Applied Motion Products STR8 Hardware Manual
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Applied Motion Products STR8 Hardware Manual

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Hardware Manual
Step Motor Drives
920-0030E
2/3/2010
Re-Order from
Omegamation
1-888-55-66342
1-888-55-66342
1-888-55-OMEGA
omegamation.com
STR4 & STR8
TM

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Summary of Contents for Applied Motion Products STR8

  • Page 1 Re-Order from Omegamation 1-888-55-66342 1-888-55-66342 1-888-55-OMEGA omegamation.com Hardware Manual STR4 & STR8 Step Motor Drives 920-0030E 2/3/2010...

  • Page 2: Table Of Contents

    Connection Examples: EN ........................................13 FAULT Output..............................................15 Configuring the Drive............................................ 16 Step 1: Selecting a Motor ........................................16 STR4 Motor Table..........................................16 STR8 Motor Table..........................................17 Step 2: Setting the Current ....................................... 17 Step 3: Setting Idle Current ......................................18 Step 4: Load Inertia ..........................................

  • Page 3: Introduction

    2/3/2010 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.

  • Page 4: Block Diagram

    920-0030E STR Hardware Manual 2/3/2010 Block Diagram 24-48 VDC (STR4) 24-75 VDC (STR8) from external power supply 3.3/5/15V Regulators Voltage Sensors Status LEDs motor AMPLIFIER Optical Digital STEP Isolation Filter Overcurrent Sensors Optical Software Isolation Filter Current Optical Idle Current...

  • Page 5: Getting Started

    STR Hardware Manual 2/3/2010 Getting Started This manual describes the use of two different drive models: the STR4 and STR8. They differ in maximum output current and maximum power supply voltage. For both models, you’ll need the following: • a 24 to 48 volt DC power supply (75V max for STR8). Please read the section Choosing a Power Supply for help in choosing the right power supply.

  • Page 6: Mounting The Drive

    If you want to install a user serviceable fuse in your system install a fast acting fuse in line with the + power supply lead. Use a 4 amp fuse for the STR4 and a 7 amp fuse for the STR8.
  • Page 7 920-0030E STR Hardware Manual 2/3/2010 Power Supply and Ground Connections Locate fuse in-line with “+” connection If you plan to use a regulated power supply you may encounter a problem with regeneration. If you rapidly decelerate a load from a high speed, much of the kinetic energy of that load is transferred back to the power supply.

  • Page 8: Choosing A Power Supply

    And you must decide what size of power supply (in terms of voltage and current) is needed for your application. Applied Motion offers two powers supplies that are excellent matches for the STR4 and STR8 drives: PS150A24 (24V, 6.3A) and PS320A48 (48V, 6.7A).
  • Page 9 The tables below and on the net page list the maximum current required for each motor at sev- eral common power supply voltages. Please consider this information when choosing a power supply. Table 1: STR4 Power Supply Current All motors connected as indicated, except HT24 which have four leads. Motor Current...
  • Page 10 920-0030E STR Hardware Manual 2/3/2010 Table 2: STR8 Power Supply Current All motors connected in parallel, except HT24 which have four leads. Motor Current Max Power Supply Current (A) Switch Motor 24VDC 48VDC 60VDC reserved for custom motors HT23-394/594 HT23-398/598 HT23-401/601 HT24-100 3.36...

  • Page 11: Connecting The Motor

    920-0030E STR Hardware Manual 2/3/2010 Connecting the Motor Never connect or disconnect the motor while the power is on. If the motor has a shield or grounding wire, please connect it to the chassis ground screw located on the chassis near the motor-power connector. Four Lead Motor These motors can only be connected one way.

  • Page 12: Connecting Input Signals

    920-0030E STR Hardware Manual 2/3/2010 Connecting Input Signals The STR drives have three inputs: • STEP: a high speed digital input for step pulse commands, 5-24 volt logic • DIR: a high speed digital input for the direction signal, 5-24 volt logic • EN: a 5-24V input for commanding the removal of power from the motor Note: STEP and DIR inputs can be converted to STEP CW and STEP CCW by moving the inter- nal jumper S3. See Page 5. Connector Pin Diagram Internal Circuit Diagram inside drive...

