INSTALLATION MANUAL

SST-6000, SST-3100
SERVO DRIVES AND MOTORS
COVERS –UXX AND –TXX MODELS

VERSION 2.1/DECEMBER 16, 2008

TEKNIC, INC FAX (585)784-7460 VOICE (585)784-7454

THIS PAGE INTENTIONALLY LEFT BLANK
TABLE OF CONTENTS
TABLE OF CONTENTS .................................................1
OVERVIEW...................................................................3
ELECTRICAL INSTALLATION ........................................4
CE Use Instructions ...................................................................... 4
Power Input/Distribution ..............................................................5
AC Power Input ..................................................................5
Regeneration Hook-Up ..................................................... 6
Optimum Power Distribution: DC Power Bussing ............7
Grounding & Shielding Requirements.......................................... 9
Important Grounding Rules ......................................................... 9
Controller Interface......................................................................10
Pin Descriptions (J1)........................................................10
Digital Drive Interface......................................................10
Wiring The Output Control Signals (HLFB and
Ready) 11
Simplified, High Reliability Interface .............................. 11
High Level Feedback (HLFB) Signal Operation 12
Step & Direction Signaling 14
Using Differential Step & Direction Signals 17
Analog Command Interface .............................................18
Limit Switch Wiring .........................................................18
Limit Switch Modes 19
HardStop Homing (no limit switches required!) ............19
Motor Cable Construction........................................................... 20
Machine Safety Wiring.................................................................21
The Safety Connector .......................................................21
Motor Phase Interrupt/Dynamic Brake ......................... 23
Backup Power.................................................................. 24
Encoder Power Backup 24
Logic Power Backup 25
Diagnostic Connector Functions................................................. 25
Real-time Monitor port................................................... 25
RS-232 Configuration Port ............................................. 26
Hooking Multiple Drives to one Serial Port ............................... 26
MECHANICAL INSTALLATION.....................................29
Drive Mounting ........................................................................... 29
Current Ratings for Various Mounting Configurations . 30
Optional Fan Mounting & Wiring............................................... 30
Fan Preparation and Mounting .......................................31
MOTOR OUTLINES ....................................................32
M4780 ......................................................................................... 32
M3471, M3476............................................................................. 32
M3462, M3463............................................................................ 33
APPENDIX A: LINKS TO 3RD PARTY COMPONENT
DATASHEETS ............................................................34
APPENDIX B: STANDARD CABLE DRAWINGS ...........35
Cable Construction Tips...............................................................35
Motor Cable for M3463, M3462, M3471 and M3476 motors .....37

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2 VERSION2.1/DECEMBER 16, 2006

M4780 Motor Cable (Power Version) .........................................38

M4780 Motor Cable (Torque Version)........................................39
TG-DCC-6000: TG-540 to SSt-6000/3100 Interface Cable ..... 40
SSt-DL-TAP.................................................................................. 41
SSt-DL-HOST ..............................................................................42
SSt-DL-EXT .................................................................................43
DC Bus Jumper Cable ..................................................................44
APPENDIX C: REVERSING A MOTOR’S NATURAL
DIRECTION ................................................................ 45
APPENDIX D: AUDITING THE CONTROL SIGNALS ...... 46
Controller Connector ...................................................................46
Step & Direction Signals .................................................. 47
Auditing TTL Step and Direction Signals 48
Auditing Differential Step and Direction Signals 51
Encoder Signals ...............................................................52
Auditing the Encoder Signals (basic) 53
Auditing the Encoder Signals (Differential) 55
Other digital inputs..........................................................58
Digital Outputs.................................................................58
Safety Connector..........................................................................58
Motor Connector..........................................................................58
APPENDIX E: INSTALLATION GOLDEN RULES ......... 59
Grounding & Shielding ....................................................59
Power................................................................................59
Motor cables.....................................................................59
Controller/Indexer Interfacing....................................... 60
APPENDIX F: QUICK REFERENCE............................. 61
Specifications ............................................................................... 61
Connector Pinouts .......................................................................62
SST-6000/3100 INSTALLATION 3

OVERVIEW
The SSt-6000/3100 servo drives have been designed to simplify
installation in OEM production environments. The electrical,
mechanical, and operational features are designed to support simple,
repeatable production of complex machines. Examples of this include:
z Operational features added to eliminate sensors and simplify
control harness wiring.
z Electrical and operational features added to help OEMs meet
compliance agency requirements including electrical safety, RF
compatibility and machine safety.
z Connectors selected specifically for wide availability of mating
connectors and commonly available tooling at harness shops.
z Rapid configuration and built-in troubleshooting tools to help
simplify and speed up development, production, and field service.
All of these features significantly reduce the total cost of ownership of SSt
servo drives in OEM equipment.

Easy CE compliance without shield clamps, AC or DC power input.

without ferrite slugs,
without conduit or secondary enclosure(s).

Built-in regeneration load control. Full power/control electrical isolation

AC POWER
DIGITAL AC S ERVO DRIVE

for easy electrical safety compliance.

All-Digital: No DIP switches, pots, DC BUS Access to the DC BUS for increased peak power
jumpers or selectable components; 120-370 VDC and reduced cost in multi-axis applications.
rapid configuration with a PC. 100 J

DC SUPPLY MUST
BE INRUSH LIMITED
SEE MANUAL

Hook multiple units to one serial port

for status information and configuration.
Hard Stop Homing feature
STATUS
can eliminate the need for
DIAGNOSTIC
home and/or limit switches. RS-232
Oscilloscope Diagnostic scope port helps diagnose
mechanics and software problems.
Versatile electrical control interface
mates easily with all servo controllers CONTROLLER
COMMAND
or stepper indexers.
9
18
26

LIMITS
FEEDBACK High level digital feedback output
simplifies control software requirements.
19

1
10

3rd Generation Vector Torque control

provides for higher accuracy positioning SYNCHRONOUS
S-VECTOR Popular OEM style connectors
with smaller motors. TECHNOLOGY
Allow you to inexpensively make your own
SAFETY high performance cables in production.
E-STOP
BRAKE
Backup power can be provided BACKUP -
POWER
for encoder and/or communications.
TEKNIC, INC. MOTOR
Dedicated Machine Safety Functions:
WWW.TEKNIC.COM
Brake Output and ARM Input
simplify safety wiring in your machine.

True RMS thermal limiting reliably protects motor.

SSt-6000/3100 Installation Features

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4 VERSION2.1/DECEMBER 16, 2006

ELECTRICAL INSTALLATION
The figure below illustrates one possible set of interconnections that
might be used when installing the SSt-6000/3100 into your machine
project. This diagram is intended to provide a general overview of an
example SSt-6000/3100 installation. While significant detail is provided
in this diagram, it should not be used as a definitive reference. Many time
and cost saving details are shown in the schematic fragments and text
that follow. The reader is strongly advised to read this entire section as
well as the “Golden Rules” of installation found in Appendix E before
integrating the SSt-6000/3100 servo drives into a machine.

SAFETY (P6)
SSt-6000/3100
EMO & INTERLOCKS
BRK-OUT+
1
24VDC BRK-OUT-
MOTOR (P2)
SUPPLY 500 mA max 5 PWM
ARM+ R
2 4
POWER-OFF BRAKE
ARM- S MOTOR
6 3
T
GND 3 2
CHASSIS See important
GND 7 1 grounding rules
+5V-OUT 8

+5V-BCKUP 4 TO DSP SUPPLY

T-STAT
6
CONTROL (J1)
T-STAT RET.
7
A A
11 14
A~ A~
2 15
B B
12 16
B~ B~
3 17 ENCODER
I I
13 18
I~ I~
4 19
CONTROLLER/INDEXER

STEP+ COMM-R
18 9
(typical connections)

STEP- COMM-S
25 10
DIR+ COMM-T
9 11
DIR- +5v GND
26 12
S & D DIFF~ +5V-OUT
21 13
GND
22 8 +5V-OUT
Selects Step & Dir input
ANALOG+ mode. Hook to GND for GND
16 20
differential signals.
ANALOG-
24
A GND +5v
23
AC IN & REGEN (P8)
ENABLE~
8
AC
MODE 2
15 EMI FILTER
CHASSIS
READY~ 1 SCHAFFNER 90-240VAC
17
AC 350-12-29
HLFB~ 3
7
REGEN +
+5V-ENC 5
+5v Output 14
REGEN -
4 25 MIN
CHASSIS
19
+5v

+LIMIT
10 DIAGNOSTIC (P5)
GND Rx
5 2
LIMIT SENSORS +5V-OUT
20 1
Tx RS-232 *
(OPTICAL SHOWN) GND +5v
6 GND
3
-LIMIT O-SCOPE *
1 5
MON jw

1 2 3 1 2 3
* USED DURING SETUP
AND CONFIGURATION
#10-32
MOUNTING HOLE
DC BUS (P3) DC BUS (P4) (ON REAR FACE)
120-370VDC PROTECTIVE EARTH GROUND

Typical SSt-6000/3100 Hookup

CE USE INSTRUCTIONS
You may notice that there is no section in this manual entitled
“Regulatory Compliance” with special instructions. That’s because there
SST-6000/3100 INSTALLATION 5

is no special additional installation work required for your installation to

comply with CE electrical safety (LVD) and electromagnetic interference
requirements. If you follow the simple instructions in this manual your
installation should meet the following EN specifications:
EN 61010 “Safety requirements for electrical equipment for
measurement, control and laboratory use” This
standard covers hazards from electrical shock, fire,
excessive temperature and radiation.
EN 50081-2 “Electromagnetic compatibility- Generic emission
standard: Part 2 Industrial environment” This standard
covers conducted and radiated RF emissions. Testing
was done to the limits in EN 55022, Class A.
EN 50082-2 “Electromagnetic compatibility- Generic immunity
standard: Part 2 Industrial environment” This standard
covers immunity to Electrical Fast Transients (EN
61000-4-4) caused typically by power switching relays,
Surges (EN 61000-4-5) caused typically by lightning,
Electro-Static Discharge (EN 61000-4-2) usually caused
by personnel, conducted and radiated RF immunity
(EN 61000-4-6 & EN 61000-4-3 respectively) caused by
radio communication or other industrial equipment.
Wherever possible, we have referenced the applicable standards and
terminology used in the EN documents.

POWER INPUT/DISTRIBUTION
Power can be supplied to the SSt-6000/3100 drives via the AC line
connector (P8) or by the DC bus ports provided on the front panel (P3,
P4). Supplying single phase AC power is the simplest. However,
supplying DC power derived from a 3 phase AC source can boost the peak
power output of the drives by up to 50%1. Contact your Teknic sales
engineer for an application note.
The DC ports can also be used to allow sharing of the bus capacitors
when powering from a single phase source, often boosting the peak
power and eliminating or reducing the need for external regeneration
resistors (see below).

AC POWER INPUT
The SSt-6000/3100 drives are internally fused2 on both AC lines with UL
listed 250V fuses (Bussman/MDA-10 or Littlefuse/326 010). Therefore,
no fusing or breakers are required for protection from internal drive
failures. You may, however, need to add protection for your wiring up to
the drive to meet safety certification.

1
DC power must be filtered and conditioned to meet Category 1 power quality in order to
satisfy CE safety requirements. Category 1 power is protected such that voltage spikes
and transients cannot be applied to the equipment in question.
2
The internal fuses are not user serviceable parts. Return non-functioning unit to the
factory for service. Fuse Information is provided strictly for certification, safety
assessment and evaluation.

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6 VERSION2.1/DECEMBER 16, 2006

(CHASSIS) 1

AC 2

AC 3

REGEN- 4

REGEN+ 5
EARTH
Connector P8 - AC in & Regenerative Power Output

If current protection is added to the SSt-6000/3100 AC supply circuits it

should be in the form of time delay fuses or thermal delay breakers
normally used for motor starting applications. Proper current protection
will help prevent nuisance trips from in-rush currents during power-up.
Only one external component is required with the SSt-6000/3100
drives to pass the required CE emissions standard (EN-50081-2): an AC
line filter. A Shaffner model 350-12-29 filter was used during the CE
emissions tests. This filter has enhanced low frequency suppression and
is a perfect match for the SSt-6000/3100. The filter should be mounted
on the same bulkhead or frame as the SSt-6000/3100 drive with no more
than 10” of twisted wires between the drive and the filter. The filter can
be located at a greater distance from the drive if shielded twisted pair
wiring is used and if there is a continuous frame between the
SSt-6000/3100 drive and the filter. See figure below.

OPTIONAL SHIELD
REQUIREMENT
AC IN & REGEN (P8) SEE TEXT

AC 2
EMI FILTER
AC 3 AC LINE INPUT
SCHAFFNER
90-240 VAC
350-12-29
EARTH (CHASSIS) 1

REGEN+ 5

REGEN- 4

Typical AC Input wiring

REGENERATION HOOK-UP
Regeneration energy control is sometimes required when decelerating
high inertia, inclined or vertical loads. In these situations an external
resistor may be required to effectively dissipate the energy regenerated
into the drive’s DC bus capacitors. This safety shutdown occurs when the
SSt-6000/3100 drive’s internal DC bus exceeds 390VDC (in which case
an I/V safety shutdown will occur).
To avoid this safety shutdown, install one of the external regeneration
resistors listed below. This will allow the SSt-6000/3100 drive to
automatically dump excess energy into it. A 100-watt resistor is sufficient
for nearly all applications. See suggested part numbers below. Note: It is
important that all other signal wiring be kept at least 12 inches away from
the resistors to minimize noise coupling.

