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AutomationDirect SureStep STP-DRV Series User Manual

Stepping system, power supplies, ster motor extension cable, connectorized bipolar stepping motors
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STP-DRV-xxxx
Microstepping Drives
STP-PWR-xxxxx
Stepping System
Power Supplies
STP-MTR(H)-xxxx
Connectorized Bipolar Stepping Motors
Stepping Systems
User Manual
Manual #: STP-SYS-M-WO
STP-EXT(H)-020
Step Motor Extension Cable
2nd Ed, Rev A

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Summary of Contents for AutomationDirect SureStep STP-DRV Series

  • Page 1 Stepping Systems User Manual Manual #: STP-SYS-M-WO STP-DRV-xxxx 2nd Ed, Rev A Microstepping Drives STP-PWR-xxxxx Stepping System Power Supplies STP-EXT(H)-020 Step Motor Extension Cable STP-MTR(H)-xxxx Connectorized Bipolar Stepping Motors...
  • Page 2 THIS PAGE INTENTIONALLY LEFT BLANK...
  • Page 3 This publication is based on information that was available at the time it was printed. At AutomationDirect we constantly strive to improve our products and services, so we reserve the right to make changes to the products and/or publications at any time without notice and without any obligation.

  • Page 4: Marques De Commerce

    Nulle partie de ce manuel ne doit être copiée, reproduite ou transmise de quelque façon que ce soit sans le consentement préalable écrit de la société Automationdirect.com Incorporated. ® AutomationDirect conserve les droits exclusifs à l'égard de tous les renseignements contenus dans le présent document.
  • Page 5 WARNING : Read this manual thoroughly before using SureStep™ Stepping System ARNING drives, motors, and power supplies. : AC input power must be disconnected before performing any maintenance. ARNING Do not connect or disconnect wires or connectors while power is applied to the circuit.
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  • Page 7 Stepping Systems U S E R M A N U A L Please include the Manual Number and the Manual Issue, both shown below, when communicating with Technical Support regarding this publication. Manual Number: STP-SYS-M-WO Issue: Second Edition, Revision A Issue Date: 06/2009 Publication History...
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  • Page 9: Table Of Contents

    ABLE OF ONTENTS Chapter 1: Getting Started ......1–1 Manual Overview ........1–2 SureStep™...
  • Page 10 Table of Contents Chapter 3: SureStep™ Advanced Microstepping Drives . .3–1 Features ......... .3–2 Specifications .
  • Page 11 Table of Contents Appendix A: Selecting the SureStep™ Stepping System . .A–1 Selecting the SureStep™ Stepping System ....A–2 Leadscrew - Example Calculations ..... .A–8 Belt Drive - Example Calculations .
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  • Page 13 HAPTER HAPTER HAPTER ETTING TARTED In This Chapter... Manual Overview ....... .1–2 Overview of this Publication .

  • Page 14: Chapter 1: Getting Started

    By Telephone: 770-844-4200 (Mon.-Fri., 9:00 am – 6:00 pm E.T.) On the Web: www.automationdirect.com Our technical support group is glad to work with you in answering your questions. If you cannot find the solution to your particular application, or, if for any reason you need additional technical assistance, please call technical support at 770-844-4200.

  • Page 15: Surestep™ System Introduction

    Chapter 1: Getting Started SureStep™ System Introduction SureStep open-loop stepping systems provide simple and accurate control of position and speed where lower power and cost are considerations. The SureStep family of stepping components includes power supplies, drives, motors, and cables. The DirectLOGIC family of PLCs or other indexers and motion controllers can be used to provide the signals that are "translated"...

  • Page 16: Microstepping Drives Introduction

    • 12-42 volt DC power supply for the motor drive. The SureStep STP-PWR-3204 power supply from AutomationDirect is the best choice. If you decide not to use the STP-PWR-3204, please read the section entitled “Choosing a Power Supply” in the STP-DRV-4035 Drive chapter of this user manual.