  • Page 13: Connection Examples: En

    920-0030E STR Hardware Manual 2/3/2010 +V OUT DIR+ Indexer DIR- with Sinking STEP+ Outputs STEP STEP- Connecting to Indexer with Sinking Outputs DIR+ DIR+ Indexer DIR- DIR- with Differential STEP+ STEP+ Outputs STEP- STEP- Connecting to Indexer with Differential Outputs (Many High Speed Indexers have Differential Outputs) Connection Examples: EN 5-24...
  • Page 14 920-0030E STR Hardware Manual 2/3/2010 5-24 Power OUT+ Supply OUT– Connecting another drive to EN (When output closes, input closes) 5-24 Power output Proximity Supply Sensor – Connecting an NPN Type Proximity Sensor to an input (When prox sensor activates, input closes) 5-24 output Proximity...

  • Page 15: Fault Output

    920-0030E STR Hardware Manual 2/3/2010 FAULT Output The STR drives feature a digital FAULT output. This output closes FAULT+ to signal a fault condition. FAULT- This output can be used to drive LEDs, relays and the inputs of other electronic devices like PLCs. The “+” (collector) and “-” (emitter) terminals of the output transistor are available at the connector.

  • Page 16: Configuring The Drive

    If your motor is not on the list, please set the switch to a selection whose rotor inertia, holding torque and current are within 10% of your motor. Custom configurations can be added for qualifying applications. STR4 Motor Table Current Holding Torque Rotor Inertia...

  • Page 17: Str8 Motor Table

    920-0030E STR Hardware Manual 2/3/2010 STR8 Motor Table Max Current Holding Torque Rotor Inertia Switch Motor Wiring oz-in g-cm reserved for custom configurations HT23-394/594 parallel 76.6 HT23-398/598 parallel HT23-401/601 parallel HT24-100 4 leads 3.36 HT24-105 4 leads HT24-108 4 leads HT34-485 parallel 1400...

  • Page 18: Step 3: Setting Idle Current

    920-0030E STR Hardware Manual 2/3/2010 current that will be applied to the motor: SW1 and SW2. Please set them according to the illustration below. 100% Step 3: Setting Idle Current Motor heating and power consumption can also be reduced by lowering the motor current when it is not moving.

  • Page 19: Step 4: Load Inertia

    920-0030E STR Hardware Manual 2/3/2010 Step 4: Load Inertia The STR drives include anti-resonance and electronic damping features which greatly improve motor performance. To perform optimally, the drive must understand the electromechanical characteristics of the motor and load. Most of this is done automatically when you select the motor by setting the rotary switch.
  • Page 20 920-0030E STR Hardware Manual 2/3/2010 Please choose the one that best matches the capability of your system. At lower step resolutions such as 200 steps/ rev (full step) and 400 steps/rev (half step), motors run a little rough and produce more audible noise than when they are microstepped (2000 steps/rev and beyond).

  • Page 21: Step 6: Step Pulse Type

    920-0030E STR Hardware Manual 2/3/2010 delay that can occur from using the step smoothing filter. Step 6: Step Pulse Type Most indexers and motion controllers provide motion commands in the “Step and Direc- tion” format. The Step signal pulses once for each motor step and the direction signal commands direction.

  • Page 22: Step 7: Step Pulse Noise Filter

    920-0030E STR Hardware Manual 2/3/2010 cover and move jumper S3 from the “1-2” position to the “1-3” position. In STEP CW/STEP CCW mode, the CW signal should be connected to the STEP input and the CCW signal to the DIR input. Step 7: Step Pulse Noise Filter Just when you thought there couldn’t be any more to know about step signals, we present one more setting for your consideration.

