iHSS60-XX
Integrate Stepper Servo Motor
Manual
Shenzhen Just Motion Control Electro-mechanics Co., Ltd
TEL:+86-0755-26509689
FAX:+86-0755-26509289
www.jmc-motion.com
Email:info@jmc-motion.com
Address: Floor2, Building A, Hongwei Industrial Zone No.6, Liuxian 3rd
Road, Shenzhen. China
Shenzhen Just Motion Control Electro-mechanics Co., Ltd
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Version
Editor
Verifier
V1.1
R&D
R&D
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Thanks for selecting JMC stepper motor driver. We
hope that the superior performance, outstanding quality,
excellent cost performance of our product can help you
accomplish your motion control project.
The content in this manual has been carefully
prepared and is believed to be accurate, but no
responsibility is assumed for inaccuracies.
All the contents of this manual, copyright is owned
by the Shenzhen JUST MOTION CONTROL
electromechanical Co., Ltd. Without JMC permission,
no unit or individual is allowed to copy.
Shenzhen Just Motion Control
Electro-mechanics Co., Ltd
Shenzhen Just Motion Control Electro-mechanics Co., Ltd
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Contents
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1. Overview
2. Features
3. Ports Introduction
4. Technological Index
5. Connections to Control Signal
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3.1 ALM signal output ports
3.2 Control Signal Input Ports
3.3 Power Interface Ports
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5.1 Connections to Common Anode
5.2 Connections to Common Cathode
5.3 Connections to Differential Signal
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5.4 Connections to 232 Serial Communication Interface
5.5 Sequence Chart of Control Signals
6. DIP Switch Setting
6.1 Micro steps Setting
6.2 Activate Edge Setting
6.3 Running Direction Setting
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7. Faults alarm and LED flicker frequency
8. Appearance and Installation Dimensions
10. Parameter Setting
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11. Processing Methods to Common Problems and Faults
11.1 Power on power light off
11.2 Power on red alarm light on
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11.3 Red alarm light on after the motor running a small angle
11.4 After input pulse signal but the motor not running
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1. Overview
The iHSS60-XX Integrate Stepper Servo Motor is merged
the stepper servo driver and motor together. This motor system
integrates the servo control technology into the digital stepper
drive perfectly. And this product adopts an optical encoder with
high speed position sampling feedback of 50 μ s, once the
position deviation appears, it will be fixed immediately. This
product is compatible the advantages of the stepper drive and
the servo drive, such as lower heat, less vibration, fast
acceleration, and so on.
Integrated compact size for saving mounting space
Without losing step, High accuracy in positioning
100% rated output torque
Variable current control technology, High current efficiency
Small vibration, Smooth and reliable moving at low speed
Accelerate and decelerate control inside, Great improvement in
smoothness of starting or stopping the motor
User-defined micro steps
No adjustment in general applications
Over current, over voltage and over position error protection
Green light means running while red light means protection or
off line
2. Features
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Symbol
Name
Remark
ALM+
Alarm output +
ALM-
Alarm output -
PED-
Arrive position output-
PED+
Arrive position output+
3. Ports Introduction
3.1 ALM signal output ports
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3.2 Control Signal Input Ports
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Symbol
Name
Remark
ENA-
Enable signal -
Compatible with
5V or 24V
ENA+
Enable signal +
DIR-
Direction signal-
DIR+
Direction signal+
PUL-
Pulse signal -
PUL+
Pulse signal +
Symbol
Name
VCC
Input power
GND
Input power ground
3.3 Power Interface Ports
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Input Voltage
24~50VDC(36V Typical)
Output Current
4.5A 20KHz PWM
Pulse Frequency max
200K
Communication rate
57.6Kbps
Protection
Over current peak value 8A±10%
Over voltage value 80V
The over position error range can be
set through the HISU
Environment
Specifications
Environment
Avoid dust, oil fog and corrosive gases
Operating
Temperature
70℃ MAX
Storage
Temperature
-20℃~+65℃
Humidity
40~90%RH
Cooling
method
Natural cooling or forced air cooling
4. Technological Index
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5. Connections to Control Signal
5.1 Connections to Common Anode
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Remark:
VCC is compatible with 5V or 24V;
R(3~5K) must be connected to control signal terminal.
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5.2 Connections to Common Cathode
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Remark:
VCC is compatible with 5V or 24V;
R(3~5K) must be connected to control signal terminal.
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5.3 Connections to Differential Signal
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Remark:
VCC is compatible with 5V or 24V;
R(3~5K) must be connected to control signal terminal.
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Definition
Remark
NC
Reserved
RX
Receive Data
GND
Power Ground
TX
Transmit Data
+5V
Power Supply to HISU
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5.4 Connections to 232 Serial Communication Interface
5.5 Sequence Chart of Control Signals
In order to avoid some fault operations and deviations, PUL, DIR
and ENA should abide by some rules, shown as following diagram:
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The micro steps setting is in the following table, while SW1 、
SW2、 SW3、 SW4 are all on, the internal default micro steps inside is
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Remark:
a. t1: ENA must be ahead of DIR by at least 5μs. Usually, ENA+ and
ENA- are NC (not connected).
b. t2: DIR must be ahead of PUL active edge by 6μs to ensure correct
direction;
c. t3: Pulse width not less than 2.5μs;
d. t4: Low level width not less than 2.5μs.
6. DIP Switch Setting
6.1 Micro steps Setting
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activate，this ratio can be setting through the HISU.
Dial switch
Micro steps
SW1
SW2
SW3
SW4
Default
ononon
on
800
offonon
on
1600
on
offonon
3200
off
offonon
6400
ononoff
on
12800
offonoff
on
25600
on
off
off
on
51200
off
off
off
on
1000
ononon
off
2000
offonon
off
4000
on
offonoff
5000
off
offonoff
8000
ononoff
off
10000
offonoff
off
20000
on
off
off
off
40000
off
off
off
off
SW5 is used for setting the activate edge of the input signal, “off”
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6.2 Running Direction Setting
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means the activate edge is the rising edge, while “on” is the falling edge.
