User Manual - Applied Motion
Contents
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3. 9 S 920 0030G 12 12 2012 STR4 8 Hardware Manual Introduction Thank you for selecting an Applied Motion Products motor drive 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 or fax We d like to hear from you Our phone number is 800 525 1609 or you can reach us by fax at 831 761 6544 You can also email support applied motion com Features Low cost digital st
4. SO gt O NGON W W Voltage weeooeseoesos Cut I el it onnecting the Motor Four Lead Motor B To Si onnecting Input Signals Connector Pin Diagram Connection Examples 5 I Internal Circuit Diagram Connection Examples EN e Step 2 Setting the Current Setting Idle Current Load 1 7 M 6 Step Pulse 22212121 0111 22220000 T HE Vue GUI NR ML MN STRA Maximum Motor Duty Cy CNS crar Qu VOU im u eeer I Wisdom aa OS mi o NGA CI A
5. rps 920 0030G 12 12 2012 STR4 8 Hardware Manual HT34 with STR8 Connection Parallel 34 504 34 505 HT34 506 Power Supply 48V 20 000 steps rev 1000 900 800 700 600 5 500 O 400 300 200 100 rps HT34 with STR8 Connection Parallel 34 504 34 505 34 506 Power Supply 60 20 000 steps rev 1000 900 800 700 600 E T 500 400 300 200 100 0 rps 920 0030G 12 12 2012 STR4 8 Hardware Manual HT34 with STR8 Connection Parallel HT34 485 34 486 34 487 Power Supply 24V 20 000 steps rev 1200 1000 200 rps HT34 with STR8 Connection Parallel 34 485 34 486 34 487 Power Supply 48V 20 000 steps rev rps 920 0030G 12 12 2012 STR4 8 Hardware Manual HT34 with STR8 Connection Parallel HT34 485 34 486 34 487 Power Supply 60V 20 000 steps rev rps 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 el
6. 350 HT23 398 598 STRA HT23 401 601 STRA HT23 603 STR8 250 c 200 8 150 100 0 0 5 10 15 20 25 30 35 40 rps HT23 with STR4 8 HT23 603 STR8 Connection Parallel 48v Power Supply 20 000 steps rev 350 HT23 401 601 STRA HT23 398 598 STR4 300 HT23 394 594 STRA 250 c 200 5 150 100 s 50 I 0 0 5 10 15 20 25 30 35 40 rps 920 0030G 12 12 2012 STR4 8 Hardware Manual HT24 with STR8 24 100 HT24 105 24 108 Connection Parallel 24v Power Supply 20 000 steps rev 350 300 250 200 oz in 150 100 50 rps HT24 with STR8 Connection Parallel HT24 101 24 105 214 108 48v Power Supply 20 000 steps rev 350 300 250 200 oz in 150 100 50 rps 920 0030G 12 12 2012 HT34 with STR4 Connection Series HT34 504 HT34 505 HT34 485 HT34 486 Power Supply 48V 20 000 steps rev 900 800 700 600 c 500 400 300 200 100 0 1000 900 800 700 600 E 500 400 300 200 100 STR4 8 Hardware Manual 0 5 10 15 20 25 30 35 40 rps HT34 with STR8 Connection Parallel HT34 504 34 505 HT34 506 Power Supply 24V 20 000 steps rev
7. Connecting a PNP Type Proximity Sensor to an input When prox sensor activates the drive disables 15 920 0030G 12 12 2012 STR4 8 Hardware Manual FAULT Output The STR drives feature a digital FAULT output This output closes Ney to signal a fault condition 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 This allows you to configure the output for current sourcing or sinking Diagrams of each type of connection follow N Do not connect the output to more than 30VDC The current through the output terminal must not exceed 80 mA Sinking Output Sourcing Output 5 24 VDC Power Supply Driving a Relay 16 920 0030G 12 12 2012 STR4 8 Hardware Manual Configuring the Drive Step 1 Selecting a Motor The STR drives are optimized for use with carefully selected motors To select a motor simply move the rotary switch to the letter or number that corresponds to the motor of your choice You can do this while power is on but it is safer to select the motor before applying power to the drive so that you do not risk applying too much current to your motor 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
8. 1 green 4 red power supply voltage too high fault 000000 1 green 5 red over current short circuit fault 0000000 1 green 6 red open motor winding fault 09000 O0 2 green red internal voltage out of range fault 00000 O 2 green 4 red power supply voltage too low alarm Connector Diagrams T Ti EE CU I 24 1 Power and Motor Connector Signal Connector 404 Westridge Drive Watsonville CA 95076 Tel 831 761 6555 800 525 1609 Fax 831 761 6544 www applied motion com 920 0030G 12 12 2012
