MSST

Step Motor Drive

UserManual
▪ MSST5-Q ▪ MSST5-Q
▪ MSST5-I ▪ MSST5-I
▪ MSST5-C ▪ MSST5-C

AMP & MOONS’ Automation

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Contents
1 Introduction................................................................................... 3
1.1 Features..............................................................................................3
1.2 Block diagram.....................................................................................4
2 Getting Started............................................................................. 5
2.1 Mounting the Drive..............................................................................7
2.2 Choosing a Power Supply..................................................................7
2.2.1 Voltage....................................................................................................7
2.2.2 Current....................................................................................................7
3 Connections.................................................................................. 9
3.1 Connecting the Power Supply............................................................9
3.2 Connecting the Motor.......................................................................10
3.3 Connecting an Encoder ................................................................... 11
3.4 Communications...............................................................................12
3.4.1 Connecting to the PC using RS-232.....................................................12
3.4.2 Connecting to a host using RS-485 option card....................................13
3.4.3 Assigning Multi-Drop Addresses............................................................16
3.4.4 Assigning CANopen Addresses.............................................................16
3.5 Inputs and Outputs...........................................................................17
3.5.1 Connector Pin Diagram.........................................................................17
3.5.2 High Speed Digital Inputs......................................................................18
3.5.3 Other Digital Inputs................................................................................20
3.5.4 Connecting Limit Switches....................................................................22
3.5.5 Analog Inputs.........................................................................................24
3.5.6 Programmable Outputs.........................................................................25
4 Troubleshooting.......................................................................... 27
5 Reference Materials................................................................... 28
5.1 Mechanical Outlines.........................................................................28
5.2 Technical Specifications....................................................................28
5.3 Torque Speed Curves.......................................................................29
5.4 Mating Connectors and Accessories................................................30
5.5 Connector Diagrams.........................................................................31
6 Contacting MOONS’................................................................... 32

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1 Introduction
Thank you for selecting a MOONS’ motor drive. We hope our dedication to performance, quality
and economy will make your motion control project successful.
If there’s anything we can do to improve our products or help you use them better, please call
(86)21-52634688 or fax (86)21-52634098. You can also email [email protected].

1.1 Features
▪▪ Programmable, microstepping digital step motor driver in compact package
▪▪ MSST5 operates from a 24 to 48 volt DC power supply
▪▪ MSST10 operates from a 24 to 80 volt DC power supply
▪▪ Operates in velocity or position mode
▪▪ Accepts analog signals, digital signals and RS-232 serial commands
▪▪ Optional RS-422/485 communication
▪▪ Optional encoder feedback
▪▪ MSST5 provides motor current up to 5 amps/phase (peak of sine)
▪▪ MSST10 provides motor current up to 10 amps/phase (peak of sine)
▪▪ Eight optically isolated digital inputs
▪▪ Four optically isolated digital outputs
▪▪ Two ±10 volt analog inputs for speed and position control. Can also be configured for 0 to
10V, ±5V or 0 to 5V signal ranges.

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1.2 Block diagram

The block diagram of MSST5/10-Q/I/C is as below

24 - 48 VDC*
Internal Status
INPUT X1
Logic
INPUT X2 Supply MOSFET
INPUT X3 PWM
INPUT X4 Power motor
INPUT X5 Amplifier
INPUT X6 Optical
X7/CWLIM
Isolation
Option Board encoder
X8/CCWLIM
OUTPUT Y1
OUTPUT Y2
OUTPUT Y3 DSP Mis
OUTPUT Y4 Chip
ANALOG IN1

ANALOG IN2
Option Board RS-485
to PC/MMI RS-232 (Optional on MSST-Q Drives only)

*24 - 80 VDC for MSST10

MSST5-I and MSST10-I

24 - 48 VDC*
Internal Status
INPUT X1
Logic
INPUT X2 Supply MOSFET
INPUT X3 PWM
INPUT X4 Power motor
INPUT X5 Amplifier
INPUT X6 Optical
X7/CWLIM
Isolation
Option Board encoder
X8/CCWLIM
OUTPUT Y1
OUTPUT Y2
OUTPUT Y3 DSP
OUTPUT Y4 Option Board CANopen
(Required on MSST-C Drives only)
ANALOG IN1 or RS485
(Optional on MSST-Q Drives only)