VENDOR INDUCTIVE RESISTOR P/N

Ohmite L100J25R
Dale-Vishay HL 100 06 Z 25R00JJ 25Ω5%
SST-6000/3100 INSTALLATION 7

WARNING!
The regeneration terminals on P8 are shock hazards that may have up to
400VDC present. Hazardous voltages may remain on these terminals for
up to one minute after the removal of AC power (unless a fast discharge
solution is implemented). All connections to these terminals should be
marked as an electrical shock hazard and must not be user accessible.
When in operation, the 25 ohm regeneration resistor may become
extremely hot (at the limit, up to 270 degrees C). It should not be user
accessible, should be marked “HOT, DO NOT TOUCH” and labeled with
the IEC heat symbol or guarded so service personnel cannot touch it.

AC IN & REGEN (P8)

AC 2
EMI FILTER
AC 3 SCHAFFNER 90-240VAC
350-12-29
1

REGEN+ 5

REGEN- 4

25 / 100W 2.0A (TT)

OHMITE BUSSMANN
L100J25R LPN-RK-2SP
(FUSEHOLDER:
DALE-VISHAY BUSSMANN
HL 100 06 Z 25R00JJ R25030-1SR)

Typical Regeneration Load Circuit

OPTIMUM POWER DISTRIBUTION: DC POWER BUSSING

When you use more than one SSt-6000/3100 drive in your system, you
can increase the ability of the system to accept regeneration energy from
an axis and increase the peak power capacity of SSt-6000/3100 drives by
bussing the DC power. DC power can be bussed between several SSt-
6000/3100 drives. This technique connects the capacitor storage banks
of all of the drives, generally reducing the voltage drop during heavy
acceleration and minimizing bus voltage rise due to regeneration during
axis deceleration.

CHASSIS 3

+ 1

DC Bus Connectors P3 and P4

The DC busses of up to six SSt-6000/3100 drives can be connected

together via jumper cables at connectors P3 and P4 as shown in Fig. 7;
however, the DC-bussed drives must be supplied with the identical AC
power source.

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8 VERSION2.1/DECEMBER 16, 2006

WARNING!
The DC bus connectors (Appendix F: P3 and P4) are shock and energy
hazards that may have up to 400VDC present with up to 100 joules
available per connected drive. Although the connectors are fully
shrouded during mating and are rated for this voltage you should be
extremely careful when wiring these signals. DO NOT PLUG IN OR
REMOVE THESE CONNECTORS WHEN AC POWER IS APPLIED.
Hazardous voltages may remain on these DC connectors for up to one
minute after the removal of AC power (unless a fast discharge solution is
implemented). Connecting this DC circuit to exposed terminals should be
avoided if possible. If this circuit is connected to exposed terminals, the
terminals should be marked as an electrical shock hazard and must not
be user accessible.
The figure on the following page illustrates an excellent, inexpensive way
to distribute single-phase power to a group of SSt-6000/3100 drives.
This circuit shares a circuit breaker, contactor, EMI filter and a
regeneration resistor (if required) between all of the connected drives.

25 / 100W
OHMITE
90-240VAC LN100J25R
DALE-VISHAY
EMI FILTER HL 100 06 Z 25R00JJ
SCHAFFNER
350-20-29
2.0A (TT)
BUSSMANN
20A BREAKER CONTACTOR LPN-RK-2SP
(FUSEHOLDER:
AIRPAX SPRECHER+SCHUH
6" MAX BUSSMANN
P/N 209-2-1-66-4-5-20 CA7-23C-M22-24D R25030-1SR)
(10-32 screw terminals)

RED

BLK
ALL CABLES SHOWN:
BELDEN 9314
14 AWG SHIELDED
P8 P8 WITH DRAIN WIRE P8

1 2 3 1 2 3 1 2 3 4 5

AC AC AC AC AC AC

P3 P4 P3 P4 P3 P4

DC BUS + RED DC BUS + RED DC BUS +

1 1 1 1 1 1
DC BUS - BLK DC BUS - BLK DC BUS -
2 2 2 2 2 2

3 3 3 3 3 3

PROTECTIVE EARTH GROUND

Up to 6 SSt-6000/3100 Servo Drives

Bussing AC and DC Power to Increase Peak Power

When several SSt-6000/3100 drives are turned on simultaneously, a

requirement of DC bussing, large inrush currents will result. This has the
potential to blow breakers or fuses in your machine, so a delay breaker or
time delay fuses (normally used in motor starting applications) should be
used. Airpax makes a reasonably priced breaker (P/N 209-2-66-4-5-20)
that is well suited to this purpose.
An alternative to this AC/DC bussing approach is to supply the drives
with DC power directly using an external rectifier. This method offers
several advantages including soft start capability and the ability to supply
the drives with 3-phase power. The most salient advantage of supplying
SST-6000/3100 INSTALLATION 9

the drives with 3-phase power is increased peak output power. Contact
your Teknic sales engineer for more information on this method.

GROUNDING & SHIELDING REQUIREMENTS

The SSt-6000/3100 drives have several grounds:
GND: This is the reference terminal for all digital control and
feedback signals and logic shield. GND is completely
isolated from the motor power circuits, and the
CHASSIS ground.
CHASSIS: CHASSIS is connected to all CHASSIS (SHIELD) pins
and connector shells, the case, and to the Protective
Earth Ground Terminals.
Protective Earth Ground Terminals:
These are special CHASSIS terminals that are used to
bond the unit to the machine safety ground (Earth) for
electrical safety purposes. These terminals are the
#10-32 mounting holes on the flat face of the case
extrusion. Either or both of these terminals must be
connected to the frame of the machine which must be
connected to the machine’s Protective Earth Terminal.
AGND: This is the analog command reference terminal that is
internally connected to GND

IMPORTANT GROUNDING RULES

In order to meet EN-50082-2 and EN-50081-2 RF emissions and
immunity specifications and to meet EN-61010 electrical safety
specifications (for CE/UL compliance) the following rules must be
followed:
1. Protective Earth Ground must be connected to the machine’s safety
ground, usually by mounting the SSt-6000/3100 drive to a
grounded panel or frame. These mounting holes are also the main
RF ground for the unit and should be grounded to the machine
frame to meet RF emissions.
2. The AC input filter must be mounted on the same panel as the
SSt-6000/3100 drive within 10” of the drive. Alternately, the
power must be run through shielded cable to the filter, and the

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10 VERSION2.1/DECEMBER 16, 2006

shield terminated at both the filter case and the CHASSIS pin on
the drive power connector.
3. The motor phase cable must be shielded with the shield connected
to the motor case and, at the drive end, to the CHASSIS pin on the
motor connector (Appendix F: P2, pin 1). The shield lead length at
the drive end of the cable should be as short as possible with a 2.0”
maximum length.
4. The encoder and commutation sensor cable must be separately
shielded from the motor phase cable and the shields should not
touch at any point. The shield should be terminated to GND on the
motor connector (Appendix F: P2, pins 12, 20). The shield for this
cable should be left unconnected at the motor end (don’t connect it
to the motor’s case).
5. Controller wiring should be fabricated with shielded cable and the
shields connected to chassis ground at both ends. Pin 19 on the
controller connector (J1) and the connector shell are connected to
the chassis for this purpose.
6. The motor must have both a low impedance ground path to
protective earth and an RF path to the SSt-6000/3100. This is
usually provided by the motor mounting screws and the chassis
metal of the machine. In cases where the motor is isolated (as
during machine construction) appropriate steps must be taken to
meet grounding requirements.

CONTROLLER INTERFACE
The SSt-6000/3100 servo drive can be commanded from standard digital
step and direction positioning signals or a standard +/-10V analog
command signal from a servo controller. Because of reduction of delays
and coordination between the vector torque control and velocity/position
control, the highest performance is generally available using digital
positioning signals. All control signals are available on J1 (see figure
below).

PIN DESCRIPTIONS (J1)

9
18

9 DIR+
26

18 STEP+
DIR- 26 8 ENABLE~
17 READY~
STEP- 25 7 HLFB~
16 ANALOG+
ANALOG- 24 6 GND
15 MODE
A GND 23 5 GND
14 +5-ENC
GND 22 4 I~
13 I
S&D DIFF~ 21 3 B~
12 B
+5V-OUT 20 2 A~
11 A
CHASSIS 19 1 -LIMIT
10 +LIMIT
19

1
10

Controller connector (J1)

DIGITAL DRIVE INTERFACE

For the highest servo performance the U version of the SSt servo drive
should be run from digital position command signals from a servo
SST-6000/3100 INSTALLATION 11

controller or stepper motor indexer. The drive responds to standard, all-

digital, step and direction signals and returns high level feedback of move
completion and/or tracking. Fig. 9 shows typical connections from a
SSt-6000/3100-U to a digital controller using low capacitance, shielded,
twisted pair cable. The electrical properties of this inexpensive, readily
available cable help minimize crosstalk and noise that can adversely
affect signal integrity, especially in longer cable runs.

TYPICAL SSt-6000/3100
CONTROLLER CIRCUITS CONTROL CONNECTOR (J1)

ORN/RED A
11
RED/ORN A~ 470 Ohm
2 Termination
BRN/RED B
12
FROM
RED/BRN B~ ENCODER
3
WHT/ORN I
13
ORN/WHT I~
4 +5V

15mA
GRN/WHT STEP+
OPEN COLLECTOR -OR- 5V LOGIC OUTPUTS

18
WHT/GRN GND
5 15mA
BRN/WHT DIR+
9
WHT/BRN GND
6
2k +5v

RED/BLU ENABLE~
8
2k

WHT/GRY MODE
15
2k

GRN/RED + LIMIT
10
2k

RED/GRN - LIMIT
1

74HC14

GRY/WHT READY~
17

BLU/WHT HLFB~
7

+5v Output WHT/BLU +5V-ENC

14 TO ENCODER
MPSA06
CHASSIS
19

Belden 9683
LOW CAPACITANCE CABLE

Typical Digital Drive Interface (U versions only)

WIRING THE OUTPUT CONTROL SIGNALS (HLFB

AND READY)
Both the HLFB~ and the Ready~ circuits are open collector outputs with
no pull-up resistors. They are rated for switching non-inductive loads up
to 40V at a maximum of 100mA. These outputs are compatible with TTL
and CMOS logic inputs when a pull-up resistor is used. They can also be
used directly to switch non-inductive loads such as LEDs. If you wish to
use these outputs with an inductive load such as a relay coil, you must
connect a snubber diode across the coil to prevent the inductive spike
from damaging the output transistor.

SIMPLIFIED, HIGH RELIABILITY INTERFACE

In general, the vast majority of problems with electronic control systems
in automated machines can be traced to interconnect problems due to

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12 VERSION2.1/DECEMBER 16, 2006

electrical noise, crosstalk or simply the numerous opportunities for

unreliable connections. One way to make your machine more reliable is
to use fewer signals, thus reducing the number of connections in your
control harness. This not only increases reliability, but it also reduces
cost and generally makes troubleshooting easier. The SSt-6000/3100-U
drives facilitate this in positioning mode by providing the HLFB~ (High
Level Feed Back) signal, limit switch homing feature (or the HardStop
Homing feature) and by having dedicated safety functions (Appendix F,
P6) that eliminate the need for interrupting logic circuits in the control
harness. Such an interface is shown in the figure below.

TYPICAL SSt-6000/3100
CONTROLLER CIRCUITS CONTROL CONNECTOR (J1)
+5V

15mA
5V LOGIC OUTPUTS
OPEN COLLECTOR

BRN STEP+
18
BLK GND
22 15mA
-OR-

GRN DIR+
9

WHT ENABLE~
8
2k
74HC14
+5v

RED HLFB~
7

CHASSIS
19
+5v
Belden 9929
LOW CAPACITANCE CABLE
MPSA06

2k
BLK GND +5v
- 5
Limit/Home OUT WHT
L -LIMIT
Sensor RED 1
+
+5V-OUT
20 +5V-OUT
NPN, Dark-On Sensor
OMRON EE-SX671 SHOWN
Belden 9533 +LIMIT
10

High Reliability, Simplified Digital Control Interface (U

version only)

One of the biggest reliability improvements is facilitated by not

monitoring (and therefore not wiring) high speed, noise prone encoder
signals to your controller. Instead, the HLFB~ signal indicates the
completion of a move (or high tracking error) and can be used to
sequence moves in your machine without having to continuously monitor
the encoder. In most installations a simplified, low cost, high reliability
control interface can be constructed as shown in Fig. 10, often
eliminating the need for a “breakout” printed wiring board(s). If you
want to monitor the encoder position for display purposes or for manual
adjustments, you can still use this high reliability interface and read the
encoder position(s) through the serial interface on the diagnostic
connector (one serial port on your host controller can talk to multiple SSt
servo drives).
The digital interface shown above is ideal for situations when a
“zero-cost” software based controller is used. For more information on
how the SSt servo drives can be controlled this way, contact your Teknic
sales engineer for a free application note.

