Moons' RS03-S-A Manual de usuario

9 / 28 / 2015

RS03/06-S/Q

Step-Servo System

Hardware Manual

SHANGHAI AMP & MOONS’AUTOMATION CO.,LTD.

RS03/06-S/Q Hardware Manual

9 / 28 / 2015 +86-400-820-9661

Contents

1. Introduction......................................................................................4

1.1 Features..................................................................................4

1.2 Block Diagram ........................................................................5

1.3 Safety Instructions..................................................................6

2. Getting Started................................................................................7

2.1 Installing Software ..................................................................7

2.2 Mounting the Hardware ..........................................................9

2.3 Choosing a Power Supply .....................................................10

2.3.1 Voltage ......................................................................10

2.3.2 Regeneration Clamp

.................................................10

2.3.3 Current.......................................................................11

3. Installation/Connections..................................................................19

3.1 Connecting the Power Supply ................................................19

3.2 Connecting the Motor .............................................................20

3.3 Connecting to the PC using RS-232

.......................................21

3.4 Inputs and Outputs .................................................................22

3.4.1 Digital Inputs..............................................................23

3.4.1.1 X1/STEP/CW Limit and X2/DIR/CCW

Limit High Speed Digital Inputs......................23

3.4.1.2 X3/EN, X4/AR Digital Inputs..........................25

3.4.2 Digital Outputs...........................................................26

3.4.2.1 Y1/ALARM,Y2/IN POSITION,Y3/BRAKE

Digital Outputs...............................................26

4. Troubleshooting ..............................................................................27

4.1 LED Error Codes ...................................................................27

5. Reference Materials........................................................................28

5.1 Drive Mechanical Outlines (Unit: mm)....................................28

5.2 Technical Speciﬁcations..........................................................29

5.3 Recommended Motor.............................................................30

5.4 Motor Outlines ........................................................................31

AM11RS .............................................................................31

AM17RS.............................................................................31

AM23RS.............................................................................32

AM24RS.............................................................................33

5.5 Torque Curves ........................................................................34

AM11RS Series..................................................................34

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AM17RS Series..................................................................34

AM23RS Series..................................................................35

AM24RS Series..................................................................35

5.6 Motor Numbering System.......................................................36

5.7 Drive Numbering System........................................................36

6. Optional Accessories (Sold separately)...........................................37

7. Contacting MOONS’.....................................................................41

This User Manual is only applicable to the following models.

Models Communication

RS-232

RS03-S-A 

RS06-S-A 

RS03-Q-A 

RS06-Q-A 

RS03/06-S/Q Hardware Manual

9 / 28 / 2015 +86-400-820-9661

1. Introduction

Thank you for selecting the MOONS’RS series Step-Servo drive and motor. The Step-Servo is

an innovative revolution for the world of stepper motor; it enhances the stepper motors with servo

technology to create a product with exceptional feature and broad capability.

1.1 Features

•Programmable, digital step-servo drive and motor package

•Operates from a 24 to 70 volt DC power supply

•Control modes:

Torque Control

* SCL command

Velocity Control

* Digital input Control Velocity

* SCL command Velocity

Position Control

* Digital Input

•Pulse & Direction

•CW/CCW Pulse

•A/B quadrature(Encoder following)

* SCL command

Q programming(-Q model only)

* Stand alone operation

•RS-232 serial communication

•Encoder resolution: 1024 lines (4096 counts/rev) for RS step-servo motor

•RS03 output current: continuous 3A, boost 4A

•RS06 output current: continuous 6A, boost 7.5A

•4 optically isolated digital inputs, with adjustable bandwidth digital noise rejection ﬁlter,

5-24VDC

•3 optically isolated digital outputs, max 30V/100mA

•Technological advance

Full servo control, Closed loop

Efﬁcient, Accurate, Fast, Smooth

Intelligent, Compact

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1.2 Block Diagram

Block Diagram

MOSFET

PWM

Power

Amplifier

24 - 70 VDC

External

Power Supply

Voltage

Temp

Detect

Over

Current

Detect

motor

encoder

5 Volt DC

Power Supply

DSP

Driver

Controller

3.3VDC

Internal

Logic

Supply

RS03/06-S/Q

Status

RS-232

Comm

Conn Power

Conn

RS-232

RXD,+5V,TXD,GND

Optical

Iso

Optical

ISO Digital

Filter Software

Filter

Y1+

Y1-

Y2+

Y2-

Y3+

Y3-

X1/STEP+

X1/STEP-

X2/DIR+

X2/DIR-

XCOM

I/O Connector

RS03/06-S/Q Hardware Manual

9 / 28 / 2015 +86-400-820-9661

1.3 Safety Instructions

Only qualiﬁed personnel should transport, assemble, install, operate, or maintain this equipment.

