Moons' SS-EC, SS03-EC-D, SS05-EC-D, SS10-EC-D Hardware Manual

SS-EC

Step-Servo EtherCAT Drive

Hardware Manual

SS03-EC-D SS05-EC-D SS10-EC-D

SHANGHAI AMP & MOONS’ AUTOMATION CO.,LTD.

Rev. 1.0

06/21/2016

SS03/05/10-EC Hardware Manual

Table of 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 the Software ............................................................................7

2.2 Mounting the Drive .................................................................................8

2.3 Connecting to the PC using mini USB ...................................................8

2.4 Choosing the Right COM Port ................................................................9

2.5 Connecting the Main Power Supply .......................................................9

2.6 Connecting the Auxiliary Power Supply..................................................10

2.7 Choosing a Power Supply ......................................................................10

2.7.1 Supply Voltage .... ...................................................................10

2.7.2 Supply Current ........................................................................10

2.7.3 Auxiliary Supply Voltage (Keep Alive Function) .......................22

2.7.3.1 Keep Alive Recovery with I/O Function ...........................22

2.7.3.2 Keep Alive Recovery with the Master Controller .............22

2.8 Connecting the 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 diagram ........................................................25

2.10.4 STO Signal Denition ............................................................26

2.10.5 STO Connection Diagrams ...................................................26

3 Inputs and Outputs ............................................................................................27

3.1 Digital Inputs...........................................................................................28

3.1.1 X1, X2, X3 and X4 Digital Inputs .............................................28

3.1.2 X5, X6, X7 and X8 Digital Inputs .............................................29

3.2 Y1, Y2, Y3 and Y4 Digital Outputs .........................................................30

3.3 Analog Inputs..........................................................................................31

3.4 Encoder output .......................................................................................32

4 Control Panel (LED display and keys) ..............................................................33

4.1 Description of Control Panel...................................................................33

4.2 Mode Switch Control ..............................................................................33

4.3 LED display description ..........................................................................35

4.3.1 Decimal Point And Negative Sign Description .........................35

4.3.2 Parameter View Setting ...........................................................35

4.3.3 Parameter Save Setting ..........................................................35

4.3.4 Point To Point Motion Mode ...................................................35

4.3.5 Jog Mode .................................................................................36

4.3.6 Control Panel Lock ..................................................................36

4.4 Status Monitoring Selection Mode..........................................................36

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4.5 Function Control Mode ...........................................................................38

4.5.1 Function Mode Description ......................................................38

4.5.2 Operation Flow Chart ..............................................................39

4.6 Parameter Setting Mode ........................................................................40

4.6.1 Parameter Setting Description ................................................40

4.6.2 Parameter Editing Examples ...................................................41

4.6.3 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 Specications ................................................................49

5.3 Recommended Motors and Specications .............................................50

5.4 Motor Mechanical Outlines .....................................................................51

5.5 Torque Curves ........................................................................................54

5.6 Motor Numbering System ......................................................................56

5.7 Drive Numbering System ......................................................................56

6 Optional Accessories (Sold separately) ................... .........................................57

6.1 Cables ....................................................................................................57

6.2 Mating Connectors .................................................................................59

7 Contacting MOONS’..........................................................................................60

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1 Introduction

Thank you for selecting the MOONS’ SS-EC Step-Servo drive and motor. The SS-EC series
combines servo technology with a stepper motor to create a product with exceptional features and
broad capability. The SS-EC drive can operate as a standard EtherCAT slave using CANopen over
EtherCAT (CoE).

1.1 Features

• Programmable, digital step-servo drive and motor package

• Operates from a 24 to 70 volt DC power supply

• CANopen over EtherCAT (CoE) with full support of CiA402. Based on the widely used

100BASE-TX cabling system and with a baud rate of 100Mbps full-duplex, EtherCAT enables
high speed and highly reliable communication

• Supported modes: Prole Position, Prole Velocity, Prole Torque, Cyclic Synchronous Position,

Cyclic Synchronous Velocity, and Homing; as well as MOONS’ own Q mode

• Dual port EtherCAT communication

• USB port for conguration

• Encoder resolution: 20000 counts/rev for AM17/23/24/34SS motor, 4096 counts/rev for AM11SS

motor

• SS03-EC output current: continuous 3A, boost 4.5A

• SS05-EC output current: continuous 5A, boost 7.5A

• SS10-EC output current: continuous 10A, boost 15A

• 8 optically isolated digital inputs, 5-24VDC high level voltage

• 4 optically isolated digital outputs, max 30V/100mA sink or source current

• 2 analog inputs, can be congured to 0-5V, 0-10V, ±5V or ±10V signal ranges

• Di󰀨erential encoder signal output (AOUT +/-, BOUT +/-, ZOUT +/-), 26C31 line driver, 20mA sink

or source current

• Keep Alive function available with an auxiliary power supply

• Front panel with 4 keys and 5 digit LED display for setting parameters

• STO function

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1.2 Block Diagram

SS EtherCAT Block Diagram

Power Supply
(24-70VDC)

Auxiliary Power
(12-48VDC)

X1+

X1-

X2+

X2-

X3+

X3-

X4+

X4-

ANALOG1
ANALOG2

High

Speed

Input

Optical

Isolation

Input

Optical

Isolation

Operational

Amplifter

EMC
Filter

DC Input

Power

Converter

Digital

Filter

Digital

Filter

Software

Filter

Software

Filter

DSP

Internal

Logic

Supply

DSP

Internal

Regen
Clamp

Voltage
Temp.
Det.

Mosfet

PWM

Power

Amplifier

Over
Current
Det.

Motor

X5
X6
X7
X8

XCOM

Y1+/­Y2+/­Y3+/­Y4+/-

A+/-

B+/-

Z+/-

Single
Ended

Input

Isolation

Output
Optical

Isolation

Encoder

Output

Software

Filter

Software

Filter

Encoder

USB

EtherCAT

STO

LED

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1.3 Safety Instructions

Only qualied personnel should transport, assemble, install, operate, or maintain this equipment.
Properly qualied personnel are persons who are familiar with the transport, assembly, installation,
operation, and maintenance of motors, and who meet the appropriate qualications 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. MOONS’ 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 qualied 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 di󰀩culty.

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2 Getting Started

The following items are needed:

• A 24-70 volt DC power supply, see Section 2.7 “Choosing a Power Supply” for help in choosing
the right one.

• An optional 12-48 volt DC power supply for Keep Alive function

• A compatible SS motor, see Section 5.3 “Recommended Motors and Specications”

• A small at blade screwdriver for tightening the connectors (included)

• A PC running Microsoft Windows XP, Windows 7, Windows 8/10 (32-bit or 64-bit) operating

system

• A mini USB cable for conguration (not included)

• Step-ServoQuickTuner software (available from MOONS’ website)

• A CAT5 cable for EtherCAT daisy 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Tuner is the PC based software application used to congure and perform servo

tuning, drive testing, and evaluation on MOONS’ step-servo products. System servo control gains,
drive functionality, and I/O conguration are set with Step-ServoQuickTuner. It also contains an
oscilloscope function to help to set the servo control gains.

• Download the Step-Servo Quick Tuner from the MOONS’ website and install it.

• Launch the software by clicking Start -- Programs -- MOONS’

• Connect the drive to the PC with the mini USB cable. Select right COM port in the software. See

Section 2.4 “Choosing the Right COM Port”.

• Connect the drive to the power supply.

• Connect the motor to the drive.

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2.2 Mounting the Drive

Use M4 screws to securely mount the SS-EC series drive to a smooth, at metal surface that will

help to conduct heat away from the chassis. If a heat conducting surface is not available, forced

airow from a fan may be required to prevent the drive from overheating.

