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Applied Motion Products ST5-Q Hardware Manual

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ST
920-0004 Rev. C
4/21/11
ST5-Q
•
ST5-Q-E
•
ST5-Si
•
ST5-C
ST5-C
ST5-C
• •
•
ST5-IP-E
ST5-IP-E
ST5-IP-E
• •
•
ST10-Q
•
ST10-Q-E
•
ST10-Si
•
ST10-C
ST10-C
ST10-C
• •
•
ST10-IP-E
ST10-IP-E
ST10-IP-E
• •
•

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Summary of Contents for Applied Motion Products ST5-Q

  • Page 1 ST5-Q ST10-Q • • ST5-Q-E ST10-Q-E • • ST5-Si ST10-Si • • ST5-C ST5-C ST5-C ST10-C ST10-C ST10-C • • • • • • ST5-IP-E ST5-IP-E ST5-IP-E ST10-IP-E ST10-IP-E ST10-IP-E • • • • • • 920-0004 Rev. C 4/21/11...

  • Page 2: Table Of Contents

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Contents Introduction....................................3 Features ....................................3 Block Diagrams ..................................4 Getting Started ..................................6 Connecting to the PC using RS-232 ............................8 Connecting the Drive to Your PC using Ethernet ........................9 Addresses, Subnets, and Ports ............................9 Option 1: Connect a Drive to Your Local Area Network ....................11 Using DCHP ................................13 Option 2: Connect a Drive Directly to Your PC ........................14 Option 3: Use Two Network Interface Cards (NICs) ......................16...

  • Page 3: Introduction

    4/21/11 Introduction Thank you for selecting an Applied Motion Products motor control. We hope our dedication to performance, quality and economy will make your motion control project successful. If there’s anything we can do to improve our products or help you use them better, please call or fax. We’d like to hear from you.

  • Page 4: Block Diagrams

    OUTPUT Y1 OUTPUT Y2 OUTPUT Y3 Option Card CANopen OUTPUT Y4 (Required on ST-C Drives only) or RS485 ANALOG IN1 (Optional on ST-Q Drives only) ANALOG IN2 to PC/MMI RS-232 *24 - 80 VDC for ST10 ST5-Q, ST5-C, ST10-Q and ST10-C...
  • Page 5 X8/CCWLIM OUTPUT Y1 OUTPUT Y2 OUTPUT Y3 Ethernet to Ethernet switch OUTPUT Y4 Option Card or network interface card ANALOG IN1 ANALOG IN2 RS-232 not used *24 - 80 VDC for ST10 ST5-Q-EN, ST5-Q-EE, ST5-IP-EN, ST5-IP-EE, ST10-Q-EN, ST10-Q-EE, ST10-IP-EN, ST10-IP-EE...

  • Page 6: Getting Started

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Getting Started This manual describes the use of six different drive models. What you need to know and what you must have depends on the drive model. For all models, you’ll need the following: •...
  • Page 7 920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 The connectors and other points of interest are illustrated below. Depending on your drive model and appli- cation, you’ll need to make connections to various parts of the drive. These are detailed later in the manual. screw terminal HD-15 connector connector...

  • Page 8: Connecting To The Pc Using Rs-232

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Connecting to the PC using RS-232 • Locate your computer within 8 feet of the drive. • If you have a CANopen drive, you still need to connect to the RS232 port on your PC to configure the drive and download Q Programs, if necessary.

  • Page 9: Connecting The Drive To Your Pc Using Ethernet

    920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 Connecting the Drive to Your PC using Ethernet This process requires three steps • Physically connect the drive to your network (or directly to the PC) • Set the drive’s IP address •...
  • Page 10 920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Rotary Switch IP Address 10.10.10.10 192.168.1.10 192.168.1.20 192.168.1.30 192.168.0.40 192.168.0.50 192.168.0.60 192.168.0.70 192.168.0.80 192.168.0.90 192.168.0.100 192.168.0.110 192.168.0.120 192.168.0.130 192.168.0.140 DHCP Settings 1 through E can be changed using the ST Configurator software (use Quick Tuner for servo drives). Setting 0 is always “10.10.10.10”, the universal recovery address.