  • Page 17: Advanced Microstepping Drive

    • A source of input control signals, such as a DirectLogic PLC from AutomationDirect. • A compatible step motor, such as an AutomationDirect SureStep STP-MTR(H)- xxxxx. (Motor extension cables STP-EXT(H)-020 are also available.) • A small flat blade screwdriver for tightening the connectors.

  • Page 18: Bipolar Step Motor Introduction

    Chapter 1: Getting Started Bipolar Step Motor Introduction AutomationDirect offers nine different models of bipolar step motors with mounting flanges in NEMA frame sizes 17, 23, and 34. There are five High Torque (STP-MTR-xxxxx) motors available, as well as four Higher Torque (STP- MTRH- xxxxx) motors.

  • Page 19: Stepping System Power Supply Introduction

    Chapter 1: Getting Started Stepping System Power Supply Introduction The SureStep stepping system power supplies are designed to work with SureStep microstepping drives and motors. The different power supply models can provide unregulated DC power at the applicable voltage and current levels for various SureStep drives and motors.

  • Page 20: Selecting The Stepping System

    Chapter 1: Getting Started Selecting the Stepping System Refer to Appendix A: Selecting the SureStep™ Stepping System for detailed information on how to calculate requirements for various applications using stepping motors for motion control. Use with DirectLOGIC PLCs Refer to Appendix B: Using SureStep™ with DirectLOGIC PLCs for detailed information on wiring the SureStep Stepping System components to DirectLOGIC PLCs and high-speed counter modules.
  • Page 21 HAPTER HAPTER ™ HAPTER STP-DRV-4035 ICROSTEPPING RIVE In This Chapter... Features ........2–2 Block Diagram .

  • Page 22: Chapter 2: Surestep

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Features • Drives sizes 17 through 34 step motors • Pulse width modulation, MOSFET 3 state switching amplifiers • Phase current from 0.4 to 3.5 amps (switch selectable, 32 settings) • Optically isolated step, direction and enable inputs •...

  • Page 23: Specifications

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Specifications SureStep™ Microstepping Drives Specifications Part Number STP-DRV-4035 Input Power (with red 12-42 VDC (including ripple voltage) Power On LED) Output current selectable from 0.4 to 3.5 Amps/phase motor current Output Power (maximum output power is 140 W) Dual H-bridge Bipolar Chopper Current Controller (3-state 20 kHz PWM with MOSFET switches)

  • Page 24: Typical Wiring Diagram

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Typical Wiring Diagram Step Motor STP- STP-DRV-4035 Power Supply DRV-4035 Typical Wiring – Diagram VDC + VDC – A – STP-PWR-3204 Stepper Drive B – Cable Color Code 12" Motor Pigtail Extension Cable Step Motor with Connector with Connector Term...

  • Page 25: Connecting The Motor

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Connecting the Motor When connecting a step motor to the SureStep™ STP-DRV-4035 ARNING microstepping drive, be sure that the motor power supply is switched off. When using a motor not supplied by A , secure any unused motor leads so that they UTOMATION IRECT can't short out to anything.

  • Page 26: Connecting The Power Supply

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Eight lead motors Eight lead motors can also be connected in two ways: series or parallel. Series operation gives you more torque at low speeds and less torque at high speeds. When using series connection, the motor should be operated at 30% less than the rated current to prevent over heating.

  • Page 27: Connecting The Logic

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Connecting the Logic The SureStep drive contains optical isolation circuitry to prevent the electrical noise inherent in switching amplifiers from interfering with your circuits. Optical isolation is accomplished by powering the Internal to the 220 ohms STP-DRV-4035 motor driver from a different supply source...
  • Page 28 Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Connecting to an Indexer with Sinking Outputs +5V OUT DIR+ STP-DRV-4035 Indexer DIR– Drive with Sinking STEP+ Outputs STEP STEP– EN– Connecting to an Indexer with Sourcing Outputs DIR– STP-DRV-4035 Indexer DIR+ Drive with Sourcing STEP–...

  • Page 29: The Enable Input

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Using Logic That is Not 5 volt TTL Level Some step and direction signals, especially those of PLCs, don't use 5 volt logic. You can connect signal levels as high as 24 volts to the SureStep drive if you add external dropping resistors to the STEP, DIR and EN inputs, as shown below.