• Never use the drive in a place where there is no air ow or the surrounding air is

more than 40°C.

• Never put the drive where it can get wet or where metal or other electrically
conductive particle particles can get on the circuity.

• Always provide air ow around the drive. When mounting multiple SS drives near

each other, maintain at least 1.5cm of space between drives.

The connectors and other points of interest are illustrated below:

Control Panel
(LED display and keys)

Encoder Connector

Motor Connector

Power Connector

2.3 Connecting to the PC using mini USB

Mini USB

EtherCAT LINK IN

EtherCAT LINK OUT

STO

I/O Connector

Port CN2 is used to connect the drive with PC. Use Step-ServoQuickTuner software to congure
the drive and perform servo tuning and drive testing.

PIN Symbol Function

1 +5V +5V Power Supply
2 D- Data­3 D+ Data+
4 - Reserved
5 GND Ground

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P1

V
V

AUX

-

+

2.4 Choosing the Right COM Port

Open the “Device Manager” on the PC. There may or may not be a “Ports” selection. Connect the
mini USB cable to the PC. The connected COM port should then be displayed. Choose 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 terminal labeled “V-”.
The SS-EC accepts DC voltage ranging from 24 to 70VDC

Warning: DO NOT reverse the wires
NOTE: DO NOT apply power until all connections to the drive have been made

Power Connector

Read Section 2.7 “Choosing a Power Supply” for more details.

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2.6 Connecting the Auxiliary Power Supply

If the Keep Alive function is needed, an auxiliary power supply is required.

Connect the auxiliary power supply “+” terminal to the drive terminal labeled “AUX”.

Connect the auxiliary power supply “-” terminal to the drive terminal labeled “V-”.
The SS-EC auxiliary Power Supply input accepts DC voltage range from 12 to 48VDC.

Warning: DO NOT reverse the wires
NOTE: DO NOT apply power until all connections to the drive have been made

2.7 Choosing a Power Supply

The main considerations when choosing a power supply are the voltage and current requirements of
the application.

2.7.1 Supply Voltage

The SS-EC is designed to give optimum performance at 24-48 volts DC. Choosing the voltage
depends on the performance needed and the 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 SS-EC to produce higher temperatures. Using power supplies with voltage outputs that are near

the drive’s maximum may signicantly reduce the operational duty-cycle.

The extended range of operation can be 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 below 18VDC the under
voltage alarm will be triggered and the drive will stop working.

Absolute maximum power supply input is 75VDC 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
75VDC, 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 75VDC.

2.7.2 Supply Current

The maximum supply currents required by the SS-EC are shown in the charts below at di󰀨erent

power supply voltage inputs. The SS-EC power supply current is lower than the winding currents

because it uses switching ampliers 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 signicantly di󰀨erent 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.

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100

AM11SS1DMA 24V Power

80

60

40

Torque(mN.m)

20

0

0 10 20 30 40 50

Speed(RPS)

AM11SS2DMA 24V Power

100

80

60

40

Torque(mN.m)

20

1.2

1.0

0.8

0.6

0.4

0.2

0.0

1.2

1.0

0.8

0.6

0.4

0.2

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)

AM11SS3DMA 24V Power

150

120

90

60

Torque(mN.m)

30

0

0 10 20 30 40 50

Speed(RPS)

0.0

1.2

1.0

0.8

0.6

0.4

0.2

0.0

Torque

Supply Current

Amps

Continuous
Boost

Full Load
No Load

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AM11SS3DMA 24V Power

0.0

0.2

0.4

0.6

0.8

1.0

1.2

0

30

60

90

120

150

0 10 20 30 40 50

Torque(mN.m)

Speed(RPS)

Amps

Continuous

Torque

Boost

Supply Current

Full Load
No Load

AM17SS1DG□-N 24V Power

0.4

0.3

0.2

Torque(N.m)

0.1

1.5

1

0.5

Torque

Supply Current

Amps

Continuous
Boost

Full Load
No Load

0

0 10 20 30 40 50

Speed(RPS)

AM17SS1DG□-N 48V Power

0.4

0.3

0.2

Torque(N.m)

0.1

0

0 10 20 30 40 50

Speed(RPS)

0

1.5

1

0.5

Torque

Supply Current

Amps

Continuous
Boost

Full Load
No Load

0

AM17SS2DG□-N 24V Power

0.6

0.5

0.4

0.3

0.2

Torque(N.m)

0.1
0

0 10 20 30 40 50

Speed(RPS)

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1.5

1

0.5

0

Torque

Supply Current

Amps

Continuous
Boost

Full Load
No Load

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0.0

0.2

0.4

0.6

0.8

1.0

1.2

Amps

Continuous

Torque

Boost

Supply Current

Full Load
No Load

AM17SS2DG□-N 48V Power

0.6

0.5

1.5

0.4

0.3

0.2

Torque(N.m)

0.1
0

0 10 20 30 40 50

Speed(RPS)

AM17SS3DG□-N 24V Power

0.7

0.6

0.5

0.4

0.3

0.2

Torque(N.m)

0.1

1

0.5

0

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

0.7

0.6

0.5

0.4

0.3

0.2

Torque(N.m)

0.1
0

0 10 20 30 40 50

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Speed(RPS)

AM17SS3DG□-N 48V Power

Speed(RPS)

13

0

1.5

1

0.5

0

Torque

Supply Current

Amps

Continuous
Boost

Full Load
No Load

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1.5

1.2

0.9

0.6

Torque(N.m)

0.3

AM17SS4DG□-N 24V Power

1.5

1

0.5

Torque

Supply Current

Amps

Continuous
Boost

Full Load
No Load

0

0 10 20 30 40 50

Speed(RPS)

AM17SS4DG□-N 48V Power

1.5

1.2

0.9

0.6

Torque(N.m)

0.3

0

0 10 20 30 40 50

Speed(RPS)

0

1.5

1

0.5

0

Torque

Supply Current

Amps

Continuous
Boost

Full Load
No Load

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AM23SS2DG□-N 24V Power

1.5

1.2

0.9

0.6

Torque(N.m)

0.3

0

0 10 20 30 40 50

Speed(RPS)

14

3.5
3

2.5
2

1.5
1

0.5
0

Torque

Continuous
Boost

Supply Current

Amps

Full Load
No Load

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AM23SS2DG□-N 48V 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)

AM23SS2DG□-N 70V 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)

AM23SS3DG□-N 24V 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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AM23SS3DG□-N 48V Power

2.5

3.5

2

1.5

1

Torque(N.m)

0.5

0

0 10 20 30 40 50

Speed(RPS)

AM23SS3DG□-N 70V 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)

AM23SS4DGA-N 24V Power

3.5
3

2.5

2

1.5
1

Torque(N.m)

0.5
0

0 10 20 30 40 50

Speed(RPS)

0

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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AM23SS4DGA-N 48V Power

3.5
3

2.5

2

1.5
1

Torque(N.m)

0.5
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

AM23SS4DGA-N 70V Power

3.5
3

2.5

2

1.5
1

Torque(N.m)

0.5
0

0 10 20 30 40 50

Speed(RPS)

AM24SS3DG□-N 24V Power

3.5
3

2.5
2

1.5

Torque(N.m)

1

0.5
0

0 10 20 30 40 50

Speed(RPS)

5

4.5
4

3.5
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

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AM24SS3DG□-N 48V Power

3.5
3

2.5
2

1.5

Torque(N.m)

1

0.5
0

0 10 20 30 40 50

Speed(RPS)