9. 218 THRU R 0 5 MAX CL SA 21 05 Q8 D 0 41 0 013 1 att ae ca Vu Y 1 0 3 175 0 05 125 000 amp 0 25 _ 002 875 OPTIONAL ar md 9 525 0 013 E ad 51 75 0 5 000 W105 34 80 44 075 A MOTOR TO BE SHIPPED 2X 1 570 86 0 0 5 LABEL _ _ 05 WITH 1 8 X1 8 X 843 69 6 0 3 3 38 02 KEY TAPED TO jas 2X 2 74 01 2X 4 40 UNC TAP 5 2 DEEP 180 APART ON A 46 02 1 812 B C OPTIONAL 2X 02 56 UNC 5 2 DEEP ON A 1 28 32 5 B C OPTIONAL HT34 485 486 487 Outline Drawing 26 STR4 8 Hardware Manual Torque Speed Curves HT17 with STR4 Connection Parallel 24v Power Supply 20 000 steps rev HT17 068 268 HT17 071 271 100 HT17 075 275 90 HT17 278 80 70 60 50 oz in 40 30 20 10 rps HT17 with STR4 HT17 278 Connection Parallel 48v Power Supply 20 000 steps rev HT17 075 275 100 2HT17 071 271 90 HT17 068 268 80 70 60 50 40 20 oz in 10 rps 920 0030G 12 12 2012 STR4 8 Hardware Manual HT23 with STR4 8 Connection Parallel 24V Power Supply 20 000 steps rev
10. to the 2 MHz position 1 2 as shown below Your maximum pulse rate will be the highest motor speed times the steps rev For example 40 revs second at 20 000 steps rev is 40 x 20 000 800 kHz Please consider this when deciding if you must increase the filter frequency 1 2 2 MHz 1 3 150 kHz STR4 8 Hardware Manual Self Test If you are having trouble getting your motor to turn you may want to try the built in self test 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 ON OFF SELF TEST Reference Materials Motor Outlines 305 MIN L 2X 42 00 4X 4 40 UNC 4 5 MIN DEEP O JA 5 000 0 012 1 4 2 31 00 4 5 0 15 E FLAT 15 25 TYP Toms 2X 42 56 UNC 4 5 DEEP EQ SP MOTOR LENGTH L 29202205 ON A 932 5 B C HT17 068 33 1 mm HT17 071 39 1 mm ADD D TO END OF PART NUMBER TO ADD HT17 075 47 1 mm REAR SHAFT AND ENCODER HOLES HT17 268 33 3 mm MAX HT17 271 39 8 mm MAX HT17 275 48 3 mm MAX HT17 Outline Drawing 24 920 0030G 12 12 2012 STR4 8 Hardware Manual 5 10 ADD D TO END OF PART NUMBER ADD REAR SHAFT AND ENCODER HOLES 15 0 25 0 5 X 45 m e 0 il WAU 5 8 0 15 16
11. 1 40 5 MOTOR LENGTH L HT23 394 594 41 mm MAX HT23 398 598 54 mm MAX HT23 401 601 76 mm MAX 2X 2 56 UNC THRU EQ SP ON A 432 5 B C HT23 Outline Drawing MOTOR LENGTH L HT24 100 44 1 mm HT24 105 54 1 mm HT24 108 85 1 mm 2X 2 56 THRU EQ SP ON A 32 5 B C C 1 0 075 2 1 0 05 24 Outline Drawing 25 920 0030G 12 12 2012 STR4 8 Hardware Manual MOTOR LENGTH L HT34 504 66 5 1 mm HT34 505 96 1 mm HT34 506 125 5 1 L1 28 5 1 0 273 025 0 025 1 12 04 0 9 525 0 013 9 3750 0000 0005 X 69 6 0 2X 2 56 UNC TAP 19 4 5 MIN DEEP ON A 632 5 B C HT34 504 505 amp 506 Outline Drawing OTOR L MOTOR LENGTH D SHAFT DIAMETER T34 485 79MM 3 11 IN 0 04 12 70 500 IN 0005 134 486 117MM 4 62 IN 0 04 12 70 500 IN 0005 1 5 10 2 4 III 134 487 156MM 6 14 IN 0 04 15 875 625 IN 0005 2 075 TA L 1 E 73 02 0 05 457 18 MIN f 1 _ SLOI DEPIH 5 5 2 2 875 002 1 12 04 8 5 330 4X 5 50 1 52 062
12. STEP input Minimum voltage 4 VDC Maximum voltage 30 VDC Input current 5 mA typ at 4V 15 mA typ at 30V Maximum pulse frequency 150 kHz or 2 MHz set by internal jumper Minimum pulse width 3 usec at 150 kHz setting 0 25 usec at 2 MHz setting Photodarlington 80 mA 30 VDC max Voltage drop 1 2V max at 80 mA 1 3 x 3 0 x 4 65 inches 33 x 75 5 x 118 mm overall 10 8 oz 305 g includ ing mating connectors Ambient temperature range 0 C to 50 C 44 STR4 8 Hardware Manual 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 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 pattern repeats until the alarm is cleared Faults disable the motor and can be cleared by cycling power to the drive or toggling the enable input The power supply voltage too low alarm does not disable the motor and will self clear after 30 seconds It can be cleared sooner by cycling power to the drive or toggling the enable input Code Error solid green no alarm motor disabled flashing green no alarm motor enabled flashing red configuration or memory error Contact factory for assistance