HIGH LEVEL FEEDBACK (HLFB) SIGNAL OPERATION

The High Level Feedback (HLFB) signal can output rapid, high level
Boolean feedback to your controller, thus reducing the software burden
SST-6000/3100 INSTALLATION 13

when your application is scheduling and monitoring moves. The HLFB

signal can be configured in three modes: InRange, MoveDone and All
Systems Go (ASG). The different modes of operation are described in the
following text and illustration.

HLFB=MoveDone
When the HLFB pin is configured to operate in MoveDone mode, the
HLFB signal de-asserts at the start of a commanded move and asserts
when the command is complete and the axis has settled within a
programmable position window (around the final position), for a
programmable qualification time. The MoveDone signal is updated by
the SSt servo drive’s DSP every 250uS and uses the measured velocity,
acceleration and jerk in a fuzzy algorithm to eliminate false triggering. It
is typically used as a trigger to synchronize events in a point to point
application.

HLFB=InRange
The HLFB pin can also be configured to operate in InRange mode. In this
mode, the HLFB signal acts as a trigger to alert the controller that the
axis under control has fallen out of a programmable position accuracy
window. This mode is often used in CNC applications to indicate a worn
tool and/or to throttle back the feed rate.

HLFB=ASG-MoveDone
The ASG-MoveDone (All Systems Go & Move Done) mode of the HLFB
pin was developed to help minimize the I/O requirement of the SSt drive
as, for example, when implementing the “High Reliability Interface”. In
this mode, the HLFB signal acts as a consolidated error/trigger signal
that can be used in point to point applications.
In ASG-MoveDone mode the HLFB pin is de-asserted when a move is
in operation (not MoveDone), the SSt drive is disabled, a safety
shutdown has occurred or the SSt drive has lost bus power. This signal is
only asserted (true, on, low) when a move is complete and the SSt servo
drive is fully ready to accept a move as shown in the timing diagram that
follows3.

3
There is also an ASG-InRange mode that is not documented here for CNC or
contouring applications, contact your Teknic sales engineer for details.

TEKNIC, INC FAX (585)784-7460 VOICE (585)784-7454

14 VERSION2.1/DECEMBER 16, 2006

Protection
Shutdown Event
(or loss of main bus power)

Move
(Commanded Velocity)

~Enable

Qt

Tracking Accuracy
(Varies with application)

2Qd

Qd = Distance (Accuracy) Qualifier

Qt = MoveDone Time Qualifier
~Ready

HLFB Modes:

HLFB = MoveDone~

HLFB = InRange~

HLFB = ASG-MoveDone~

HLFB Timing Modes and Operation

STEP & DIRECTION SIGNALING

SSt-6000/3100 drives can connect directly to any stepper motor indexer
or pulse source using industry-standard Step and Direction signals. The
Step and Direction signals from the indexer can be open-collector, TTL-
level driven signals or differential line driven signals (RS-422 levels).
Shielded wiring should be used for these signals (shielded, twisted pair
wiring is preferred for the Step input).
Because SSt servo drives respond to Step and Direction signals up to
several megahertz in frequency, they will also respond to high frequency
pulses generated by noise. The most common source of spurious Step
and Direction pulses is conducted noise caused when several digital
signals share a ground path with the Step and Direction signals,
therefore:
Care should be taken to ground the twisted pair wiring for the Step
and Direction signals directly at the controller/indexer card’s output
connector and not at a central system frame ground or other ground
point. Using a breakout board can also be problematic because the cable
between the controller/indexer and the breakout board typically shares
the SSt’s isolated control ground with other digital signals. This condition
can induce noise into the Step and Direction signals. If you do elect to use
a breakout board, the cable between the controller/indexer and breakout
board should be kept as short as possible.
If your system exhibits symptoms such as "walking", drifting or
repeatability problems, it is highly likely that the Step and Direction
wiring is faulty.
SST-6000/3100 INSTALLATION 15

Step Polarity & Timing

In TTL input mode SSt-6000/3100 servo drives will be commanded to
rotate one step when the Step line transitions from a low level to a high
level (known as "positive edge triggered"). The required timing for both
the Step and Direction signals is shown in Fig. 12.
Note: The timing diagram below (Fig.12) is applicable to both TTL and
differential modes of operation. In differential mode, the signal
connected to pin 25 is simply the inverted version of the pin 18 signal
shown below. Similarly, the direction signal on pin 26 is the inverted
version of the pin 9 signal.

twl tcyc
Step~
(pin 18)
twh tsd th

Direction
(pin 9)

Step and Direction Timing

twl Time pulse width low

twh Time pulse width high
tsd Time step to direction change
th Time to hold direction after step + edge
tcyc Period, Time between consecutive cycles
The minimum time for twl, twh, tsd, and th is 218nS. The minimum time for
tcyc is 436nS. There is no maximum limit for any of these timing
variables.
If you wish, you can reduce twl, twh, tsd, and th to 120nS and tcyc to
240nS by adjusting the command input digital filter using Quickset. This
will allow you to operate with input signals as fast as 4.2MHz with some
degradation in noise immunity. Contact your Teknic sales engineer for
details on how to do this.

Direction Polarity Wiring

The SSt-6000/3100 has the ability to accept TTL Step and Direction
control signals or Differential Step and Direction control signals. The
input style is selected using the S&D DIFF~ signal on the Control
Connector (Appendix F: J1, Pin 21). The differential mode is selected by
connecting a jumper from Pin 21 to a gnd pin on the Control Connector
(J1). To Select TTL mode, pin 21 is left unconnected, and an internal pull-
up keeps the drive in TTL mode.
In TTL input mode, with a standard motor cable, the motor position is
controlled by the Step+ signal (Apendix F: J1,pin 18) and the DIR+ or
Direction signal (Appendix F: J1, pin 9). These lines control the motor
position as defined below:

TEKNIC, INC FAX (585)784-7460 VOICE (585)784-7454

16 VERSION2.1/DECEMBER 16, 2006

With the Direction line at a logic high level, the motor will rotate
clockwise for each pulse of the Step+ signal, which the internal position
register (displayed in the SSt-QuickSet™ Status window) will decrement.
With the Direction line at a logic low level, the motor will rotate
counter-clockwise for each pulse of the Step+ signal, and the internal
position register will increment for each pulse of the Step line.
You can reverse the natural direction of an SSt servo drive by clicking
the Reverse checkbox in SSt-QuickSet’s Inputs and Limits window.

ID=BJ ID=BJ

"Negative motion" "Positive motion"

Clockwise rotation Counter-clockwise rotation
(Direction signal high) (Direction signal low)

Direction signal and motor rotation (view is looking

into the motor shaft)
SST-6000/3100 INSTALLATION 17

USING DIFFERENTIAL STEP & DIRECTION SIGNALS

Some controllers put out line driven differential step and direction
signals in order to reduce noise often present in long cable runs. To set
the SSt drive to accept differential step and direction signals, you must
ground pin 21 on Control Connector J1 to one of the digital ground pins
(5, 6, or 22). Important: Do not ground pin 21 to analog ground
(pin 23) on connector J1. See appendix F for connector
pinouts.

TYPICAL SSt-6000/3100
CONTROLLER CIRCUITS CONTROL CONNECTOR (J1)

ORN/RED A
11
RED/ORN A~ 470 Ohm
2 Termination
BRN/RED B
12
FROM
RED/BRN B~ ENCODER
3
WHT/ORN I
13
ORN/WHT I~
4

GRN/WHT STEP+
18
360
WHT/GRN STEP-
25
26LS32
BRN/WHT DIR+
9
WHT/BRN 360
DIR-
26
S & D DIFF~
21
GND
22
2k +5v

RED/BLU ENABLE~
8
2k
5V LOGIC OUTPUTS
OPEN COLLECTOR

BLU/RED GND
5
WHT/GRY MODE
15
-OR-

2k

GRN/RED + LIMIT
10
2k

RED/GRN - LIMIT
1

74HC14

GRY/WHT READY~
17

BLU/WHT HLFB~
7

+5v Output WHT/BLU +5V-ENC

14 TO ENCODER
MPSA06
CHASSIS
19

Belden 9683
LOW CAPACITANCE CABLE

Using Differential Step and Direction Signaling

(-U versions only)

TEKNIC, INC FAX (585)784-7460 VOICE (585)784-7454

18 VERSION2.1/DECEMBER 16, 2006

ANALOG COMMAND INTERFACE

The SSt-6000/3100 drives can be used with a traditional servo controller
as a high performance vector torque control drive with a standard ±10V
input (–T or –U models). In this mode, the HLFB and the Mode pins are
inactive and do not need to be connected. A typical analog interface to a
controller is shown in Fig. 14:

TYPICAL SSt-6000/3100
CONTROLLER CIRCUITS CONTROL CONNECTOR (J1)

ORN/RED A
11
RED/ORN A~ 470 Ohm
2 Termination
BRN/RED B
12
FROM
RED/BRN B~ ENCODER
3
WHT/ORN I
13
ORN/WHT I~
4 2.5k

10k
GRN/WHT ANALOG+ -
16
WHT/GRN ANALOG-
24 +
WHT/BRN A GND 10k
23 2.5k
A
2k A
+5v
5V LOGIC OUTPUTS
OPEN COLLECTOR

RED/BLU ENABLE~
8
2k
-OR-

GRN/RED + LIMIT
10
2k

RED/GRN - LIMIT
1
BLU/RED GND
5

GRY/WHT READY~
17

+5v Output WHT/BLU +5V-ENC

14 TO ENCODER

CHASSIS
19

Belden 9683
LOW CAPACITANCE CABLE

Typical Analog Command Interface.

LIMIT SWITCH WIRING

Limit switch inputs are available on Controller Connector P1. See
Appendix F for pinouts. Normally closed switches are wired between the
limit inputs and GND. Alternately, the limit switch inputs can be driven
low by an open collector output or TTL level output limit switch. The
limit signals can be wired directly to the SSt drive from the switches or
they can be routed through the controller cable from the controller’s
interface board.
If you don’t plan to wire limit switches to the SSt-6000/3100 drive,
the limit pins (1 and 10) on connector P1 must be jumpered to GND pins
(5 and 6). Failure to jumper the limit pins to GND (if you are not running
the actual limits to the drive) will render the drive inoperable, as the
drive will “think” that the axis is in both limits.
SST-6000/3100 INSTALLATION 19

The most popular limit switches are optical interrupt switches such as
the Omron SX series shown in Fig. 15.

SSt-6000/3100
CONTROL CONNECTOR (J1)

19 2k
BLK *GND +5v
- 5
OUT WHT
L -LIMIT
RED 1
+
+5V-OUT +5V-OUT
20 74HC14
RED
+ +LIMIT
L 10
WHT
OUT BLK *GND
- 6
+5v
2k
Belden 9533
NPN, Dark-On Sensor
OMRON EE-SX671 SHOWN
*IMPORTANT:
Do not ground limit switch signals
to the machine chassis, i.e. do not
use the chassis as a limit switch
return path.

Optical limit switches wired directly to the

SSt-6000/3100 drives (Omron SX series shown)

LIMIT SWITCH MODES

The limit switch inputs can operate in one of two modes: torque/force
mode or position mode. In torque/force mode, any torque or force that
would push the axis further into the limit is inhibited. This is the
traditional servo amplifier limit switch mode, however it is passive in
terms of stopping the axis’ momentum. Position mode limits are
available on SSt-6000/3100-U drives. Position mode limits will actively
servo to the measured position on the asserting edge of the limit switch
signal. When used with optical limit sensors, position mode limits are
very accurate and can be used for homing the axis in most situations,
eliminating the need for separate home sensors and encoder index
calibrations.

HARDSTOP HOMING
(NO LIMIT SWITCHES REQUIRED!)
HardStop Homing is an advanced control mode available on
SSt-6000/3100-U positioning drives that can eliminate the need for limit
switches in many applications. In this mode, the SSt-6000/3100 detects
the increase in torque that occurs when axis motion is inhibited by a hard
stop. The torque is then relaxed to a pre-configured value and all steps
into the hard stop beyond that point are discarded, and the axis is gently
held against the hard stop. The first step away of the hard stop resets the
SSt servo drive’s position register (and moves away from the hard stop).
Teknic originally engineered HardStop Homing to emulate the crude
method of stalling a stepper motor into a hard stop; however, use in
numerous applications has proven HardStop Homing a very accurate and
reliable way to home a servo axis. Obviously, the axis must be able to
withstand collisions into the hard stop for HardStop Homing to be viable.
Although this may sound tricky to achieve, it can usually be accomplished
with simple bumpers or pneumatic shock absorbers. In fact, shock
absorbers are robust under all conditions including power removal. Call
your Teknic sales engineer for assistance in selecting a bumper or shock.
Although HardStop Homing has several built in anti-falsing features,
in a few situations it can false trigger. To avoid this, the Mode input
(Appendix F: J1, pin 15) can be used to toggle the drive’s hard stop

TEKNIC, INC FAX (585)784-7460 VOICE (585)784-7454

20 VERSION2.1/DECEMBER 16, 2006

homing functionality only when the axis is actually homing. The Mode
input should be wired to an output line on your controller when
HardStop Homing is used.

