.
2. If you use a laptop and only connect to your LAN using wireless networking, you can use the
built-in RJ45 Ethernet connection as your second NIC.
3. Set the IP address on the drive to “10.10.10.10” by setting the rotary switch at “0”.
4. To set the IP address of the second NIC:
a. On Windows XP, right click on “My Network Places” and select properties.
b. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click
and select properties. Select “Change adapter settings”
5. You should see an icon for your newly instated NIC. Right click again and select properties.
a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the
Properties button.
b. On Windows 7 and Vista, look for “(TCP/IPv4)”
6. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will
give your PC an IP address that is on the same subnet as the drive. Windows will know to direct
any trafc intended for the drive’s IP address to this interface card.
7. Next, enter the subnet mask as “255.255.255.0”. Be sure to leave “Default gateway” blank. This
will prevent your PC from looking for a router on this subnet.
8. Because you are connected directly to the drive, anytime the drive is not powered on your PC
will annoy you with a small message bubble in the corner of your screen saying “The network
cable is unplugged.”
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3.3 Inputs and Outputs
The SSM23Q/IP has three types of inputs:
• High speed digital inputs for step & direction commands or encoder following, 5 to 24 volt logic
• Low speed digital input for other signals, 5 to 24 volt logic
• Analog input for analog speed and positioning modes
All drives include 3 digital inputs and 1 analog input
• STEP & DIR are high-speed digital inputs for commanding position. Quadrature signals from
encoders can also be used. When not being used for the Step & Direction function these
inputs can be used for CW & CCW Limit, CW & CCW Jogging and Run/Stop & Direction
Velocity modes.
• EN is a low speed software programmable input and can be used for Motor Enable and/or
Alarm Reset. This input can also be connected to a sensor, switch or other device for use with
Wait Input (WI), Seek Home (SH), Feed to Sensor (FS), On Input (OI) and other commands.
• AIN is an analog input for a velocity or position command signal. It can accept 0-5 volts and
has gain, ltering, offset and dead-band settings.
3.3.1 Connector Pin Diagram
inside drive
STEP+
STEP-
DIR+
DIR-
EN+
EN-
OUT+
IN/OUT Connector
OU T-
Res
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22
+5V
AIN
GND
100mA Limit
Signal
Conditioning
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SSM23Q/IP Hardware Manual
3.3.2 STEP & DIR Digital Inputs
The diagrams below show how to connect the STEP & DIR Inputs to various commonly used
devices.
+5v to +24v out
Indexer
DIR
DIR+
DIR-
with
Sinking
Outputs
STEP
STEP+
STEP-
Connecting to Indexer with Sinking Outputs
DIR
DIR+
Indexer
with
Sourcing
COM
STEP
DIR-
STEP+
Outputs
STEP-
Connecting to Indexer with Sourcing Outputs
DIR+
DIR+
Indexer
with
Differential
DIR-
STEP+
DIR-
STEP+
Outputs
STEP-
STEP-
SSM23
SSM23
SSM23
Master
Encoder
5 - 24
volt DC
Power
Supply
Connecting to Indexer with Differential Outputs
Many high-speed indexers have differential outputs
A+
A-
STEP+
STEP-
SSM23
B+
B-
DIR+
DIR-
Wiring for Encoder Following
+
direction switch
DIR+
DIR-
SSM23
run/stop switch
(closed = run)
STEP+
STEP-
Using Mechanical Switches
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SSM23Q/IP Hardware Manual
3.3.3 EN Digital Input
While the STEP and DIR inputs are designed for high-speed digital input operation, the Enable
(EN) input is designed for low speed digital input operation between 5 and 24 volts.
Note: If current is owing into or out of an input, the logic state of that input is low or
closed. If no current is owing, or the input is not connected, the logic state is high or
open.
The diagrams below show how to connect the EN input to various commonly used devices.
5 - 24
volt DC
Power
+
Switch or Relay
(closed = logic low)
EN+
SSM23
Supply
-
EN-
Connecting the Input to a Switch or Relay
5 - 24
volt DC
Power
Supply
+
+
NPN
Proximity
-
Sensor
-
output
EN+
SSM23
EN-
Connecting an NPN type Proximity Sensor to an Input
(when prox sensor activates, input goes low)
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output
EN+
SSM23
5 - 24
volt DC
Power
+
+
PNP
Proximity
Sensor
-
Supply
-
EN-
Connecting a PNP type Proximity Sensor to an Input
(when prox sensor activates, input goes low)
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SSM23Q/IP Hardware Manual
3.3.4 AIN Input
The SSM23Q/IP drives have an analog input (AIN) which can accept a signal range of 0 to 5 volts.