13. also less expensive See previous section on Connecting the Power Supply for details on the RC 050 regeneration clamp 11 STR4 8 Hardware Manual Connecting the Motor N Never connect or disconnect the motor while the power s 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 Please follow the sketch below Chassis Ground Screw 4 MOTOR POWER lead CONNECTOR A motor r MOTORA Blue bbw ww Yellow 1 White B 4 Leads Eight Lead Motor These motors can be connected in series or parallel series connected motor needs less cur rent than one that is connected in parallel but it will not be able to run as fast Once you have determined which way you want to connect your motor to the drive please follow the wiring diagrams below A Orange Org Wht Blk Wht ne Black Red Red Yellow p Wit Wht 8 Leads Series Connected 8 Leads Parallel Connected 12 STR4 8 Hardware Manual Connecting Input Signals The SIR drives have three inputs STEP 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 removing power from the step motor When the EN input is activated the motor is di
14. for qualitying applications STR4 Motor Table Drive Cur Holding Torque Rotor Inertia Switch Motor Wiring rent Amps peak of sine reserved for custom configurations 123 35 5 HT17075275 parallel 2 6 6 123 394 594 parallel 34 766 12 8 HT23 401 601 parallel 45 2376 480 __ 9 HT24100 4 336 13 200 B HT24108 4le 45 D 486 seres 45 0 920 0030G 12 12 2012 STR4 8 Hardware Manual STR8 Motor Table Motor Wiring Drive Cur Holding Torque Rotor Inertia Switch rent Amps peak of sine reserved for custom configurations 23 603 parallel 6 34 7500 23 394 594 parallel 23 398 598 parallel 6 123 401601 parallel 5 400 8 HT24105 4leds 48 7 4o 9 HT24108 4leds 48 34 90 A 4 485 50 140 B HI34486 parali 9 2680 C HI34487 parallel 8 1439 400 D 4 504 parallel 756 396 HT34 505 Step 2 Setting the Current The maximum current for the motor you have selected is set automatically when you set the rotary switch But you may want to reduce the current to save power or lower motor tempera ture This is important if the motor is not mounted to a surface that will help it dissipate heat or if the ambient temp
15. 45 45 45 45 100 920 0030G 12 12 2012 STR4 8 Hardware Manual STR8 Maximum Motor Duty Drive Current Duty Cycle at 40 Ambient Motor Connection Amps peak of sine HT23603 parallel 6 100 seechan see chart HT34485 TJ 100 seechart see chart HT34486 parallel 8 seechart seechart see chart _ HT34487 parallel 8 seechart seechan see chart _ HT17 068 Max Duty cycle vs Speed HT17 071 Max Duty Cycle vs Speed 48 VDC 1 60 Amps Ambient of 40 48 VDC 2 0 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate on 4 75 x 4 75 x 25 Aluminum Plate eo A O A Duty Cycle 0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40 Speed RPS Speed RPS UJ 920 0030G 12 12 2012 HT17 075 Max Duty Cycle vs Speed 24 VDC 2 0 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate 100 80 60 40 Q 20 5 0 T T T T T T T 1 0 5 10 15 20 25 30 35 40 Speed RPS HT17 268 Max Duty Cycle vs Speed 48VDC 4 75 x 4 75 x 25 Aluminum Plate 100 80 v O 60 2 5 40 E 2096 096 rev sec HT17 275 Max Duty Cycle vs Speed 48VDC 4 75 x 4 75 x 25 Aluminum Plate 10096 8096 60 5 x 40 E 2096 096 0 5 10 15 20 25 30 35 40 rev sec HT23 3
16. 94 Max Duty Cycle vs Speed 48 3 4 Amps 40 Ambient on 6 4 x 6 4 x 25 Aluminum Plate 100 2 T 60 o gt 40 5 a x 20 0 T T T T T T T 1 0 5 10 15 20 25 30 35 40 Speed RPS Duty Cycle max duty cycle max duty cycle max duty cycle 100 STR4 8 Hardware Manual HT17 075 Max Duty cycle vs Speed 48 VDC 2 0 Amps Ambient of 40 on 4 75 x 4 75 x 25 Aluminum Plate 80 60 40 20 0 5 10 15 20 100 80 60 40 20 0 100 80 60 40 20 0 100 80 60 40 20 0 25 30 35 40 Speed RPS HT17 271 Max Duty Cycle vs Speed 48VDC 4 75 x 4 75 x 25 Aluminum Plate rev sec HT17 278 Max Duty Cycle vs Speed 48VDC 4 75 x 4 75 x 25 Aluminum Plate rev sec HT23 394 Mlax Duty Cycle vs Speed STR8 60VDC 8 4x 8 4 x 25 Aluminum Plate rev sec Duty Cycle Duty Cycle max duty cycle max duty cycle STR4 8 Hardware Manual HT23 398 Max Duty cycle vs Speed 48VDC 5 0 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 100 80 60 40 20 0 T T T T T T T 1 0 5 10 15 20 25 30 35 40 Speed RPS HT23 401 Max Duty Cycle vs Speed 48 VDC 5 0 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 100 80 60 40 20 0 T T T T T T T 1 0 5 10 15 20 25 30 35 40 Speed RPS HT23 594 Max Duty Cycle vs Speed STR4 48VDC 8 4 x 8 4 x 25 Alu
