Hardware Manual. STR4 & STR8 Step Motor Drives

Transcription

1 Hardwar Manual STR4 & STR8 Stp Motor Drivs 92-3E 2/3/21

2 92-3E 2/3/21 STR Hardwar Manual Contnts Introduction... 3 Faturs... 3 Block Diagram... 4 Gtting Startd... 5 Mounting th Driv... 6 Conncting th Powr Supply... 6 Choosing a Powr Supply... 8 Voltag... 8 Currnt... 8 Conncting th Motor Four Lad Motor Eight Lad Motor Conncting Input Signals Connctor Pin Diagram Connction Exampls: STEP & DIR Intrnal Circuit Diagram Connction Exampls: EN FAULT Output Configuring th Driv Stp 1: Slcting a Motor STR4 Motor Tabl STR8 Motor Tabl Stp 2: Stting th Currnt Stp 3: Stting Idl Currnt Stp 4: Load Inrtia Stp 5: Stp Siz Stp 6: Stp Puls Typ Stp 7: Stp Puls Nois Filtr Slf Tst Rfrnc Matrials Motor Outlins Torqu-Spd Curvs Motor Hating Driv Hating... 4 Mchanical Outlin Tchnical Spcifications Mating Connctors and Accssoris Alarm Cods Connctor Diagrams

3 STR Hardwar Manual 92-3E 2/3/21 Introduction Thank you for slcting an Applid Motion Products motor control. W hop our ddication to prformanc, quality and conomy will mak your motion control projct succssful. If thr s anything w can do to improv our products or hlp you us thm bttr, plas call or fax. W d lik to har from you. Our phon numbr is (8) , or you can rach us by fax at (831) You can also mail support@applid-motion.com. Faturs Low cost, digital stp motor drivr in compact packag Oprats from Stp & Dirction signals or Stp CW & Stp CCW ( jumpr slctabl) Enabl input Fault output Optically isolatd I/O Digital filtrs prvnt position rror from lctrical nois on command signals Jumpr slctabl: 15 khz or 2 MHz Rotary switch asily slcts from many popular motors Elctronic damping and anti-rsonanc Automatic idl currnt rduction to rduc hat whn motor is not moving Switch slctabl: 5% or 9% of running currnt Switch slctabl stp rsolution: 2 (full stp), 4 (half stp), 2, 5, 128 or 2 stps/rv Switch slctabl microstp mulation provids smoothr, mor rliabl motion in full and half stp mods Automatic slf tst (switch slctabl) STR4 Oprats from a 24 to 48 volt DC powr supply Running currnt up to 4.5 amps pr phas STR8 Oprats from a 24 to 75 volt DC powr supply Running currnt up to 7.8 amps pr phas 3

4 6789ABCDEF E 2/3/21 STR Hardwar Manual Block Diagram VDC (STR4) VDC (STR8) from xtrnal powr supply 3.3/5/15V Rgulators Status LEDs Voltag Snsors AMPLIFIER motor STEP DIR EN Optical Isolation Optical Isolation Digital Filtr Softwar Filtr DSP Ovrcurrnt Snsors OUT1 Optical Isolation Motor Slction Currnt Idl Currnt Stps/Rv Load Inrtia Slf Tst 4

5 STR Hardwar Manual 92-3E 2/3/21 Gtting Startd This manual dscribs th us of two diffrnt driv modls: th STR4 and STR8. Thy diffr in maximum output currnt and maximum powr supply voltag. For both modls, you ll nd th following: a 24 to 48 volt DC powr supply (75V max for STR8). Plas rad th sction Choosing a Powr Supply for hlp in choosing th right powr supply. on of th motors listd on th driv labl (s sction Configuring th Driv). a small flat blad scrwdrivr for tightning th connctors. a sourc of stp signals, such as a PLC or motion controllr. Th connctors and othr points of intrst ar illustratd blow. Ths ar dtaild latr in th manual. Motor & Powr Supply Connctor Input & Output Signals Status LEDs Run Currnt, Idl Currnt Stps/rv, Inrtia, Slf Tst Jumpr S4: Nois Filtr Frquncy Motor Slctor Rmov connctors and covr to accss jumprs S3 and S4 Jumpr S3: Stp & Dirction or Stp CW & Stp CCW 5