The drive can be congured to operate at a speed or position that is proportional to the analog
signal. Use the Step-Servo Quick Tuner software to set the signal range, offset, dead-band and
lter frequency. The SSM23Q/IP provides a +5 volt 100mA limit voltage supply that can be used to
power external devices such as potentiometers. It is not the most accurate supply for reference,
for more precise readings use an external supply that can provide the desired accuracy.
inside drive
+5v OUT
+5v
AIN
100 mA limit
Signal
Conditioning
1 - 10k
pot
Ω
AIN
GND
SSM23
I/O Connector
GND
Connecting a Potentiometer
to the Analog Input
3.3.5 Programmable Output
The SSM23Q/IP drives feature one optically isolated digital output (OUT). This output can be set
to automatically control a motor brake, to signal a fault condition, to indicate when the motor is
moving or to provide an output frequency proportional to motor speed (tach signal). Or the output
can be turned on and off by program instructions like Set Output (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 connector. This allows
the output to be congured 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 terminal
must not exceed 100mA.
5 - 24
volt DC
Power
Supply
+
Load
-
Connecting a Sinking Output
25
OUT+
SSM23
OUT-
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SSM23Q/IP Hardware Manual
5 - 24VDC
Power Supply
PLC
5 - 24
volt DC
Power
Supply
-
COM
IN
+
Connecting a Sourcing Output
relay
+
1N4935 suppresion diode
-
OUT+
SSM23
OUT-
OUT+
SSM23
OUT-
Driving a Relay
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SSM23Q/IP Hardware Manual
Error
4 Troubleshooting
LED Error Codes
The SSM23Q/IP uses red and green LEDs to indicate status. When the motor is enabled, the
green LED ashes slowly. When the green LED is solid, the motor is disabled. Errors are indicated
by combinations of red and green ashes as shown below. This feature can be disabled for certain
warnings but not for alarms. See Step-Servo Quick Tuner software help manual on how to do this
and which warnings may be masked.
Code
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 green
3 red, 3 green
4 red, 1 green
4 red, 2 green
4 red, 3 green
5 red, 1 green
5 red, 2 green
6 red, 1 green
motor disabled
motor enabled
position limit
drive disabled
ccw limit
cw limit
over temperature
internal voltage
non-volatile memory error
over voltage
under voltage
non-volatile double error
over current
current limit
open winding
6 red, 2 green
7 red, 1 green
7 red, 2 green
27
encoder failure
communication error
save failed
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SSM23Q/IP Hardware Manual
L±1
82
75
5.85 Flat
Ø6.35
Ø38.1
4-Ø5
47.14
56.4 MAX
56.4 MAX
47.14
20
15
1.6
4.8
50.9
M
Model
SSM23□-2EG
SSM23
□
-3EG
SSM23
□
-4EG
92.4
114.4
22
117.4
47.3
44
Length“L”
Length“M”
Unit:mm
5 Reference Materials
5.1 Mechanical Outlines
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SSM23Q/IP Hardware Manual
5.2 Technical Specications
Power Amplier
Amplier Type Dual H-Bridge, 4 Quadrant
Current Control 4 state PWM at 20 KHz
SSM23Q/IP-2EG: Up to 1.0N•m Continuous(1.3 N•m Boost)
Output Torque
Power Supply External 12 - 70 VDC power supply required
SSM23Q/IP-3EG: Up to 1.5N•m Continuous(2.0 N•m Boost)
SSM23Q/IP-4EG: Up to 2.4N•m Continuous(3.2 N•m Boost)
Protection
Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-toground)
Controller
Electronic Gearing Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Encoder Resolution 20000 counts/rev
Speed Range Up to 4800rpm
Filters Digital input noise lter, Analog input noise lter, Smoothing lter, PID lter, Notch lter
Non-Volatile Storage Congurations are saved in FLASH memory on-board the DSP
Modes of Operation
Digital Inputs
Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick),
streaming commands(SCL), stored Q program execution
Digital Inputs Adjustable bandwidth digital noise rejection lter on all inputs
STEP+/- : Optically isolated, 5-24 volt. Minimum pulse width = 250 ns, Maximum pulse
frequency = 2 MHz
Function: Step, CW step, A quadrature (encoder following), CW limit, CW jog, start/stop
(oscillator mode), or general purpose input
DIR+/- : Optically isolated, 5-24 volt. Minimum pulse width = 250 ns, Maximum pulse
frequency = 2 MHz
Function: Direction, CCW step, B quadrature (encoder following), CCW limit, CCW jog,
direction (oscillator mode), or general purpose input
EN+/- : Optically isolated, 5-24 volt. Minimum pulse width = 100 μs, Maximum pulse frequeny
= 10 KHz
Function: Enable, alarm/fault reset, speed 1/speed 2 (oscillator mode), or general purpose
input
Digital Output
Analog Input AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits
Communication
Interface
OUT+/-: Optically isolated, 30V/100 mA max.