17. Direction format The Step signal pulses once for each motor step and the direction signal commands direction However a few PLCs use a different type of command signal one signal pulses once for each desired step in the clockwise direction called STEP CW while a second signal pulses for counterclockwise motion STEP CCW The STR drives can accept this type of signal if you remove the drive cover and move jumper 53 from the 1 2 position to the 1 3 position In STEP input and the CCW signal DIR input 1 2 Step amp Direction 1 3 STEP CW amp STEP CCW 22 STR4 8 Hardware Manual 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 Electrical noise can affect the STEP signal in a negative way causing the drive to think that one step pulse is two or more pulses This results in extra motion and inaccurate motor and load positioning To combat this problem the STR drives include a digital noise filter on the STEP and DIR inputs The default factory setting of this filter is150 kHz which works well for most applications However as discussed in Step 5 if you are operating the STR at a high number of steps rev and at high motor speeds you will be commanding the drive at step rates above 150 kHz In such cases you should remove the cover and move jumper 54 from the 150 kHz position 1 3
18. Hardware Manual 2 9 o x 5 T wE x 2 8 mah 9 950 5 Qu lt a 920 0030G 12 12 2012 STR4 8 Hardware Manual Contents it oductior weeeooeo eatul es sis b MM E PMTs 21000 cee A E Requirements hoosing Power Supply
19. TR4 8 Hardware Manual HT24 100 Max Duty Cycle vs Speed STR8 60VDC 8 4x 8 4 x 25 Aluminum Plate max duty cycle rev sec HT24 105 Max Duty Cycle vs Speed HT24 105 Max Duty Cycle vs Speed 48VDC 4 8A 40 Ambient STR8 60VDC on a 8 4 x 8 4 x 25 Aluminum Plate 8 4 x 8 4 x 25 Aluminum Plate 100 1 NP 100 80 80 2 2 E dns 60 6096 gt 5 amp 4 40 se 20 20 0 0 0 5 10 15 20 25 30 35 40 rev sec Speed RPS HT24 108 Max Duty Cycle vs Speed HT24 108 Max Duty Cycle vs Speed 48VDC 4 8A 40 C Ambient STR8 60VDC on a 8 4 x 8 4 x 25 Aluminum Plate 8 4 x 8 4 x 25 Aluminum Plate 100 100 80 80 4 2 E 60 d 6096 S d 40 x 4096 e E 20 20 0 096 0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40 rev sec Speed RPS 920 0030G 12 12 2012 HT34 485 Max Duty Cycle vs Speed 48VDC 8A parallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 100 uc 80 60 gt 40 ze 20 0 T T T T T T 1 0 5 10 15 20 25 30 35 40 Speed RPS HT34 486 Max Duty Cycle vs Speed 24VDC 8A parallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate ly 80 o 60 gt 40 ze 20 0 T T T T T T 1 0 5 10 15 20 25 30 35 40 Speed RPS HT34 486 Max Duty Cycle vs Speed 60VDC 8A parallel 40 C Ambient on a 10 x 10 x 5 A
20. eatly 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 To further enhance performance you must set a switch to indicate the approximate inertia ratio of the load and motor The ranges are 0 to 4X and 5 to 10X The motors table shown in Step 1 of this section include the rotor inertia of each motor Please divide the load inertia by the rotor inertia to determine the ratio then set switch 3 ac cordingly as shown For assistance in calculating the load inertia of your application contact our Applications department 9 10X 0 4 Step 5 Step Size The STR requires a source of step pulses to command motion This may be a PLC an indexer a motion controller or another type of device The only requirement is that the device be able to produce step pulses whose frequency is in proportion to the desired motor speed and be able to smoothly ramp the step speed up and down to produce smooth motor acceleration and deceleration Smaller step sizes result in smoother motion and more precise speed but also require a higher step pulse frequency to achieve maximum speed The smallest step size of the STR drives is 1 20 000th of a motor turn To command a motor speed of 50 revolutions per second 3000 rpm the step pulses frequency must be 50 x 20 000 1 MHz Many motion devices esp