  • Page 30: Setting Phase Current

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Step Table (half stepping) Step A– B– open open – – – – open open – – DIR=1 DIR=0 open open – – – – open open – – open open – Step 0 is the Power Up State Setting Phase Current Before you turn on the power supply the first time, you need to set the drive for the proper motor phase current.

  • Page 31: Current Setting Table

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Current Setting Table Factory Default AMPS/ AMPS/ AMPS/ AMPS/ PHASE PHASE PHASE PHASE AMPS/ AMPS/ AMPS/ AMPS/ PHASE PHASE PHASE PHASE AMPS/ AMPS/ AMPS/ AMPS/ PHASE PHASE PHASE PHASE AMPS/ AMPS/ AMPS/ AMPS/ PHASE PHASE PHASE PHASE...

  • Page 32: Microstepping

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Microstepping Most step motor drives offer a choice between full step and half step resolutions. In most full step drives, both motor phases are used all the time. Half stepping divides each step into two smaller steps by alternating between both phases on and one phase on.

  • Page 33: Idle Current Reduction

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Idle Current Reduction Your drive is equipped with a feature that automatically reduces the motor current by 50% anytime the motor is not moving. This reduces drive heating by about 50% and lowers motor heating by 75%. This feature can be disabled if desired so that full current is maintained at all times.

  • Page 34: Choosing A Power Supply

    In that sense, unregulated power supplies are better. They are also less expensive. The SureStep STP-PWR-3204 power supply from AutomationDirect is the best choice of DC power supply to use with the SureStep STP-DRV-4035 microstepping drive.

  • Page 35: Mounting The Drive

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Mounting the Drive You can mount your drive on the wide or the narrow side of the chassis. If you mount the drive on the wide side, use #4 screws through the four corner holes. For narrow side mounting applications, you can use #4 screws in the two side holes.

  • Page 36: Dimensions

    Chapter 2: SureStep STP-DRV-4035 Microstepping Drive Dimensions 4x Ø0.125 1.50 2.50 [Ø3.2] 0.125 [38.1] [63.5] [3.2] 2x Ø0.125 [Ø3.2] 3.70 3.75 4.00 [94.0] [95.3] [101.6] 0.25 0.25 3.00 [6.4] 0.15 [6.4] [76.2] [3.8] 0.875 [22.2] Dimensions = in [mm] SureStep Stepping Systems User Manual 2–16 2nd Ed, Rev A...
  • Page 37 HAPTER HAPTER HAPTER ™ DVANCED ICROSTEPPING RIVES In This Chapter... Features ........3–2 Specifications .

  • Page 38: Chapter 3: Surestep™ Advanced Microstepping Drives

    Chapter 3: SureStep™ Advanced Microstepping Drives Features • Max 5A, 48V and max 10A, 80V models available • Software configurable • Programmable microsteps • Internal indexer (via ASCII commands) • Self test feature • Idle current reduction • Anti-resonance • Torque ripple smoothing •...

  • Page 39: Specifications

    Chapter 3: SureStep™ Advanced Microstepping Drives Specifications Sure Step™ Series Specifications – Microstepping Drives Microstepping Drive STP-DRV-4850 STP-DRV-80100 Drive Type Advanced microstepping drive with pulse or analog input, serial communication, & indexing capability Output Current 0.1-5.0 A/phase (in 0.01A increments) 0.1-10.0 A/phase (in 0.01A increments) Input Voltage 24-48 VDC (nominal) (range: 18-53 VDC)

  • Page 40: Typical Wiring Diagram

    Chapter 3: SureStep™ Advanced Microstepping Drives Typical Wiring Diagram Step Motor SureStep Typical Power Supply Wiring Diagram – VDC + VDC – A – STP- DRV-xxxx STP-PWR-xxxx Stepper Drive B – Cable Color Code Extension Cable 12" Motor Pigtail Step Motor with Connector with Connector Term...

  • Page 41: Connecting The Motor

    When using a motor not supplied by AutomationDirect, secure any unused motor leads so that they can't short out to anything. Never disconnect the motor while the drive is powered up.