Function: Fault, motion, tach, in position, brake, or general purpose programmable
Ethernet TCP/IP or UDP, EtherNet/IP industrial networking
Physical
Ambilent Temperature 0 to 40°C (32 to 104°F) When mounted to a suitable heatsink
Humdity 90% Max., non-condensing
SSM23Q/IP-2EG: 850 g
Mass
Rotor Inertia
SSM23Q/IP-3EG: 1200 g
SSM23Q/IP-4EG: 1400 g
SSM23Q/IP-2EG: 260 g•cm
SSM23Q/IP-3EG: 460 g•cm
SSM23Q/IP-4EG: 365 g•cm
2
2
2
29
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SSM23Q/IP Hardware Manual
5.3 Torque-Speed Curves
Note: all torque curves were measured at 20,000 steps/rev.
Note: 5 amp rating is continuous, 7.5 amp rating is boost
SSM23Q/IP-2EG
1.5
1.2
0.9
0.6
Continuous
Boost
24V 48V 70V
24V 48V 70V
Torque(N·m)
0.3
0
0 10 20 30 40 50
Speed(rps)
SSM23Q/IP-3EG
2.5
2
1.5
Continuous
Boost
24V 48V 70V
24V 48V 70V
1
Torque(N·m)
0.5
0
0 10 20 30 40 50
Speed(rps)
SSM23Q/IP-4EG
3.5
3
2.5
2
1.5
Torque(N.m)
1
0.5
0
0 10 20 30 40 50
Boost
24V 48V 70V
24V 48 V 70V
Speed(rps)
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SSM23Q/IP Hardware Manual
5.4 SCL Command Reference
The Serial Command Language (SCL) was developed to give users a simple way to control a
motor drive via a serial port. This eliminates the need for separate motion controllers or indexers
to supply Pulse and Direction signals to the drive. It also provides an easy way to interface to a
variety of other industrial devices such as PLCs and HMIs, which often have standard or optional
serial ports for communicating to other devices. Some examples of typical host devices might be:
• A Windows based PC running Applied Motion Products software
• An industrial PC running a custom or other proprietary software application
• A PLC with an ASCII module/serial port for sending text strings
• An HMI with a serial connection for sending text strings
SCL commands control the motion of the step motor, use of the inputs and outputs, and congure
aspects of the drive such as motor current and microstep resolution.
In SCL mode, the SSM23Q/IP receives commands from the host, executing them immediately
or sending them to a command buffer and then executing them directly from the buffer. It cannot,
however, create a stored program for stand-alone operation. For that function, the SSM23Q is
needed.
The communications protocol of SCL is simple in that the host initiates all communication, with
one exception. The only time the drive will initiate communication is at power-up. At that time, the
drive will send an identier to tell the software which drive is connected and what the rmware
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 buffer. Buffered commands are executed
one at a time and in sequential order. The buffer can be lled with commands without the host
controller needing to wait for a specic command to execute before sending the next command.
Special buffer commands enable the buffer to be loaded and to pause for a desired time.
Immediate commands are not buffered, but are executed immediately, running in parallel with a
buffered command if necessary. Immediate commands are designed to access the drive at any
time and can be sent as often as needed. This allows a host controller to get information from the
drive at a high rate, most often for checking drive status or motor position.
The basic structure of a command packet from the host to the drive is always a text string followed
by a carriage return. The text string is composed of the command itself, followed by any required
parameters. A carriage return denotes the end of transmission to the drive.
The syntax of the command is
XXAB<cr>
where XX designates the command (always composed of 2 uppercase letters), and A and B
dene the possible parameters. These parameters can vary in length, can be letters or numbers,
and are often optional. Once a drive receives the <cr> (carriage return), it will determine whether
or not it understood the command-if it did, it will either execute or buffer the command. The drive
can also be programmed ahead of time to send a response as to whether or not it understood the
command as well as any error code.
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Some SCL commands transfer data to the drive for immediate or later use. These data values
are stored in data registers and remain there until new commands change the values or power
is removed from the drive. Some data registers in a drive are Read-Only and contain predened
information about the drive which can also be read through SCL commands.
Because of the intense nature of serial communications required in host mode applications,
there is a serial communication Protocol (PR) command available that will adjust a drive’s
serial communications protocol to best t an application. Typically this command is used when
conguring a drive and saved as part of the startup parameters. But it can be used at any time to
dynamically alter the serial communications.
The SCL Utility Software Manual contains the complete command listing as well as instructions on
connecting and conguring the SSM23Q/IP for use in SCL mode, using the Data Registers and
the Protocol command. It also contains detailed information on:
• Host Serial Communications
• Host Serial Connections
• Alarm and Status Codes
• Working with Inputs and Outputs
The Host Command Reference is available from the Applied Motion Products website at http://
www.applied-motion.com under the SCL Utility download section.
Rev.A
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6 Contacting Applied Motion Products
404 Westridge Dr.
Watsonville, CA 95076, USA
1-800-525-1609
Tel (831) 761-6555
Fax (831) 761-6544
www.applied-motion.com
33
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