MOTOR CABLE CONSTRUCTION

7 THERMOSTAT RETURN
6 THERMOSTAT
MOTOR ENCODER
PHASES INPUTS

1 CHASSIS

9 COMM-R
8 +5V-OUT

13 +5V-OUT
10 COMM-S
11 COMM-T
12 GND

20 GND
5 NC

15 A~

17 B~

19 I~
4 R
3 S

14 A

16 B
2 T

18 I
Motor Connector (P2)

Motor cables for SSt-6000/3100 drives should be constructed according

to the following:
1. Motor phase leads should be kept as short as possible after they
exit the cable shield, preferably under 1”.
2. The motor phase cable shield termination should be kept short at
both ends, preferably under 1.5”.
3. Use 18AWG or larger shielded cable for the motor phases.
4. Use low capacitance, shielded twisted pair cable for the encoder
and commutation sensor signals.
5. Run the thermostat leads, if any, in the encoder cable and NOT in
the motor phase lead cable.
6. Commutation sensor signals (hall sensors) should be run in the
encoder cable and NOT in the motor phase lead cable.
7. The motor phase cable shield should not touch the encoder cable
shield at any point to eliminate RF return currents from adding
common mode noise to GND. Cover exposed shield and drain
wires with heat shrink tubing at termination points to prevent this.
8. Connect the motor phase cable shield to the motor case.
9. DON’T connect the encoder cable shield to the motor case.
SST-6000/3100 INSTALLATION 21

Connect motor phase shield to motor case

MOTOR (P1) Belden 8770 typical, shown

R RED
4
S WHT MOTOR
3
T BLK
2
CHASSIS PE
1

Insulate shields at all points so they can't touch

T-STAT RED/ORN
6
T-STAT RET. ORN/RED
7
A GRY/WHT
14
Route thermostat leads, if any,
A~ WHT/GRY
15 through encoder cable
16
B ORN/WHT (NOT through the motor phase cable)
B~ WHT/ORN
17
I GRN/WHT
18
I~ WHT/GRN
19 ENCODER
COMM-R BLU/RED +
9 COMM.
COMM-S RED/BLU
10
COMM-T WHT/BLU
11
GND BRN/WHT
12
+5V-OUT WHT/BRN
13

8 +5V-OUT
GND DON'T connect encoder cable shield
20
to motor case
Belden 8107 typical, shown

Motor Cable Construction Details for Low Electrical

Noise

MACHINE SAFETY WIRING

WARNING!
SSt-6000 and SSt-3100 servo drives are used to control electrical and
mechanical components in your machine that can be dangerous to
human operators. Although the SSt servo drives provide a number of
features to make safeguards easy to implement and safety requirements
easy to comply with, safety testing and compliance is ultimately the
responsibility of the machine builder. You should test your machine for
safety under all possible conditions. Failure to do so can result in damage
to equipment and/or serious injury to personnel.

THE SAFETY CONNECTOR

The SSt-6000/3100 drives are equipped with a dedicated safety
connector that allows you to easily wire several safety functions on your
machine. This connector includes an ARM input, a Brake output and an
input for backup power. See figure on following page.

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22 VERSION2.1/DECEMBER 16, 2006

+5 BCKUP 4 8 +5V-OUT

GND 3 7 GND

ARM+ 2 6 ARM-

BRK-OUT + 1 5 BRK-OUT -

Safety Connector (P6)

The ARM input is a fully isolated input similar to a solid state relay
input that operates from 3.5-24.0 VDC. When no current is flowing
through the ARM input, hardware circuits inhibit the motor output stage
from becoming active. Note: Although this function is implemented in
circuitry, it is not a single fault tolerant design.
The BRK-OUT output is a fully isolated output similar to a DC solid
state relay output that can directly drive resistive or inductive loads up to
500mA. It has an active 47V clamp so no catch diode is required across
the driven coil. This BRK-OUT is intended to run a 24VDC power-off axis
brake or motor phase interrupt/dynamic brake. It is active only when
ALL of the following conditions are true:
(1) The drive is enabled by the controller
(2) The ARM circuit is activated (has current flowing through it)
(3) The drive is not in a safety shutdown state
(4) Motor bus power is available
If the axis under control requires a brake, the BRK-OUT output can be
used to engage a brake whenever the SSt servo drive is not in control of
the motor. Note: This BRK-OUT output function is implemented in a
combination of firmware and hardware circuitry and is not a single
fault tolerant design. The safety circuit should be wired so all of the
safety interlocks, the EMO switch and the BRK-OUT output must be
closed for the axis brake to be disengaged. See figure below

SAFETY (P6)
500mA MAX
BRK-OUT-
5

47V
EMO & INTERLOCKS
POWER-OFF
BRAKE (24VDC)
BRK-OUT+
1

ARM+ 24VDC
2
SUPPLY

1K
ARM-
6

TO OTHER
SAFETY CIRCUITS

Safety circuits using the Safety Connector (P6)

The circuits shown in Fig. 19 do not depend on the SSt-6000 safety

circuit operation for the interlocks or EMO switch to operate the brake.
They do, however, add automatic brake operation under all contingencies
of drive power removal (fuse or breaker overload), drive safety shutdown
events and errant software disabling from the control code.
The +5Vout and GND pins are also available on this connector so the
ARM input can be easily circumvented or “cheated” during engineering
evaluation or when the safety of the axis is otherwise assured. (Fig. 20)
SST-6000/3100 INSTALLATION 23

1
ARM+
2

5
ARM-
6
GND TERMINALS: MOLEX/39-00-0039 (39-00-0047 LOOSE)
7
PLUG HOUSING: MOLEX/39-01-2080
+5V-OUT
8
HOOK-UP WIRE, 24 AWG BLACK: BELDEN/9923-010

“Cheater plug” to ARM an SSt servo drive without an

external supply (Teknic PN: SSt-6SJ)

MOTOR PHASE INTERRUPT/DYNAMIC BRAKE

One alternative to a power-off axis brake is a motor phase
interrupt / dynamic brake (see circuit diagram and construction details
below). This method of braking is generally applicable when the load will
not move due to gravitational forces. When a safety interrupt event
occurs in this circuit, an electromagnetic relay disconnects the motor
phases from the drive, while simultaneously shorting the phases together
and disabling the drive’s output stage. When the motor phases are
shorted together, the motor becomes a dynamic (viscous)
electromagnetic brake, halting axis motion much more quickly than
frictional forces alone would. In fact, dynamic braking will oftentimes
stop axis motion as quickly as a frictional power-off brake, depending on
the application.

SSt-6000/3100

MOTOR(P2) INTERRUPT RELAY

P&B PRD-11DH0-24
CHASSIS
1
R (RED)
4
S (WHT)
1K 3
NC
8 4 MOTOR
T (BLK)
2
6

7 3
NC
PE
5

SAFETY (P6)
500mA MAX
BRK-OUT- 2
5

47V 0.1uF
EMO & INTERLOCKS

BRK-OUT+ 1
1

ARM+ 24VDC
2
SUPPLY

ARM-
6

TO OTHER
SAFETY CIRCUITS

Motor Phase Interrupt/Dynamic Brake Circuit

To use this interrupt circuit, the relay is placed in line with the motor
phase wiring and controlled identically as a power-off brake (see circuit
above). In order to maintain low electromagnetic interference, the motor
phase leads outside of the cable shield should be kept as short as
possible, preferably 3” or less. The shield should be routed from the

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24 VERSION2.1/DECEMBER 16, 2006

drive and motor side of the cable with no more than 1” of lead. This
shield connection should not be allowed to touch the chassis to minimize
RF ground loops. If the relay is mounted in an enclosure, as shown
below, the enclosure should be grounded directly to the machine frame
or chassis. A 0.1uF capacitor should be installed across the relay coil to
keep noise out of the 24V safety circuits.

Shields connected directly together

P&B P/N:PRD-11DH0-24 relay and insulated from chassis

24V control cable Optional enclosure Motor phase cables

P&B P/N:35D013 (in and out)

Construction Details:
Motor Phase Interrupt/Dynamic Brake Circuit

A Potter&Brumfield PRD-11DH0-24 relay has been tested in this

application under worst case, full torque motor loading both while
motoring and while in a locked shaft condition. The relay does not have
to break the drive current under normal operation because the safety
circuit disables the drive output before the contacts actuate. Having said
that, the P&B relay was tested in this application even with the drive
enabled, simulating a fault in the drive’s safety circuit. This P&B relay
has oversized silver plated contacts, a large contact gap and a magnetic
blowout feature for interrupting DC. It has survived more than 20,000
interrupt cycles under worst case conditions in testing, so no other relay
should be used for this function unless it is tested under these worst case
conditions.

BACKUP POWER
In situations where drive power is removed from the SSt-6000/3100 for
safety requirements, you may want to maintain encoder feedback to your
controller and/or serial communication with the drive. Two provisions
have been designed into the SSt-6000 and SSt-3100 to accommodate
backup power for these situations.

ENCODER POWER BACKUP

If you want to maintain power to the encoder when main power is
removed, you can supply 5V power between GND and +5V-ENC (pins 5
and 14 on the controller connector, J1). If main power is removed from
the drive while 5V is supplied to the +5V-ENC pin, the encoder will
remain “alive” and all motion will be reported back to your controller
SST-6000/3100 INSTALLATION 25

even though the DSP within the drive, and hence any serial
communications, will be turned off.
The requirements for the +5V-ENC backup power are 4.50-5.70V at
250mA.

LOGIC POWER BACKUP

If you want to keep DSP operation and communications to the drive
operational when main drive power is removed, you can supply 5V power
between GND and +5V-BCKUP (pins 4 and 3 on Safety Connector P6). If
main power is removed from the drive when this 5V is supplied to +5V-
BCKUP, the drive’s DSP, communications and encoder will remain
active.
The requirements for the +5V-BCKUP power are 5.30-5.70V at
600mA.
Note: You should adjust the output voltage of the 5-volt backup supply so
the voltage at the Safety connector (when it is plugged in) is above
5.30V. Even if your circuit works without this adjustment during initial
engineering evaluation, you’ll still have to check and adjust the supply
voltage as indicated to avoid intermittent problems caused by variations
and component tolerances.

DIAGNOSTIC CONNECTOR FUNCTIONS

Each SSt-6000/3100 drive is equipped with a diagnostic connector (P5)
that provides two important functions supported by SSt-Quickset: Drive
configuration via the RS-232 Configuration Port, and performance
testing and diagnostics via the Real-Time Monitor Port.

5
MONITOR 4
GND 3
Rx 2
Tx 1

Diagnostic connector (P5) view looking into SSt

REAL-TIME MONITOR PORT

The SSt servo drive includes a Real-Time Monitor Port (analog monitor
output) for viewing system variables on an oscilloscope or for use with a
data logger. This Real-Time port, typically viewed with a standard digital
oscilloscope, provides a wealth of analytical information on the SSt servo
drive and the mechanics to which it is connected.
A great benefit of the port’s real-time nature is that you can use your
oscilloscope to look at SSt servo variables while viewing other non-servo
signals in your machine to verify controller timing and to find software
bugs and delays.
Actual velocity, commanded velocity, velocity error, tracking error,
commanded torque, actual motor torque, and other variables can be
displayed with ease. The Monitor output is configured using SSt-
QuickSet™ as described in the SSt-QuickSet™ On-Line Help.

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26 VERSION2.1/DECEMBER 16, 2006

The monitor output is a 0.5-4.5 volt signal centered around a 2.5 volt
"zero" reference. A 2.5 volt DC reference signal is also provided at the
diagnostic connector (pin 5) for use with instruments that have
differential inputs.

RS-232 CONFIGURATION PORT

An RS-232 interface is provided for configuring SSt servo drives using
SSt-QuickSet™ software running on your PC. There is no need to install
this interface permanently.
RS-232 handshaking signals are not provided or used by the SSt-
1500. The Rx and Tx signals are fully RS-232 compatible. The
communication format is 8 bit, asynchronous, half-duplex with a single
start bit, a single stop bit and no parity at 57.6kBaud. It is recommended
that the DCE CD, RI, DSR, and CTS input signals be connected to the
DCE DTR signal to prevent noise from affecting the operation of the host
computer (as shown below).

