MOONS SR4 User Manual

SR4

2 Phase Step Motor Drive

User Manual

Rev. 1.1

AMP & MOONS’ Automation

SR4 User Manual

Contents

1 Introduction .............................................................................3

1.1 Overview ......................................................................................3

1.2 Features .......................................................................................3

1.3 Block diagram ..............................................................................4

2 Mounting the Drive ................................................................4

3 Connections ...........................................................................5

3.1 Connecting to the Power Supply .................................................5

3.2 Connecting to a Motor .................................................................5

3.3 Connecting to the Inputs ..............................................................6

3.3.1 Step & Direction Inputs ........................................................................ 6

3.3.2 EN Input............................................................................................... 7

3.3.3 Fault Output ......................................................................................... 8

4 Switch Selection .....................................................................9

4.1 Running Current ..........................................................................9

4.2 Idle Current ..................................................................................9

4.3 Microstepping ..............................................................................9

4.4 Self Test ......................................................................................10

5 Motor Selection .....................................................................10

5.1 Recommended motors ...............................................................11

6 Error Codes ...........................................................................13

7 Reference Materials ..............................................................13

7.1 Mechanical Outline .....................................................................13

7.2 Specications ..............................................................................14

7.2.1 Electrical Specications ...................................................................... 14

7.2.2 Environmental Specications ............................................................. 14

7.3 Torque Curves ............................................................................15

8 Contacting MOONS’ ..............................................................16

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SR4 User Manual

1 Introduction

Thank you for selecting the MOONS’ SR4 Motor Drive. We hope our commitment to performance,
quality and economy will make a successful motion control project.

1.1 Overview

The SR series drives are cost-effective, high performance 2 phase step drives. The design is
based on PID current control technology, and features high torque, low noise, and low vibration.
The running current and microstep resolution are switch selectable.

1.2 Features

• Power Supply - operates from a 24 to 48 volt DC power supply

• Output Power - position switch selectable, 8 settings, max 4.5 amps peak

• Current Control - advanced digital current control provides excellent high speed torque

• Microstep Resolution -

25600, 51200 step/rev

• Speed Range - speeds up to 3000 rpm

• Anti Resonance - raises the system-damping ratio to eliminate midrange instability and allow

stable operation throughout the speed range of the motor.

• Auto Setup - measures motor parameters and congures motor current control and anti-reso­nance gain settings

• Microstep Emulation - performs high resolution stepping by synthesizing coarse steps into ne

micro-steps

• Control Modes - Step & Direction or CW/CCW pulse

• Input Digital Filters - 2 MHz digital lter for high speed inputs

• Motor Type Select - a 16 bit rotary switch is used to select the desired motor database which

is pre-loaded at the Factory

• Load Inertia Select - as part of the motor database each motor can be selected for use with
low or high load inertia.

• Idle Current - switch selectable for 50% or 90% idle running current reduction 1 second after
the motor stops

position switch selectable, 8 settings: 400, 800, 1600, 3200, 6400, 12800,

• Self Test - switch selectable, the drive will perform a 2 rev, 1 rps, CW/CCW move test

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SR4

1.3 Block diagram

Block Diagram

switch

Optical

8-bit

switch

24-48VDC

External Power Supply

Rotary code

Isolation

5V

switching

reg

3.3V
reg

DSP

Voltage

Det.

17.5V

Drivers

LED

reg

Gate

(4)

MOSFETs

(8)

Over

Current

Det.

motor

2 Mounting the Drive

The SR4 Step Drive can be mounted on the wide or the narrow side of the chassis. If it is mount­ed on the wide side, M3 screws should be used through the four corner holes. For narrow side
mounting applications, M3 screws can be used in the two side holes.

The ampliers in the drive generate heat. To operate the drive continuously at maximum power

forced air cooling, as from a fan, should be provided.

Never use the drive in a space where there is no air ow or where other devices can cause the

surrounding air to be more than 40 °C. Never put the drive where it can get wet or where metal
particles can fall into it.

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3 Connections

To use the SR4 Step Drive, the following items
are needed:

• A power supply (24 - 48 VDC)

• Pulse & Direction signal

• A compatible step motor

3.1 Connecting to the Power Supply

If the power supply does not have a fuse on the
output or some kind of short circuit current limiting
device, a fast acting fuse is required. A 4 amp fast
acting fuse should be installed in line with the “+” power supply lead.