  • Page 23: Reference Materials

    920-0030E STR Hardware Manual 2/3/2010 Anytime switch 8 is moved to the ON position, the drive will automatically rotate the motor back and forth, two turns in each direction. This feature can be used to confirm that the motor is correctly wired, selected and otherwise operational. SELF TEST Reference Materials Motor Outlines...
  • Page 24 920-0030E STR Hardware Manual 2/3/2010 ADD ‘D’ TO END OF PART NUMBER TO ADD REAR SHAFT AND ENCODER HOLES MOTOR LENGTH(L) HT23-394/594 41 mm MAX HT23-398/598 54 mm MAX HT23-401/601 76 mm MAX HT23 Outline Drawing MOTOR LENGTH(L) HT24-100 44±1 mm HT24-105 54±1 mm HT24-108...
  • Page 25 920-0030E STR Hardware Manual 2/3/2010 MOTOR LENGTH(L) HT34-504 66.5±1 mm HT34-505 96±1 mm HT34-506 125.5±1 mm HT34-504, 505 & 506 Outline Drawing MOTOR LENGTH(L) HT34-485 79 mm HT34-486 117.5 mm HT34-487 156 mm HT34-485, 486, 487 Outline Drawing...

  • Page 26: Torque-Speed Curves

    920-0030E STR Hardware Manual 2/3/2010 Torque-Speed Curves HT17 with STR4 HT17-068 HT17-071 HT17-075 Connection: Parallel 24v Power Supply , 20,000 steps/rev HT17 with STR4 Connection: Parallel HT17-068 HT17-071 HT17-075 48v Power Supply , 20,000 steps/rev...
  • Page 27 920-0030E STR Hardware Manual 2/3/2010 HT23 with STR4 HT23-394 HT23-398 HT23-401 Connection: Parallel 24v Power Supply. 20,000 steps/rev HT23 with STR4 Connection: Parallel HT23-394 HT23-398 HT23-401 48v Power Supply , 20,000 steps/rev...
  • Page 28 920-0030E STR Hardware Manual 2/3/2010 HT24 with STR8 HT24-100 HT24-105 HT24-108 Connection: Parallel 24v Power Supply , 20,000 steps/rev HT24 with STR8 Connection: Parallel HT24-101 HT24-105 HT24-108 48v Power Supply , 20,000 steps/rev...
  • Page 29 920-0030E STR Hardware Manual 2/3/2010 HT34 with STR4 Connection: Series HT34-504 HT34-505 HT34-485 HT34-486 Power Supply 48V, 20,000 steps/rev HT34 with STR8 Connection: Parallel HT34-504 HT34-505 HT34-506 Power Supply 24V, 20,000 steps/rev 1000...
  • Page 30 920-0030E STR Hardware Manual 2/3/2010 HT34 with STR8 Connection: Parallel HT34-504 HT34-505 HT34-506 Power Supply 48V, 20,000 steps/rev 1000 HT34 with STR8 Connection: Parallel HT34-504 HT34-505 HT34-506 Power Supply 60V, 20,000 steps/rev 1000...
  • Page 31 920-0030E STR Hardware Manual 2/3/2010 HT34 with STR8 Connection: Parallel HT34-485 HT34-486 HT34-487 Power Supply 24V, 20,000 steps/rev 1200 1000 HT34 with STR8 Connection: Parallel HT34-485 HT34-486 HT34-487 Power Supply 48V, 20,000 steps/rev 1200 1000...