5

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

AM24SS3DG□-N 70V Power

3.5
3

2.5
2

1.5

Torque(N.m)

1

0.5
0

0 10 20 30 40 50

Speed(RPS)

AM34SS1DGA-N 24V Power

3

2.5
2

1.5
1

Torque(N.m)

0.5

5

4.5
4

3.5
3

2.5
2

1.5
1

0.5
0

Torque

Continuous
Boost

Supply Current

Amps

Full Load
No Load

6
5
4

Torque

3

Amps

2
1

Continuous
Boost

Supply Current

Full Load
No Load

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0 10 20 30 40 50

Speed(RPS)

18

0

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AM34SS1DGA-N 48V Power

3

6

2.5
2

1.5
1

Torque(N.m)

0.5
0

0 10 20 30 40 50

Speed(RPS)

AM34SS1DGA-N 70V Power

3

2.5
2

1.5
1

Torque(N.m)

0.5

5
4

Torque

3

Amps

2
1

Continuous
Boost

Supply Current

Full Load
No Load

0

6
5
4

Torque

3

Amps

2
1

Continuous
Boost

Supply Current

Full Load
No Load

0

0 10 20 30 40 50

Speed(RPS)

AM34SS3DGA-N 24V Power

6
5
4
3
2

Torque(N.m)

1
0

0 10 20 30 40 50

Speed(RPS)

0

6
5
4

Torque

3

Amps

2
1

Continuous
Boost

Supply Current

Full Load
No Load

0

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AM34SS3DGA-N 48V Power

6

6
5
4
3
2

Torque(N.m)

1
0

0 10 20 30 40 50

Speed(RPS)

AM34SS3DGA-N 70V Power

6
5
4
3
2

Torque(N.m)

1

5

4

3

2

1

Torque

Supply Current

Amps

Continuous
Boost

Full Load
No Load

0

6
5
4

Torque

3

Amps

2
1

Continuous
Boost

Supply Current

Full Load
No Load

0

0 10 20 30 40 50

Speed(RPS)

AM34SS5DGA-N 24V Power

10

8

6

4

Torque(N.m)

2

0

0 10 20 30 40 50

Speed(RPS)

0

6
5
4

Torque

3

Amps

2
1

Continuous
Boost

Supply Current

Full Load
No Load

0

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AM34SS5DGA-N 48V Power

10

6

8

6

4

Torque(N.m)

2

0

0 10 20 30 40 50

Speed(RPS)

AM34SS5DGA-N 70V Power

10

8

6

4

Torque(N.m)

2

5
4
3
2

Torque

Supply Current

Amps

Continuous
Boost

Full Load
No Load

1
0

5

4

3

2

1

Torque

Supply Current

Amps

Continuous
Boost

Full Load
No Load

0

0 10 20 30 40 50

Speed(RPS)

0

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2.7.3 Auxiliary Supply Voltage (Keep Alive Function)

In addition to the main power supply input, the SS-EC also has an auxiliary power input (AUX

power) for Keep Alive function of the drive. When the main power supply is o󰀨, the AUX power will

keep the logic power on, allowing the drive to remember its state data (motor position, etc.). This
allows the motor to resume operation from its previous position without a homing routine when the
main power is switched back on.

If the main power is removed while the auxiliary power is still on and the drive is disabled, the drive
will show a warning. The LED display will read
power is restored, the drive will automatically clear the warning.

If the main power is removed while the auxiliary power is still on and the drive is enabled, the drive
will show a fault. The LED display will read
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 from the master controller.

2.7.3.1 Keep Alive Recovery with I/O Function

After the main power supply has been restored, the fault must be cleared. Use the alarm reset

function through input 6 (X6) if congured for alarm reset function. (See Section 3.1.2 for conguring

this input via the Step-Servo Quick Tuner software.) When an internal voltage out of range alarm

occurs, the motor is disabled. Use the servo on function through input 5 (X5), also congurable via

the software, to re-enable it.

indicating under voltage. When the main

indicating the internal voltage is out of range.

Resume motion and normal program operation.

2.7.3.2 Keep Alive Recovery with the Master Controller

After the main power supply has been restored, the fault must be cleared. The master controller
program can write 0x80 to Control Word (0x6040) to clear the fault. When an internal voltage out of
range alarm occurs, the motor is disabled. The master controller program can write 0x0F to Control
Word (0x6040) to enable the motor.

Resume motion and normal program operation.

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P2

2.8 Connecting the Motor

The SS motors have two cables - the motor power cable, and the encoder feedback cable. Use
the optional motor extension cable and/or encoder extension cable, or make extension cables
using connector housing and crimps included in package if 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 connector on the drive.

DO NOT drag the motor by the cables as this may damage it.

Wire Colors

B
B
A
A

-

+

-

+

Blue
Red
Green
Black

Motor Connector

CN1

2

A-

4

B-

6

Z-

U-

V-

W-

8
10
12
14
16

GND

Encoder Feedback Connector

See Section 6 ”Optional Accessories (Sold Separately)” for cables and mating connectors.

11
13
15

1
3
5
7
9

A+
B+
Z+
+5V
NC
U+
V+
W+

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2.9 Connecting the EtherCAT

Dual RJ-45 connectors (connection CN3) accept standard Ethernet cables and are categorized
as 100BASE-TX (100 Mb/sec) ports. CAT5 or CAT5e (or higher) cables should be used. The IN
port connects to a master, or to the OUT port of an upstream node. The OUT port connects to a
downstream node. If the drive is the last node on a network, only the IN port is used. No terminator
is required on the OUT port.

2.9.1 EtherCAT Status Indicator LEDs

The LEDs are used for indicating status of the EtherCAT. There are two Link/Activity LEDs (one for
each RJ-45 Ethernet connector) and two status LEDs (RUN and ERR).

Link/Activity Link/Activity

LED indicator codes:

LED Color Status Description

Link/Activity Green

RUN Green

ERR Red

ERR

OFF no Ethernet connection

ON Ethernet is connected

Flickering activity on line

OFF initialization state

Blinking pre-operational state

Single Flash safe-operational state

ON operational state

OFF no error

Blinking general error

Single Flash sync error

Double Flash watch dog error

RUN

Notes:

• Flickering: Rapid ashing with a period of approximately 50ms (10Hz)

• Blinking: Flashing with equal on and o󰀨 periods of 200ms (2.5Hz)

• Single Flash: Repeating on for 200ms and o󰀨 for 1s

• Double Flash: Two ashes with a period of 200ms followed by o󰀨 for 1s

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2.10 Connecting the STO

On the SS EtherCAT step-servo drives, the STO (Safe Torque O󰀨) function is connected via port
CN4. The STO function shuts o󰀨 the motor’s current turning o󰀨 the motor output torque by forcibly
turning o󰀨 the signal of the drive’s power transistor. This is done internally through the STO Input/

Output signal circuit.

2.10.1 Safety Precautions

• If you want to bypass the STO function, make sure the STO connector is plugged into CN4 on
the drive correctly.

• When using the STO function, perform an equipment risk assessment to ensure that the system
conforms to the safety requirements.

• Even when the STO function is enabled, the 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 torque is removed, the motor will be “free running”,
requiring more distance until the motion stops. Make sure this will not be a safety issue.

• When the STO function operates, it will turn o󰀨 the current to the motor, but it does not turn o󰀨

the power to the drive. Make sure to disconnect the power to the drive before performing any
maintenance on it.

• After the STO function is triggered, the drive will have a fault alarm status, and the motor will
remain disabled even after the STO function switch is plugged back in. To restore the system to
normal operation, clear the fault alarm, and then enable the drive and motor.