6.3 Activate Edge Setting
SW6 is used for setting the running direction, “off” means CCW,
while “on” means CW.
Flicker
Frequency
Description to the Faults
1
Error occurs when the motor coil current exceeds
the drive’s current limit.
2
Voltage reference error in the drive
3
Parameters upload error in the drive
4
Error occurs when the input voltage exceeds the
drive’s voltage limit.
5
Error occurs when the actual position following
error exceeds the limit which is set by the position
error limit.
7. Faults alarm and LED flicker frequency
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8. Appearance and Installation Dimensions
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Model
Length（mm）
iHSS60-36-30-XXX
118
Mode
Definition
Range
Dime-
nsion
Drive
Restart
Default
Value
P1
Current loop Kp
0—4000
1N1000
P2
Current loop Ki
0—1000
1N100P3Damping coefficient
0—1000
1N100P4Position loop Kp
0—4000
1N1300
P5
Position loop Ki
0—1000
1N250P6Speed loop Kp
0—3000
1N50P7Position loop Ki
0—1000
1N10P8Open loop current
0—40
0.1N30P9Close loop current
0—30
0.1N20
P10
Alarm level
0—1
1N0
P11
Reserved
P12
Stop lock enable
0—1
1N0
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10. Parameter Setting
The parameter setting method of 2HSS60-KH drive is to use a HISU
adjuster through the 232 serial communication ports, only in this way can
we setting the parameters we want. There are a set of best default
parameters to the corresponding motor which are carefully adjusted by
our engineers, users only need refer to the following table, specific
condition and set the correct parameters.
Actual value = Set value × the corresponding dimension
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P13
Enable signal level
0—1
1N0
P14
Arrival level
0—1
1N1
P15
Reserved
P16
Position error limit
0—3000
10N1000
P17
Reserved
P18
Reserved
P19
Speed smoothness
0—10
1N0
P20
User-defined p/r
4-1000
50Y8
Item
Description
Current loop Kp
Increase Kp to make current rise fast. Proportional
Gain determines the response of the drive to setting
command. Low Proportional Gain provides a stable
system (doesn’t oscillate), has low stiffness, and the
current error, causing poor performances in tracking
current setting command in each step. Too large
proportional gain values will cause oscillations and
unstable system.
Current loop Ki
Adjust Ki to reduce the steady error. Integral Gain
helps the drive to overcome static current errors. A
low or zero value for Integral Gain may have current
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There are total 20 parameter configurations, use the HISU to download
the configured parameters to the drive, the detail descriptions to every
parameter configuration are as follows:
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errors at rest. Increasing the integral gain can reduce
the error. If the Integral Gain is too large, the system
may “hunt” (oscillate) around the desired position.
Damping
coefficient
This parameter is used to change the damping
coefficient in case of the desired operating state is
under resonance frequency.
Position loop Kp
The PI parameters of the position loop. The default
values are suitable for most of the application, you
don’t need to change them. Contact us if you have
any question.
Position loop Ki
Speed loop Kp
The PI parameters of the speed loop. The default
values are suitable for most of the application, you
don’t need to change them. Contact us if you have
any question.
Speed loop Ki
Open loop
current
This parameter affects the static torque of the motor.
Close loop
current
This parameter affects the dynamic torque of the
motor. (The actual current = open loop current +
close loop current)
Alarm Control
This parameter is set to control the Alarm
optocoupler output transistor. 0 means the transistor
is cut off when the system is in normal working, but
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when it comes to fault of the drive, the transistor
becomes conductive. 1 means opposite to 0.
Stop lock enable
This parameter is set to enable the stop clock of the
drive. 1 means enable this function while 0 means
disable it.
Enable Control
This parameter is set to control the Enable input
signal level, 0 means low, while 1 means high.
Arrival Control
This parameter is set to control the Arrival
optocoupler output transistor. 0 means the transistor
is cut off when the drive satisfies the arrival
command, but when it comes to not, the transistor
becomes conductive. 1 means opposite to 0.
Position error
limit
The limit of the position following error. When the
actual position error exceeds this value, the drive
will go into error mode and the fault output will be
activated. (The actual value = the set value× 10)
Speed
smoothness
This parameter is set to control the smoothness of
the speed of the motor while acceleration or
deceleration, the larger the value, the smoother the
speed in acceleration or deceleration.
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User-defined p/r
This parameter is set of user-defined pulse per
revolution, the internal default micro steps inside is
activate while SW3、SW4、SW5、SW6 are all on,
users can also set the micro steps by the outer DIP
switches. (The actual micro steps = the set value
× 50)
No power input, please check the power supply circuit. The voltage
is too low.
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11. Processing Methods to Common Problems and
Faults
11.1 Power on power light off
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Please check the motor feedback signal and if the motor is connected
with the drive.
The stepper servo drive is over voltage or under voltage. Please
lower or increase the input voltage.
Please check the motor phase wires if they are connected correctly，
if not， please refer to the 3.4 Power Ports.
Please check the parameter in the drive if the poles of the motor and
the encoder lines are corresponding with the real parameters, if not,
set them correctly.
Please check if the frequency of the pulse signal is too fast, thus the
motor may be out of it rated speed, and lead to position error.
Please check the input pulse signal wires are connected in reliable
way.
Please make sure the input pulse mode is corresponding with the real
input mode.
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11.2 Power on red alarm light on
11.3 Red alarm light on after the motor running a small
angle
11.4 After input pulse signal but the motor not running
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