  • Page 32: Motor Heating

    920-0030E STR Hardware Manual 2/3/2010 HT34 with STR8 Connection: Parallel HT34-485 HT34-486 HT34-487 Power Supply 60V, 20,000 steps/rev 1200 1000 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 33 920-0030E STR Hardware Manual 2/3/2010 The actual temperature of the motor depends on how much heat is conducted, convected or radiated out of it. Our measurements were made in a 40°C (104°F) environment with the motor mounted to an aluminum plate sized to provide a surface area consistent with the motor power dissipation.
  • Page 34 920-0030E STR Hardware Manual 2/3/2010 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) HT23-398 Max Duty cycle vs Speed...
  • Page 35 920-0030E STR Hardware Manual 2/3/2010 HT24-105 Max Duty Cycle vs Speed HT24-105 Max Duty Cycle vs Speed 24VDC, 4.8A 40 °C Ambient 48VDC, 4.8A 40 °C Ambient on a 10 x 10 x .5 Aluminum Plate on a 10 x 10 x .5 Aluminum Plate Speed (RPS) Speed (RPS) HT24-108 Max Duty Cycle vs Speed...
  • Page 36 920-0030E STR Hardware Manual 2/3/2010 HT34-505 Max Duty Cycle vs Speed HT34-505 Max Duty Cycle vs Speed 24VDC, 4.5A series 40 °C Ambient 48VDC, 4.5A series 40 °C Ambient on a 10 x 10 x .5 Aluminum Plate on a 10 x 10 x .5 Aluminum Plate Speed (RPS) Speed (RPS) HT34-485 Max Duty Cycle vs Speed...
  • Page 37 920-0030E STR Hardware Manual 2/3/2010 HT34-504 Max Duty Cycle vs Speed HT34-505 Max Duty Cycle vs Speed 24VDC, 7.56A parallel 40 °C Ambient 24VDC, 7.56A parallel 40 °C Ambient on a 10 x 10 x .5 Aluminum Plate on a 10 x 10 x .5 Aluminum Plate Speed (RPS) Speed (RPS) HT34-505 Max Duty Cycle vs Speed...
  • Page 38 920-0030E STR Hardware Manual 2/3/2010 HT34-506 Max Duty Cycle vs Speed HT34-485 Max Duty Cycle vs Speed 24VDC, 6.72A parallel 40 °C Ambient 24VDC, 8A parallel 40 °C Ambient on a 10 x 10 x .5 Aluminum Plate on a 10 x 10 x .5 Aluminum Plate Speed (RPS) Speed (RPS) HT34-485 Max Duty Cycle vs Speed...
  • Page 39 920-0030E STR Hardware Manual 2/3/2010 HT34-486 Max Duty Cycle vs Speed HT34-487 Max Duty Cycle vs Speed 24VDC, 8A parallel 40 °C Ambient 24VDC, 8A parallel 40 °C Ambient on a 10 x 10 x .5 Aluminum Plate on a 10 x 10 x .5 Aluminum Plate Speed (RPS) Speed (RPS) HT34-487 Max Duty Cycle vs Speed...

  • Page 40: Drive Heating

    920-0030E STR Hardware Manual 2/3/2010 Drive Heating While STR drivers efficiently transmit power between the power supply and motor, they do generate some heat in the process. This will cause the temperature of the drive to rise above the surrounding air temperature and may also require that the drive be mounted to a heat conducting metal surface.

  • Page 41: Mechanical Outline

    920-0030E STR Hardware Manual 2/3/2010 Mechanical Outline...

  • Page 42: Technical Specifications

    Under voltage alarm: 20 VDC Over voltage shutdown: 85 VDC Motor current: 0.25 to 4.5 amps/phase peak of sine (STR4) 0.5 to 8 amps/phase peak of sine (STR8) Digital Inputs Optically isolated, 5 - 24V logic. Sourcing, sinking or differential signals can be used.

  • Page 43: Mating Connectors And Accessories

    920-0030E STR Hardware Manual 2/3/2010 Mating Connectors and Accessories Mating Connectors Motor/power supply: PCD P/N ELV06100 (Phoenix Contact 1757051), included with drive. Signals: PCD P/N ELVH08100 (Phoenix Contact 1803633), included with drive. Accessories Regeneration Clamp: Applied Motion Products RC-050.

  • Page 44: Alarm Codes

    Alarm Codes In the event of a drive fault or alarm, the green LED will flash one or two times, followed by a series of red flashes. The pat- tern repeats until the alarm is cleared. Code Error solid green no alarm, motor disabled flashing green no alarm, motor enabled flashing red configuration or memory error 1 green, 4 red power supply voltage too high 1 green, 5 red over current / short circuit 1 green, 6 red open motor winding 2 green, 3 red internal voltage out of range 2 green, 4 red power supply voltage too low...

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