ANALOG IN2

to PC/MMI RS-232

*24 - 80 VDC for MSST10

MSST5-Q, MSST5-C, MSST10-Q and MSST10-C

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2 Getting Started
This manual describes the use of four different drive models. What you need to know and what
you must have depends on the drive model. For all models, you’ll need the following:

▪▪ a 24-48 volt DC power supply. (24 - 80VDC for MSST10 models). Please read the
section entitled Choosing a Power Supply for help in choosing the right power supply.
▪▪ a compatible step motor. See section on Recommended Motors.
▪▪ a small flat blade screwdriver for tightening the connectors (included).
▪▪ a personal computer running Microsoft Windows 98, 2000, NT, Me or XP.
▪▪ The MOONS’ CD (included)
▪▪ A MOONS’programming cable (included)
If you’ve never used an MSST drive before you’ll need to get familiar with the drive and the set
up software before you try to deploy the system in your application. We strongly recommend the
following:

1. For -Q drives, install the MSST Configurator and Q Programmer software applications from the
CD. For -I models, use the Mis Programmer software for configuration and programming.
For -C drives, install the ST Configurator and the CANopen Example Program softeware
applications
2. Launch the software by clicking Start...Programs...MOONS...

3. Connect the drive to your PC using the programming cable.

4. Connect the drive to the power supply.

5. Connect the drive to the motor.

6. Apply power to the drive.

7. The software will recognize your drive, display the model and firmware version and be ready for
action.

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The connectors and other points of interest are illustrated below. Depending on your drive model
and application, you’ll need to make connections to various parts of the drive. These are detailed
later in the manual.

HD-15 connector
● optional
encoder feedback

screw terminal
connector
● optional RS-485 port

spring terminal
connector
and rotary switches
● optional CANopen interface

RJ45 connector and

rotary address switch
● optional Ethernet interface

grounding screw terminal DB-25 connector

screw connector ● digital inputs
● motor LEDs
● digital outputs
● power supply ● status&error codes RJ11 connector
● analog input
● RS-232
port

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2.1 Mounting the Drive

You can mount your drive on the wide or the narrow side of the chassis using #6 screws. If
possible, the drive should be securely fastened to a smooth, flat metal surface that will help
conduct heat away from the chassis. If this is not possible, then forced airflow from a fan may be
required to prevent the drive from overheating.

▪▪ Never use your drive in a space where there is no air flow or where other
devices cause the surrounding air to be more than 40°C.
▪▪ Never put the drive where it can get wet or where metal or other electrically
conductive particles can get on the circuitry.
▪▪ Always provide air flow around the drive. When mouting multiple ST drives
near each other, maintain at least one half inch of space between drives.

2.2 Choosing a Power Supply

When choosing a power supply, there are many things to consider. If you are manufacturing
equipment that will be sold to others, you probably want a supply with all the safety agency
approvals. If size and weight are an issue use a switching supply.

You must also decide what size of power supply (in terms of voltage and current) is needed for
your application.

2.2.1 Voltage
PWM drives work by switching the voltage to the motor terminals on and off while monitoring
current to achieve a precise level of phase current. To do this efficiently and silently, you’ll want to
have a power supply with a voltage rating at least five times that of the motor. Depending on how
fast you want to run the motor, you may need even more voltage than that.

If you choose an unregulated power supply supply , make sure the no load voltage of the
supply does not exceed the drive’s maximum input voltage specification.

2.2.2 Current
The maximum supply current you could ever need is the sum of the two phase currents. However,
you will generally need a lot less than that, depending on the motor type, voltage, speed and load
conditions. That’s because the MSST drives use switching amplifiers, converting 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 you’ll need from the power supply. A motor running from a 48
volt supply can be expected to draw only half the supply current that it would with a 24 volt supply.

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We recommend the following selection procedure:

1. If you plan to use only a few drives, get a power supply with at least twice the rated phase
current of the motor.

2. If you are designing for mass production and must minimize cost, get one power supply with
more than twice the rated current of the motor. Install the motor in the application and monitor
the current coming out of the power supply and into the drive at various motor loads. This will
tell you how much current you really need so you can design in a lower cost power supply.