21. ecially PLCs cannot provide step pulses at such a high speed If so the drive must be set for a lower number of steps per revolution Six different settings are provided in the STR drive as shown in the table on the next page Please choose the one that best matches the capability of your system 20 STR4 8 Hardware Manual 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 The STR drives include a feature called microstep emulation also called step smoothing that can provide smooth motion from coarse command signals If you select 200 SMOOTH or 400 SMOOTH this feature is automatically employed to provide the smoothest possible motion from a less than ideal signal source Because a command filter is used as part of the step smoothing process there will be a slight delay or lag in the motion If this delay is objectionable for your application please choose the non filtered setting 200 400 The chart on the next page shows an example of the delay that can occur from using the step smoothing filter 400 200 SMOOTH SMOOTH 920 0030G 12 12 2012 STR4 8 Hardware Manual Motion Profile with Step Smoothing Filter revisec Seconds Step 6 Step Pulse Type Most indexers and motion controllers provide motion commands in the Step and
22. ectrical power turns into heat on its way through the motor This heating is not so much dependent on the load being driven but rather the motor speed and power supply voltage There are certain combinations of speed and voltage at which a motor cannot be continuously operated without damage We have characterized the recommended motors in our lab and provided curves showing the maximum duty cycle versus speed for each motor at commonly used power supply voltages Please refer to these curves when planning your application Please also keep in mind that a step motor typically reaches maximum temperature after 30 to 45 minutes of operation If you run the motor for one minute then let it sit idle for one minute that is a 50 duty cycle Five minutes on and five minutes off is also 50 duty However one hour on and one hour off has the effect of 10076 duty because during the first hour the motor will reach full and possibly excessive temperature 33 920 0030G 12 12 2012 STR4 8 Hardware Manual 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 Your results may vary STR4 Maximum Motor Duty Cycle Drive Current Max Duty Cycle at 40 C Ambient Motor Connection Amps peak of 24VDC 48VDC sine 45
23. ep motor driver in compact package Operates from Step amp Direction signals or Step CW amp Step CCW jumper selectable Enable input Fault output Optically isolated I O Digital filters prevent position error from electrical noise on command signals Jumper selectable 150 kHz or 2 MHz Rotary switch easily selects from many popular motors Electronic damping and anti resonance Automatic idle current reduction to reduce heat when motor is not moving Switch selectable 50 or 90 of running current Switch selectable step resolution 200 full step 400 half step 2000 5000 12800 or 20000 steps rev Switch selectable microstep emulation provides smoother more reliable motion in full and half step modes Automatic self test switch selectable STR4 Operates from a 24 to 48 volt DC power supply Running current up to 4 5 amps per phase STR8 Operates from a 24 to 75 volt DC power supply Running current up to 7 8 amps per phase STR4 8 Hardware Manual Block Diagram 24 48 VDC STR4 24 75 VDC STR8 from external power supply 3 3 5 15V Regulators Status LEDs STEP DIR EN Current OUT1 Idle Current Steps Rev Load Inertia 11 Self Test Motor Selection kek 3 056 920 0030G 12 12 2012 STR4 8 Hardware Manual 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 m