2.10.2 STO Internal Circuit Diagram

SF1+

1.5K

SF1-

1.5K

SF2+

SF2-

EDM+

EDM-

2.10.3 CN4 Connector diagram

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2.10.4 STO Signal Denition

Signal Symbol Pin Description Control Mode

SF1+ 1

Safety Input SF1

SF1- 2

SF2+ 3

Safety Input SF2

SF2- 5

EDM+ 6

Safety Output

EDM- 4

When SF1 has no input signal, e.g.

the port is disconnected, SF1 will be

considered OFF. The upper half of the

internal power transistor will be shut o󰀨.

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 o󰀨.

Output monitor signal used to check the

safety function

Ground DGND 7, 8 +5VDC power ground

+5V power +5V 9, 10 +5VDC power supply

2.10.5 STO Connection Diagrams

Connection to safety switch

24VDC

Safety Switch

Safety Input 1

SS EtherCAT Drive

SF1+

SF1-

SF2+

Compatible with all

control modes

Safety Input 2

EDM+

Safety Output

EDM-

0VDC

Safety light connection

Safety Output

SF2-

SS EtherCAT Drive

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3 Inputs and Outputs

The SS-EC drive’s inputs and outputs include:

• 8 optically isolated digital inputs, 5-24VDC high level voltage

• 4 optically isolated digital outputs, max 30V/100mA sink or source current

• 2 analog inputs, can be congured to 0-5V, 0-10V, ±5V or ±10V signal ranges.

• Di󰀨erential encoder signal output (AOUT +/-, BOUT +/-, ZOUT +/-), 26C31 line driver, 20mA sink

or source current

CN5

X1­X2­X3­X4-

X6
X8

XCOM

+5V

AIN2

Y1­Y2­Y3-

Y4­AOUT­BOUT-

ZOUT-

2
4
6

8
10
12
14
16
18

20

22

24

26

28

30

32

1
3
5
7
9

11
13
15
17
19

21
23
25
27
29

31

X1+
X2+
X3+
X4+
X5
X7

GND
AIN1
Y1+
Y2+
Y3+
Y4+
AOUT+
BOUT+
ZOUT+

I/O Connector

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3.1 Digital Inputs

3.1.1 X1, X2, X3 and X4 Digital Inputs

X1, X2, X3 and X4: optically isolated, di󰀨erential, 5-24VDC, minimum pulse width 250ns, maximum

pulse frequency 2MHz

• X1 can be used as general purpose input.

• X2 can be used as general purpose input.

• X3 can be used as CW limit input or general purpose input.

• 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 conguration.
The following graphs show some common connection methods for the inputs:

X1/2/3/4+

SS-EC
Drive

X1/2/3/4-

5-24

VDC

Power

Supply

+

Switch or Relay

(closed = logic Low)

-

Connecting the inputs to a switch or relay

5-24

VDC

Power

Supply

+

+

NPN
Output

-

output

–

X1/2/3/4+
X1/2/3/4-

SS-EC
Drive

Connecting the inputs to an NPN type output

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5-24
VDC

Power

Supply

+

-

+

PNP
Output

–

output

X1/2/3/4+

X1/2/3/4-

SS-EC
Drive

Connecting the inputs to a PNP type output

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3.1.2 X5, X6, X7 and X8 Digital Inputs

X5, X6, X7 and X8: optically isolated, single-ended, 5-24VDC, minimum pulse width 50μs, maximum

pulse frequency 10KHz

• X5 can be used as servo on input or general purpose input.

• X6 can be used as alarm reset input or general purpose input.

• X7 can be used as general purpose input.

• X8 can be used as general purpose input.

Because the input is an optically isolated circuit, a 5-24V power supply is needed. For example, you
can use the power supply of the PLC when you are using a PLC control system, but if you want to
connect a relay or mechanical switch 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, you need to connect XCOM to the
ground (power supply -), if you are using a sinking(NPN) input signals ,the XCOM need to connect

to the power supply +.

Use Step-ServoQuickTuner software for X5, X6, X7 and X8 function conguration.
The following graphs show some common connection methods for the inputs:

5-24

VDC

Power

Supply

+

Switch or Relay
(Closed: logic low)

-

XCOM

SS-EC
Drive

X5/X6/X7/X8

Connecting to a switch or relay

XCOM+

5-24

VDC

Power

Supply

+

NPN

Type

Output

-

output

-

X5/X6/X7/X8

SS-EC
Drive

Connecting an NPN type output to an input

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output

5-24

VDC
Power
Supply

+

+

PNP
Type

Output

-

-

Connecting a PNP type output to an input

29

X5/X6/X7/X8

SS-EC
Drive

XCOM

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3.2 Y1, Y2, Y3 and Y4 Digital Outputs

• Y1 can be used as an alarm signal output. It 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).

• Y2 can be used as a tach signal output. Tach output produces pulses relative to the motor

position with congurable resolution. It can also be used as a static in position signal output

(static, checking in position when the motor is stopped), or as dynamic in position signal output
(dynamic, checking in position all the time), or as a timing signal output (50 pulses per rotation).

• Y3 can be used as a signal output to release a brake. It 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 can 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).

Use Step-ServoQuickTuner software for Y1, Y2, Y3 and Y4 function conguration.
The following graphs show some common connection methods for the outputs:

NOTE: Do not connect the outputs to more than 30VDC power supply. And the
current of each output terminal must not exceed 100mA.

5-24 VDC

Power Supply

+ –

Y1/2/3/4+

Load

SS-EC
Drive

Y1/2/3/4-

Connecting a sinking output

5-24 VDC

Power Supply

+

–

Y1/2/3/4+

SS-EC
Drive

Y1/2/3/4-

COM

PLC

IN

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Connecting a sinking output to a PLC’s input

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Connecting a sinking output

Connecting a sinking output to a PLC’s input

SS-EC
Drive

5-24 VDC

Power Supply

+ –

Load

Y1/2/3/4-

Y1/2/3/4-

Y1/2/3/4+

Y1/2/3/4+

PLC

5-24 VDC

Power Supply

+

–

COM

IN

SS-EC
Drive

CDV 42-5

Power Supply

+ –

Y1/2/3/4+

SS-EC
Drive

Y1/2/3/4-

Connecting a sourcing output to a PLC’s input

Y1/2/3/4+

SS-EC

3.3 Analog Inputs

The SS series drive has two analog signal inputs which can accept signal range of 0-5V, 0-10V,

±5V or ±10V. The drive can be congured to operate at velocity mode or position mode that is

proportional to the analog input.

Drive

Y1/2/3/4-

COM

IN

5-24 VDC

relay

Power Supply

+ –

1N4935 suppression diode

Driving a relay

PLC

Use Step-ServoQuickTuner software to congure the input range, o󰀨set, deadband and noise

lter 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 provide
the desired accuracy.

+5v OUT

1 - 10k
pot

Ω

AIN

GND

SS-EC
Drive

Connecting a Potentiometer to an analog input

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3.4 Encoder output

The SS-EC drive has di󰀨erential 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 feedback of the motor position.

SS-EC

AOUT+

AOUT-

BOUT+

BOUT-

ZOUT+

ZOUT-

GND GND

A+

A-

B+

B-

Z+

Z-

Host Controller

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4 Control Panel (LED display and keys)

4.1 Description of Control Panel

LED Display

Mode Key

M

Up Key

Symbol Name Details

LED Display

MODE Button

UP/DOWN Button

SET Button

The LED display (5 digits, 7 segments) show the drive’s operating
condition and warning codes, parameters and settings values.

Press and hold the MODE button to change the LED display mode
a) Monitoring selection mode
b) Function selection mode
c) Parameter setting mode
When editing the parameters, press the MODE button to move the cursor
to the left and then change the parameters by using the arrow keys.