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3 Connections
3.1 Connecting the Power Supply
If you need information about choosing a power supply, please read Choosing a Power Supply
located elsewhere in this manual.

Connect the motor power supply “+” terminal to the driver terminal labeled “VDC”. Connect power
supply “-” to the drive terminal labeled “GND”. Use 18 or 20 gauge wire. The MSST drives contain
an internal fuse that connect to the power supply + terminal. This fuse is not user replaceable. If
you want to install a user servicable fuse in your system install a fast acting fuse in line with the +
power supply lead. Use a 4 amp fuse for the MSST5 drives and 7 amps for the MSST10.

The green ground screw on the corner of the chassis should be connected to earth ground.

Be careful not to reverse the wires. Reverse connection will destroy your driver, void your
warranty and generally wreck your day.

If you plan to use a regulated power supply you may encounter a problem with regeneration. If you
rapidly decelerate a load from a high speed, much of the kinetic energy of that load is transferred
back to the power supply. This can trip the overvoltage protection of a switching power supply,
causing it to shut down. We offer the RC050 “regeneration clamp” to solve this problem. If in
doubt, buy an RC050 for your first installation. If the “regen” LED on the RC050 never flashes, you
don’t need the clamp.

RC050 Regen Clamp

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3.2 Connecting the Motor

Never connect or disconnect the motor while the power is on.

Four lead motors can only be connected one way. Please follow the sketch at the right.

Red
A+ 4
Lead
motor
A-
Blue

Yellow White
B+ B-

4 Leads

Six lead motors can be connected in series or center tap. In series mode, motors produce more
torque at low speeds, but cannot run as fast as in the center tap configuration. In series operation,
the motor should be operated at 30% less than the rated current to prevent overheating. Winding
diagrams for both connection methods are shown below. NC means not connected.

A- A-

6 6
NC Lead A+ Lead
motor motor
A+ NC

B- NC B+ B- B+ NC

6 Leads Series Connected 6 Leads Center Tap Connected

Eight lead motors can also be connected in two ways: series and parallel. As with six lead
motors, series operation gives you less torque at high speeds, but may result in lower motor
losses and less heating. In series operation, the motor should be operated at 30% less than the
unipolar rated current. Thye motors recommended on page 26 should be connected in parallel.
The wiring diagrams for eight lead motors are shown on the next page.

A+ A+

8 8
Lead Lead
motor motor

A- A+

B+ B- B+ B-
8 Leads Series Connected 8 Leads Center Tap Connected

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3.3 Connecting an Encoder (Requires the optional Encoder Feedback Card)

The encoder connections use a HD-15 connector, which you must connect to your encoder as
shown below. See back page for mating connector information.

If your encoder is single ended, connect the encoder

outputs to the A+, B+ and Z+ inputs. Leave A-, B-
and Z- unconnected. (Z is the encoder index signal
and is optional.)

Pin Assignments (facing drive)

Internal Circuit

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3.4 Communications

3.4.1 Connecting to the PC using RS-232

▪▪ Locate your computer within 8 feet of the drive.
▪▪ If you have a CANopen drive, you still need to connect to the RS232 port on your PC to
configure the drive, and download Q Programs, if necessary. Once configuration is complete,
refer to the CANopen Manual for information on using your CANopen drive.
▪▪ Your drive was shipped with a communication cable. Plug the large end into the serial port of
your PC and the small end into the PC/MMI jack on your drive. Secure the cable to the PC
with the screws on the sides.
Never connect a drive to a telephone circuit. It uses the same connectors and cords as
telephones and modems, but the voltages are not compatible.

If your PC does not have a serial port, you should purchase a “USB Serial Converter”. We have
had good results with the Port Authority “USB Serial DB9” Adapter from CablesToGo.com and
with the SW1301 from SewellDirect.com.For 64 bit XP and Vista systems, the recommended USB
serial adapter is USB-COM-CBL from byterunner.com. This adapter also works for 32 bit Windows
systems.

For laptops, a PCMCIA converter card is a good choice. Our applications engineers use the SSP-
100 from Sewell Direct.

ground (to PC ground) RX (to PC TX)

TX (to PC RX) No connection

Pin Assignments of the PC/MMI Port

(RJ11 connector)

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3.4.2 Connecting to a host using RS-485 option card

RS-485 allows you to connect more than one drive to a single host PC, RS-485/422
PLC, HMI or other computer. It also allows the communication cable to be

GND
RX+
RX–
TX+
TX –
long (more than 1000 feet). But the device to which you connect must have
an RS-485 port.