24. erature is expected to be high Step motors produce torque in direct proportion to current but the amount of heat generated is roughly proportional to the square of the current If you operate the motor at 90 of rated current you ll get 90 of the rated torque But the motor will produce approximately 81 as much heat At 70 current the torque is reduced to 70 and the heating to about 50 Two of the small DIP switches on the front of the STR drive are used to set the percent of rated 18 920 0030 12 12 2012 STR4 8 Hardware Manual current that will be applied to the motor SW1 and SW2 Please set them according to the illustration below 100 90 80 70 Step 3 Setting Idle Current Motor heating and power consumption can also be reduced by lowering the motor current when it is not moving The STR will automatically lower the motor current when it is idle to either 50 or 90 of the running current The 50 idle current setting will lower the holding torque to 50 which is enough to prevent the load from moving in most applications This reduces motor heating by 75 In some applications such as those supporting a vertical load it is necessary to provide a high holding torque In such cases the idle current can be set to 90 as shown below m 0 90 920 0030G 12 12 2012 STR4 8 Hardware Manual Step 4 Load Inertia The STR drives include anti resonance and electronic damping features which gr
25. luminum Plate M 22 80 2 9 60 gt 40 ze 20 0 T T T T T T 1 25 35 40 30 15 20 Speed RPS STR4 8 Hardware Manual Duty Cycle Duty Cycle 100 80 60 40 20 100 80 60 40 20 HT34 485 Max Duty Cycle vs Speed 60VDC 8A parallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate LA 15 20 25 30 35 40 Speed RPS HT34 486 Max Duty Cycle vs Speed 48VDC 8A parallel 40 Ambient on a 10 x 10 x 5 Aluminum Plate a M 35 40 15 20 25 30 Speed RPS Duty Cycle Duty Cycle Duty Cycle 100 4 o gt STR4 8 Hardware Manual HT34 486 Max Duty Cycle vs Speed 24VDC 4 5A series 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 5 10 15 20 25 30 35 40 Speed RPS HT34 487 Max Duty Cycle vs Speed 24VDC 8A parallel 40 Ambient on a 10 x 10 x 5 Aluminum Plate 100 12020777 o Az 100 gt N 0 5 10 15 20 25 30 35 40 Speed RPS HT34 487 Max Duty Cycle vs Speed 60VDC 8A parallel 40 Ambient on a 10 x 10 x 5 Aluminum Plate uu a one 0 5 10 15 20 25 30 35 40 Speed RPS Duty Cycle Duty Cycle Duty Cycle 100 4 920 0030G 12 12 2012 HT34 486 Max Duty Cycle vs Speed 48VDC 4 5A
26. minum Plate 100 80 60 40 20 0 rev sec HT23 598 Max Duty Cycle vs Speed STR8 48VDC 8 4 x 8 4 x 25 Aluminum Plate 100 80 60 40 20 0 rev sec max duty cycle max duty cycle max duty cycle max duty cycle 100 80 60 40 20 0 100 80 60 40 20 0 100 80 60 40 20 0 920 0030G 12 12 2012 HT23 398 Max Duty Cycle vs Speed STR8 60VDC 8 4 x 8 4 x 25 Aluminum Plate 0 5 10 15 20 25 30 35 40 rev sec HT23 401 Max Duty Cycle vs Speed STR8 60VDC 8 4 x 8 4 x 25 Aluminum Plate rev sec HT23 594 Max Duty Cycle vs Speed STR8 60VDC 8 4 x 8 4 x 25 Aluminum Plate rev sec HT23 598 Max Duty Cycle vs Speed STR8 60VDC 8 4 x 8 4 x 25 Aluminum Plate 0 5 10 15 25 30 35 40 rev sec 920 0030G 12 12 2012 STR4 8 Hardware Manual HT23 601 Max Duty Cycle vs Speed HT23 601 Max Duty Cycle vs Speed STR8 48VDC STR8 60VDC 8 4 x 8 4 x 25 Aluminum Plate 8 4 x 8 4 x 25 Aluminum Plate 10096 10096 80 80 S Y a 60 60 5 5 x 40 x 40 E 20 20 0 0 rev sec rev sec HT23 603 Max Duty Cycle vs Speed HT23 603 Max Duty Cycle vs Speed STR8 48VDC STR8 60VDC 8 4 x 8 4 x 25 Aluminum Plate 8 4 x 8 4 x 25 Aluminum Plate 100 100 80 80 2 2 gt gt 60 60 2 2 5 5 x 40 x 40 20 20 0 0 rev sec rev sec 920 0030G 12 12 2012 S
27. n get wet or where metal or other electrically con ductive particles can get on the circuitry Always provide air flow around the drive When mounting multiple drives near each other maintain at least one half inch of space between drives Connecting the Power Supply If you need information about choosing a power supply please read the section Choosing a Power Supply Connect the power supply terminal to the connector terminal labeled V Connect power supply to the connector terminal labeled V The green ground screw on the corner of the chassis should be connected to earth ground Use 18 or 20 gauge wire The STR drives contain an internal fuse that connects to the power supply terminal This fuse is not user replaceable 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 Some HT24 motors draw more than 4 amps a 7 amp fuse is recommended for all drives in this case AN Be careful not to reverse the wires Reverse connection will destroy your drive void your warranty and generally wreck your day STR4 8 Hardware Manual Drive CE Requirements CE requires you to use an EMI line filter P N 092 00823 00 LCR installed as shown Drive Cable EMI Filter y P N 092 00823 00 LCR V N O Ferrite absorber GND STR4 8 Hard