Press the UP or DOWN button to scroll through and change monitor codes,
parameter groups and various parameter settings.

Press to enter a mode
Press and hold to save parameters/settings

Set Key

S

Down Key

4.2 Mode Switch Control

(1) Press the button and the button to change modes between status monitoring,
function control, parameter setting, etc.

(2) If no warnings or faults have occurred, the drive will not go into warning and fault display mode.
(3) If any warnings are detected by the drive, the LED display will immediately switch into warning

or fault display mode. Pressing any key will switch back to the previous display mode.
(4) When no button(s) on the control panel has been pressed for 20 seconds, the display will

switch back to the previous status monitoring display mode.
(5) In monitoring selection mode, function selection mode and parameter setting mode, when

editing the parameters, press

using the

buttons.

(6) In status monitoring mode, press and hold the

the panel, press and hold the button again.

to move the cursor to the left, then change the parameters by

button to lock the control panel. To unlock

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the SET key to confirm setting value

Control mode switch owchart:

Power On

Monitor Status

In factory default mode, it will display motor’s rotatory velocity.(*NOTE 1)
The last dot shows whether the drive is enable or disable.

Press and hold the
MODE key for 1 second

M

key for 1 second(*NOTE 4)

Press any key

Monitor Parameters

Press and hold the

MODE key for 1 second

M

Function Parameters

Press and hold the MODE

M

Drive Parameters

Configuration

Press the UP and
DOWN key to scroll
through and change
monitor status

Press the UP and
DOWN key to scroll
through and change
function selection

Press the UP and
DOWN key to scroll
through and change
parameter selection.

Press SET key back
to Monitor Status

S

Press and hold SET key to
confirm selection and execute it.

S

Press SET key enter
to value setting mode

S

Press SET key back to

Drive Parameters Configuration

mode without changing.

*NOTE(2)

Press and hold for 1 second

*Note(3)

S

NOTE:

(1) When power is applied, the drive’s display will show the customer dened monitoring

mode. In factory default mode, it will display motor’s rotary velocity.
(2) In parameter setting mode, press the

button to exit the parameter setting mode and

return to the parameter selection mode, any changes will not be saved.
(3) In parameter setting mode, press and hold the

button to conrm and apply the
current parameter setting. This will take e󰀨ect immediately. However, this change will not
save to the drive’s ash. If this parameter is required for permanent use, go to function mode

“

”, and then press and hold the button to save the parameter change.

(4) When the drive is connected to the host computer with Step-Servo Quick Tuner on, the
parameter setting mode CANNOT be accessed directly on the drive’s control panel.

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4.3 LED display description

4.3.1 Decimal Point And Negative Sign Description

LED display Description

Negative sign: when the value to be

displayed is a negative number ≥-9999,the

highest digit will display as a negative sign.

negative
sign

motor enable
sign

4.3.2 Parameter View Setting

LED display Description

4.3.3 Parameter Save Setting

LED display Description

Decimal point: when the value to be displayed

is a negative number ≤-10000, a decimal

point will be displayed.

There are only 5 digits on the LED display, when a value with
more than 5 digits needs to be displayed, it will be shown in 2

segments. When the highest digit of a value is ashing, it means

only the lower 5 digits are shown. Press
upper 5 digits.

The graph is showing ‘-12802345’

In parameter setting mode, pressing and holding the button
will save the change. ‘Saved’ will also be displayed on the LED.

In parameter setting mode when the motor is rotating, pressing

to display the

4.3.4 Point To Point Motion Mode

LED display Description

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and holding the
the status as “busy” meaning that the current parameter cannot
be saved. Stop the motion of the motor and save the parameter
again.

When the LED display reads “P-CW” it means the motor is
rotating in a CW direction in the point-to-point mode

When the LED display reads “P-CCW” it means the motor is
rotating in a CCW direction in the point-to-point mode

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4.3.5 Jog Mode

LED display Description

4.3.6 Control Panel Lock

LED display Description

When the LED display reads “J--CW” it means the motor is
rotating in a CW direction in JOG mode.

When the LED display reads “J--CCW” it means the motor is
rotating in a CCW direction in JOG mode

This means the key panel is locked. 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 status monitoring type, press to enter monitoring selection mode, and then use

to make selections, and press to conrm. Steps are shown as follows:

Power ON

Default display is current motor velocity
The last decimal point is drive enable sign

Stats Display

Press Any Key

Status Monitoring

Selection

Press UP and
DOWN key
to select display
detail.

Press SET key to
select display mode

S

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N mode selection and setting LED display Description Unit

n-00

n-01

n-02

n-03

n-04

n-05

n-06

n-07

n-08

n-09

Motor Rotation Speed RPM

Position Error counts

Pulse Counter counts

Encoder Counter counts

Command Position Counter counts

Drive Temperature x 0.1°C

DC Bus Voltage x 0.1V

SCL Address

Alarm History 1

Alarm History 2

n-10

n-11

n-12

n-13

n-14

n-15

Alarm History 3

Alarm History 4

Alarm History 5

Alarm History 6

Alarm History 7

Alarm History 8

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4.5 Function Control Mode

In function control mode (display reads: F+parameter number), you can select functions for

preoperational mode, restart the drive, enable or disable the drive, etc. In status monitoring mode,
press and hold

for 1 second to enter function control mode. Press to select a
function, and then press and hold
F-01(CJ) excepted)

Status display

selection

Press and Hold MODE key

for 1 second

M

Function Mode

Selection

4.5.1 Function Mode Description

Function mode details are as follows:

to conrm or execute the function. (NOTE: F-00(FL) and

Press UP and
DOWN key
to select display detail.

Press and Hold Set key to
select and execute the function

S

Function mode
number

LED display Description

F-00 point to point position mode:1rps, 1rev

F-01

F-02

F-03

F-04

F-05

F-06

F-07

JOG mode:JOG speed 1rps

Restart the drive

Clear drive’s current alarm

Save parameter changes for Pxx

Motor disable

Motor enable

Activate the analog “auto o󰀨set” algorithm

F-08

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SS03/05/10-EC Hardware Manual

4.5.2 Operation Flow Chart

status monitoring

selection

press and hold MODE key
for 1 second

M

function selection

mode

Press UP and DOWN key
to select display detail.

F-00 point to point mode

F-01 JOG mode

Press UP and DOWN key
to select display detail.

F-02 Restart the drive

press and hold

SET key

press M key

press and hold

SET key

S

M

press M key

press and hold

SET key

press ,motor rotate
1 rev in CW direction
press ,motor rotate
1 rev in CCW direction
press to stop the motor

S

press to return back

M

NOTE: In P-P mode, rotary velocity is 1rps,
and 1 rev per time.

press ,motor rotate
in CW direction
Press ,motor rotate
in CCW direction
press stop motor

S

press to return back

M

NOTE: In JOG mode, rotary velocity is
1rps

Drive restart, and back to status
monitoring mode

Press UP and DOWN key
to select display detail.

F-03 Alarm clear

Press UP and DOWN key
to select display detail.

F-04 save parameter

Press UP and DOWN key
to select display detail.

F-05 motor disable

Press UP and DOWN key
to select display detail.

F-06 motor enable

Press UP and DOWN key
to select display detail.

S

press and hold

SET key

S

press and hold

SET key

S

display after

1 second

press and hold

SET key

S

press and hold

SET key

S

clear current drive warning

To save parameter changes for P-00
to P-98 permanently.

To disable the drive

If no alarm has occurred, enable the
drive immediately

SAVE means
success operation.