Pin diagram is shown to the right. Wiring diagrams can be found on the
next page. We recommend the use of Category 5 cable. It is widely used
for computer networks, it is inexpensive, easy to get and certified for quality
and data integrity.

The ST drives can be used with either two wire or four wire RS-485 implementations. The
connection can be point to point (i.e. one drive and one host) or a multi-drop network (one host
and up to 32 drives).

Four Wire Systems utilize separate transmit and receive wires. One pair of wires must connect the
host computer’s transmit signals to each drive’s RX+ and RX- terminals. Another pair connects
the TX+ and TX- drive terminals to the host computer’s receive signals. A logic ground terminal
is provided on each drive and can be used to keep all drives at the same ground potential. This
terminal connects internally to the DC power supply return (V-), so if all the drives on the RS-
485 network are powered from the same supply it is not necessary to connect the logic grounds.
You should still connect one drive’s GND terminal to the host computer ground.

Four wire systems are better than two wire types because the host can send and receive data
at the same time, increasing system throughput. Furthermore, the host never needs to disable its
transmitter, which simplifies your software.

RS-485 Four Wire System

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RS-232 to RS-485 4-wire Converter

22-25AL (25-pin) from Integrity Instruments (http://www.rs-485.com).

Connect as follows:

adaptor drive
T+ RX+
T- RX-
R+ TX+
R- TX-
SHLD GND

Requires a 7.5 to 24 Volt power supply

USB to RS-422/485 4-wire Converter

IR-1401B from Beijing itRob Intelligent Telecommunication Co. (http://www.itrob.cn/2_Products/2_

Products_IR-1401B.htm).

adaptor drive
T+ RX+
T- RX-
R+ TX+
R- TX-
SHLD GND

The +5V of the converter is not used

Two-Wire Configuration

Two Wire Systems transmit and receive on the same pair of wires, which can lead to trouble. The
host must not only disable its transmitter before it can receive data, it must do so quickly, before
a drive begins to answer a query. The MSST drives include a “transmit delay” parameter that can
be adjusted to compensate for a host that is slow to disable its transmitter. This adjustment can
be made over the network using the TD command, or it can be set using the ST Configurator
software. It is not necessary to set the transmit delay in a four wire system.

RS-485 Two Wire System

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RS-232 to RS-422/485 2-wire Converter:

485-25EL (25-pin) or 485-9E (9-pin) from Integrity Instruments (http://www.rs-485.com).Connect

the adaptor’s “B” pin to the STM17S’s TX+ and RX+ terminals. Connect the “A” pin to the drive’s
TX- and RX- terminals.

Connect as follows:

adaptor drive
B RX+
A RX-
B TX+
A TX-
SHLD GND

Requires a 7.5 to 24 Volt power supply

USB to RS-422/485 2-wire Converters

USB-COMi-M from byterunner technologies (http://www.byterunner.com). Set SW1 to ON and

SW2-4 to OFF. Connect pin 1 of the converter to RX- and TX-. Connect pin 2 to RX+ and TX+. Pin
6 is ground. The DB-9 is not used.

Connect as follows:

adaptor drive
PIN2 RX+
PIN1 RX-
PIN2 TX+
PIN1 TX-
PIN6 GND

IR-1401B from Beijing itRob Intelligent Telecommunication Co. (http://www.itrob.cn/2_Products/2_

Products_IR-1401B.htm). Connect D+ of the converter to RX+ and TX+ of the drive. Connect D-
of the converter to RX- and TX- of the drive. Connect GND of the converter to GND of the drive.
The +5V, R+ and R- connections of the converter are not used. The converter will automatically
operate in 2-wire mode.

Connect as follows:

adaptor drive
D+ RX+
D- RX-
D+ TX+
D- TX-
GND GND

The +5V of the converter is not used

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3.4.3 Assigning Multi-Drop Addresses

Before wiring the entire system, you’ll need to connect each drive individually to the host computer
so that a unique address can be assigned to each drive. Use the programming cable and the ST
Configurator software that came with your drive for this purpose.