  • Page 11: Option 1: Connect A Drive To Your Local Area Network

    920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 time. Ports are used to direct traffic to the right application once it gets to the right IP address. The UDP eSCL port in our drives is 7775. To send and receive commands using TCP, use port number 7776. You’ll need to know this when you begin to write your own application.
  • Page 12 920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Once you’ve chosen an appropriate IP address for your drive, set the rotary switch according the address table above. If none of the default addresses are acceptable for your network, you can enter a new table of IP addresses using Configurator.

  • Page 13: Using Dchp

    920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 manual: “Using DHCP”. 5. If the option “Use the following IP address” is selected, life is good. Change the subnet mask to “255.255.0.0” and click OK. Using DCHP If you want to use your drive on a network that where all or most of the devices use dynamic IP addresses supplied by a DHCP server, set the rotary switch to “F”.

  • Page 14: Option 2: Connect A Drive Directly To Your Pc

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Option 2: Connect a Drive Directly to Your PC It doesn’t get much simpler than this: 1. Connect one end of a CAT5 Ethernet cable into the LAN card (NIC) on your PC and the other into the drive.
  • Page 15 920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 select properties. Select “Change adapter settings” 4. You should see an icon for your network interface card (NIC). Right click and select properties. a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button.

  • Page 16: Option 3: Use Two Network Interface Cards (Nics)

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 NIC1 NIC2 DRIVE Option 3: Use Two Network Interface Cards (NICs) This technique allows you to keep your PC connected to your LAN, but keeps the drive off the LAN, prevent- ing possible IP conflicts or excessive traffic. 1.

  • Page 17: Connecting To A Host Using Rs-485 Option Card

    920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 Connecting to a host using RS-485 option card RS-485/422 RS-485 allows you to connect more than one drive to a single host PC, PLC, HMI or other computer. It also allows the communication cable to be long (more than 1000 feet). But the device to which you connect must have an RS-485 port.

  • Page 18: Rs-232 To Rs-485 2-Wire Converter

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Two Wire Systems transmit and receive on the same pair of wires, which can lead to trouble. The host must not only disable its transmitter before it can receive data, it must do so quickly, before a drive begins to answer a query.
  • Page 19 920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 RS-485 Address panel appear. Just click on the address character of your choice. You can use the numer- als 0..9 or the special characters ! “ # $ % & ‘ ( ) * + , - . / : ; < = > ? @ . Just make sure that each drive on your network has a unique address.

  • Page 20: Connecting The Power Supply

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Connecting the Power Supply If you need information about choosing a power supply, please read Choosing a Power Supply located elsewhere in this manual. Connect the motor power supply “+” terminal to the driver terminal labeled “V+”. Connect power supply “-”...

  • Page 21: Connecting The Motor

    920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 Connecting the Motor Never connect or disconnect the motor while the power is on. Four lead motors can only be connected one way. Please follow the sketch at the right. lead Six lead motors can be connected in series or center tap. In motor series mode, motors produce more torque at low speeds, but A–...

  • Page 22: Connecting An Encoder (Requires The Optional Encoder Feedback Card)

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Orange Orange Blk/Wht Org/Wht lead lead motor Blk/Wht motor Org/ A– A– Black Black Red/ Yellow Yel/ Yel/ Red/Wht B– B– 8 Leads Series Connected 8 Leads Parallel Connected Connecting an Encoder (Requires the optional Encoder Feedback Card) The encoder connections use a HD-15 connector, which you must connect to your encoder as shown below.

  • Page 23: Connecting Input Signals

    920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 Connecting Input Signals The ST drives have three types of inputs: • high speed digital inputs for step & direction commands or encoder following, 5 volt logic • digital inputs for other signals, 12 - 24 volt logic •...