6 92-3E 2/3/21 STR Hardwar Manual Mounting th Driv You can mount your driv on th wid or th narrow sid of th chassis using #6 scrws. If possibl, th driv should b scurly fastnd to a smooth, flat mtal surfac that will hlp conduct hat away from th chassis. If this is not possibl, thn forcd airflow from a fan may b rquird to prvnt th driv from ovrhating. S pag 4 for mor dtails about driv hating. Nvr us your driv in a spac whr thr is no air flow or whr othr dvics caus th surrounding air to b mor than 5 C. Nvr put th driv whr it can gt wt or whr mtal or othr lctrically conductiv particls can gt on th circuitry. Always provid air flow around th driv. Whn mounting multipl drivs nar ach othr, maintain at last on half inch of spac btwn drivs. Conncting th Powr Supply If you nd information about choosing a powr supply, plas rad th sction Choosing a Powr Supply. Connct th powr supply + trminal to th connctor trminal labld V+. Connct powr supply - to th connctor trminal labld V-. Th grn ground scrw on th cornr of th chassis should b connctd to arth ground. Us 18 or 2 gaug wir. Th STR drivs contain an intrnal fus that conncts to th powr supply + trminal. This fus is not usr rplacabl. If you want to install a usr srvicabl fus in your systm install a fast acting fus in lin with th + powr supply lad. Us a 4 amp fus for th STR4 and a 7 amp fus for th STR8.! B carful not to rvrs th wirs. Rvrs connction will dstroy your driv, void your warranty and gnrally wrck your day. 6

7 STR Hardwar Manual 92-3E 2/3/21 Powr Supply and Ground Connctions Locat fus in-lin with + connction If you plan to us a rgulatd powr supply you may ncountr a problm with rgnration. If you rapidly dclrat a load from a high spd, much of th kintic nrgy of that load is transfrrd back to th powr supply. This can trip th ovrvoltag protction of a switching powr supply, causing it to shut down. W offr th RC-5 rgnration clamp to solv this problm. If in doubt, buy an RC-5 for your first installation. If th rgn LED on th RC-5 nvr flashs, you don t nd th clamp. rgn LED RC-5 Rgn Clamp 7

8 92-3E 2/3/21 STR Hardwar Manual Choosing a Powr Supply Whn choosing a powr supply, thr ar many things to considr. If you ar manufacturing quipmnt that will b sold to othrs, you probably want a supply with all th safty agncy approvals. If siz and wight ar an issu gt a switching supply. And you must dcid what siz of powr supply (in trms of voltag and currnt) is ndd for your application. Applid Motion offrs two powrs supplis that ar xcllnt matchs for th STR4 and STR8 drivs: PS15A24 (24V, 6.3A) and PS32A48 (48V, 6.7A). Voltag Your motor can provid mor torqu at highr spds if a highr powr supply voltag is usd. Plas consult th spd-torqu curvs latr in this manual for guidanc. If you choos an unrgulatd powr supply, mak sur th no load voltag of th supply dos not xcd th driv s maximum input voltag spcification. Currnt Th maximum supply currnt you could vr nd is two tims th motor currnt. Howvr, you will gnrally nd a lot lss than that, dpnding on th motor typ, voltag, spd and load conditions. That s bcaus th STR uss a switching amplifir, convrting a high voltag and low currnt into lowr voltag and highr currnt. Th mor th powr supply voltag xcds th motor voltag, th lss currnt you ll nd from th powr supply. A motor running from a 48 volt supply can b xpctd to draw only half th supply currnt that it would with a 24 volt supply. W rcommnd th following slction procdur: 1. If you plan to us only a fw drivs, gt a powr supply with at last twic pr phas currnt rating of th stp motor. Exampl: for a motor that s ratd for 2 A/phas us a 4 A powr supply.. 2. If you ar dsigning for mass production and must minimiz cost, gt on powr supply with mor than twic th ratd currnt of th motor. Install th motor in th application and monitor th currnt coming out of th powr supply and into th driv at various motor loads. This will tll you how much currnt you rally nd so you can dsign in a lowr cost 8

9 STR Hardwar Manual 92-3E 2/3/21 powr supply. Th tabls blow and on th nt pag list th maximum currnt rquird for ach motor at svral common powr supply voltags. Plas considr this information whn choosing a powr supply. Tabl 1: STR4 Powr Supply Currnt All motors connctd as indicatd, xcpt HT24 which hav four lads. Motor Currnt Max Powr Supply Currnt (A) Switch Motor (A) 24VDC 48VDC 1 rsrvd for custom motors 2 3 HT17-68/ paralll HT17-71/ paralll HT17-75/ paralll HT23-394/ paralll HT23-398/ paralll HT23-41/ paralll HT A HT B HT C HT sris D HT sris E HT sris F HT sris