  • Page 42: Connecting The Power Supply

    Step motor wire lead colors vary from one manufacturer to another. Connecting the Power Supply An STP-PWR-xxxx power supply from AutomationDirect is the best choice to power the step motor drive. If you need information about choosing a different power supply, refer to the section entitled “Choosing a Power Supply” in this chapter.

  • Page 43: Connecting The I/O

    Chapter 3: SureStep™ Advanced Microstepping Drives Connecting the I/O SureStep™ Drive Digital Inputs The SureStep advanced drives include two high speed 5V digital inputs (STEP and DIR), and one standard speed 5-12V input (EN). The digital inputs are optically isolated to Internal to the STP-DRV-xxxx reduce electrical noise problems.

  • Page 44: Connecting Step And Dir To Logic Other Than 5V Ttl Level

    Chapter 3: SureStep™ Advanced Microstepping Drives Connecting to an Indexer with Differential Outputs DIR+ DIR+ STP-DRV-xxxx Indexer DIR– DIR– Drive with Differential STEP+ STEP+ Outputs STEP– STEP– EN– Many high speed indexers have differential outputs. Connecting STEP and DIR to Logic Other Than 5V TTL Level Some step and direction signals, especially those of PLCs, don't use 5 volt logic.

  • Page 45: Connections To The En Input

    Chapter 3: SureStep™ Advanced Microstepping Drives Connecting to Mechanical Switches at 24 VDC DIR+ -DRV direction switch 2200 DIR- -xxxx +24VDC Drive Power STEP+ run/stop switch Supply (closed = run) STEP- 2200 Connections to the EN Input The ENABLE input allows the user to turn off the current to the motor by providing a 5-12 VDC positive voltage between EN+ and EN-.

  • Page 46: Connecting The Analog Input

    Chapter 3: SureStep™ Advanced Microstepping Drives Connecting the Analog Input The SureStep advanced drives have one 0-5 VDC analog input. Connecting AI to Analog Signal 0-5V signal STP-DRV-xxxx Internal to the Drive STP-DRV-xxxx +5VDC, 10mA max signal return Connecting AI to Potentiometer 220pF -DRV -xxxx...

  • Page 47: Drive Configuration

    Chapter 3: SureStep™ Advanced Microstepping Drives Drive Configuration You need to configure your drive for your particular application before using the drive for the first time. The SureStep advanced microstepping drives include a CD containing SureStep™ Pro drive configuration software for this purpose. The software contains instructions for installation on a PC, and instructions for configuring the drives.
  • Page 48 Chapter 3: SureStep™ Advanced Microstepping Drives Serial Command Language (SCL) Host Control SureStep advanced drives can accept serial commands from a host PC or PLC. This feature can be selected using the “Motion & I/O...” icon of the SureStep Pro software, and selecting Serial Command Language.

  • Page 49: Surestep Pro Software

    Chapter 3: SureStep™ Advanced Microstepping Drives SureStep™ Pro Software The SureStep advanced drives STP-DRV-4850 & -80100 are configured using SureStep Pro™ configuration software, which is included on CD with the drive. The software is divided into two major sections, “Motion and I/O” and “Motor” configuration.
  • Page 50 Chapter 3: SureStep™ Advanced Microstepping Drives Motor Configuration: Clicking on the “Motor..” icon will bring up the motor configuration screen. You can choose a motor from the pull-down menu or enter a custom motor (you will need to enter that motor’s specific information). If you know the inertia mismatch of the load, you should enter it.
  • Page 51 Chapter 3: SureStep™ Advanced Microstepping Drives Drive Pull-down Menu: This software menu gives you several features to monitor and test the drive. • Alarm History – Will read back the most recent drive faults • Clear Alarm – Will clear the current drive fault. •...

  • Page 52: Choosing A Power Supply

    In that sense, unregulated power supplies are better. They are also less expensive. SureStep™ STP-PWR-xxxx power supplies from AutomationDirect are the best choices of DC power supply to use with SureStep™ STP-DRV-xxxx microstepping drives.