Connect the drive to your PC, then launch the ST Configurator software. Finally, apply power to
your drive. If you have already configured your drive, then you should click the Upload button so
that the ST Configurator settings match those of your drive. Click on the Motion button, then select
the “SCL” operating mode. If you have a Q drive, you may want to select “Q Programming”. Either
way, you’ll see the RS-485 Address panel appear. Just click on the address character of your
choice. You can use the numerals 0..9 or the special characters ! “ # $ % & ‘ ( ) * + , - . / : ; < = >
? @ . Just make sure that each drive on your network has a unique address. If you are using a 2
wire network, you may need to set the Transmit Delay, too. 10 milliseconds works on the adapters
we’ve tried. Once you’ve made your choices, click Download to save the settings to your drive.

3.4.4 Assigning CANopen Addresses

Each node on a CANopen system must have a unique Node ID. Valid ranges for the Node ID are
0x01 through 0x7F. Node ID 0x00 is reserved in accordance with DS301. The Node ID is selected
using two rotary switches; one sixteen position switch and one eight position switch. The sixteen
position switch is located just to the left of the CANopen connector. The eight position switch
is located inside the drive, and may only be accessed by removing the cover of the drive. It is
recommended that the internal switch be left at the factory default setting ?? However, if additional
Node IDs are required, it is possible to access them using the internal switch.

The Node ID is a concatenation of the two switch values. To set the Node ID to 0x3B, for example,
turn the internal eight position switch to the value “3”, and the sixteen position switch to the value
“B”.

Please refer to the CANopen manual for more information.

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3.5 Inputs and Outputs

The ST drives have three types of inputs:

▪▪ high speed digital inputs for step & direction commands

▪▪ digital inputs for other signals, 12 - 24 volt logic
▪▪ analog inputs for analog speed and positioning modes
All drives include eight digital inputs and two analog inputs.

▪▪ CW & CCW Limit: can be used to inhibit motion in a given direction, forcing the motor and load
to travel within mechanical limits. Can be configured for active closed, active open or not used.
▪▪ IN1/STEP & IN2/DIR: digital signals for commanding position. Quadrature signals from
encoders can also be used. These inputs can also be connected to sensors, switches and
other devices for use with Q and I commands such as Wait Input, Seek Home, Feed to
Sensor, If Input and others.
▪▪ IN3,4,5,6: software programmable inputs can be used for motor enable, alarm reset or
jogging. These inputs can also be connected to sensors, switches and other devices for use
with Q and I Wait Input, Seek Home, Feed to Sensor, If Input and other commands.
▪▪ Analog In: analog velocity or position command signal. Can be configured for 0-10V, 0-5V,
±10V or ±5V, with or without offset.

3.5.1 Connector Pin Diagram

1
14
2
3 15
4 16
5 17
6 18
7 19
20
8
21
9
10 22
11 23
12 24
13 25

IN/OUT1 (DB-25) Connector

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3.5.2 High Speed Digital Inputs

The ST-Q and ST-I drives include two high speed inputs called STEP and DIR. They accept 5 volt
single-ended or differential signals, up to 2 MHz. Normally these inputs connect to an external
controller that provides step & direction command signals. You can also connect a master encoder
to the high speed inputs for following applications. Or you can use these inputs with Wait Input, If
Input, Feed to Sensor, Seek Home and other such commands.

Connection diagrams follow.

Connecting to indexer with Sourcing Outputs

Connecting to Indexer with Sinking Outputs

Connecting to Indexer with Differential Outputs

(Many High Speed Indexers have Differential Outputs)

A+ X1/STEP+
A- X1/STEP-
-I or -Q
drive

Master
Encoder B+ X2/DIR+
B- X2/DIR-
GND GND

Wiring for Encoder Following

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Using High Speed Inputs with 12-24 Volt Signals

Most PLCs don’t use 5 volt logic. You can connect signal levels as high and DIR inputs if you add
external dropping resistors, as shown below.

▪▪ For 12 volt logic, add 820 ohm, 1/4 watt resistors

▪▪ For 24 volt logic, use 2200 ohm, 1/4 watt resistors
The maximum voltage that can be applied to an input terminal is 24 volts DC. Never apply
AC voltage to an input terminal.