DB9-F
7 SHELL: AMP/749914-2
SOCKETS: AMP/1-66504-0
1 RECEPTACLE: AMP/205203-1
4

To PC Host 6
Serial Port 8

9 BELDEN 9501
RED
2 1
BLK
3 2

5 3
To Diagnostic
Connector
4 (P5 ON SSt)

HOUSING: MOLEX/50-57-9405
CONTACTS: MOLEX/16-02-0097
or
MOLEX/16-02-0087
RG-174/U

BNC
PLUG TO
OSCILLOSCOPE

Diagnostic/Configuration Cable (SSt-DC)

HOOKING MULTIPLE DRIVES TO ONE SERIAL PORT

In some instances, you may want to hook multiple drives to a serial port
on your host computer or controller for configuration management, error
reporting or to eliminate the need for encoder wiring. This is done by
daisy chaining the RS-232 serial port, available on the diagnostic
connector, from one drive to another in a machine to form a SSt Data
Loop.
Three cable types can easily be constructed to support the SSt Data
Loop: a host cable (SSt-DL-HOST), a drive tap cable (SSt-DL-TAP), and
an extension cable (SSt-DL-EXT). These cables can be snapped together
in a modular fashion as shown below to form a SSt Data Loop of up to 30
drives.
SST-6000/3100 INSTALLATION 27

SSt 2 SSt 1

SSt-DL-HOST

SSt-DL-TAP
(3 SHOWN)

SSt 0

RS 232

CONTROL CPU

SSt-DL-EXT

OSCILLOSCOPE

SSt-DC

Typical SSt Data Loop (Allows one RS-232 port to

communicate with multiple SSt servo drives)

SSt-Quickset 5.0 and later versions will talk to a group of up to 30 SSt

servo drives (any mix of SSt-6000, SSt-3100, SSt-1500-Uxx or SSt-1000
models) for configuration and diagnostic purposes. Note: SSt-1500-Axx
servo drives will not function in a SSt Data Loop.

TEKNIC, INC FAX (585)784-7460 VOICE (585)784-7454

28 VERSION2.1/DECEMBER 16, 2006

The standard SSt Data Loop cables shown below have several features:
1. Extension cables can be strung together to provide nearly any
physical length link between drives.
2. Shielded, low capacitance cable provides excellent electrical
performance while maintaining low RF immunity and emissions.
3. Low cost, positive locking, gas tight crimp connectors are reliable
and easily terminated by automated crimp machinery.
4. The tap cable allows a diagnostic oscilloscope to be connected to
any drive without disturbing the communication loop.

Drive Tap Cable (SSt-DL-TAP)

SSt DIAGNOSTIC PORT

1 2 3 4 5
MOLEX/50-57-9405

WHT WHT
1 1
BLK BLK
DATA-OUT 2 2 DATA-IN

3 3

WHT
BLK
MOLEX/50-57-9403 MOLEX/70107-0002

1 2 3 4 5
MOLEX/70107-0004

SCOPE PORT
(FOR SSt-DC CABLE)

Extension Cable (SSt-DL-EXT)

WHT
1 1
BLK
DATA-OUT 2 2 DATA-IN

3 3

MOLEX/50-57-9403 MOLEX/70107-0002

Host Port Cable (SSt-DL-HOST)

WHT
2 1
BLK
5 2 DATA-IN

1 3

4
MOLEX/70107-0002
6

9 3
BLK
8 2 DATA-OUT
WHT
3 1

MOLEX/50-57-9403
DB9-F
SHELL: AMP/748676-1
SOCKETS: AMP/1-66504-0
RECEPTACLE: AMP/205203-1

COMMON COMPONENTS-
PINS FOR ALL MOLEX CONNECTORS: MOLEX/16-02-0077 (16-02-0109 LOOSE)
SOCKETS FOR ALL MOLEX CONNECTORS: MOLEX/16-02-0082 (16-02-0097 LOOSE)
BLACK HOOK-UP WIRE: BELDEN/83002-010
WHITE HOOK-UP WIRE: BELDEN/83002-009
SHIELDED TWISTED PAIR CABLE: BELDEN/9180

Construction Details: SSt Data Loop Cable Set

(See Appendix B for more details)
SST-6000/3100 INSTALLATION 29

MECHANICAL INSTALLATION

DRIVE MOUNTING
The SSt-6000/3100 servo drives should be mounted on a metal panel or
frame, with the AC power connector facing up as shown below. In this
configuration, natural convection cooling will be maximized and the
drive will deliver its rated current. The SSt-6000/3100 servo drives will
operate in alternate mounting configurations, however the continuous
current output of the drive will be de-rated and/or forced air cooling may
be required to achieve the desired output current.

3.14
Fan (optional)

1.645 Minimum
1.5 Clearance
(no fan)
3.15

AC POWER

DIGITAL AC S ERVO DRIVE

1.43

DC BUS

120-370 VDC
100 J

DC SUPPLY MUST
BE INRUSH LIMITED
SEE MANUAL

STATUS

DIAGNOSTIC
RS-232
Oscilloscope

6.000 8.930
CONTROLLER
COMMAND

9
18
26
LIMITS
FEEDBACK

19

1
10
SYNCHRONOUS
S-VECTOR
TECHNOLOGY

SAFETY
E-STOP
BRAKE
BACKUP -
POWER

TEKNIC, INC. MOTOR

WWW.TEKNIC.COM

1.576 10-32 .25 Deep

2 Typ 5.56
2 Places

2.25

Min. Clearance

SSt-6000/3100 Mounting

Either of the two #10-32 mounting holes in the rear of the extrusion may
be used as the Protective Earth Terminal (safety ground). At least one of
these tapped holes should be securely fastened to a metal panel or the
machine frame that is, in turn, connected to your machine’s safety
ground.

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30 VERSION2.1/DECEMBER 16, 2006

CURRENT RATINGS FOR VARIOUS MOUNTING

CONFIGURATIONS
The continuous RMS current available from the SSt-6000/3100 is
related to the internal operating temperature of the unit. The
SSt-6000/3100 drives are internally protected and will shut down when
the internal heat sink temperature at the power stage exceeds 70°C. The
exact continuous current available from an SSt-6000/3100 drive is
dependent upon the mounting configuration, the ambient temperature,
the amount of heat sinking to the panel and the air flow currents in the
vicinity of the drive.
The diagram below shows the continuous current available for three
tested mounting configurations.

AC POWER AC POWER
DIGITAL AC S ERVO DRIVE

DIGITAL AC S ERVO DRIVE

DC BUS DC BUS

120-370 VDC 120-370 VDC

100 J 100 J

DC SUPPLY MUST DC SUPPLY MUST

BE INRUSH LIMITED BE INRUSH LIMITED
SEE MANUAL SEE MANUAL

STATUS STATUS

DIAGNOSTIC DIAGNOSTIC
RS-232 RS-232
Oscilloscope Oscilloscope

CONTROLLER CONTROLLER
COMMAND COMMAND
9
18

9
18
26

LIMITS

26
LIMITS
FEEDBACK FEEDBACK
19

1
10

19

1
10
DIGITAL AC S ERVO DRIVE
WWW.TEKNIC.COM
TEKNIC, INC.

TECHNOLOGY
S-VECTOR
SYNCHRONOUS

SYNCHRONOUS SYNCHRONOUS
S-VECTOR S-VECTOR
TECHNOLOGY TECHNOLOGY

SAFETY 19

10
26
18 SAFETY
E-STOP
1 9

E-STOP
BRAKE BRAKE
MOTOR

SAFETY

CONTROLLER

DIAGNOSTIC

STATUS

SEE MANUAL
BE INRUSH LIMITED
DC SUPPLY MUST

100 J
120-370

DC BUS

AC POWER
BACKUP - BACKUP -
BACKUP -
BRAKE
E-STOP

FEEDBACK
LIMITS
COMMAND

Oscilloscope
RS-232
POWER
POWER

POWER

VDC
TEKNIC, INC. MOTOR TEKNIC, INC. MOTOR
WWW.TEKNIC.COM WWW.TEKNIC.COM

9.0A continuous 4.5A continuous 12.0A continuous

Vertical mount Lying on an insulated benchtop With recommended fan
on a metal panel, 40 degree C ambient Vertical mount
40 degree C ambient 40 degree C ambient

(see text below for SSt-3100 current ratings)

Rated current for various SSt-6000 mounting

configurations

As the above illustration indicates, it is best to mount the SSt-6000/3100

drive in a vertical orientation, on a metal panel in an open area. If the
drive must be mounted in a horizontal position or in a constricted area,
space should be budgeted for the optional fan. Then, if testing indicates
the need for additional cooling (i.e. if thermal shutdowns occur), adding
the optional fan will be a relatively simple matter.
The SSt-3100 is rated at 6.0 amps continuous when mounted in a
vertical orientation and at 4.5 amps continuous when mounted in a
horizontal orientation. Since the continuous current is 6.0 amps, the
addition of a fan does not provide the same benefit as it does on a 6000
except in a constricted area or if you desire to increase RMS from 4.5A to
6.0A in a horizontal orientation.

OPTIONAL FAN MOUNTING & WIRING

An optional fan can be mounted on the SSt-6000/3100 drive if forced-air
cooling is required. These drives are equipped with a dedicated fan
connector that can accommodate an 80mm2, 12VDC brushless fan,
drawing a maximum of 0.25 amps. Teknic recommends the Comair-
Rotron Sprite DC (P/N SD12B1) pictured below.
SST-6000/3100 INSTALLATION 31

FAN PREPARATION AND MOUNTING

1) Terminate both fan leads with Molex P/N 16-02-0097 terminals.
2) Insert the terminated fan leads into the connector housing (Molex
P/N 50-57-9402). Insert the negative (black) wire into position #1;
insert the positive (red) wire into position #2.
3) Remove the case cover screw nearest the corner of the extrusion
and discard. This allows the fan to sit flush on the drive case. See
diagram.
4) Secure the fan to the external screw busses using two #6-32 x 3/8”
self-tapping screws and a #6 flatwasher. Orient the fan on the drive
so that the air is drawn out of the drive.
5) Plug the fan into the drive’s onboard fan connector.

1
2
AIRFLOW
POSITIVE LEAD

FAN CONNECTOR

#6 FLATWASHER

MOUNT 80mm FAN USING THESE REMOVE THIS SCREW

SCREW BUSSES WITH #6 SELF BEFORE MOUNTING FAN
THREADING SCREWS

An 80mm Fan mounted directly to an SSt-6000/3100

case
If the drive is mounted so that the fan is user accessible, it may be
wise to install a fan guard. Qualtek makes a suitable fan guard (P/N
08172) that can be quickly installed on top of the fan using four #6-32 x
3/8” machine screws and nuts.

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32 VERSION2.1/DECEMBER 16, 2006

MOTOR OUTLINES

M4780

Encoder/Hall/Thrmst. Connector
Mates With
AMP 206044-1
Motor Phase Connector
Mates With
AMP 206037-1
(4) 3/8"-16 UNC-2B
5.875 Bolt Circle
0.100

3/16 "
sq. key

0.625
0.624

4.500
0.56
4.499

4.750 2.063 7.96

M3471, M3476

Encoder/Hall Sensor Motor Phase

Mating Connector: Mating Connector:
AMP P/N: 206037-1 AMP P/N: 206060-1

Sealing
Boots
RTV Sealed

(4) 0.218 Holes

18.0 18.0
3.875 Bolt Circle

0.33
1/8"
sq. key

2.75

0.5000
0.4995
2.875
2.873 0.07

3.28 sq. 1.25 6.617

SST-6000/3100 INSTALLATION 33

M3462, M3463

Encoder/Hall Sensor Motor Phase

Connector Mates With: Connector Mates With:
AMP P/N: 206037-1 AMP P/N: 206060-1

Sealing
Boots
RTV Sealed

(4) 0.218 Holes

3.875 Bolt Circle 18.0 18.0

0.33
1/8"
sq. key

2.75

0.5000
0.4995
2.875 0.07
2.873
3.28 sq. 1.25 5.117

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34 VERSION2.1/DECEMBER 16, 2006

APPENDIX A: LINKS TO 3RD PARTY

COMPONENT DATASHEETS
COMPONENT MANUFACTURER PART NUMBER LINK
Circuit Breaker Airpax 209-2-1-66-4-2-20 www.airpaxppp.com
(solderless connectors)
209-2-1-66-4-5-20 (10-32
screw terminals)
Contactor Sprecher+Schuh CA7-23C-M22-24D www.ssusa.cc
Line Filter Schaffner 350-12-29 (12 Amp) www.schaffner.com
350-20-29 (20 Amp)

Regeneration Ohmite L100J25R (inductive) www.ohmite.com

Resistor
Regeneration Dale-Vishay HL 100 06 Z 25R00JJ www.ohmite.com
Resistor
25 5% (inductive)
Regeneration Bussmann LPN-RK-2SP www.bussmann.com
Fuse
Regeneration Bussmann R25030-1SR www.bussmann.com
Fuse Holder
Motor Phase Potter & PRD-11DH0-24 relays.tycoelectronics.com
Interrupt Relay Brumfield
Motor Phase Potter & 35D013 relays.tycoelectronics.com
Interrupt Relay Brumfield
Enclosure
Cable Stock Belden Wire and 8107 (14 cond/24AWG) www.belden.com
Cable 8770 (3 cond/18AWG)
9314 (2 cond/14AWG)
9533 (3 cond/24AWG)
9683 (18 cond/24AWG)
9929 (5 cond/24AWG)
Brushless Fan NMB 3112KL-04W-B40-E00 http://www.nmbtech.com
Fan Guard Qualtek 08172 www.qualtekusa.com
Photomicrosensor Omron EE-SX671 www.omron.com

A compilation of part specific data sheets for all 3rd party components
described in this manual (in PDF format) is available online at
http://www.teknic.com/, or by contacting your Teknic sales engineer.
SST-6000/3100 INSTALLATION 35

APPENDIX B: STANDARD CABLE DRAWINGS

In this Appendix you’ll find the drawings for all of the accessory cables
for the SSt-6000/3100 servo drives. Although all of these cables can be
purchased from Teknic, many OEMs, once in production, prefer to
fabricate their own to accommodate custom lengths.
The following drawings are very complete in terms of their
construction details and materials and have been proven in numerous
applications. It is worth mentioning, however, that most problems
customers have when first installing SSt drives are do to poorly
fabricated (or mis-wired) cables. The following four guidelines will
minimize cable problems and speed development when working with SSt
servo drives:

CABLE CONSTRUCTION TIPS

#1 AVOID CABLES MADE WITH HAND TOOLS.