10 92-3E 2/3/21 STR Hardwar Manual Tabl 2: STR8 Powr Supply Currnt All motors connctd in paralll, xcpt HT24 which hav four lads. Motor Currnt Max Powr Supply Currnt (A) Switch Motor (A) 24VDC 48VDC 6VDC 1 2 rsrvd for custom motors 3 4 HT23-394/ n/a 5 HT23-398/ n/a 6 HT23-41/ n/a 7 HT HT HT A HT B HT C HT D HT E HT F HT Rgnration If you plan to us a rgulatd powr supply you may ncountr a problm with rgnration. If you rapidly dclrat a load from a high spd, much of th kintic nrgy of that load is transfrrd back to th powr supply. This can trip th ovrvoltag protction of a switching powr supply, causing it to shut down. Unrgulatd powr supplis ar bttr bcaus thy gnrally do not hav ovrvoltag protction and hav larg capacitors for storing nrgy coming back from th driv. Thy ar also lss xpnsiv. S prvious sction on Conncting th Powr Supply for dtails on th RC-5 rgnration clamp. 1

11 STR Hardwar Manual 92-3E 2/3/21 Conncting th Motor! Nvr connct or disconnct th motor whil th powr is on. If th motor has a shild or grounding wir, plas connct it to th chassis ground scrw locatd on th chassis nar th motor-powr connctor. Four Lad Motor Ths motors can only b connctd on way. Plas follow th sktch blow. Chassis Ground Scrw A+ A Rd Blu 4 lad motor MOTOR/POWER CONNECTOR MOTOR B- B+ A- A+ V- V+ Yllow Whit B+ B A+ A 4 Lads Eight Lad Motor Ths motors can b connctd in sris or paralll. A sris connctd motor nds lss currnt than on that is connctd in paralll but it will not b abl to run as fast. Onc you hav dtrmind which way you want to connct your motor to th driv, plas follow th wiring diagrams blow. Org/Wht Blk/Wht Orang Black 8 lad motor Rd Rd/ Yl/ Yllow Wht B+ Wht B A+ Blk/Wht Org/ Wht A 8 Lads Sris Connctd 8 Lads Paralll Connctd 11 Orang Black Rd 8 lad motor Yl low Yl/ B+ Rd/Wht Wht B

12 92-3E 2/3/21 STR Hardwar Manual Conncting Input Signals Th STR drivs hav thr inputs: STEP: a high spd digital input for stp puls commands, 5-24 volt logic DIR: a high spd digital input for th dirction signal, 5-24 volt logic EN: a 5-24V input for commanding th rmoval of powr from th motor Not: STEP and DIR inputs can b convrtd to STEP CW and STEP CCW by moving th intrnal jumpr S3. S Pag 5. Connctor Pin Diagram Intrnal Circuit Diagram STEP STEP+ FAULT FAULT+ EN EN+ DIR DIR+ STEP+ STEP- 22 pf insid driv DIR+ DIR- 22 pf EN+ EN- 22 pf FAULT+ FAULT- Connction Exampls: STEP & DIR Indxr with Sourcing Outputs COM DIR STEP DIR- DIR+ STEP- STEP+ STR Conncting to indxr with Sourcing Outputs 12

13 STR Hardwar Manual 92-3E 2/3/21 Indxr with Sinking Outputs +V OUT DIR+ DIR DIR- STEP+ STEP STEP- STR Conncting to Indxr with Sinking Outputs Indxr with Diffrntial Outputs DIR+ DIR- STEP+ STEP- DIR+ DIR- STEP+ STEP- STR Conncting to Indxr with Diffrntial Outputs (Many High Spd Indxrs hav Diffrntial Outputs) Connction Exampls: EN VDC Powr Supply - switch or rlay (closd=logic low) EN+ EN- STR Conncting an Input to a Switch or Rlay 13

14 92-3E 2/3/21 STR Hardwar Manual + Si driv OUT+ EN+ EN- STR 5-24 VDC Powr Supply OUT - Conncting anothr driv to EN (Whn output closs, input closs) 5-24 VDC Powr Supply NPN Proximity Snsor output EN+ EN- STR Conncting an NPN Typ Proximity Snsor to an input (Whn prox snsor activats, input closs) 5-24 VDC Powr Supply PNP Proximity Snsor output EN+ EN- STR Conncting a PNP Typ Proximity Snsor to an input (Whn prox snsor activats, input closs) 14

15 STR Hardwar Manual 92-3E 2/3/21 FAULT Output Th STR drivs fatur a digital FAULT output. This output closs to signal a fault condition. FAULT+ FAULT- FAULT- This output can b usd to driv LEDs, rlays and th inputs of othr lctronic dvics lik PLCs. Th + (collctor) and - (mittr) trminals of th output transistor ar availabl at th connctor. This allows you to configur th output for currnt sourcing or sinking.! Diagrams of ach typ of connction follow. Do not connct th output to mor than 3VDC. Th currnt through th output trminal must not xcd 8 ma VDC Powr Supply VDC Powr Supply + STR FAULT+ Load STR FAULT+ Sinking Output Load Sourcing Output rlay 5-24 VDC Powr Supply STR FAULT+ FAULT- FAULT- 1N4935 supprssion diod Driving a Rlay + 15