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F-07 Analog Input Auto-offset

Press UP and DOWN key
to select display detail.

F-08 Stop move and remove
buffered command

39

press SET key

S

press SET key

S

Analog Input Auto-offset

Stop move and remove buffered
command

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4.6 Parameter Setting Mode

4.6.1 Parameter Setting Description

The parameter setting mode (P+parameter number) allows you to select, display and edit the

necessary parameter. In function control mode, press and hold
parameter setting mode. Use
or edit the parameter. Press

to select the required parameter, and press to view

again to quit and no change will be saved. Press and hold

for 1 second to enter

for 1 second to save the parameter change. However this change will NOT be saved at the next
power on. To save the parameter PERMANENTLY, go into function control mode (F+parameter
number), and use F-04SA function.

function selection

mode

press and hold MODE key
for 1 second

M

parameter setting

selection

Press UP and DOWN key
to select display detail.

press SET key to
enter parameter editing mode

S

short press SET key

to quit

press and hold SET key
to save parameter change

S

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4.6.2 Parameter Editing Examples

M

First digit flash

Press

Press up or down to increase or decrease value

Press

Press mode to

shift flashing digit

Press

Second digit flashing

Press

Press SET key to
enter parameter editing mode

S

M

Second digit flashing

Press

press UP or DOWN to increase or decrease value press UP or DOWN to increase or decrease value

Press

Press mode to

shift flashing digit

Press

First digit

Press

Press and hold set key
to save parameter

S

The parameter change is only saved for current
operation, it will back to original after next power up

Set display for 1 second, means save successfully

M

Press and hold mode key

Function mode selection

Press up and down key
to select display detail.

F-04 to save
parameter

Setafter 1 second

return to parameter

selection page

Press and hold set key

S

Save parameter

Saved display for 1 second
and return back to previous
page

Saved means
operation successful

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4.6.3 Parameter list

Refer to the HostCommandReference for command details.

Parameter

Number

P00 KP position loop proportional gain

P01 KD

P02 KE

P03 VP

P04 VI

P05 -

P06 KK

P07 KC

P08 SF

P09 CM

P10 -

P11 PM

P12 JM

SCL Command

LED

Display

Function

position loop di󰀨erential gain

di󰀨erential lter

velocity loop proportional gain

velocity loop integrator gain

reserved

inertia feedforward gain

overall lter

step smoothing lter frequency

command mode

reserved

power up mode

jog mode

P13 GC

P14 CC

P15 CP

P16 -

P17 HC

P18 -

P19 VM

P20 AM

P21 JS

P22 JA

P23 JL

P24 VE

P25 AC

P26 DE

current command (torque mode)

continuous current

peak current

reserved

hard stop current

reserved

maximum velocity

maximum acceleration

jog speed

jog acceleration

jog deceleration

velocity

acceleration

deceleration

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P27 VC

P28 JC

42

velocity change

velocity mode second speed

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SS03/05/10-EC Hardware Manual

P29 - reserved

P30 -

P31 -

P32 -

P33 -

P34 -

P35 -

P36 ER

P37 -

P38 EG

P39 SZ

P40 PF

P41 PL

P42 PD

P43 PE

reserved

reserved

reserved

reserved

reserved

reserved

encoder resolution

reserved

electronic gearing

pulse mode setting

position fault limit

position limit for dynamic in position

position limit for static in position

in position timing

P44 TT

P45 AP

P46 AG

P47 AN

P48 -

P49 -

P50 AV

P51 AS

P52 -

P53 -

P54 AD

P55 AF

P56 AT

P57 SI

pulse complete timing

analog position gain

analog velocity gain

analog torque gain

reserved

reserved

analog o󰀨set value

analog scaling

reserved

reserved

analog deadband

analog lter

analog threshold

enable input usage

P58 AI

P59 DL

P60 AO

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alarm reset input usage

dene limit

alarm output

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P61 BO brake output

P62 MO

P63 BD

P64 BE

P65 FI

P66 FI

P67 FI

P68 FI

P69 -

P70 -

P71 IF

P72 PR

P73 TD

P74 BR

P75 -

motion output

brake disengage delay

brake engage delay

lter input for X5

lter input for X6

lter input for X7

lter input for X8

reserved

reserved

immediate format

protocol

transmit delay

baud rate

reserved

P76 CO

P77 -

P78 PK

P79 DD

P80 MA

P81 ZT

node id

reserved

parameter lock on control panel

default display item of LEDs

for advanced user only, not recommended

regen resistor peak time

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4.7 Control Panel Lock

In order to prevent unauthorized or unintentional use of the key panel, a key panel lock is available
on all SS-EC drives. When the lock feature is on, no function can be changed directly on drive’s
control panel.

Status monitoring

Press and hold set key
for 1 second

If control panel is locked,
press any key will show lck

In control parameter lock mode,
press 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 will immediately switch into warning or fault display mode.

If more than one warning is detected, you can scroll through by pressing the
Press

or to clear the warning display and return to the previous display mode.

Any Mode

Warning or fault alarm occurs

Bad Encoder

buttons.

Open Winding

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If more than 1 alarm has occurred,
press Up or Down key to scroll through
the alarms

S

M

Press Set and Mode key
to exit alarm display mode

45

Previous Monitoring Mode

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LED display Description

DriveOverTemperature

InternalVoltageBad

OverVoltage

Highside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 Failed

STOActivated

RegenFailed

Blank Q Segment

Move while Disabled

NOTE: Items in bolditalic represent Drive Faults, which automatically disable the motor.

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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

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Unit:mm

5 Reference Materials

5.1 Drive Mechanical Outlines

41

150

28.5

5

139.5
R2.5

956.5

6

5

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5.2 Drive Technical Specications

Power Amplier

Amplier Type Dual H-Bridge, 4 Quadrant

Current Control 4 state PWM at 20 KHz

SS03 Maximum continuous current 3A, boost current 4.5A (for 1.5s)
Drive auto-sets the current limitation according to the attached motor

Output Current

Power Supply
Auxiliary Power Supply External 12 - 48 volt DC power supply required

Protection Over-voltage, under-voltage, over-temp, over-current, short circuit

Microstep Resolution Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Encoder Resolution 20000 counts/rev for AM17/23/24/34SS motor; 4096 counts/rev for AM11SS motor
Speed Range Speeds up to 3600 rpm
Filters
Non-Volatile Storage Congurations are saved in FLASH memory on-board the DSP
Supported Protocol CoE (CiA 402 Drive prole)

Supported Modes
Synchronization SM Event, DC Sync Event

SS05 Maximum continuous current 5A, boost current 7.5A (for 1.5s)
Drive auto-sets the current limitation according to the attached motor

SS10 Maximum continuous current 10A, boost current 15A (for 1.5s)
Drive auto-sets the current limitation according to the attached motor

External 24 - 70 volt DC power supply required
Absolute maximum input voltage range 18 - 75 VDC

Controller

Programmable hardware digital noise lter, software noise lter, smoothing lter, PID lter, notch lter

Prole Position, Prole Velocity, Prole Torque, Cyclic Synchronous Position, Cyclic Synchronous

Velocity, Homing, and MOONS’ own Q mode

X1, X2, X3, X4: optically isolated, di󰀨erential, 5-24VDC, minimum pulse width 250ns,

Digital Inputs

Digital Output

Analog Input

+5V Supply Output +4.8 - 5 volts @ 100mA maximum

Communication EtherCAT and mini USB for conguration

maximum pulse frequency 2MHz
X5, X6, X7, X8: optically isolated, single-ended input, 5-24VDC

Y1, Y2, Y3, Y4: optically isolated, open collector, 30 volts, 100 mA max, maximum pulse frequency
10 KHz