Connect the motor power supply “+” terminal to the drive terminal labeled “V+”. Connect the power
supply “-” to the drive terminal labeled “V-”.

Be careful not to reverse the wires.

3.2 Connecting to a Motor

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3.3 Connecting to the Inputs

3.3.1 Step & Direction Inputs

The SR4 Step Drive has two high speed optically isolated inputs called STEP and DIR. They ac­cept 5 to 24 volt single-ended or differential signals, up to 2MHz. The maximum voltage that can
be applied to the input is 28V.

The motor executes one step with the falling edge of the STEP signal.

The direction of rotation is controlled by the DIR signal level. A low level signal (0 level) will result
in clockwise rotation, and a high level signal (1 level) will result in counterclockwise rotation.

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3.3.2 EN Input

The EN input enables or disables the drive amplier. It is an optically isolated input that accepts

a 5 to 24 volt single-ended or differential signal. The maximum voltage that can be applied to the
input is 28V.

When EN input is closed, the driver amplier is deactivated. All the MOSFETs will shut down, and

the motor will be free. When EN input is open, the drive is activated.

When the drive has encountered an error and the fault is removed from system, a falling signal

into the EN input will reset the error status and activate the drive amplier again.

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3.3.3 Fault Output

The FAULT Output is optically isolated. The maximum collector current is 100mA, and the maxi­mum collector to emitter voltage is 30 volts. The output can be wired to sink or source current.

When drive is working normally, the output is open. When the drive encounters an error, the output
closes.

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4 Switch Selection

SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8

Running Current Idle current Microstepping Self test

4.1 Running Current

The output current of the SR4 Step Drive is set by the SW1, SW2, and SW3 switches and can be
changed as necessary. There are 8 settings available according to the ON/OFF combination of the
switches.

Peak SW1 SW2 SW3

1A ON ON ON

1.5A OFF ON ON

2A ON OFF ON

2.5A OFF OFF ON

3A ON ON OFF

3.5A OFF ON OFF

4A ON OFF OFF

4.5A OFF OFF OFF

4.2 Idle Current

The running current of the SR4 drive is automatically reduced anytime the motor isn’t moving.
Setting the SW4 switch to ON reduces the current to 50% of it running value. Setting this switch to
OFF maintains 90% of the running current. This 90% setting is useful when a high holding torque
is required. To minimize motor and drive heating it is highly recommended that the idle current
reduction feature be set to 50% unless the application requires the higher setting.

4.3 Microstepping

The microstep resolution is set by the SW5, SW6 and SW7 switches. There are 8 settings.

Microstep(step/rev) SW5 SW6 SW7

400 ON ON ON

800 OFF ON ON

1600 ON OFF ON

3200 OFF OFF ON

6400 ON ON OFF

12800 OFF ON OFF

25600 ON OFF OFF

51200 OFF OFF OFF

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4.4 Self Test

Setting switch SW8 to ON after the drive is powered up will cause the drive to perform a self
test move of 2 revolutions both CW and CCW at 1rps. Setting switch SW8 to OFF disables this
feature.

5 Motor Selection

Each position of the 16-bit rotary switch selects a different motor, and automatically sets the

conguration parameters in the drive. The SR4 drive comes programmed with up to 8 typical

motors as factory defaults. Drives can be customized with specially selected motors when re­quired.

The rotary switch also selects a low or high inertia for each motor to allow for
various load conditions. The low setting is 1:1, and the high setting is 10:1. Each
motor in the loaded database has unique settings to optimize the anti-resonance.
See the table below.

When the motor selection is changed, the drive power supply will need to be cycled.

Switch Bit SR4

0 11HS5-L1

1 14HYB4-L

2 17HD2N-L

3 17HD4N-L

4 17HD6N-L

5 23HS0-L

6 23HS2-L

7 23HS3-L

8 11HS5-H2

9 14HYB4-H

A 17HD2N-H

B 17HD4N-H

C 17HD6N-H

D 23HS0-H

E 23HS2-H

F 23HS3-H

Motor selections ending in L are for low inertia and those ending in H are for high inertia.

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20±0.5

51Max.

0

35.3Max.