16 92-3E 2/3/21 STR Hardwar Manual Configuring th Driv Stp 1: Slcting a Motor Th STR drivs ar optimizd for us with carfully slctd motors. To slct a motor, simply mov th rotary switch to th lttr or numbr that corrsponds to th motor of your choic. You can do this whil powr is on, but it is safr to slct th motor bfor applying powr to th driv so that you do not risk applying too much currnt to your motor. If your motor is not on th list, plas st th switch to a slction whos rotor inrtia, holding torqu and currnt ar within 1% of your motor. Custom configurations can b addd for qualifying applications. STR4 Motor Tabl Currnt Holding Torqu Rotor Inrtia Switch Motor Wiring A oz-in g-cm 2 1 rsrvd for custom configurations 2 3 HT17-68/268 paralll HT17-71/271 paralll HT17-75/275 paralll HT23-394/594 paralll HT23-398/598 paralll HT23-41/61 paralll HT lads A HT lads B HT lads C HT sris D HT sris E HT34-54 sris F HT34-55 sris

17 STR Hardwar Manual 92-3E 2/3/21 STR8 Motor Tabl Max Currnt Holding Torqu Rotor Inrtia Switch Motor Wiring A oz-in g-cm rsrvd for custom configurations 3 4 HT23-394/594 paralll HT23-398/598 paralll HT23-41/61 paralll HT lads HT lads HT lads A HT paralll B HT paralll C HT paralll D HT34-54 paralll E HT34-55 paralll F HT34-56 paralll Stp 2: Stting th Currnt Th maximum currnt for th motor you hav slctd is st automatically whn you st th rotary switch. But you may want to rduc th currnt to sav powr or lowr motor tmpratur. This is important if th motor is not mountd to a surfac that will hlp it dissipat hat or if th ambint tmpratur is xpctd to b high. Stp motors produc torqu in dirct proportion to currnt, but th amount of hat gnratd is roughly proportional to th squar of th currnt. If you oprat th motor at 9% of ratd currnt, you ll gt 9% of th ratd torqu. But th motor will produc approximatly 81% as much hat. At 7% currnt, th torqu is rducd to 7% and th hating to about 5%. Two of th small switchs on th front of th STR driv ar usd to st th prcnt of ratd 17

18 92-3E 2/3/21 STR Hardwar Manual currnt that will b applid to th motor: SW1 and SW2. Plas st thm according to th illustration blow % 9% 8% 7% Stp 3: Stting Idl Currnt Motor hating and powr consumption can also b rducd by lowring th motor currnt whn it is not moving. Th STR will automatically lowr th motor currnt whn it is idl to ithr 5% or 9% of th running currnt. Th 5% idl currnt stting will lowr th holding torqu to 5%, which is nough to prvnt th load from moving in most applications. This rducs motor hating by 75%. In som applications, such as thos supporting a vrtical load, it is ncssary to provid a high holding torqu. In such cass, th idl currnt can b st to 9% as shown blow. 4 5% 4 9% 18

19 STR Hardwar Manual 92-3E 2/3/21 Stp 4: Load Inrtia Th STR drivs includ anti-rsonanc and lctronic damping faturs which gratly improv motor prformanc. To prform optimally, th driv must undrstand th lctromchanical charactristics of th motor and load. Most of this is don automatically whn you slct th motor by stting th rotary switch. To furthr nhanc prformanc, you must st a switch to indicat th approximat inrtia ratio of th load and motor. Th rangs ar to 4X and 5 to 1X. Th motors tabl shown in Stp 1 of this sction includ th rotor inrtia of ach motor. Plas divid th load inrtia by th rotor inrtia to dtrmin th ratio, thn st switch 3 accordingly, as shown. For assistanc in calculating th load inrtia of your application contact our Applications dpartmnt X 3-4X Stp 5: Stp Siz Th STR rquirs a sourc of stp pulss to command motion. This may b a PLC, an indxr, a motion controllr or anothr typ of dvic. Th only rquirmnt is that th dvic b abl to produc stp pulss whos frquncy is in proportion to th dsird motor spd, and b abl to smoothly ramp th stp spd up and down to produc smooth motor acclration and dclration. Smallr stp sizs rsult in smoothr motion and mor prcis spd, but also rquir a highr stp puls frquncy to achiv maximum spd. Th smallst stp siz of th STR drivs is 1/2,th of a motor turn. To command a motor spd of 5 rvolutions pr scond (3 rpm) th stp pulss frquncy must b 5 x 2, = 1 MHz. Many motion dvics, spcially PLCs cannot provid stp pulss at such a high spd. If so, th driv must b st for a lowr numbr of stps pr rvolution. Six diffrnt sttings ar providd in th STR driv, as shown in th tabl on th nxt pag. 19