+12-24V
OUT1 X2/DIR+
PLC R
with
Sourcing X1/STEP- DRIVE
R
Outputs OUT2 X1/STEP+
GND X2/DIR-

Connecting to PLC with Sourcing (PNP) Outputs

(Most PLC’s use 24 volt logic)

+12-24V X2/DIR+
PLC
with DIR X2/DIR-
Sinking R DRIVE
Outputs X1/STEP+
R
STEP X1/STEP-

Connecting to PLC with Sinking (NPN) Outputs

(Most PLC’s use 24 volt logic)

+ X2/DIR+
direction switch
+24VDC X2/DIR-
Power 2200 DRIVE
Supply run/stop switch
X1/STEP+
(closed=run) 2200
- X1/STEP-

Using Mechanical Switches at 24 Volts

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3.5.3 Other Digital Inputs

As we mentioned in the previous section, the high
speed STEP and DIR inputs are configured for five
volt logic. All other digital inputs are designed for
operation between 12 and 24 volts DC.

Single Ended Inputs

The MSST drives include four single ended, optically
isolated input circuits that can be used with sourcing
or sinking signals, 12 to 24 volts. This allows
connection to PLCs, sensors, relays and mechanical
switches. Because the input circuits are isolated, they
require a source of power. If you are connecting to a
PLC, you should be able to get power from the PLC
power supply. If you are using relays or mechanical
switches, you will need a 12-24 V power supply. This
also applies if you are connecting the inputs to the programmable outputs of an I product from
MOONS’.

What is COM?
“Common” is an electronics term for an electrical connection to a common voltage. Sometimes
“common” means the same thing as “ground”, but not always. In the case of the ST drives, if you
are using sourcing (PNP) input signals, then you will want to connect COM to ground (power
supply -). If you are using sinking (NPN) signals, then COM must connect to power supply +.

Note: If current is flowing into or out of an input, the logic state of that input is low or
closed. If no current is flowing, or the input is not connected, the logic state is high or
open.

The diagrams on the following pages show how to connect the inputs to various commonly used
devices.

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+ XCOM
12-24
VDC
switch or relay DRIVE
Power (closed=logic low)
Supply - X3..X6

Connecting an Input to a Switch or Relay

+
DRIVE 12-24
XCOM

IN/OUT1
VDC
OUT+ X3..X6 Power
Supply
OUT– -

Connecting another I drive to the MSST

(When output closes, input goes low).

12-24 + XCOM
VDC +
NPN output
Power Proximity X3..X6
Supply - Sensor
– DRIVE

Connecting an NPN Type Proximity Sensor to an input

(When prox sensor activates, input goes low).

Connecting a PNP Type Proximity Sensor to a an input

(When prox sensor activates, input goes low).

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3.5.4 Connecting Limit Switches

The CWLIMIT and CCWLIMIT inputs are used for connecting end of travel sensors. These
inputs are differential, which allows you to use signals that are sinking (NPN), sourcing (PNP) or
differential (line driver). By connecting switches or sensors that are triggered by the motion of the
motor or load, you can force the motor to operate within certain limits. This is useful if a program
or operator error could cause damage to your system by traveling too far.

The limit inputs are optically isolated. This allows you to choose a voltage for your limit circuits of
12 to 24 volts DC. This also allows you to have long wires on limit sensors that may be far from
the drive with less risk of introducing noise to the drive electronics. The schematic diagram of the
limit switch input circuit is shown below.

Wiring a Mechanical Limit Switch

You can use normally open or normally closed limit switches. Either way, wire them as shown
here. Be sure to set the polarity using the Mis Programmer for I drives or the ST Configurator
software for the MSST5-Q and MSST10-Q,MSST5-C and MSST10-C.

CW LIMIT+

CCW LIMIT+
+ DRIVE
12-24
VDC CW LIMIT-
SUPPLY
-
CCW LIMIT-

Wiring a Limit Sensor

Some systems use active limit sensors that produce a voltage output rather than a switch or relay
closure. These devices must be wired differently than switches.

If your sensor has an open collector output or a sinking output, wire it like this:

CW LIMIT+

+ + DRIVE
DC output
Power Limit CW LIMIT-
Supply Sensor
– –

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If the sensor output goes low at the limit, select the option “closed” (in the software). If the output
is open, or high voltage, choose “open”.