AIN1, AIN2: individually single-ended or together di󰀨erential, input resolution 12-bit, software
congured as 0-5 volts, 0-10 volts, ±5 volts or ±10 volts (AIN referenced to GND)

Environment

Ambient Temperature 0 - 40°C (32 - 104°F) when mounted to a suitable heatsink
Humidity 90% non-condensing

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5.3 Recommended Motors and Specications

Motor Part

Number

AM11SS1DMA
AM11SS2DMA 0.08 12 168

AM11SS3DMA 0.125 18 218
AM17SS1DG□-N
AM17SS2DG□-N 0.5 57 440
AM17SS3DG□-N 0.6 82 520
AM17SS4DG□-N 0.75 123 760
AM23SS2DG□-N

AM23SS4DGA-N 2.5 365 840
AM24SS3DG□-N
AM34SS1DGA-N 3.5 915 2000

AM34SS5DGA-N 8.0 2200 4200

Matching

Drive

SS03-EC-D

SS03-EC-D

or

SS05-EC-D

SS05-EC-D

SS10-EC-D

Holding
Torque

N-m G-cm

0.065 9

0.3 38

0.9 260 850

2.5 900 1650 60 90 100 130 180 270

Rotor

Inertia

Encoder

Resolution

2

counts/rev RPM g mm 0 5 10 15 20

4096

20000

Max.

Speed

3600

□: A or B, refer to motor part numbering system

Mass

118

390

Frame

Size

28 20 25 34 52 -

42 35 44 58 85 -

56 63 75 95 130 190AM23SS3DG□-N 1.5 460 1250

86 260 290 340 390 480AM34SS3DGA-N 6.0 1480 3100

Permissible Shaft Load (N)

Distance (L) from shaft end (mm)

Permissible
Thrust Load

Less than the

motor mass

Thrust Load

Overhung Load

L

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5.4 Motor Mechanical Outlines

AM11SS
unit: mm

36

AM17SS-N
unit: mm

L

15

10

2

4.5 FLAT

5

22

28
23

4-M2.5

Depth 2.5 Min

23

28

Model L
AM11SS1DMA 43.8
AM11SS2DMA 52.9
AM11SS3DMA 64.1

L 2

B
B1

A

A1 FLAT

42.3
31

φ22

30033

4-M3 Depth 4.5Min

Model A A1 B B1 L
AM17SS1DGA-N φ6 5.5 20 15 59.5
AM17SS1DGB-N φ5 4.5 24 15 59.5
AM17SS2DGA-N φ6 5.5 20 15 65
AM17SS2DGB-N φ5 4.5 24 15 65
AM17SS3DGA-N φ6 5.5 20 15 73.5
AM17SS3DGB-N φ5 4.5 24 15 73.5
AM17SS4DGA-N φ6 5.5 20 15 89
AM17SS4DGB-N φ5 4.5 24 15 89

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AM23SS-N
unit: mm

73.6

B
B1

A

56.3

47.14 4-φ5.1

47.14

A1 FLAT

7

L

1.6

30033

φ38.1

Model A A1 B B1 L
AM23SS2DGA-N φ8 7.5 24 20 77.5
AM23SS2DGB-N φ6.35 5.85 20 15 77.5
AM23SS3DGA-N φ8 7.5 24 20 99.5
AM23SS3DGB-N φ6.35 5.85 20 15 99.5
AM23SS4DGA-N φ8 7.5 24 20 102.5

AM24SS-N
unit: mm

77.4

B
B1

A

A1 FLAT

8

110

33

1.5

300

φ38.1

Model A A1 B B1
AM24SS3DGA-N φ10 9.5 24 20
AM24SS3DGB-N φ8 7.5 20.6 15

60

4-φ4.547.14

47.14

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25

10

2

L

37

φ

14

13FLAT

300

102.7

38

69.6

69.6
4-6.5

86

φ73.025

AM34SS-N
unit: mm

Model L
AM34SS1DGA-N 88
AM34SS3DGA-N 117.5
AM34SS5DGA-N 147

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5.5 Torque Curves

AM11SS1DMA

100

80

60

40

Torque(mN·m)

20

0

0 10 20 30 40 50

AM11SS3DMA

200

160

120

80

Torque(mN·m)

40

0

0 10 20 30 40 50

Continuous
Boost

Speed(rps)

Continuous
Boost

24V
24V

24V
24V

Speed(rps)

AM11SS2DMA

150

120

90

60

Torque(mN·m)

30

0

0 10 20 30 40 50

Continuous

Boost

24V
24V

Speed(rps)

AM17SS1DG□-N　

0.4

0.3

0.2

Torque(N·m)

0.1

0

0 10 20 30 40 50

Continuous
Boost

Speed(rps)

24V 48V
24V 48V

AM17SS2DG□-N

0.6

0.5

0.4

0.3

Torque(N·m)

0.2

0.1

0

0 10 20 30 40 50

AM17SS4DG□-N　

1.0

0.8

0.6

0.4

Torque(N·m)

0.2

Continuous
Boost

Speed(rps)

Continuous
Boost

24V 48V
24V 48V

24V 48V
24V 48V

AM17SS3DG□-N

0.7

0.6

0.5

0.4

0.3

Torque(N·m)

0.2

0.1
0

0 10 20 30 40 50

Continuous
Boost

Speed(rps)

24V 48V
24V 48V

AM23SS2DG□-N

1.5

1.2

0.9

0.6

Torque(N·m)

0.3

Continuous
Boost

24V 48V 70V
24V 48V 70V

0

0 10 20 30 40 50

Speed(rps)

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0

0 10 20 30 40 50

Speed(rps)

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AM23SS3DG□-N

2.5

2

1.5

1

Torque(N·m)

0.5

0

0 10 20 30 40 50

Continuous
Boost

Speed(rps)

24V 48V 70V
24V 48V 70V

AM24SS3DG□-N

3.5
3

2.5
2

1.5

Torque(N·m)

1

0.5
0

0 10 20 30 40 50

Continuous
Boost

Speed(rps)

24V 48V 70V
24V 48V 70V

AM23SS4DGA-N

3.5
3

2.5
2

1.5

Torque(N·m)

1

0.5
0

0 10 20 30 40 50

AM34SS1DGA-N

4.0

3.0

2.0

Continuous
Boost

Speed(rps)

Continuous
Boost

24V 48V 70V
24V 48V 70V

24V 48V 70V
24V 48V 70V

Torque(N·m)

1.0

0

0 10 20 30 40 50

Speed(rps)

AM34SS3DGA-N

7.0

6.0

5.0

4.0

3.0

Torque(N·m)

2.0

1.0
0

0 10 20 30 40 50

Continuous
Boost

24V 48V 70V
24V 48V 70V

Speed(rps)

AM34SS5DGA-N

10

8.0

6.0

4.0

Torque(N·m)

2.0

0

0 10 20 30 40 50

Continuous
Boost

Speed(rps)

24V 48V 70V
24V 48V 70V

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5.6 Motor Numbering System

AM17 SS 1 D

Frame Size
11, 17, 23, 24, 34

Step Servo

Motor Size
1 = 1 stack
2 = 2 stack
3 = 3 stack
4 = 4 stack
5 = 5 stack

Note: AM17/23/24/34SS motors matching with SS-EC drive have -N suffix
AM11SS motors matching with SS-EC drive DO NOT have -N suffix