  • Page 24: High Speed Digital Inputs

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 High Speed Digital Inputs The ST Series drives include two high speed inputs called STEP and DIR. They accept 5 volt single-ended or differential signals, up to 2 MHz. Normally these inputs connect to an external controller that provides step &...
  • Page 25 920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 X1/STEP+ X1/STEP- Master X2/DIR+ Encoder X2/DIR- Wiring for Encoder Following Using High Speed Inputs with 12-24 Volt Signals Most PLCs don’t use 5 volt logic. You can connect signal levels as high as 24 volts to the STEP and DIR inputs if you add external dropping resistors, as shown below.
  • Page 26 920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 +12-24V X2/DIR+ X2/DIR- with DRIVE Sinking X1/STEP+ Outputs STEP X1/STEP- Connecting to PLC with Sinking (NPN) Outputs (Most PLC’s use 24 volt logic) X2/DIR+ direction switch +24VDC X2/DIR- Power DRIVE 2200 Supply run/stop switch X1/STEP+ 2200...
  • Page 27 920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 Other Digital Inputs inside drive XCOM As we mentioned in the previous section, the high 2200 X3/EN speed STEP and DIR inputs are configured for five volt logic. All other digital inputs are designed for operation 2200 X4/RST between 12 and 24 volts DC.
  • Page 28 920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 XCOM 12-24 DRIVE switch or relay Power (closed=logic low) Supply X3..X6 Connecting an Input to a Switch or Relay DRIVE 12-24 XCOM OUT+ X3..X6 Power Supply OUT– Connecting another Si™ drive to the ST (When output closes, input goes low).
  • Page 29 920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 12-24 output X3..X6 Proximity Power Sensor DRIVE – Supply XCOM Connecting a PNP Type Proximity Sensor to a an input (When prox sensor activates, input goes low). Connecting Limit Switches The CWLIMIT and CCWLIMIT inputs are used for connecting end of travel sensors. These inputs are differential, which allows you to use signals that are sinking (NPN), sourcing (PNP) or differen- tial (line driver).
  • Page 30 You can use normally open or normally closed limit switches. Either way, wire them as shown here. Be sure to set the polarity using the Si Programmer™ for Si™ drives or the ST Configurator™ software for the ST5-Q, ST10-Q, ST5-C and ST10-C. CW LIMIT+...

  • Page 31: Connecting A Potentiometer To Analog Input 1

    920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 Analog Inputs inside drive The ST drives feature two analog inputs. Each input can accept a signal range of 0 to 5 VDC, ±5 VDC, 0 to 10 VDC or ±10 VDC. Signal AIN1 Conditioning...

  • Page 32: Programmable Outputs

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Programmable Outputs IN/OUT1 The ST drives feature four digital outputs. These outputs can be set to automically control a motor brake, to signal a fault YCOM condition, to indicate when the motor is moving or to provide an output frequency proportional to motor speed (tach signal).

  • Page 33: Sourcing Output

    920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 5-24 VDC 5-24 VDC Power Supply Power Supply – – IN/OUT1 IN/OUT1 Y1/2/3 YCOM Sourcing Output Sourcing Output Y1, Y2 or Y3 Using Y4 5-24 VDC Power Supply relay – Y1/2/3 IN/OUT1 1N4935 suppression diode YCOM Driving a Relay...

  • Page 34: Choosing A Power Supply

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Choosing a Power Supply When choosing a power supply, there are many things to consider. If you are manufacturing equipment that will be sold to others, you probably want a supply with all the safety agency approvals. If size and weight are an issue use a switching supply.

  • Page 35: Recommended Motors

    920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 Recommended Motors Holding Drive Rotor Part Torque Current Setting Resistance Inductance Inertia Number oz-in kg-cm amps ohms g-cm HT11-012 0.50 HT11-013 15.0 1.08 5014-842 26.0 1.87 HT17-068 31.4 2.26 HT17-071 51.0 3.67 HT17-075 62.8 4.52...
  • Page 36 920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 24 Volts DC HT17-075, 2A HT17-071, 2A HT17-068, 1.6A Speed (rev/sec) 48 Volts DC HT17-075, 2A HT17-071, 2A HT17-068, 1.6A Speed (rev/sec) 24 Volts DC HT23-401, 5A HT23-398, 5A HT23-394, 3.4A Speed (rev/sec)
  • Page 37 920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 48 Volts DC HT23-401, 5A HT23-398, 5A HT23-394, 3.4A Speed (rev/sec) 24 Volts DC 1200 with ST10 Drive HT34-487, 10A 1000 HT34-486, 9.7A HT34-485, 10A Speed (rev/sec) 48 Volts DC 1500 with ST10 Drive HT34-487, 10A 1200 HT34-486, 9.7V...