  • Page 53: Mounting The Drive

    Chapter 3: SureStep™ Advanced Microstepping Drives Mounting the Drive You can mount your drive on the wide or the narrow side of the chassis using #6 screws. Since the drive amplifiers generate heat, the drive should be securely fastened to a smooth, flat metal surface that will help conduct heat away from the chassis.
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  • Page 55 HAPTER HAPTER HAPTER ™ TEPPING OTORS In This Chapter... Features ........4–2 Design and Installation Tips .

  • Page 56: Chapter 4: Surestep

    Chapter 4: SureStep Stepping Motors Features • Nine step motors in two torque classes and three NEMA frame sizes • Square frame style produces high torque and achives best torque to volume ratio • Holding torque ranges from 61 to 1292 oz·in •...

  • Page 57: Specifications

    Chapter 4: SureStep Stepping Motors Specifications SureStep™ Series Specifications – Connectorized Bipolar Stepping Motors High Torque Motors Higher Torque Motors Bipolar STP- STP- STP- STP- STP- STP- STP- STP- STP- Stepping Motors MTR- MTR- MTR- MTR- MTR- MTRH- MTRH- MTRH- MTRH- 17040 17048...

  • Page 58: Power Supply And Step Motor Drive

    Chapter 4: SureStep Stepping Motors Power Supply and Step Motor Drive An STP-PWR-xxxx series power supply from AutomationDirect is the best choice to power AutomationDirect and other step motors. These power supplies were designed to work with the AutomationDirect SureStep™ STP-DRV-xxxx series bipolar microstepping motor drives.

  • Page 59: Motor Dimensions And Cabling

    Chapter 4: SureStep Stepping Motors Motor Dimensions and Cabling Typical Dimension and Cable Diagram for STP-MTR(H)-xxxxx Step Motors UNSHIELDED CABLE: 4 CONDUCTORS PIN # 1 PIN # 3 PIN # 2 PIN # COLOR PHASE PIN # 4 NEMA # 17: ROUND SHAFT CONNECTOR: WHITE NEMA # 23: ONE FLAT...
  • Page 60 Chapter 4: SureStep Stepping Motors Typical Dimension and Cable Diagram for STP-MTR(H)-xxxxx Step Motors UNSHIELDED CABLE: 4 CONDUCTORS PIN # 1 PIN # 3 PIN # 2 PIN # COLOR PHASE PIN # 4 NEMA # 17: ROUND SHAFT CONNECTOR: WHITE NEMA # 23: ONE FLAT VIEW FROM WIRE ENTRANCE...

  • Page 61: Torque Vs. Speed Charts

    Chapter 4: SureStep Stepping Motors Torque vs. Speed Charts STP-MTR-17xxx NEMA 17 Step Motors SureStep Stepping Systems User Manual 4–7 2nd Ed, Rev A 06/2009...
  • Page 62 Chapter 4: SureStep Stepping Motors Torque vs. Speed Charts (continued) STP-MTR(H)-23xxx NEMA 23 Step Motors SureStep Stepping Systems User Manual 4–8 2nd Ed, Rev A 06/2009...
  • Page 63 Chapter 4: SureStep Stepping Motors Torque vs. Speed Charts (continued) STP-MTR(H)-23xxx NEMA 23 Step Motors (continued) SureStep Stepping Systems User Manual 4–9 2nd Ed, Rev A 06/2009...
  • Page 64 Chapter 4: SureStep Stepping Motors Torque vs. Speed Charts (continued) STP-MTR(H)-34xxx NEMA 34 Step Motors SureStep Stepping Systems User Manual 4–10 2nd Ed, Rev A 06/2009...
  • Page 65 Chapter 4: SureStep Stepping Motors Torque vs. Speed Charts (continued) STP-MTR(H)-34xxx NEMA 34 Step Motors (continued) SureStep Stepping Systems User Manual 4–11 2nd Ed, Rev A 06/2009...
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  • Page 67 HAPTER HAPTER ™ HAPTER TEPPING YSTEM OWER UPPLIES In This Chapter... Features ........5–2 Specifications .