Hand crimping tools, when properly selected and used by a skilled
operator, make good crimp connections. However, since these tools are
expensive (typically $200 - $400 each) technicians rarely have every tool
required to make proper crimps on all of the terminal types and wire
sizes they encounter. Unfortunately, it’s easy to use the wrong tool and
not realize it, or even more likely, to use the wrong tool and think it’s
“probably OK”. These hand tools are awkward, cumbersome to use and
often require the operator to master a certain “feel”. In addition, these
hand tools don’t have any built-in quality assurance features.
In certain instances, you may be forced to make a hand crimped cable
when you’re in a hurry for a custom length. If you do, be sure that you
have the exact hand tool and die that the contact manufacturer
recommends. Also, be sure to perform a visual inspection to ensure that
the insulation is captured in the terminal’s strain relief and perform a
pull test on each connection before inserting it into the connector.
Under no circumstances, should you ever hand-make a cable to “save
money”. It’s far less expensive to buy them from Teknic during
engineering and pilot production and have a cable and harness
manufacturer assemble cables for you in production. These machine-
crimped cables will cost less than hand crimped versions and are likely to
save thousands of dollars of debugging time.

#2 VERIFY THAT YOUR CABLE SHOP HAS THE PROPER

GEAR.
Use a cable shop that has automated presses for wire termination and
make sure they have the proper applicator "heads" (dies) for the exact
terminals used. (If they don't, consider buying applicator heads for
them). It's strongly preferred that they have presses with automatic
"crimp height" checking as this in-process check is the main measure of
termination quality. Making this 100% check without requiring human
intervention is a key advantage. If they don't have these automatic crimp-
height-checking presses, make sure their general procedures include
checking the crimp height on first articles and periodically during a run

TEKNIC, INC FAX (585)784-7460 VOICE (585)784-7454

36 VERSION2.1/DECEMBER 16, 2006

of cables. Under no circumstances should you accept a shop using hand

tools.

#3 SPECIFY 100% ELECTRICAL TESTING.

Specify that cables and harnesses be 100% electrically tested, preferably
with resistance tests. The cable shop should have automated equipment
by CableScan, DynaLab, CheckSum or other vendors for this purpose.
The fixture cost for 100% electrical testing is low, ranging from $0-$200
per cable assembly and it's definitely worth it.

#4 DOUBLE CHECK THAT THE TERMINALS ARE PROPERLY

SPECIFIED
Check all your terminal specifications carefully. Research all of your
drawings and make certain that the terminals specified can accept the
gauge of wire used. Also, look carefully at the insulation diameter range
supported by each terminal. If the insulation diameter range on the
terminal is incorrect for the wire used, the individual wire strain relief
will be compromised and this can lead to premature failure. Make certain
that the plating between mating terminals is the same, using gold is
great, but if you are mating with tin, use tin terminals to avoid any
galvanic corrosion effects.

#5 PREPARE COMPLETE, PICTORAL DRAWINGS.

You’ll notice that the drawings that follow are very pictorial in nature and
call out many fabrication details for making a quality cable. If you have to
create drawings for other cables it helps to make similar drawings.
To create drawings that are "pictorial" in nature include fabrication
details such as jacket strip lengths, shield termination details, cable tie
locations, marking details, etc. The more call-outs, detail views,
explosions the better. Visual communication is key. Otherwise you will be
getting whatever the shop considers "standard practice" which is likely to
vary from day to day. Including the BOM right on the drawing is also very
helpful in avoiding errors. (Making the drawings scale in cable length,
generally helps reduce the drawing effort over time.)
SST-6000/3100 INSTALLATION 37

MOTOR CABLE FOR M3463, M3462, M3471 AND M3476

MOTORS

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38 VERSION2.1/DECEMBER 16, 2006

M4780 MOTOR CABLE (POWER VERSION)

SST-6000/3100 INSTALLATION 39

M4780 MOTOR CABLE (TORQUE VERSION)

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40 VERSION2.1/DECEMBER 16, 2006

TG-DCC-6000: TG-540 TO SST-6000/3100 INTERFACE CABLE

SST-6000/3100 INSTALLATION 41

SST-DL-TAP

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42 VERSION2.1/DECEMBER 16, 2006

SST-DL-HOST
SST-6000/3100 INSTALLATION 43

SST-DL-EXT

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44 VERSION2.1/DECEMBER 16, 2006

DC BUS JUMPER CABLE

SST-6000/3100 INSTALLATION 45

APPENDIX C: REVERSING A MOTOR’S

NATURAL DIRECTION
By selecting the Reverse checkbox in the SSt-QuickSetTM software, it is
easy to reverse the “natural” rotational direction of a motor attached to a
SSt-6000/3100 drive without the need for the modified motor cable
described below. Reversing motor direction in this way does not,
however, reverse the “direction” in which the software’s quadrature
counter visually reports shaft rotation. Whether the direction of rotation
is considered to be positive or negative, the counter will always
increment when the motor shaft rotates in a CCW direction and will
always decrement when the shaft rotates in a CW direction.
If you have a requirement to reverse motor operation such that the
SSt-QuicksetTM software reports quadrature counts in the opposite
direction (i.e. CCW rotation decrements the counter and CW rotation
increments it), a modified motor cable will be necessary. The diagram
below shows the appropriate wire pair swaps that must be made to a
“standard” motor cable to ensure proper reverse drive-motor operation.
Please consult your Teknic sales engineer if your application requires
reverse drive-motor operation.

Connect motor phase shield to motor case

MOTOR (P1) Belden 8770 typical, shown

R RED
4
S WHT MOTOR
3
T BLK
2
CHASSIS
1

Insulate shields at all points

so they can't touch

T-STAT RED/ORN
6
T-STAT RET. ORN/RED
7
A GRY/WHT
14
Route thermostat leads, if any,
A~ WHT/GRY
15 through encoder cable
16
B ORN/WHT (NOT through the motor phase cable)
B~ WHT/ORN
17
I GRN/WHT
18
I~ WHT/GRN
19 ENCODER
COMM-R BLU/RED +
9 COMM.
COMM-S RED/BLU
10
COMM-T WHT/BLU
11
GND BRN/WHT
12
+5V-OUT WHT/BRN
13

8 +5V-OUT
GND
20 To reverse the natural direction of the
motor rotation swap the wires as shown
Belden 8107 typical, shown

Motor Cable Construction Details for Reverse Motor

Operation

CAUTION- THE LIMIT SWITCHES WILL ALSO HAVE TO BE

PHYSICALLY SWAPPED WHEN USING THIS REVERSE DRIVE-
MOTOR CABLE. FAILURE TO DO SO CAN RESULT IN SERIOUS
MACHINE DAMAGE AND/OR BODILY INJURY. BE SURE TO CHECK
THE OPERATION OF THESE SWITCHES (MANUALLY AT LOW
SPEEDS) BEFORE OPERATING YOUR MACHINE.

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46 VERSION2.1/DECEMBER 16, 2006

APPENDIX D: AUDITING THE CONTROL

SIGNALS

The SSt-6000/3100 servo drives have many features to help make them
immune to electrical noise and marginal signals, including:
1. Analog and digital filtering of the high-speed step and direction
signals and encoder signals,
2. Encoder bad sequence detection.
3. Digital filtering of the commutation start-up (Hall) signals,
4. Slew rate limiting on the PWM motor drive outputs,
5. Dedicated shield pins on all connectors,
6. Careful internal designs of “RF” barriers and signal planes,
7. An all-metal case.
Installations that follow all of the recommendations in this manual have
been proven to be free from problems. However, because the SSt-
6000/3100 is so tolerant, it’s easy to overlook a marginal
wiring/grounding/interface problem when first testing the SSt-
6000/3100. These problems may then later result in inconsistent
positioning or seemingly random protection shutdowns. So, to ensure
that your electrical installation is robust, it is strongly recommended that
you audit the electrical control signals once your system is fully installed.
Most of the problems that occur in normal installations are due to the
fidelity of control signals supplied to the SSt drive. These can be
corrupted by high frequency ground loops, high capacitance cable,
induced noise from other equipment, and incompatible command signals
from the controller (or indexer).

CONTROLLER CONNECTOR
To assist in auditing these signals, Teknic provides the SSt-ADT assembly
shown below. This in-line board allows you to easily probe the control
signals without disturbing your control harness.

SSt-ADT: Control Signal Audit Board

SST-6000/3100 INSTALLATION 47

STEP & DIRECTION SIGNALS

The SSt-6000/3100 can receive either TTL (single-ended) mode or
differential mode (RS-422 levels) signals. The default input mode is TTL.
To set the drive to accept differential Step and Direction signals, simply
connect a jumper between S & D DIFF~ (pin 21) and GND (pin 22) on
the control connector (J1). If available on the controller/indexer that you
are using, differential mode should be used for the Step and Direction
signals, as it offers higher noise immunity than does TTL mode.
Step and Direction signals in TTL input (single-ended) mode require
the low level input to be less than .8V, and the high level input be greater
than 3.8V. Differential Step and Direction signals must be greater than
1.0V.
There is a maximum allowable noise pulse width that the SSt-
6000/3100 input circuit will filter. This maximum allowable noise pulse
width (nmax) varies according to the Max. Step Input setting in SSt-
QuicksetTM. See the table and diagrams below.
Although the SSt-6000/3100 will remove noise pulses as shown
below, for best engineering margin, your goal should be to eliminate any
nosie from reaching into the gray zones shown below.

tnoise < nmax tnoise > nmax tnoise < nmax tnoise > nmax
OK BAD OK BAD

3.8V

+1.0V

-1.0V

.8V

tnoise < nmax Ch. Math (A-B)

OK
tnoise < nmax
OK

TTL (Left) and Differential (Right) Step and Direction

signal noise limits (nmax)

MIN. ALLOWABLE STEP

PULSE WIDTH OR
MAX. STEP INPUT MAX. ALLOWABLE DIRECTION TRANSITION
SETTING IN SST- NOISE PULSE TO STEP TRANSITION
QUICKSETTM WIDTH (NMAX) TIME(TMIN)
1.25MHz 90nS 218nS
4.20MHz 45nS 119nS

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48 VERSION2.1/DECEMBER 16, 2006

tsignal > tmin

OK

Ch. 1 Step

ttransition-transition > tmin

OK

Ch. 2 Direction

Step and Direction signal minimum pulse width limits

(tmin)

The Step and Direction signals must be of a minimum pulse width in

order for them to be recognized by the drive as valid Step or Direction
signals. The minimum pulse width (tmin), which is illustrated and given in
the table above, is dependent upon the Max. Step Input setting as
configured by SSt-QuickSetTM. This value is also the minimum allowable
time between adjacent Step and Direction signals (i.e. the minimum
amount of time between the transition of the Direction signal and then
the Step signal, or vice versa).
The Step and Direction signals can easily be audited using the SSt-
ADT Control Signal Audit board.