20 92-3E 2/3/21 STR Hardwar Manual Plas choos th on that bst matchs th capability of your systm. At lowr stp rsolutions such as 2 stps/ rv (full stp) and 4 stps/rv (half stp), motors run a littl rough and produc mor audibl nois than whn thy ar microstppd (2 stps/rv and byond). Th STR drivs includ a fatur calld microstp mulation, also calld stp smoothing, that can provid smooth motion from coars command signals. If you slct 2 SMOOTH or 4 SMOOTH, this fatur is automatically mployd to provid th smoothst possibl motion from a lss than idal signal sourc. Bcaus a command filtr is usd as part of th stp smoothing procss, thr will b a slight dlay, or lag in th motion. If this dlay is objctionabl for your application, plas choos th non-filtrd stting 2 or 4. Th chart on th nxt pag shows an xampl of th SMOOTH 4 2 SMOOTH 2 2

21 STR Hardwar Manual 92-3E 2/3/21 dlay that can occur from using th stp smoothing filtr. Stp 6: Stp Puls Typ Most indxrs and motion controllrs provid motion commands in th Stp and Dirction format. Th Stp signal pulss onc for ach motor stp and th dirction signal commands dirction. Howvr, a fw PLCs us a diffrnt typ of command signal: on signal pulss onc for ach dsird stp in th clockwis dirction (calld STEP CW), whil a scond signal pulss for countrclockwis motion (STEP CCW). Th STR drivs can accpt this typ of signal if you rmov th driv 21

22 92-3E 2/3/21 STR Hardwar Manual covr and mov jumpr S3 from th 1-2 position to th 1-3 position. In STEP CW/STEP CCW mod, th CW signal should b connctd to th STEP input and th CCW signal to th DIR input. Stp 7: Stp Puls Nois Filtr Just whn you thought thr couldn t b any mor to know about stp signals, w prsnt on mor stting for your considration. Elctrical nois can affct th STEP signal in a ngativ way, causing th driv to think that on stp puls is two or mor pulss. This rsults in xtra motion and inaccurat motor and load positioning. To combat this problm, th STR drivs includ a digital nois filtr on th STEP and DIR inputs. Th dfault factory stting of this filtr is15 khz, which works wll for most applications. Howvr, as discussd in Stp 5, if you ar oprating th STR at a high numbr of stps/rv and at high motor spds, you will b commanding th driv at stp rats abov 15 khz. In such cass, you should rmov th covr and mov jumpr S4 from th 15 khz position (1-3) to th 2 MHz position (1-2) as shown blow. Your maximum puls rat will b th highst motor spd tims th stps/rv. For xampl, 4 rvs/scond at 2, stps/rv is 4 x 2, = 8 khz. Plas considr this whn dciding if you must incras th filtr frquncy. 1-2: 2 MHz 1-3: 15 khz Slf Tst If you ar having troubl gtting your motor to turn, you may want to try th built-in slf tst. 22

23 STR Hardwar Manual 92-3E 2/3/21 Anytim switch 8 is movd to th ON position, th driv will automatically rotat th motor back and forth, two turns in ach dirction. This fatur can b usd to confirm that th motor is corrctly wird, slctd and othrwis oprational. 8 8 ON OFF SELF TEST Rfrnc Matrials Motor Outlins L MOTOR HT17-68 HT17-71 HT17-75 HT HT HT LENGTH(L) 33±1 mm 39±1 mm 47±1 mm 33.3 mm MAX 39.8 mm MAX 48.3 mm MAX HT17 Outlin Drawing 23 ADD D TO END OF PART NUMBER TO ADD REAR SHAFT AND ENCODER HOLES

24 92-3E 2/3/21 STR Hardwar Manual L ADD D TO END OF PART NUMBER TO ADD REAR SHAFT AND ENCODER HOLES MOTOR HT23-394/594 HT23-398/598 HT23-41/61 LENGTH(L) 41 mm MAX 54 mm MAX 76 mm MAX HT23 Outlin Drawing MOTOR HT24-1 HT24-15 HT24-18 LENGTH(L) 44±1 mm 54±1 mm 85±1 mm L HT24 Outlin Drawing 24

25 STR Hardwar Manual 92-3E 2/3/21 MOTOR HT34-54 HT34-55 HT34-56 LENGTH(L) 66.5±1 mm 96±1 mm 125.5±1 mm L HT34-54, 55 & 56 Outlin Drawing MOTOR HT HT HT L LENGTH(L) 79 mm mm 156 mm HT34-485, 486, 487 Outlin Drawing 25