5.7 Drive Numbering System

SS 05

Step Servo

Output Current
03 = 3A
05 = 5A
10 = 10A

-

D = DC Input

EC

-

EC = EtherCAT

G

A-N

Encoder
G = 5000-Line
M = 1024-Line

D

D = Dual-port Ethernet

Mechanical Option
A = Output shaft size
11:φ5

17:φ6
23:φ8
24:φ10
34:φ14

B = Output shaft size

17:φ5
23:φ6.35
24:φ8

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6 Optional Accessories (Sold separately)

6.1 Cables

◇ I/O Cable

◇

P/N Length(L)

1117-200 2M

PIN (J1) Color (Signal) PIN (J1) Color (Signal)

1 Blue/White (X1+) 17 NC
2 Blue/Black (X1-) 18 NC
3 Green/White (X2+) 19 Brown/White (Y1+)
4 Green/Black (X2-) 20 Brown/Black (Y1-)
5 Red (X3+) 21 Gray/White (Y2+)
6 Orange (X3-) 22 Gray/Black (Y2-)
7 Blue (X4+) 23 Purple/White (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 Orange/Black (BOUT-)
15 Black (GND) 31 Yellow/White (ZOUT+)
16 NC 32 Yellow/Black (ZOUT-)

Wiring Diagram

Housing：501646-3200(Molex)
Crimp：501648-1000(Molex)

L

D

31

1 2

32

J1

◇ Motor Extension Cable between SS-EC drive and AM11SS motor

◇

Housing: 51065-0600(Molex)
Crimp: 50212-8000(Molex)

A

6

J1

1

L

P/N Length(L) Wiring Diagram
1127-100 1M PIN(J1) Color (Signal)
1127-300 3M 1 Blue(B-)
1127-500 5M 3 Red(B+)

1127-1000 10M 4 Green(A-)

6 Black(A+)

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◇ Motor Extension Cable between SS-EC drive and AM17/23/24/34SS-N motor

◇

Housing：39-01-3049(Molex)
Crimp：39-00-0040(Molex)

J1

3

P/N Length(L) Wiring Diagram

1114-100 1M PIN(J1) Color (Signal)
1114-300 3M 1 Blue(B-)
1114-500 5M 2 Red(B+)

1114-1000 10M 3 Green(A-)

◇ Encoder Extension Cable between SS-EC drive and AM11SS Motor

◇

24
1

L

4 Black(A+)

Housing：501646-1200(Molex)
Crimp：501648-1000(Molex)

2

1

J1
12

11

L

Housing：501646-1600(Molex)
Crimp：501648-1000(Molex)

16

15

J2

2

1

P/N Length(L) Wiring Diagram

2118-100 1M PIN(J1) Color (Signal) PIN(J2) PIN(J1) Color (Signal) PIN(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(W-) 16
3 Red(+5V) 7 12 Shield 10
4 Black(GND) 8

◇ Encoder Extension Cable between SS-EC drive and AM17/23/24/34SS-N Motor

◇

Housing: 1-1903130-0(TYCO)
Crimp: 1903120-1(TYCO)

C

B1

J1

B10

A1

A10

C

L

D

Housing: 501646-1600(Molex)
Crimp: 501648-1000(Molex)

D

15

1 2

16

J2

P/N Length(L) Wiring Diagram
2117-100 1M PIN (J1) Color (Signal) PIN (J2) PIN (J1) Color (Signal) PIN (J2)
2117-300 3M A9 Blue (A+) 1 B5 Shield 10
2117-500 5M B9 Blue/Black (A-) 2 A4 Brown (U+) 11

2117-1000 10M A8 Green (B+) 3 B4 Brown/Black (U-) 12

B8 Green/Black (B-) 4 A3 Gray (V+) 13
A7 Yellow (Z+) 5 B3 Gray/Black (V-) 14
B7 Yellow/Black (Z-) 6 A2 White (W+) 15
A6 Red (+5V) 7 B2 White (W+) 16
B6 Black (GND) 8

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L

L

8 1

8 1

◇ USB Cable

◇

P/N Length(L)

2620-150 1.5M

◇ Network Cable

◇

Common

Type
2012-030* 2013-030 0.3M

2012-300 2013-300 3M

* 2012-030 is included in the drive package.

Shielded

Type

Length(L)

6.2 Mating Connectors

Part Description Part Number Vendor

P1 Power Connector 5435970
P2 Motor Connector 5435983

CN1 Encoder Connector Housing: 501646-1600 Crimp Terminal: 501648-1000

CN5 I/O Connector Housing: 501646-3200 Crimp Terminal: 501648-1000

Phoenix

Contact

MolexCN4 STO Connector Housing: 43025-1000 Crimp Terminal: 43030-0005

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MOONS’ Headquarters

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

Domestic Offices

Shenzhen

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

North America

MOONS’ INDUSTRIES (AMERICA), INC.

1113 North Prospect Avenue, Itasca, IL 60143 USA
Tel: [phone]
Fax: [phone]

APPLIED MOTION PRODUCTS, INC.

404 Westridge Dr. Watsonville, CA 95076 USA
Tel: [phone]
Fax:[phone]

LIN ENGINEERING, INC.

16245 Vineyard Blvd., Morgan Hill, CA 95037 USA
Tel: [phone]
Fax:[phone]

Europe

MOONS’ INDUSTRIES (EUROPE) S.R.L.

Via Torri Bianche n.1 20871 Vimercate(MB) Italy
Tel: [phone]
Fax: [phone]

Japan

MOONS’ INDUSTRIES JAPAN CO., LTD.

Room 601, 6F, Shin Yokohama Koushin Building,
2-12-1, Shin-Yokohama, Kohoku-ku, Yokohama,
Kanagawa, 222-0033, Japan
Tel: [phone]
Fax: [phone]

South-East Asia

MOONS’ INDUSTRIES (SOUTH-EAST ASIA) PTE. LTD.

33 Ubi Avenue 3 #08-23 Vertex Singapore 408868
Tel: [phone]
Fax: [phone]

Nanjing

Room 1101-1102, Building 2，New Town Development
Center，No.126 Tianyuan Road ，Moling Street

，

Jiangning District，Nanjing 211106, P.R. China
Tel: [phone]
Fax:[phone]

Qingdao

Room 1012, Zhuoyue Tower, No.16 Fengcheng Road,
Shibei District, Qingdao 26000, P.R. China
Tel: [phone]
Fax:[phone]

Beijing

Room 816, Tower B, China Electronics Plaza, 3 Danling
Street, Haidian District, Beijing 100080, P.R. China
Tel: [phone]
Fax:[phone]

Wuhan

Room 3001, World Trade Tower, 686 Jiefang Avenue,
Jianghan District, Wuhan 430022, P.R. China
Tel: [phone]
Fax:[phone]

Chengdu

Room 1917, Western Tower, 19, 4th Section of South People
Road, Wuhou District, Chengdu 610041, P.R. China
Tel: [phone]
Fax:[phone]

Xi’an

Room 1006, Tower D, Wangzuo International City,
1 Tangyan Road, Xi’an 710065, P.R. China
Tel: [phone]
Fax:[phone]

Ningbo

Room 309, Tower B, Taifu Plaza, 565 Jiangjia Road,
Jiangdong District, Ningbo, 315040, P.R. China
Tel: [phone]
Fax:[phone]

Guangzhou

Room 4006, Tower B, China Shine Plaza, 9 Linhe Xi Road,
Tianhe District, Guangzhou 510610, P.R. China
Tel: [phone]
Fax:[phone]

MOONS’ International Trading Company

4/F, Building 30, 69 Guiqing Road, Cao He Jin Hi-Tech
Park, Shanghai 200233, P.R. China
Tel: [phone]
Fax:[phone]

7 Contacting MOONS’

Rev. 1.0
2016/7/30

60

[phone]