  • Page 68: Chapter 5: Surestep Stepping System Power Supplies

    Chapter 5: SureStep Stepping System Power Supplies Features • Models available with 32V@4A, 48V@5A, 48V@10A, & 70V@5A DC unregulated step motor power • 5VDC ±5% at 500 mA regulated logic power (electronic overload) • Screw terminal AC input and DC output connectors •...

  • Page 69: Specifications

    1) Fuses to be replaced by qualified service personnel only. Use (1-1/4 x 1/4 in) ceramic fast-acting fuses (Edison type ABC from AutomationDirect, or equivalent). 2) Caution: Do not use a power supply that exceeds the input voltage range of the drive.

  • Page 70: Power Supply Terminal & Component Layout

    Chapter 5: SureStep Stepping System Power Supplies Power Supply Terminal & Component Layout STP-PWR-3204 Voltage Selection * Voltage range switch is factory set to 240 VAC. AC input fuse ** Switch * STP-PWR-3204 240V 120V – Transformer Linear DC Power LED 5 VDC –...

  • Page 71: Mounting The Power Supply

    Chapter 5: SureStep Stepping System Power Supplies Mounting the Power Supply STP-PWR-xxxx power supplies can be mounted on either the bottom (wide) side, or the back (narrow) side of the chassis. Either orientation contains mounting holes for machine screws. Use #10 screws for STP-PWR-3204 and -4805, or 1/4” screws for STP-PWR-4810 and -7005.

  • Page 72: Dimensions

    Chapter 5: SureStep Stepping System Power Supplies Dimensions STP-PWR-3204 0.250 6.500 [165.1] 0.250 [6.4] [6.4] 0.600 [15.2] (8) Ø 0.213 [5.4] thru holes Dimensions: 3.250 2.400 fit #10 screws inches [mm] [82.6] [61.0] 0.250 [6.4] 3.250 [82.6] 0.775 [19.7] 4.000 4.000 Transformer Circuit Board...
  • Page 73 Chapter 5: SureStep Stepping System Power Supplies Dimensions (continued) STP-PWR-4805, -4810, -7005 STP-PWR-4805 only Circuit Board Transformer Ø L thru holes Dimensions for: (8) STP-PWR-4805 STP-PWR-4805 (7) STP-PWR-4810 STP-PWR-4810 (7) STP-PWR-7005 STP-PWR-7005 Sure Step™ Series Dimensions – 48V & 70V Power Supplies Power Supply Part Number Dimensions* (in [mm]*)
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  • Page 75 PPENDIX PPENDIX PPENDIX ELECTING THE SureStep™ TEPPING YSTEM In This Appendix... Selecting the SureStep™ Stepping System ... . .A–2 The Selection Procedure ......A–2 How many pulses from the PLC to make the move? .

  • Page 76: Appendix A: Selecting The Surestep™ Stepping System

    Appendix A: Selecting the SureStep™ Stepping System Selecting the SureStep™ Stepping System The selection of your SureStep™ stepping system follows a defined process. Let's go through the process and define some useful relationships and equations. We will use this information to work some typical examples along the way. The Selection Procedure The motor provides for the required motion of the load...

  • Page 77: What Is The Positioning Resolution Of The Load

    Appendix A: Selecting the SureStep™ Stepping System Example 2: The motor is directly attached to a ballscrew where one turn of the ballscrew results in 10 mm of linear motion, the stepping driver is set for 1000 steps per revolution, and we need to move 45 mm. How many pulses do we need to send the driver? = (45 mm ÷...

  • Page 78: Calculating The Required Torque

    Appendix A: Selecting the SureStep™ Stepping System Example 5: What is the indexing speed to make a "start-stop" move with 10,000 pulses in 800 ms? = indexing speed = P ÷ t = 10,000 pulses ÷ 0.8 seconds total total = 12,500 Hz.
  • Page 79 Appendix A: Selecting the SureStep™ Stepping System Table 1 - Calculate the Torque for "Acceleration" and "Running" The torque required to accelerate or decelerate an inertia with a linear change in velocity is: Equation x ( speed ÷ time) x (2 ÷ 60) accel total is the motor inertia plus load...
  • Page 80 Appendix A: Selecting the SureStep™ Stepping System Table 1 (cont’d) Typical Leadscrew Data µ = Material: Material: efficiency coef. of friction ball nut steel on steel 0.90 0.580 acme with plastic nut steel on steel (lubricated) 0.65 0.150 acme with metal nut teflon on steel 0.40 0.040...
  • Page 81 Appendix A: Selecting the SureStep™ Stepping System Table 1 (cont’d) Inertia of Hollow Cylinder Equations = 2r = 2r Description: Equations: Inertia J = (W x (r )) ÷ (2g) Inertia J = ( x L x x (r – r )) ÷...