26 92-3E 2/3/21 STR Hardwar Manual Torqu-Spd Curvs 6 HT17 with STR4 Connction: Paralll 24v Powr Supply, 2, stps/rv HT17-68 HT17-71 HT oz-in rps HT17 with STR4 Connction: Paralll 48v Powr Supply, 2, stps/rv 6 HT17-68 HT17-71 HT oz-in rps 26

27 STR Hardwar Manual 92-3E 2/3/21 25 HT23 with STR4 Connction: Paralll 24v Powr Supply. 2, stps/rv HT HT HT oz-in rps HT23 with STR4 Connction: Paralll 48v Powr Supply, 2, stps/rv 25 HT HT HT oz-in rps 27

28 92-3E 2/3/21 STR Hardwar Manual 35 HT24 with STR8 Connction: Paralll 24v Powr Supply, 2, stps/rv HT24-1 HT24-15 HT oz-in rps HT24 with STR8 Connction: Paralll 48v Powr Supply, 2, stps/rv 35 HT24-11 HT24-15 HT oz-in rps 28

29 STR Hardwar Manual 92-3E 2/3/21 HT34 with STR4 Connction: Sris Powr Supply 48V, 2, stps/rv 9 HT34-54 HT34-55 HT HT oz-in rps oz-in HT34 with STR8 Connction: Paralll Powr Supply 24V, 2, stps/rv HT34-54 HT34-55 HT rps 29

30 92-3E 2/3/21 STR Hardwar Manual oz-in HT34 with STR8 Connction: Paralll Powr Supply 48V, 2, stps/rv HT34-54 HT34-55 HT rps HT34 with STR8 Connction: Paralll Powr Supply 6V, 2, stps/rv 1 HT34-54 HT34-55 HT34-56 oz-in rps 3

31 STR Hardwar Manual 92-3E 2/3/21 12 HT34 with STR8 Connction: Paralll Powr Supply 24V, 2, stps/rv HT HT HT oz-in rps 12 HT34 with STR8 Connction: Paralll Powr Supply 48V, 2, stps/rv HT HT HT oz-in rps 31

32 92-3E 2/3/21 STR Hardwar Manual 12 HT34 with STR8 Connction: Paralll Powr Supply 6V, 2, stps/rv HT HT HT oz-in rps Motor Hating Stp motors convrt lctrical powr from th drivr into mchanical powr to mov a load. Bcaus stp motors ar not prfctly fficint, som of th lctrical powr turns into hat on its way through th motor. This hating is not so much dpndnt on th load bing drivn but rathr th motor spd and powr supply voltag. Thr ar crtain combinations of spd and voltag at which a motor cannot b continuously opratd without damag. W hav charactrizd th rcommndd motors in our lab and providd curvs showing th maximum duty cycl vrsus spd for ach motor at commonly usd powr supply voltags. Plas rfr to ths curvs whn planning your application. Plas also kp in mind that a stp motor typically rachs maximum tmpratur aftr 3 to 45 minuts of opration. If you run th motor for on minut thn lt it sit idl for on minut, that is a 5% duty cycl. Fiv minuts on and fiv minuts off is also 5% duty. Howvr, on hour on and on hour off has th ffct of 1% duty bcaus during th first hour th motor will rach full (and possibly xcssiv) tmpratur. 32

33 STR Hardwar Manual 92-3E 2/3/21 Th actual tmpratur of th motor dpnds on how much hat is conductd, convctd or radiatd out of it. Our masurmnts wr mad in a 4 C (14 F) nvironmnt with th motor mountd to an aluminum plat sizd to provid a surfac ara consistnt with th motor powr dissipation. Your rsults may vary. HT17-68 Max Duty cycl vs Spd 24 VDC, 1.6 C Ambint on 4.75 x 4.75 x.25 Aluminum Plat HT17-68 Max Duty cycl vs Spd 48 VDC, 1.6 of 4 on 4.75 x 4.75 x.25 Aluminum Plat % Duty Cycl % Duty Cycl HT17-71 Max Duty Cycl vs Spd 24 VDC, 2. Amps 4 C Ambint on 4.75 x 4.75 x.25 Aluminum Plat HT17-71 Max Duty Cycl vs Spd 48 VDC, 2. Amps 4 C Ambint on 4.75 x 4.75 x.25 Aluminum Plat % Duty Cycl % Duty Cycl % Duty Cycl HT17-75 Max Duty Cycl vs Spd 24 VDC, 2. Amps 4 C Ambint on 4.75 x 4.75 x.25 Aluminum Plat % Duty Cycl HT17-75 Max Duty cycl vs Spd 48 VDC, 2. of 4 on 4.75 x 4.75 x.25 Aluminum Plat