Other sensors have sourcing outputs. That means that current can flow out of the sensor output,
but not into it. In that case, wire the sensor this way:

+ +
DC output
Power Proximity CW LIMIT+
Supply Sensor
– – DRIVE
CW LIMIT-

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3.5.5 Analog Inputs

The MSST drives feature two analog inputs. Each input
can accept a signal range of 0 to 5 VDC, ±5 VDC, 0 to 10
VDC or ±10 VDC. The drive can be configured to operate
at a speed or position that is proportional to the analog
signal.

Use the ST Configurator software to set the signal range,

offset, deadband and filter frequency.

18
+5V OUT

DRIVE
cw
1
1-10kΩ
pot AIN
ccw 13
GND

Connecting a Potentiometer to Analog Input 1

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3.5.6 Programmable Outputs

The MSST drives feature four digital outputs. These outputs
can be set to automically control a motor brake, to signal a
fault condition, to indicate when the motor is moving or to
provide an output frequency proportional to motor speed
(tach signal). Or the outputs can be turned on and off by
program instructions like Set Output.

The outputs can be used to drive LEDs, relays and the

inputs of other electronic devices like PLCs and counters.
For OUT4, the “+” (collector) and “-” (emitter) terminals of
each transistor are available at the connector. This allows
you to configure each output for current sourcing or sinking.
The OUT1-3 outputs can only sink current. The COM terminal must be tied to power supply (-).

Diagrams of each type of connection follow.

Do not connect the outputs to more than 30VDC.
The current through each output terminal must not exceed 100 mA.

Sinking Output
Using Y4

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Sourcing Output
Y1, Y2 or Y3

Sourcing Output
Using Y4

Driving a Relay
Y1, Y2 or Y3

Driving a Relay
Using Y4

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4 Troubleshooting
Alarm Codes

In the event of an error, the green LED on the main board will flash one or two times, followed by a
series of red flashes. The pattern repeats until the alarm is cleared.

Code Error
solid green no alarm, motor disabled
flashing green no alarm, motor enabled
1 red, 1 green motor stall (optional encoder only)
1 red, 2 green move attempted while drive disabled
2 red, 1 green ccw limit
2 red, 2 green cw limit
3 red, 1 green drive overheating
3 red, 2 green internal voltage out of range
4 red, 1 green power supply overvoltage

4 red, 2 green power supply undervoltage

5 red, 1 green over current / short circuit

5 red, 2 green motor resistance out of range

6 red, 1 green open motor winding

6 red, 2 green bad encoder signal (optional encoder only)

7 red, 1 green serial communication error

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5 Reference Materials
5.1 Mechanical Outlines

120.5
15.5

76
50.3

44.5

6-4.1
17

127
Unit:mm

5.2 Technical Specifications

Digital MOSFET. 20 kHz PWM.
Amplifier MSST5: 18 - 53 VDC, motor current: 0.2 to 5.0 amps/phase peak of sine
MSST10: 18 - 88 VDC, motor current: 0.2 to 10 amps/phase peak of sine
Step & Direction: differential, optically isolated, 5V logic. 330 ohms internal
resistance.
0.5 µsec minimum pulse width. 2 µsec minimum set up time for direction
Digital Inputs
signal.
All other digital inputs: optically isolated, 12 - 24V logic. 2200 ohms.
Maximum current: 10 mA.
Analog Inputs ±10VDC, 12 bit ADC, 100k ohms internal impedance.
Outputs Photodarlington, 100 mA, 30 VDC max. Voltage drop: 1.2V max at 100 mA.
1.775 x 3 x 5 inches (45.1x76.2x127mm)overall. 10 oz (280 g)
Physical
Ambient temperature range: 0°C to 40°C.