  • Page 82: Leadscrew - Example Calculations

    Appendix A: Selecting the SureStep™ Stepping System Leadscrew - Example Calculations Step 1 - Define the Actuator and Motion Requirements gravity coupling gear screw motor Weight of table and workpiece = 200 lb Angle of inclination = 0° Friction coefficient of sliding surfaces = 0.05 External load force = 0 Ball screw shaft diameter = 0.6 inch Ball screw length = 23.6 inch...

  • Page 83: Step 3 - Determine The Motion Profile

    Appendix A: Selecting the SureStep™ Stepping System Step 3 - Determine the Motion Profile From Equation , the total pulses to make the required move is: = (D ÷ (d ÷ i)) x total total load step = (4.5 ÷ (0.6 ÷ 2)) x 400 = 6,000 pulses From Equation , the indexing frequency for a trapezoidal move is: = (P...
  • Page 84 Appendix A: Selecting the SureStep™ Stepping System Step 5 - Select and Confirm the Stepping Motor and Driver System It looks like a reasonable choice for a motor would be the STP-MTR-23055 or shorter NEMA 23. This motor has an inertia of: = 0.00024 lb-in-sec motor The actual motor torque would be modified:...

  • Page 85: Belt Drive - Example Calculations

    Appendix A: Selecting the SureStep™ Stepping System Belt Drive - Example Calculations Step 1 - Define the Actuator and Motion Requirements gravity motor gear pinion Weight of table and workpiece = 3 lb External force = 0 lb Friction coefficient of sliding surfaces = 0.05 Angle of table = 0º...

  • Page 86: Step 3 - Determine The Motion Profile

    Appendix A: Selecting the SureStep™ Stepping System Step 3 - Determine the Motion Profile From Equation , the total pulses to make the required move is: = (D ÷ (d ÷ i)) x total total load step = 50 ÷ ((3.14 x 1.5) ÷ 5) x 1000 53,079 pulses From Equation , the running frequency for a trapezoidal move is:...
  • Page 87 Appendix A: Selecting the SureStep™ Stepping System Step 5 - Select and Confirm the Stepping Motor and Driver System It looks like a reasonable choice for a motor would be the STP-MTR-17048 or NEMA 17 motor. This motor has an inertia of: = 0.00006 lb-in-sec motor The actual motor torque would be modified:...

  • Page 88: Index Table - Example Calculations

    Appendix A: Selecting the SureStep™ Stepping System Index Table - Example Calculations Step 1 - Define the Actuator and Motion Requirements gear motor Diameter of index table = 12 inch Thickness of index table = 2 inch Table material = steel Number of workpieces = 8 Desired Resolution = 0.036º...

  • Page 89: Step 3 - Determine The Motion Profile

    Appendix A: Selecting the SureStep™ Stepping System Step 3 - Determine the Motion Profile From Equation , the total pulses to make the required move is: = (D ÷ (d ÷ i)) x total total load step = (45º ÷ (360º ÷ 25) x 400 = 1250 pulses From Equation , the running frequency for a trapezoidal move is:...
  • Page 90 Appendix A: Selecting the SureStep™ Stepping System Step 5 - Select and Confirm the Stepping Motor and Driver System It looks like a reasonable choice for a motor would be the STP-MTR-34066 or NEMA 34 motor. This motor has an inertia of: = 0.0012 lb-in-sec motor The actual motor torque would be modified:...