AUDITING TTL STEP AND DIRECTION SIGNALS

1. Attach an oscilloscope probe (ch.1) to the STEP+ test point, and
attach it’s ground lead to one of the GND turrets located towards
the bottom part of the SSt-ADT board.
2. Attach another oscilloscope probe (ch. 2) to the DIR+ test point,
and attach it’s ground lead to one of the GND turrets located
towards the bottom part of the SSt-ADT board.
3. Set each channel’s VERTICAL SENSITIVITY to 2V/division and
input coupling to DC. The vertical position of ch. 1 should be at
the center line of the scope’s display, and ch. 2 should be
positioned below ch.1, towards the bottom of the display (but not
so low so as to obscure any possible negative-going signal
transitions or noise). Refer to the scope shot below labeled
‘Acceptable’.
4. Set the oscilloscope to trigger as follows:
TRIGGER SOURCE ch. 1
TRIGGER LEVEL +2.5V
TRIGGER MODE NORMAL
TRIGGER COUPLING DC
TRIGGER POLARITY positive-going ( )
HORIZ. TIMEBASE 200nS/division
The horizontal position (trigger point) should be set two or three
major divisions away from the Left side of the display.
5. Ensure that the motor is properly connected to the motor
connector P2. Apply AC power to the drive, as well as power to
the controller/indexer (if neither are already powered). If you are
SST-6000/3100 INSTALLATION 49

using Teknic’s ControlPoint system, run the ControlPoint RPE

software on the host PC.
6. The controller/indexer can now send Step and Direction signals
to the drive to be observed. Along with sending Step signals, the
Direction line should also be toggled so that it’s integrity can be
evaluated as well. This can be accomplished by sending
alternating positive moves (+motion) and negative moves (-
motion). If you are using Teknic’s ControlPoint RPE software, a
simple repetitive point-to-point move can be done by using the
button. Although it is possible to simply send steps to the
drive while the drive is disabled (i.e. not actually moving the
attached motor), it is important to send steps to an enabled drive
and to move the motor. The reception of the signals at the drive
will not change in either case, but any noise that may be being
induced by actually moving the motor can now be observed.

ACCEPTABLE UNACCEPTABLE

OK
tnoise (see text)
BAD
3.8V Ch. 1 STEP
BAD
.8V<Vin<3.8V
.8V

Ch. 2 DIRECTION

CROSSTALK NOISE INDUCED INTO

DIRECTION SIGNAL FROM STEP SIGNAL
(THROUGH HIGH CAPACITANCE CABLE)

Examples of Acceptable and Unacceptable single-

ended Step and Direction signals
7. A common problem with the Step and Direction signals is that of
infrequent noise pulses. Set the scope’s display persistence time
to infinite (:). Allow the scope to run for several minutes in order
to capture any noise pulses that may be corrupting the signals.
See the table and diagrams above for the maximum allowable
noise pulse width (nmax).
8. Using cursors, measure the minimum width of the Step and
Direction signals (tmin). The minimum width of these signals
must be at least as wide as what is outlined in the table and
diagram above.
9. Using cursors, measure the minimum time between any two Step
and Direction signal transitions (also tmin). The minimum time
between any two signal transitions must be at least what is
outlined in the table above. This measurement is shown in the
scope shot below.

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50 VERSION2.1/DECEMBER 16, 2006

trigger point

allowed tmin
(see text)

measured tmin
OK

Ch. 1 STEP

Note: No transitions on Ch.2

Ch. 2 DIRECTION

Measurement of Step and Direction minimum

allowable transition-transition time (tmin)

10. Set the display persistence back to it’s previous setting (typically
AUTO).
11. Using the scope’s SINGLE SEQuence function (whereby the
scope displays and holds the waveform after it sees a valid
trigger), capture the step logic signal by pressing the SINGLE
SEQ (or similar) button once the scope is properly triggering on
the signal.
12. Examine the rise time of the signal (typically <50nS), and look
for the absence or presence of any noise spikes or pulses. The
signals should look relatively quiet (i.e. free of noise pulses that
would be great enough in amplitude and pulse width to appear to
the drive as valid Step or Direction signals). Low level input
should be less than .8 volts, and high level input should be
greater that 3.8 volts.
13. Allow the scope to run again by pressing the RUN/STOP button.
14. Change the TRIGGER POLARITY to negative-going ( ).
15. As in steps 7-13 above, re-capture the signal and examine the
falling edge of the Step signal.
16. Change the TRIGGER POLARITY back to positive-going ( ),
and the TRIGGER SOURCE to ch. 2 (Direction).
17. Ensure that the Direction line is being toggled (see step 6. above).
As in steps 7-13 above, re-capture the signal and examine the
rising edge of the Direction signal.
18. Change the TRIGGER POLARITY to negative-going ( ).
19. As in steps 7-13 above, re-capture the signal and examine the
falling edge of the Direction signal.

Some digital oscilloscopes equipped with advanced triggering allow

the user to trigger on pulses of a certain duration (or below a certain
SST-6000/3100 INSTALLATION 51

duration). This technique may be helpful when noise pulses are very
narrow (i.e. narrower than any expected valid Step or Direction signal).
If it is suspected that Step and Direction signals are being
compromised via noise induced from other equipment, a signal from the
possible noise source can be used to trigger the scope. This technique
requires the use of an isolated scope probe which will allow the scope to
view two separate signals, each having their own separate (isolated)
ground.

AUDITING DIFFERENTIAL STEP AND DIRECTION

SIGNALS
If differential Step and Direction signaling is being used, refer to the
Auditing the Encoder Signals (Differential) section below for voltage
limits and techniques for auditing differential signals. Steps 5. – 17. in
the TTL procedure above should then be followed as well to ensure
proper timing. Note that Step+ and Step- (or Dir+ and Dir-) will
correspond to encoder signals A and A~ (or B and B~).

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52 VERSION2.1/DECEMBER 16, 2006

ENCODER SIGNALS
The main encoder signals (A, A~, B, and B~) are the signals that
originate at the motor's encoder. The encoder signals pass through the
drive (where they are monitored by the DSP), and may continue on to
your controller/indexer. The encoder signals must be differentially
greater than1.0V relative to each other.
There is a maximum allowable noise pulse width. This maximum
allowable pulse width of noise (nmax) varies according to the Max. Step
Input setting as set in SSt-QuickSetTM. See the table and diagrams below.
Although the SSt-6000/3100 will remove noise pulses as shown
below, for best engineering margin, your goal should be to eliminate any
nosie from reaching into the gray zones shown below.

tnoise < nmax tnoise > nmax

OK BAD

+1.0V

-1.0V

tnoise < nmax Ch. Math (A-B)

OK

Differential encoder signal noise limits (nmax)

MAX. ENCODER MAX. ALLOWABLE MIN. ALLOWABLE A TO B

LIMIT SETTING IN NOISE PULSE OR B TO A
QUICKSET WIDTH (NMAX) TRANSITION TIME(TMIN)
10MHz 90nS 100nS
15MHz 45nS 67nS

tsignal > tmin

OK

Ch. 1 A

ttransition-transition > tmin

OK

Ch. 2 B

Encoder signal minimum pulse width limits (tmin)

SST-6000/3100 INSTALLATION 53

The encoder signals must have a minimum edge A to edge B

transition time (and vice versa) in order for them to be recognized by the
drive as valid encoder signals. The minimum transition time (tmin), which
is illustrated and given in the table above, is dependent upon the drive’s
Max. Encoder Limit setting as configured by SSt-QuickSetTM.
The encoder signals can also be observed using the SSt-ADT Control
Signal Audit board.
Differential encoder signals can be monitored by an oscilloscope using
two methods. Doing a ‘basic’ audit of both encoder signals (A and B)
together involves simply probing on test points A (Ch. 1) and B (Ch. 2),
and using the GND turrets on the SSt-ADT board for both channels. This
method can be used to verify whether the encoder signals are relatively
clean, as well as to verify proper minimum transition time between
phases. The encoder signals should also be probed differentially when
noise is suspected or observed during a ‘basic’ audit. Differential probing
involves looking at the difference between A and A~ signals (separately
from the B and B~ signals) and removes any common mode noise
present from the display.

AUDITING THE ENCODER SIGNALS (BASIC)

1. Attach an oscilloscope probe (ch.1) to the A test point, and attach
it’s ground lead to one of the GND turrets located near the bottom
of the SSt-ADT board.
2. Attach another oscilloscope probe (ch. 2) to the B test point, and
attach it’s ground lead to one of the GND turrets located towards
the bottom part of the SSt-ADT board.
3. Set each channel’s VERTICAL SENSITIVITY to 2V/division and
input coupling to DC. The vertical position of ch. 1 should be at
the center line of the scope’s display, and ch. 2 should be
positioned below ch.1, towards the bottom of the display (but not
so low so as to obscure any possible negative-going signal
transitions or noise). Refer to the Left scope shot below.
4. Set the oscilloscope to trigger as follows:
TRIGGER SOURCE ch. 1
TRIGGER LEVEL +2.5V
TRIGGER MODE NORMAL
TRIGGER COUPLING DC
TRIGGER POLARITY positive-going ( )
The TIMEBASE should be set initially to ~200µS/division, but
the optimal timebase setting for this part of the signal audit will
be dependent on the encoder speed used.
5. Ensure that a motor is properly connected to the motor connector
P2. Apply AC power to the drive, as well as power to the
controller/indexer (if neither are already powered). If you are
using Teknic’s ControlPoint system, run the ControlPoint RPE
software on the host PC.
6. After enabling the drive, command the controller/indexer to
move the motor. The motor should be run at maximum
application speed (i.e. the fastest, longest possible move).
7. Using the scope’s SINGLE SEQuence function (whereby the scope
displays and holds the waveform after it sees a valid trigger),
capture both A and B encoder signals together by pressing the
SINGLE SEQ (or similar) button once the scope is properly
triggering on the signal. It may be necessary to repeat this several

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times before both encoder signals (with transitions) are displayed

together.
8. Examine the encoder signals together, look for the absence or
presence of any noise spikes or pulses. The signals should be
relatively noise-free. Note: It is not possible using this ‘single-
ended’ probing technique to verify whether or not the encoder
signals are within their high and low voltage limits (remember,
the actual ‘reference’ for the A encoder is A~, not GND, which is
what we are using for our ground presently). However, if these
signals have less than 500mV of noise present, a differential audit
is probably not necessary.
9. Examine the A and B encoder signals, it should look as though
there is a ~90° phase shift (one of the signals is leading or lagging
the other by ~90°). At any given point in time there should only
be one signal that is transitioning. See the scope shot above for
example encoder signal displays.
10. Change the timebase of the scope from its present setting to
200nS/division.
11. Allow the scope to run again by pressing the RUN/STOP button.
12. Set the scope’s persistence time to infinite (:). Allow the scope to
run for several minutes in order to capture any noise pulses or
short transitions that may be corrupting the signals.

trigger point

allowed tmin
(see text)

measured tmin
OK

Ch. 1 A

Ch. 2 B

Measurement of encoder signal minimum allowable

transition-transition time (tmin)using infinite
persistence setting
13. Set the persistence back to it’s previous setting (typically AUTO).
14. Using the scope’s RUN/STOP function, capture both A and B
encoder signals together by pressing the RUN/STOP button once
the scope is properly triggering on the signal.
15. Examine the rise time of the signal and look for the absence or
presence of any noise spikes or pulses.
SST-6000/3100 INSTALLATION 55

16. Allow the scope to run again by pressing the RUN/STOP button.
17. Change the TRIGGER POLARITY to negative-going ( ).
18. As in steps 6-16 above, re-capture the signal and examine the
falling edge of the A signal.
19. Change the TRIGGER POLARITY back to positive-going ( ),
and the TRIGGER SOURCE to ch. 2 (B).
20. As in steps 6-17 above, re-capture the signal and examine the
rising edge of the B signal.
21. Change the TRIGGER POLARITY to negative-going ( ).
22. As in steps 6-17 above, re-capture the signal and examine the
rising edge of the B signal.

PROPER ENCODER
SIGNAL QUADRATURE
Ch. 1 A

90˚
Phase
Shift

tmin (see text)

Ch. 2 B

Basic encoder signal auditing

If the encoder signals appear to be noisy (defined as >500mV of noise
or drifting), differential noise on the encoder signals and the differential
Step and Direction signals can be observed using the following method.
Note that using this differential probing method only allows you to look
at one set of signals at a time (i.e. A vs. A~, B vs. B~, STEP+ vs. STEP-,
or DIR+ vs. DIR-).
This probing method takes advantage of the commonly available
oscilloscope math function “A-B” (whereby channel 1 is subtracted from
channel 2, and the resultant waveform is displayed as a ‘third’ channel).
This will allow you to view the true differential encoder signal.