Properly qualiﬁed personnel are persons who are familiar with the transport, assembly, installation,

operation, and maintenance of motors, and who meet the appropriate qualiﬁcations 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 qualiﬁed 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 difﬁculty.

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2. Getting Started

The following items are needed:

•A 24-70 Volt DC power supply, see the section below entitled “Choose a Power Supply”for

help in choosing the right one.

•A compatible RS motor, please see the section below entitled “Recommended Motor”

•A small ﬂat blade screwdriver for tightening the connectors screw (included)

•A PC running Microsoft Windows XP/Vista/Windows 7/Windows 8 32-bit or 64-bit (Using serial

communication port. Need a USB to Serial converter if the PC doesn’t have)

•A RS-232 communication cable (included)

2.1 Installing Software

Step-Servo Quick Tuner is the PC based software application used to conﬁgure, and perform

servo tuning, drive testing and evaluation of the step-servo products. System servo control gains,

drive functionality and I/O conﬁguration are set with Step-Servo Quick Tuner. It also contains an

oscilloscope function to help set the servo control gains. For Q type driver, this software can be

used to edit and download Q program to your drive. Motion simulation and status monitor are also

included.

RS03/06-S/Q Hardware Manual

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

•Launch the software by clicking Start-----Programs ----MOONS’ -----Step-Servo Quick Tuner

•Connect the drive to PC by RS-232 cable. Please select right COM port in the software.

•Connect the drive to the Power Supply.

•Connect the motor to the drive.

•Power up the drive.

•The software will recognize your drive, display the model and ﬁrmware version and it’s ready

for action.

The connectors and other points of interest are illustrated below:

LED

RS-232 Connector

I/O Connector

Encoder Connector

Motor Connector

Power Connector

To Earth Ground

Model

RS03-S-A RS06-S-A

RS03-Q-A RS06-Q-A

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2.2 Mounting the Hardware

Use the M3 or M4 screw to mount the RS series drive .The drive should be securely fastened to a

smooth ,ﬂat metal surface the will help conduct heat away from the chassis. If this is not possible,

forced airﬂow from a fan maybe required to prevent the drive from overheating.

•Never use the drive where there is no airﬂow or where other devices cause the

surrounding air to be more than 40°C (104°F).

•Never put the drive where it can get wet.

•Never use the drive where metal or other electrically conductive particles can

inﬁltrate the drive.

•Always provide airﬂow around the drive. When mounting multiple RS drives

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

RS03/06-S/Q Hardware Manual

9 / 28 / 2015 +86-400-820-9661

2.3 Choosing a Power Supply

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

for the application.

2.3.1 Voltage

The RS driver is designed to give optimum performance between 24 and 70 Volts DC. Choosing

the voltage depends on the performance needed and motor/drive heating that is acceptable and/

or does not cause a drive over-temperature. Higher voltages will give higher speed performance

but will cause the RS driver to produce higher temperatures. Using power supplies with voltage

outputs that are near the drive maximum may signiﬁcantly reduce the operational duty-cycle.

The extended range of operation can be as low as 18 VDC minimum to as high as 75 VDC

maximum. When operating below 18 VDC, the power supply input may require larger capacitance

to prevent under-voltage and internal-supply alarms. Current spikes may make supply readings

erratic. The supply input cannot go below 18 VDC for reliable operation. Absolute minimum power

supply input is 18 VDC. If the Input supply drops below 18 VDC the low voltage alarm will be

triggered. This will not fault the drive.

Absolute maximum power supply input is 75 VDC at which point an over-voltage alarm and fault

will occur. When using a power supply that is regulated and is near the drive maximum voltage

of 75 VDC, a voltage clamp may be required to prevent over-voltage when regeneration occurs.

When using an unregulated power supply, make sure the no-load voltage of the supply does not

exceed the drive’s maximum input voltage of 75 VDC.

2.3.2 Regeneration Clamp

If a regulated power supply is being used, there may be a problem with regeneration. When a

load decelerates rapidly from a high speed, some of the kinetic energy of the load is transferred

back to the power supply, possibly tripping the over-voltage protection of a regulated power

supply, causing it to shut down. This problem can be solved with the use of a MOONS’RC880

Regeneration Clamp. It is recommended that an RC880 initially be installed in an application. If

the “regen”LED on the RC880 never ﬂashes, the clamp is not necessary.

LEDs

Green - Power

Red - Regen on

RC880 Regen Clamp

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