28. nted on a 13 5 x 13 5 steel plate 070 thick R 1 0 C W Narrow side of drive mounted on a non heat conducting surface 2 1 C W STR Drive Losses 15 Driver Loss W 10 motor current A 42 920 0030G 12 12 2012 GLI 69 uu Z GZI gt X TINA GZzZ 660 i ae eosvec m E MEME M uu 69 GEO J7 lt gt PS amp GZ 2660 uu G Zz 2960 C uu GGL LEZ G S LSF vid gt D gt O u CO lt ud UN 2 27 Mechanical Outline 920 0030G 12 12 2012 STR4 8 Hardware Manual Technical Specifications Amplifier Digital Inputs Fault Output Physical Digital MOSFET 20 kHz PWM Suitable for driving two phase and four phase step motors with four six or eight leads Supply voltage STR4 24 48 VDC STR4 Under voltage alarm 20 VDC Over voltage shutdown 60 VDC STR8 24 75 VDC STR8 Under voltage alarm 20 VDC Over voltage shutdown 85 VDC Motor current STR4 1 12 Rotary Sw3 X 70 to 4 5 amps phase peak of sine STR8 2 35 Rotary Sw7 X 70 to 8 amps phase peak of sine Optically isolated 5 24V logic Sourcing sinking or differential signals can be used Drive steps on falling edge of
29. odels 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 one of the motors listed on the drive label see section Configuring the Drive asmall flat blade screwdriver for tightening the connectors of step signals such as a PLC or motion controller The connectors and other points of interest are illustrated below These are detailed later in the manual Motor amp Power Supply Input amp Output etatus LEDs Connector oignals Run Current Idle Current Steps rev Inertia Self Test Motor Selector Jumper S4 Noise Filter Frequency Remove connectors and cover to access jumpers 53 and 54 Jumper S3 Step amp Direction or Step CW amp Step CCW 5 920 0030G 12 12 2012 STR4 8 Hardware Manual 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 If this is not possible then forced airflow from a fan may be required to prevent the drive from overheating See page 40 for more details about drive heating Never use your drive in a space where there is no air flow or where other devices cause the surrounding air to be more than 50 C Never put the drive where it ca
30. s Please consider this information when choosing a power supply Table 1 STR4 Power Supply Current All motors connected as indicated except HT 24 which have four leads Drive Current Max Power Supply Current A Switch Motor Amps peak of sine 0 6 HT23394 594 parallel 8 HT23401 601 45paralel 9 24100 336 45 45 4 5 series 5 HT34 486 H134 504 3 816 series HT24 108 4 0 920 0030 12 12 2012 STR4 8 Hardware Manual Table 2 STR8 Power Supply Current All motors connected in parallel except HT24 which have four leads m Drive Current Switch Motor Amps peak of sine 0 reserved for custom motors 3 Hm2363 6 44 40 40 6 23 401601 5 1 32 34 m 8 HD410 48 52 32 27 9 HT2410 48 a 34 29 A mas 51 50 5 B mess 8 52 _ C Hm448 8 52 6 D HT34504 756 48 Regeneration 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 This can trip the overvoltage protection of a switching power supply causing it to shut down If you have a high inertia load running at high speed an unregulated supply may be better It has large capacitors for storing energy coming back from the drive They are