0

5.1 Recommended motors

11HS Series 1.8°

28.3Max.

23±0.1

654321

16.5

A-A(2:1)

51065-0600
PIN NO.

1 BLUE

Ф22-0.052

COLOR

15±0.2

A

A

2±0.2

INK JET

LABEL

4-M2.5

Depth 2.5Min.

9.5

PIN NO.

MOLEX 53253-0670

0

Ф5-0.012

2 N/A

3 RED

Unit: mm

4 GREEN

5 N/A

6 BLACK

Parameters

PART# CONNECTION

11HS5008-01 bipolar 51 120 4 1.8 1 3.5 2.3 18 0.2

MOTOR

LENGTH

(mm)

MOTOR

HOLDING

TORQUE

(mNm)

#OF

LEADS

STEP

ANGLE

(DEG)

AMPS OHMS MH

ROTOR
INERTIA
(G-CM

2

)

MOTOR

WEIGHT

5

4.5±0.1

(Kg.)

23±0.1

28.3Max.

14HY Series 1.8°

Parameters

PART# CONNECTION

14HYB401-03 bipolar 40 200 4 1.8 1 4.3 5.5 20 0.21

MOTOR

LENGTH

(mm)

MOTOR

HOLDING

TORQUE

(mNm)

15±0.2

Ф22-0.052

#OF

LEADS

20±0.5

A

A

2±0.2

INK JET

LABEL

STEP

ANGLE

(DEG)

40Max.

Depth 2.5Min.

Unit: mm

AMPS OHMS MH

4-M3

AWG26 UL3266

0

Ф5-0.012

26±0.1

A-A(2:1)

ROTOR
INERTIA
(G-CM2)

300±10

26±0.1

4.5±0.1

MOTOR

WEIGHT

(Kg.)

35.3Max.

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+0.2

42.3Max

0

17HD Series 1.8°

20±0.5

L Max.

31±0.1

15±0.2

C

C

Ф22-0.052

4-M3

Depth 4.5Min

AWG26 UL3266

INK JET

LABEL

Parameters

PART# CONNECTION

LENGTH

(mm)

17HD2401-03N bipolar 39.5 400 4 1.8 1.7 1.7 3.3 57 0.28

17HD4435-02N bipolar 34.3 300 4 1.8 1.7 2 2.8 38 0.21

MOTOR

MOTOR

HOLDING

TORQUE

(mNm)

#OF

LEADS

STEP

ANGLE

(DEG)

AMPS OHMS MH

Unit: mm

C-C(4:1)

0

Ф5-0.012

ROTOR
INERTIA
(G-CM2)

300±10

4.5±0.1

MOTOR

WEIGHT

(Kg.)

31±0.1

42.3Max

17HD6404-05N bipolar 48.3 500 4 1.8 1.7 1.6 2.85 82 0.36

23HS Series 1.8°

20.6±0.5

15±0. 2

C

C

1.6±0.2

4.8±0.3

INK JET

LABEL

L

47.14±0.20

003 ± 01

C-C

0

Ф6.35-0.013

AWG22 UL3266

5.8±0.1

Unit: mm

Parameters

PART# CONNECTION

LENGTH

(mm)

23HS0416-01 bipolar 41 600 4 1.8 4.2 0.3 0.6 135 0.42

MOTOR

MOTOR

HOLDING

TORQUE

(mNm)

#OF

LEADS

STEP

ANGLE

(DEG)

AMPS OHMS MH

ROTOR
INERTIA
(G-CM2)

4-Ф5.1-0

4.65 xaM

41.74 ± 02.0

MOTOR

WEIGHT

(Kg.)

23HS2442-05 bipolar 54 1000 4 1.8 4.2 0.4 1.4 260 0.6

23HS3422-06 bipolar 76 1800 4 1.8 4.2 0.55 1.7 460 1

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3

112

33

75.50

6 Error Codes

The SR4 Step Drive has one bicolor (red/green) LED to indicate status. When the motor is en-

abled, the green LED ashes slowly. When the green LED is solid, the motor is disabled. If the
red LED ashes, an error has occurred. Errors are indicated by a combination of red and green
ashes as follows:

7 Reference Materials

7.1 Mechanical Outline

22.50

22.50

22.30

2-4.50

118

4-Ф3.50

3

112

Unit:mm

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7.2 Specications

7.2.1 Electrical Specications

Parameter Min. Typ. Max. Unit

Power Supply 24 - 48 VDC

Output Current (Peak) 1 - 4.5 amps

STEP/DIR Input Signal Average Forward Current 6 10 15 mA

Step Frequency 2 - 2M Hz

STEP Minimum Pulse Width Hi and Low 250 - - ns

DIR Minimum Pulse Width 50 - - us

Under Voltage Protection - 20 - VDC

Over Voltage Protection - 60 - VDC

STEP/DIR Input Signal Voltage 4.0 - 28 VDC

Driver Initialization time - - 2.5 S

7.2.2 Environmental Specications

Heat Sinking Method Natural cooling or fan-forced cooling

Surrounding Air Conditions Avoid dust, oily mist and corrosive air

Operating Temperature 0 - 40°C (32 - 104°F)

Maximum Ambient Humidity 90% non-condensing

Shock 5.9m/s² maximum

Storage Temperature -10 - 70°C (14 - 158°F)

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SR4 User Manual

11HS5008-01

)m Nm(euqroT

)m Nm(euqroT

17HD2401-03N

17HD6404-05N

)m Nm(euqroT

23HS2442-05

)m N(euqroT

23HS0416-01

Speed(rps)

)m N(euqroT

23HS3422-06

)m N(euqroT

14HYB401-03

)m Nm(euqroT

17HD4435-02N

)m Nm(euqroT

7.3 Torque Curves

Drive: SR4
Microstep: 51200 steps/rev
Current: 1.0A(Peak)

100

80

.

60

40

20

0

0 10 20 30 40 50

Speed(rps)

Drive: SR4
Microstep: 51200 steps/rev
Current: 2.0A(Peak)

48V

24V

400

300

.

200

100

0

0 10 20 30 40 50

Speed(rps)

Drive: SR4
Microstep: 51200 steps/rev
Current: 1.0A(Peak)

150

120

.

90

60

30

0

0 10 20 30 40 50

Speed(rps)

Drive: SR4
Microstep: 51200 steps/rev
Current: 2.0A(Peak)

48V

24V

300

250

.

200

150

100

50

0

0 10 20 30 40 50

Speed(rps)

Drive: SR4
Microstep: 51200 steps/rev
Current: 2.0A(Peak)

48V

24V

500

400

.

300

200

100

0

0 10 20 30 40 50

Speed(rps)

Drive: SR4
Microstep: 51200 steps/rev
Current: 4.5A(Peak)

48V

24V

1.0

0.8

.

0.6

0.4

0.2

0

0 10 20 30 40 50

Speed(rps)

Drive: SR4
Microstep: 51200 steps/rev
Current: 4.5A(Peak)

48V

24V

0.5

0.4

.

0.3

0.2

0.1

0

0 10 20 30 40 50

Drive: SR4
Microstep: 51200 steps/rev
Current: 4.5A(Peak)

48V

24V

1.5

1.2

.

0.9

0.6

0.3

0

0 10 20 30 40 50

Speed(rps)

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Headquarters

8 Contacting MOONS’

168 Mingjia Road, Minhang District,
Shanghai 201107, P.R.China
Tel: [phone]
Fax: [phone]

Shenzhen Branch Office

Room 2209, 22/F, Kerry Center, 2008 Renminnan Road, Luohu District,
Shenzhen 518001, P.R.China
Tel: [phone]
Fax: [phone]

Beijing Branch Office

Room 202,Unit 2,7th Building, Huilongsen International Science & Technology
Industry Park, No.99,kechuang 14th street, Beijing 101111 ,P.R. China
Tel: [phone]
Fax: [phone]

Nanjing Branch Office

Room 302, Building A, Tengfei Creation Center, 55 Jiangjun Road, Jiangning District,
Nanjing 211100, P.R. China
Tel: [phone]
Fax: [phone]

Qingdao Branch Office

Room E, 10th Floor, 73 Wangjiao Mansion, Hongkong Middle Road, Shinan District,
Qingdao 266071, P.R. China
Tel: [phone]
Fax: [phone]

Europe Branch: Moons' Industries (Europe) S.R.L.

Via Torri Bianche n.1 20059 Vimercate(MB) Italy
Tel: [phone]
Fax: [phone]

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