34 92-3E 2/3/21 STR Hardwar Manual 1 HT Max Duty Cycl vs Spd 24 VDC, 3.4 Amps, 4 C Ambint on 6.4 x 6.4 x.25 Aluminum Plat 1 HT Max Duty Cycl vs Spd 48 VDC, 3.4 Amps, 4 C Ambint on 6.4 x 6.4 x.25 Aluminum Plat 8 8 % Duty Cycl % Duty Cycl cl % Duty Cyc HT Max Duty cycl vs Spd 24VDC, 5.Amps, 4 C Ambint on 6.4 x 6.4 x.25 Aluminum Plat cl % Duty Cyc HT Max Duty cycl vs Spd 48VDC, 5. Amps, 4 C Ambint on 6.4 x 6.4 x.25 Aluminum Plat HT23-41 Max Duty Cycl vs Spd 24 VDC, 5. Amps, 4 C Ambint on 6.4 x 6.4 x.25 Aluminum Plat 1 HT23-41 Max Duty Cycl vs Spd 48 VDC, 5. Amps, 4 C Ambint on 6.4 x 6.4 x.25 Aluminum Plat 8 8 % Duty Cycl % Duty Cycl HT24-1 Max Duty Cycl vs Spd 24VDC, 3.36A 4 C Ambint on a 1 x 1 x.5 Aluminum Plat HT24-1 Max Duty Cycl vs Spd 48VDC, 3.36A 4 C Ambint on a 1 x 1 x.5 Aluminum Plat % Duty Cycl % Duty Cycl

35 STR Hardwar Manual 92-3E 2/3/21 HT24-15 Max Duty Cycl vs Spd 24VDC, 4.8A 4 C Ambint on a 1 x 1 x.5 Aluminum Plat HT24-15 Max Duty Cycl vs Spd 48VDC, 4.8A 4 C Ambint on a 1 x 1 x.5 Aluminum Plat % Duty Cycl % Duty Cycl HT24-18 Max Duty Cycl vs Spd 24VDC, 4.8A 4 C Ambint on a 1 x 1 x.5 Aluminum Plat HT24-18 Max Duty Cycl vs Spd 48VDC, 4.8A 4 C Ambint on a 1 x 1 x.5 Aluminum Plat % Duty Cycl % Duty Cycl HT34-54 Max Duty Cycl vs Spd 24VDC, 4.5A sris 4 C Ambint on a 1 x 1 x.5 Aluminum Plat HT34-54 Max Duty Cycl vs Spd 48VDC, 4.5A sris 4 C Ambint on a 1 x 1 x.5 Aluminum Plat % Duty Cycl % Duty Cycl

36 92-3E 2/3/21 STR Hardwar Manual HT34-55 Max Duty Cycl vs Spd 24VDC, 4.5A sris 4 C Ambint on a 1 x 1 x.5 Aluminum Plat HT34-55 Max Duty Cycl vs Spd 48VDC, 4.5A sris 4 C Ambint on a 1 x 1 x.5 Aluminum Plat % Duty Cycl % Duty Cycl HT Max Duty Cycl vs Spd 24VDC, 4.5A sris 4 C Ambint on a 1 x 1 x.5 Aluminum Plat HT Max Duty Cycl vs Spd 48VDC, 4.5A sris 4 C Ambint on a 1 x 1 x.5 Aluminum Plat % Duty Cycl % Duty Cycl HT Max Duty Cycl vs Spd 24VDC, 4.5A sris 4 C Ambint on a 1 x 1 x.5 Aluminum Plat HT Max Duty Cycl vs Spd 48VDC, 4.5A sris 4 C Ambint on a 1 x 1 x.5 Aluminum Plat % Duty Cycl % Duty Cycl

37 STR Hardwar Manual 92-3E 2/3/21 HT34-54 Max Duty Cycl vs Spd 24VDC, 7.56A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat HT34-55 Max Duty Cycl vs Spd 24VDC, 7.56A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat % Duty Cycl HT34-54 Max Duty Cycl vs Spd 48VDC, 7.56A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl HT34-54 Max Duty Cycl vs Spd 6VDC, 7.56A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl HT34-55 Max Duty Cycl vs Spd 48VDC, 7.56A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl HT34-55 Max Duty Cycl vs Spd 6VDC, 7.56A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl % Duty Cycl

38 92-3E 2/3/21 STR Hardwar Manual HT34-56 Max Duty Cycl vs Spd 24VDC, 6.72A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat HT Max Duty Cycl vs Spd 24VDC, 8A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat % Duty Cycl HT34-56 Max Duty Cycl vs Spd 48VDC, 6.72A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl HT34-56 Max Duty Cycl vs Spd 6VDC, 6.72A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl HT Max Duty Cycl vs Spd 48VDC, 8A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl HT Max Duty Cycl vs Spd 6VDC, 8A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl % Duty Cycl