  • Page 38: Motor Heating

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 80 Volts DC 1500 with ST10 Drive HT34-487, 10A 1200 HT34-486, 9.7A HT34-485, 10A Speed (rev/sec) Motor Heating Step motors convert electrical power from the driver into mechanical power to move a load. Because step motors are not perfectly efficient, some of the electrical power turns into heat on its way through the motor.
  • Page 39 920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 5014-842 Max Duty Cycle vs Speed 24 VDC, 1.2A, 40°C Ambient Mounted on 4.75" x 4.75" x .25" Aluminum Plate Speed (RPS) HT11-012 Max Duty Cycle vs Speed 24 VDC, 1.2A, 40°C Ambient Mounted on 3.5"...
  • Page 40 920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 HT17-068 Max Duty cycle vs Speed HT17-068 Max Duty cycle vs Speed 48 VDC, 1.60 Amps 40 °C Ambient 24 VDC, 1.60 Amps @40°C Ambient on 4.75 x 4.75 x .25 Aluminum Plate on 4.75 x 4.75 x .25 Aluminum Plate Speed (RPS) Speed (RPS)
  • Page 41 920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 HT23-394 Max Duty Cycle vs Speed HT23-394 Max Duty Cycle vs Speed 24 VDC, 3.4 Amps, 40°C Ambient 48 VDC, 3.4 Amps, 40°C Ambient on 6.4 x 6.4 x .25 Aluminum Plate on 6.4 x 6.4 x .25 Aluminum Plate Speed (RPS) Speed (RPS)
  • Page 42 920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 HT34-485 Max Duty cycle vs Speed HT34-485 Max Duty cycle vs Speed 48 VDC, 10.0 Amps 40°C Ambient 80 VDC, 10.0 Amps 40 °C Ambient on 10 x 10 x .5 Aluminum Plate on 10 x 10 x .5 Aluminum Plate Speed (RPS) Speed (RPS)

  • Page 43: Mounting The Drive

    920-0004 Rev. C ST5/10-Si,-Q,-C, IP Hardware manual 4/21/11 Mounting the Drive You can mount your drive on the wide or the narrow side of the chassis using #6 screws. If possible, the drive should be securely fastened to a smooth, flat metal surface that will help conduct heat away from the chassis.

  • Page 44: Technical Specifications

    920-0004 Rev. C ST5/10-Si,-Q,-C, -IP Hardware manual 4/21/11 Technical Specifications Amplifier Digital MOSFET. 20 kHz PWM. ST5: 18 - 53 VDC, motor current: 0.5 to 5.0 amps/phase peak of sine ST10: 18 - 88 VDC, motor current: 0.5 to 10 amps/phase peak of sine Digital Inputs Step &...

  • Page 45: Mating Connectors And Accessories

    Applied Motion Products PS150A24 (24 VDC, 6.3A) Applied Motion Products PS50A24 (24 VDC, 2.1A) Operator Terminal (-Si drives only) Applied Motion Products MMI-01 or MMI-02 (backlit). Recommended CANopen USB Adapter (-C drives only) Kvaser LeafLight HS This adapter is not available from Applied Motion Products...

  • Page 46: Alarm Codes

    X1 / STEP + X8/CCWLIMIT- do not connect (13) Front View Front View DB-25 I/O Connector HD-15 Encoder Connector RS-485/422 CANopen Applied Motion Products, Inc. 404 Westridge Drive Watsonville, CA 95076 Tel (831) 761-6555 (800) 525-1609 Fax (831) 761-6544 www.appliedmotionproducts.com...

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