  • Page 91: Engineering Unit Conversion Tables, Formulae, & Definitions

    Appendix A: Selecting the SureStep™ Stepping System Engineering Unit Conversion Tables, Formulae, & Definitions: Conversion of Length To convert A to B, multiply A by the µm entry in the table. µm 1.000E–03 1.000E–06 3.937E–02 3.937E–05 3.281E–06 1.000E+03 1.000E–03 3.937E+01 3.937E–02 3.281E–03 1.000E+06...
  • Page 92 Appendix A: Selecting the SureStep™ Stepping System Engineering Unit Conversion Tables, Formulae, & Definitions (cont’d): General Formulae & Definitions Description: Equations: Gravity gravity = 9.8 m/s ; 386 in/s Torque T = J · ; = rad/s Power (Watts) P (W) = T (N·m) · (rad/s) Power (Horsepower) P (hp) = T (lb·in) ·...

  • Page 93: Direct Logic Plcs

    PPENDIX PPENDIX PPENDIX SING SureStep™ WITH LOGIC PLC IRECT In This Appendix... Compatible DirectLOGIC PLCs and Modules ... .B–2 Typical Connections to a DL05 PLC ....B–4 Typical Connections to an H0-CTRIO .

  • Page 94: Appendix B: Using Surestep™ With Directlogic Plcs

    Appendix B: Using SureStep™ with DirectLOGIC PLCs Compatible DirectLOGIC PLCs and Modules The following tables show which high-speed pulse-output DirectLOGIC PLCs and modules can be used with the SureStep Microstepping Motor Drives. DirectLOGIC PLCs/Modules for Use with SureStep Drive (1) DL05 PLCs DL05 CPU, 8 AC in / 6 DC out, 110/220 VAC power supply.
  • Page 95 Appendix B: Using SureStep™ with DirectLOGIC PLCs DirectLOGIC PLCs/Modules for Use with SureStep Drive (1) (continued) DL105 PLCs DL130 CPU, 10 AC in / 8 DC out, 110/220 VAC power supply. Inputs: 10 AC inputs, 80-132 VAC, 3 isolated commons. Outputs: 8 DC outputs, 5-30 VDC current sinking, 0.5A/pt max, F1-130AD 3 internally connected commons.

  • Page 96: Typical Connections To A Dl05 Plc

    Appendix B: Using SureStep™ with DirectLOGIC PLCs Typical Connections to a DL05 PLC The following wiring diagram shows typical connections between the SureStep Stepping System components and a DirectLOGIC DL05 PLC. Refer to the DL05 Micro PLC User Manual, p/n D0-USER-M, High-Speed Input and Pulse Output Features chapter, for detailed programming instructions when using the PLC for the Mode 30: Pulse Output function.

  • Page 97: Typical Connections To An H0-Ctrio

    Appendix B: Using SureStep™ with DirectLOGIC PLCs Typical Connections to an H0-CTRIO The following wiring diagram shows typical connections between the SureStep Stepping System components and a DirectLOGIC H0-CTRIO High Speed Counter I/O Interface Module installed in either a DL05 or DL06 PLC option slot. Refer to the CTRIO High-Speed Counter Module User Manual, p/n Hx-CTRIO-M, for detailed programming instructions when using the H0-CTRIO module.

  • Page 98: Typical Connections - Multiple Drive/Motors

    Appendix B: Using SureStep™ with DirectLOGIC PLCs Typical Connections – Multiple Drive/Motors The following wiring diagram shows typical connections between the SureStep Stepping System components and a DirectLOGIC H2-CTRIO High Speed Counter I/O Interface Module installed in a DL205 PLC. Refer to the CTRIO High-Speed Counter Module User Manual, p/n Hx-CTRIO-M, for detailed programming instructions when using the H2-CTRIO module.

  • Page 99: Typical Plc Serial Connections To An Advanced Surestep Drive

    Appendix B: Using SureStep™ with DirectLOGIC PLCs Typical PLC Serial Connections to an Advanced SureStep Drive The following wiring diagrams show typical serial connections between a SureStep Advanced Microstepping Drive and a DirectLOGIC PLC capable of RS- 232 ASCII communication. Refer to the particular PLC user manual for instructions for writing ASCII serial commands.
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