39 STR Hardwar Manual 92-3E 2/3/21 HT Max Duty Cycl vs Spd 24VDC, 8A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat HT Max Duty Cycl vs Spd 24VDC, 8A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat % Duty Cycl HT Max Duty Cycl vs Spd 48VDC, 8A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl HT Max Duty Cycl vs Spd 6VDC, 8A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl HT Max Duty Cycl vs Spd 48VDC, 8A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl HT Max Duty Cycl vs Spd 6VDC, 8A paralll 4 C Ambint on a 1 x 1 x.5 Aluminum Plat 1 8 % Duty Cycl % Duty Cycl

40 92-3E 2/3/21 STR Hardwar Manual Driv Hating Whil STR drivrs fficintly transmit powr btwn th powr supply and motor, thy do gnrat som hat in th procss. This will caus th tmpratur of th driv to ris abov th surrounding air tmpratur and may also rquir that th driv b mountd to a hat conducting mtal surfac. For thos who wish to calculat th powr dissipation and tmpratur ris, th following information is providd: 1. driv powr dissipation P vrsus motor currnt and powr supply voltag (s chart) d 2. driv thrmal constant RQ Th final driv cas tmpratur is givn by T c = T a + R Q * P d whr T a is th ambint tmpratur of th surrounding air. Th cas of th driv should not b allowd to xcd 7 C or th lif of th product could b rducd. Driv thrmal constant: Narrow sid of driv mountd on a 13.5 x 13.5 stl plat,.7 thick: R Q =1. C/W Narrow sid of driv mountd on a non-hat conducting surfac: R Q =2.1 C/W 25 STR Driv Losss 2 6V 48V 24V Loss (W) Drivr motor currnt (A) 4

41 6789ABCDEF12345 STR Hardwar Manual 92-3E 2/3/21 Mchanical Outlin 4X DIA.137 (3.5 mm).887 (22.5 mm).996 (25.3 mm).35 (8.9 mm).89 (22.5 mm) 4.42 (112 mm) (118 mm) 2.97 (75.5 mm) 1.3 (33 mm) 2X SLOT.17 (4.3 mm) WIDE, FULL R.125 (3.2 mm) 41

42 92-3E 2/3/21 STR Hardwar Manual Tchnical Spcifications Amplifir Digital MOSFET. 2 khz PWM. Suitabl for driving two phas and four phas stp motors with four, six or ight lads. Supply voltag: STR VDC (STR4) Undr voltag alarm: 2 VDC Ovr voltag shutdown: 6 VDC STR VDC (STR8) Undr voltag alarm: 2 VDC Ovr voltag shutdown: 85 VDC Motor currnt:.25 to 4.5 amps/phas pak of sin (STR4).5 to 8 amps/phas pak of sin (STR8) Digital Inputs Fault Output Physical Optically isolatd, 5-24V logic. Sourcing, sinking or diffrntial signals can b usd. Driv stps on falling dg of STEP+ input. Minimum on voltag: 4 VDC. Maximum voltag: 3 VDC. Input currnt: 5 ma typ at 4V, 15 ma typ at 3V. Maximum puls frquncy: 15 khz or 2 MHz (st by intrnal jumpr) Minimum puls width: 3 usc (at 15 khz stting).25 usc (at 2 MHz stting) Photodarlington, 8 ma, 3 VDC max. Voltag drop: 1.2V max at 8 ma. 1.3 x 3. x 4.65 inchs (33 x 75.5 x 118 mm) ovrall. 1.8 oz (35 g) including mating connctors. Ambint tmpratur rang: C to 5 C. 42

43 STR Hardwar Manual 92-3E 2/3/21 Mating Connctors and Accssoris Mating Connctors Motor/powr supply: PCD P/N ELV61 (Phonix Contact ), includd with driv. Signals: PCD P/N ELVH81 (Phonix Contact ), includd with driv. Accssoris Rgnration Clamp: Applid Motion Products RC-5. 43

44 Alarm Cods In th vnt of a driv fault or alarm, th grn LED will flash on or two tims, followd by a sris of rd flashs. Th pattrn rpats until th alarm is clard. Cod Error solid grn no alarm, motor disabld flashing grn no alarm, motor nabld flashing rd configuration or mmory rror 1 grn, 4 rd powr supply voltag too high 1 grn, 5 rd ovr currnt / short circuit 1 grn, 6 rd opn motor winding 2 grn, 3 rd intrnal voltag out of rang 2 grn, 4 rd powr supply voltag too low Connctor Diagrams FAULT FAULT+ EN EN+ DIR DIR+ STEP STEP+ B B+ A A+ V V+ Powr and Motor Connctor Signal Connctor 44 Wstridg Driv Watsonvill, CA 9576 Tl (831) (8) Fax (831)