AUDITING THE ENCODER SIGNALS (DIFFERENTIAL)

1. Attach an oscilloscope probe (ch.1) to the A test point, do not
connect it’s ground lead yet.
2. Attach another oscilloscope probe (ch. 2) to the A~ test point.
3. Twist the ground leads from both probes together, and attach
them both to one of the GND turrets located towards the bottom
part of the SSt-ADT board.
4. Set each channel’s VERTICAL SENSITIVITY to 5V/division and
input coupling to DC. The vertical position of ch. 1 should be near
the top of the scope’s display, and ch. 2 should be positioned ~1.5
major divisions below ch. 1. Refer to the Right scope shot below.
5. Set the scope’s A-B math function VERTICAL SENSITIVITY to
2V/division. The vertical position of the A-B math function
should be approximately three major divisions from the bottom of
the display. See the Right scope shot above.
6. Set the oscilloscope to trigger as follows:
TRIGGER SOURCE ch. 1

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56 VERSION2.1/DECEMBER 16, 2006

TRIGGER LEVEL +2.5V

TRIGGER MODE NORMAL
TRIGGER COUPLING DC
TRIGGER POLARITY positive-going ( )
HORIZ. TIMEBASE 200nS/division
The horizontal position (trigger point) should be set one or two
major divisions away from the Left side of the display.
7. Ensure that a motor is properly connected to the motor connector
P2. Apply AC power to the drive, as well as power to the
controller/indexer (if neither are already powered). If you are
using Teknic’s ControlPoint system, run the ControlPoint RPE
software on the host PC.
8. After enabling the drive, command the controller/indexer to
move the motor. The motor should be run at maximum
application speed (i.e. the fastest, longest possible move).
9. A common problem with the encoder signals is that of infrequent
noise pulses. Set the scope’s persistence time to infinite (:). Allow
the scope to run for several minutes to capture any noise pulses
that may be corrupting the signals.
10. Set the persistence back to it’s previous setting (typically AUTO).
11. Examine the A and A~ encoder signals, as well as the resultant A-
B waveform. Although the differential encoder signals should
ideally look like those shown in the scope shots above, the drive
has the ability to recover valid encoder signals that have fairly
high amplitude noise signals imposed on them. The A-B
waveform may appear noisy, but there must be no noise pulses
that transition into the 1.0V area around ground (see the scope
shot below).
12. Allow the scope to run again by pressing the RUN/STOP button.
13. Change the TRIGGER POLARITY to negative-going ( ).
14. As in steps 9-13 above, re-capture the signal and examine the
falling edge of the encoder signals.
15. Change the TRIGGER POLARITY back to positive-going ( ), and
the TRIGGER SOURCE to ch. 2 (A~).
16. As in steps 9-13 above, re-capture the signal and examine the
rising edge of the encoder signals.
17. Change the TRIGGER POLARITY to negative-going ( ).
18. As in steps 9-13 above, re-capture the signal and examine the
falling edge of the encoder signals.
19. Repeat steps 1-19 above, using the test points B and B~ instead of
A and A~.
SST-6000/3100 INSTALLATION 57

DIFFERENTIAL ENCODER
SIGNAL PROBING

Ch. 1 A

Ch. 2 A~

Ch. Math (A-B)

+1.0V

-1.0V
BAD
-1V<Vin<+1V

Differential encoder signal auditing

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58 VERSION2.1/DECEMBER 16, 2006

OTHER DIGITAL INPUTS

The other digital inputs (+Limit, -Limit, Mode, and Enable~) require the
low level input to be less than .8V, and the high level input be greater
than 3.8V. The most common problem with these signals is not having a
pull-up resistor on the controller end of the signal. Check to see that
these signals cycle. The +LIM, -LIM, MODE, and ENABLE test points on
the SSt-ADT Control Signal Audit board are provided for this purpose.

DIGITAL OUTPUTS
The digital outputs Ready~ and HLFB~ are open collector outputs. They
must be pulled up at the controller board (typically to the controller
board’s +5V through a 5k resistor). Refer to the instructions given for the
auditing of single-ended step and direction signals when auditing these
outputs. The READY and HLFB test points on the SSt-ADT Control
Signal Audit board are provided for this purpose.

SAFETY CONNECTOR
If logic power backup is being used, measure the supplied voltage at +5
BCKUP (pin 4) to GND (pin 3) on the safety connector (P6). Verify that it
is 5.3-5.7 volts when the AC power is removed.
If the ARM input is being driven by logic level signals, check that the
voltage between ARM+ (pin 2) and ARM- (pin 6) is greater than 4.0V
when the drive is to be “armed”.
If a brake is installed insert an amp meter in series with the brake and
disarm the drive, make sure the current to the brake does not exceed
500mA.

MOTOR CONNECTOR
The commutation signals (COMM-R, COMM-S, and COMM-T) originate
at the motor and are available at the motor connector P2 (as pins 9,10,
and 11 respectively). If the commutation sensors are to be used (as set in
QuickSet), it is important to audit these signals as well. The voltage limits
for digital high and digital low for the commutation sensor outputs are
not TTL limits. Low level input must be less than 1.5 volts. High level
input must be greater than 4.6 volts. The ground for these signals is also
available at the motor connector (P2) as GND (pin 12).
A likely source of noise is due to ground loops that may be caused by
improper wiring. It is important to verify that CHASSIS ground and GND
(which is used for the encoder and commutation sensor signals) be
isolated in the motor cable. To verify that they are isolated, remove all
other connectors from the drive and connect the motor and cable to the
drive, put an ohmmeter between GND (pin 20) and chassis ground (pin
1) on the motor connector. Make sure it reads open circuit. Also, make
sure that the motor phase cable shield is connected to both the motor
case and pin 1 on the motor connector (P2).
SST-6000/3100 INSTALLATION 59

APPENDIX E: INSTALLATION GOLDEN RULES

Teknic has developed the following set of 18 simple “Golden Rules” for
SSt-6000/3100 servo system installation. Following these rules will
prevent potential electrical problems. The installation will be largely
immune to electrical noise, generate a minimum of electrical
interference, meet safety requirements and perform as expected. If you
read only one thing in this manual, these rules should be it!
Rules 1,2, 6-8,10-12 & 14 are especially important for proper
operation and have been highlighted in gray.

GROUNDING & SHIELDING

1. Ground all SSt-6000/3100 servo drives to the machine chassis or
frame. Make sure the frame is connected to the machines
Protective Earth Terminal (safety ground).
2. Connect all cable shields to chassis ground pins on the
SSt-6000/3100 connectors whenever shielded cable is used.

POWER
3. Use 18 AWG or heavier wire to connect AC power to the
SSt-6000/3100 drive.
4. Use thermal breakers or time delay fuses rated for motor staring
for protecting AC power to SSt-6000/3100 servo drive(s).
5. If DC power is bussed, use shielded 16AWG or heavier cable for
connecting DC power. Make sure to connect the shields to pin 3 on
P3 and P4.
6. AC power wiring between the EMI filter and SSt-6000/3100 servo
drive should be shorter than 10” and the filter should be grounded
to the same panel or frame member as the SSt-6000/3100. If
longer wiring between the drive and filter is required, it should be
made from shielded cable.

MOTOR CABLES
7. Use heavy gauge shielded cable for the motor phase wiring. Cable
with 18AWG conductors can be used up to 12-foot cable lengths.
Longer cable assemblies should use cable with 16AWG conductors.
Cables in excess of 25 feet will begin to affect the torque-speed
curve of the motors and should be avoided, if possible.
8. Make sure the motor phase cable shield is grounded to pin 1 on the
motor connector (P2) at the drive end and to the motor case at the
motor end.
9. Use shielded, twisted pair cable for the encoder, commutation
(Hall) sensor and thermostat signals. The encoder signal pairs A
and A~, B and B~ and I and I~ should be twisted together. Low
capacitance (under 20pf/ft) cable is strongly recommended,
especially if the encoder signals will be routed through the drive to
the controller. Low capacitance cable insulation is typically made
from polyethylene, polypropylene, Teflon®, FEP, etc.
10. Don’t ground the encoder cable shield to the motor case or allow it
to touch the motor phase shield at any point.

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60 VERSION2.1/DECEMBER 16, 2006

11. Don’t run the motor’s commutation (Hall) signals through the
motor phase cable at any point.
12. Don’t run the thermostat signals, if any, through the motor phase
cable at any point.

CONTROLLER/INDEXER INTERFACING
13. Use pull-up resistors on the Ready~ and HLFB~ output signals
from the SSt servo drive. These pull-up resistors can be connected
to a supply voltage of up to 24V.
14. Be sure the step and direction outputs on the controller can sink
15mA or more.
15. Use shielded cable for all control signal connections to the
controller connector. The controller cable should be made from low
capacitance cable (under 20pf/ft). Low capacitance cable
insulation is typically made from polyethylene, polypropylene,
Teflon®, FEP, etc. The recommend cable stock shown in the
application diagrams in this manual has excellent electrical
properties and low cost.
16. Audit the control signals for:
Step & Direction noise and levels,
Step & Direction timing,
Encoder A and B phases for noise, levels and quadrature.
17. If using the logic power backup, make sure the supplied voltage at
the drive is above 5.20V under worst case conditions.
18. Use shielded cable for routing +5V-BCKUP, GND or +5V from the
safety connector (P6).
SST-6000/3100 INSTALLATION 61

APPENDIX F: QUICK REFERENCE

SPECIFICATIONS

General Dimensions: 3.15"W x 8.93"H x 5.54"D

Weight: 4.4 Lbs. (2 Kg.)
Environmental Temperature: 0?C-40?C
Humidity: 0% - 90% non-condensing
Supply Requirements AC Input Voltage: 100 - 240 VAC Nominal (50-60 Hz.)
(Use either AC or DC) AC Input Current: Max. 10Amps (Time Delay Fused)
DC Input Voltage: 120 - 370 VDC (Nominal 340 VDC) ♦
DC Input Current: Max. 10Amps (Time Delay Fused)
Output PWM Ripple Current: 27 KHz
Current Capability: 12A RMS* mounted vertically with forced air
cooling
9A RMS* mounted vertically on a metallic
bulkhead
4A RMS* in any mounting configuration in
free air
23A Peak (5 seconds)
Protection: Protected on a cycle-by-cycle basis against
phase-to-phase shorts and shorts to ground.
Fused.
Encoder Input Type: differential incremental encoder inputs with or
without index. Digitally filtered with bad
sequence detection
Rate: 15 MHz Maximum, post quadrature
Courtesy Power: SSt servo drive can supply +5V @ 200mA.
Step & Direction Inputs Isolated Format: TTL level Schmidt triggered inputs with 470
ohm pull-up resistors to +5VDC, or
Differential Signaling ( Style selected by
jumper wire on control connector )
Rate: 4.2 MHz Maximum
Real-time Monitor Port Features: Configurable digital filtering, User defined
scaling factors (High Zoom magnification
available), Sync pulses at beginning of moves
Variables: tracking (position) error, commanded velocity,
actual torque, actual velocity, velocity error,
commanded torque, and 7 other variables
Configuration memory non-volatile storage (eeprom)
Format: 0.5 - 4.5V analog signal (0=2.5V)
Vector Commutation Vector Error: 0.1% or less
Type: Sinewave—Indirect, voltage vector dq current
control with PI compensator with proprietary
enhancements.
Calculation Rate: 13.5 kHz
Analog Command Input Format: Torque commanded using a Differential
analog voltage input.
Impedance: 10K ohms ( each input to ground )
Scale: SSt-6000: 2.3 Amps per volt , ±10 volt range.
( 10 % of peak output per volt of input )
SSt-3100: 1.0 Amp per volt, ±10 volt range.

* Peak value of the sine output current on any given phase when the motor is
rotating.
♦The DC Supply must be in-rush limited. Contact Teknic for details

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CONNECTOR PINOUTS
Viewed looking into drive

CONNECTOR PINOUT MATING COMPONENTS

9
18
9 DIR+

26
18 STEP+
DIR- 26 8 ENABLE~
17 READY~
STEP- 25 7 HLFB~
ANALOG- 24 6 GND
16 ANALOG+ Mating plug:
A GND 23 5 GND
15 MODE
AMP/748365-1
14 +5-ENC
GND 22 4 I~
13 I Crimp pins:
S&D DIFF~ 21 3 B~
12 B AMP/748333-5 or 748333-7
+5V-OUT 20 2 A~
J1 CHASSIS 19 1 -LIMIT
11 A
Housing-backshell:
10 +LIMIT
3M/3357-6515
19

CONTROL 10
1
7 THERMOSTAT RETURN
6 THERMOSTAT

MOTOR ENCODER
PHASES INPUTS
1 CHASSIS

9 COMM-R
8 +5V-OUT

13 +5V-OUT
10 COMM-S
11 COMM-T

Mating connector:
12 GND

20 GND
5 NC

15 A~

17 B~

19 I~
4 R

Phoenix Contact/17 57 19 0
3 S

14 A

16 B
2 T

18 I
P2 Strain relief housing:
MOTOR Phoenix Contact/18 05 61 5

SHIELD 3

2 Mating Housing:
AMP/1-480700-0
P3, P4 + 1
Crimp sockets:
DC BUS AMP/350550-1
5 Mating housing:
MONITOR 4 Molex/50-57-9405
GND 3
Crimp sockets:
Rx 2
P5 Molex/16-02-0097 or 16-02-
Tx 1
DIAGNOSTIC 0087
+5 BCKUP 4 8 +5V-OUT

GND 3 7 GND Mating housing:

Molex/39-01-2080
ARM+ 2 6 ARM-
P6 Crimp sockets:
BRK-OUT + 1 5 BRK-OUT -
SAFETY Molex/39-00-0039

Mating connector:
P8 Phoenix Contact/17 67 03 8
GND 1

AC 2

AC 3

REGEN- 4

REGEN+ 5

AC & Strain relief housing:

REGEN. Phoenix Contact/18 03 91 8
Mating connector:
Molex/50-57-9402
FAN DC COMMON 1 2 +12V Crimp sockets:
CONNECTOR Molex/16-02-0097 or 0087