31. sabled Activating then de activating the EN input clears alarms and faults and re enables the motor in the case of drive faults Connector Pin Diagram Internal Circuit Diagram 77 CE inside drive N c STEP D m m ITI rn m m 220 pF g g 2J STEP gt 220 pF 4 lt DIR gt 220 pF r pes Connection Examples STEP amp DIR COM meer with DIR Sourcing Bon Outputs STEP STEFF Connecting to indexer with Sourcing Outputs 13 920 0030G 12 12 2012 STR4 8 Hardware Manual V OUT Indexer with C DIR DIR 2 Sinking Bom Connecting to Indexer with Sinking Outputs DIR indexer Ce DIR with C DIR Differential LN STEP Connecting to Indexer with Differential Outputs Many High Speed Indexers have Differential Outputs Connection Examples EN r 1 ypI la R s A Q S L IAS SA y AD R L NN 2 N A gt A q A EN 5 24 VOC switch or relay SR Power closed disable k e Connecting Input to a Switch or Relay 14 STR4 8 Hardware Manual Connecting another drive to EN When output closes the drive alisables Connecting an NPN Type Proximity Sensor to an input When prox sensor activates the drive disables
32. series 40 C Ambient on a 10 x 10 x 5 Aluminum Plate AVA 80 60 40 20 0 5 10 15 20 25 30 35 40 Speed RPS HT34 487 Max Duty Cycle vs Speed 48VDC 8A parallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 100 3 80 60 40 20 0 0 5 10 15 20 25 30 35 40 Speed RPS HT34 505 Max Duty Cycle vs Speed 60VDC 7 56A parallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 100 TNI 80 60 40 20 0 0 5 10 15 20 25 30 35 40 Speed RPS 920 0030G 12 12 2012 STR4 8 Hardware Manual 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 For those who wish to calculate the power dissipation and temperature rise the following infor mation is provided 1 drive power dissipation versus motor current and power supply voltage see chart 2 drive thermal constant R The final drive case temperature is given by LL RP where T is the ambient temperature of the surrounding air The case of the drive should not be allowed to exceed 70 C or the life of the product could be reduced Drive thermal constant Narrow side of drive mou
33. tage of the supply does not exceed the drives maximum input voltage specification Current The maximum supply current you could ever need is two times the motor current However you will generally need a lot less than that depending on the motor type voltage speed and load conditions Thats because the STR uses a switching amplifier converting a high voltage and low current into lower voltage and higher current The more the power supply voltage ex ceeds the motor voltage the less current you ll need from the power supply A motor running from a 48 volt supply can be expected to draw only half the supply current that it would with a 24 volt supply We recommend the following selection procedure 1 If you plan to use only a few drives get a power supply with at least twice per phase current rating of the step motor Example for a motor that s rated for 2 A phase use a 4 A power supply 2 If you are designing for mass production and must minimize cost get one power supply with more than twice the rated current of the motor Install the motor in the application and monitor the current coming out of the power supply and into the drive at various motor loads This will tell you how much current you really need so you can design in a lower cost 920 0030G 12 12 2012 STR4 8 Hardware Manual power supply The tables below and on the next page list the maximum current required for each motor at several common power supply voltage
34. ware Manual 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 This can trip the overvoltage protection of a switching power supply causing it to shut down We offer the RC 050 regeneration clamp to solve this problem If in doubt buy an RC 050 for your first installation If the regen LED on the RC 050 never flashes you dont need the clamp regen LED RC 050 Regen Clamp 8 STR4 8 Hardware Manual 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 get a switching 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 P 150A24 24V 6 3A and PS320A48 48V 6 7 Voltage Your motor can provide more torque at higher speeds if a higher power supply voltage is used Please consult the speed torque curves later in this manual for guidance If you choose an unregulated power supply make sure the no load vol
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