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5.3 Torque Speed Curves

14HYB401-03 17HD4435-02N
Drive: MSST5 Drive: MSST5
Microstep: 20000 steps/rev 24V 36V Microstep: 20000 steps/rev 24V 36V
Current: 1.4A(Peak) Current: 1.8A(Peak)
180 300
150 250
Torque(mN m)

Torque(mN m)
. 120 . 200

90 150
60 100
30 50
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps) Speed(rps)

17HD6404-05N 23HS2442-05
Drive: MSST5 Drive: MSST5
Microstep: 20000 steps/rev 24V 36V Microstep: 20000 steps/rev 24V 36V 48V
Current: 1.8A(Peak) Current: 4A(Peak)
360 1.0
300 0.8
Torque(mN m)

. 240
Torque(N m)

. 0.6
180
0.4
120
0.2
60
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps) Speed(rps)

23HS3442-06 24HS5401-10N
Drive: MSST5 Drive: MSST10
Microstep: 20000 steps/rev 24V 36V 48V Microstep: 20000 steps/rev 24V 48V
Current: 4.2A(Peak) Current: 4A(Peak)
1.5 2.4

1.2 2.0

. 1.6
Torque(N m)

Torque(N m)

. 0.9
1.2
0.6
0.8
0.3
0.4
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps) Speed(rps)

34HD0801-2 34HD1801-02
Drive: MSST10 Drive: MSST10
Microstep: 20000 steps/rev 24V 60V Microstep: 20000 steps/rev 24V 48V
Current: 6.3A(Peak) Current: 6.3A(Peak)
2.4 4.8
2.0 4.0

. 1.6 . 3.2
Torque(N m)

Torque(N m)

1.2 2.4
0.8 1.6
0.4 0.8
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Speed(rps) Speed(rps)

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5.4 Mating Connectors and Accessories

Mating Connectors

Motor/power supply: PCD P/N ELV06100, included with drive. IN/OUT1: DB-25 male. AMP P/N
747912-2. Shell Kit AMP P/N748678-3. Included. Optional encoder feedback: HD-15 male.
Norcomp P/N 180-015-102-001. Shell Kit AMP P/N 748678-1. Not included.

Accessories

Breakout Box for DB-25 Connector

BOB-1, includes cable

Screw Terminal Connectors that mate directly to the DB-25 connector on the front panel of the
drive:

Phoenix Contact P/N 2761622

This connector is not available from MOONS’. You must purchase it from a
Phoenix distributor.

Mating Cable for IN/OUT connector with “flying leads”

Black Box P/N: BC00702
This cable is not available from MOONS’. You must purchase it from Black Box.
Useful for custom wired applications. This shielded cable has a DB-25 connector on each
end. You can cut off the female end to create a 6 foot “DB-25 to flying lead cable”.
It’ll be easier to wire if you get the cable color chart from Black Box’s web site.

Regeneration Clamp:
MOONS’ Products RC050.

Operator Terminal (- I drives only)

MOONS’Products MMI-01 or MMI-02 (backlit).

Recommended CANopen USB Adapter (-C drives only)

Kvaser LeafLight HS This adapter is not available from MOONS’.

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5.5 Connector Diagrams

1
14
2
3 15
4 16
5 17
6 18
7 19
20
8
21
9
10 22
11 23
12 24
13 25

DB-25 I/O Connector HD-15 Encoder Connector

RS-485/422

GND
RX+
RX–
TX+
TX–

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6 Contacting MOONS’
Headquarters
168 Mingjia Road, Minhang District,
Shanghai 201107, P.R.China
Tel: +86 (0)21 52634688
Fax: +86 (0)21 52634098

Shenzhen Branch Office

Room 2209, 22/F, Kerry Center, 2008 Renminnan Road, Luohu District,
Shenzhen 518001, P.R.China
Tel: +86 (0)755 25472080
Fax: +86 (0)755 25472081

Beijing Branch Office

Room 609, Jade Palace Office Building, 76.Zhichun Road, Haidian District,
Beijing 100086，P.R.China
Tel: +86 (0)10 62638196
Fax: +86 (0)10 62638195

Nanjing Branch Office

Room 302, Building A, Tengfei Creation Center, 55 Jiangjun Road, Jiangning District,
Nanjing 211100, P.R. China
Tel: +86 (0)25 52785841
Fax: +86 (0)25 52785485

Qingdao Branch Office

Room E, 10th Floor, 73 Wangjiao Mansion, Hongkong Middle Road, Shinan District,
Qingdao 266071, P.R. China
Tel: +86 (0)532 85879625
Fax: +86 (0)532 85879512

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

Via Torri Bianche n.1 20059 Vimercate(MB) Italy
Tel: +39 039 62 60 521
Fax: +39 039 96 31 409

Service Center
+86-400-820-9661

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