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1. HT34 504 66 5 1 mm HT34 505 96 1 mm 5 10 HT34 506 125 5x1 mm O 0 05 A gt Lai 973 025 0 025 28 5 1 0 l 4 32204 P onis 4X 96 540 2 il 240 2 A ZT 0 05 S 0 H 12 7 0 013 4 a EE I 11 540 1 1 2 PLCS D l 25 04 9 in FLAT TP d 98 go 8 s 5750 0000 l l 3 0009 LABEL 37 0 5 ZT oos TT 0 10 TA 2X 34 80 0 05 I 2X 69 6 40 24 2X 2 56 UNC TAP 9 4 5 MIN DEEP ON A 932 5 B C HT34 504 505 amp 506 Outline Drawing MOTOR LENGTH L HT34 485 79 mm HT34 486 117 5 mm HT34 487 156 mm EE O Coo3 A 457 18 MIN 28 5 1 2510220105 1 12 04 je 8 5 330 002 330 9 2 875 002 4X 8 8 60 II 1 1 52 062 218 THRU n ZT 002 pb RESET 12 70 0 013 L 9 5000 0000 10005 86 10 5 lt 22 25 l 0 2 875 EOT Q 9 525 0 013 VA 002 3 384 02 kie d 9 37504 0000 0005 2X fid 40 UNC TAP 5 2 DEEP 180 7 APART ON A 946 02 1 812 B C 0 003 002 31 75 0 5 1 25 02 KEY TAPED TO HT34 485 486 487 Outline Drawing 0 3 175 0 05 125 000 002 MOTOR TO BE SHIPPED WITH 1 8 X1 8 X 843 IL GWU SHAFT 1 T 14 1 0 43 555 000 017 I 2X 2 74 01
2. 34 80 2x 1 370 69 6 0 3 920 0030E 2 3 2010 STR Hardware Manual Torque Speed Curves HT17 with STR4 Connection Parallel 24v Power Supply 20 000 steps rev HT17 068 HT17 071 HT17 075 60 50 40 30 oz in 20 10 0 5 10 15 20 25 30 35 40 rps HT17 with STRA Connection Parallel HT17 068 HT17 071 HT17 075 48v Power Supply 20 000 steps rev 60 50 40 30 oz in 20 10 HT23 with STR4 Connection Parallel 24v Power Supply 20 000 steps rev 250 STR Hardware Manual 920 0030E 2 3 2010 HT23 394 HT23 398 HT23 401 200 150 oz in 100 50 HT23 with STR4 Connection Parallel 48v Power Supplv 20 000 steps rev 250 20 25 30 35 40 rps HT23 394 HT23 398 HT23 401 920 0030E 2 3 2010 HT24 with STR8 Connection Parallel 24v Power Supply 20 000 steps rev STR Hardware Manual HT24 100 HT24 105 HT24 108 350 300 4 250 200 oz in 150 100 4 50 HT24 with STR8 Connection Parallel 48v Power Supply 20 000 steps rev 20 2
3. HT34 487 HT34 with STR8 Connection Parallel Power Supply 48V 20 000 steps rev 20 25 30 35 40 rps HT34 485 HT34 486 HT34 487 30 35 40 920 0030E 2 3 2010 STR Hardware Manual HT34 with STR8 Connection Parallel HT34 485 HT34 486 HT34 487 Power Supply 60V 20 000 steps rev 1200 1000 800 oz in O o o 400 200 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 electrical 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
4. Current Holding Torque Rotor Inertia Switch Motor Wiring A orn gm INN reserved for custom configurations 2 5 JHTI7075275 parallel 2 628 68 6 JHT23 394 594 parallel 34 766 T0 8 HT23 401 601 parallel 4 2376 480 9 HD4100 4le 336 073 280 8 HT24 108 4leds 45 32 90 D HT34486 series 4 173 2680 920 0030E 2 3 2010 STR Hardware Manual STR8 Motor Table HT23 394 594 parallel HT23 398 598 parallel HT23 401 601 parallel 7 HT24 100 8 HT24 105 4leads 48 7 450 9 HT24 108 leads 48 354 900 A HT34485 parallel 8 507 1400 b HT34486 parallel 8 965 2680 C HT4487 parallel 8 149 4000 l D HT34504 parallel 756 36 mo 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 temperature 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 l
5. 100 80 80 2 2 9 60 9 60 6 3 40 H 40 9 20 8 20 0 0 0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40 Speed RPS Speed RPS HT24 100 Max Duty Cycle vs Speed HT24 100 Max Duty Cycle vs Speed 24VDC 3 36A 40 C Ambient 48VDC 3 36A 40 C Ambient on a 10 x 10 x 5 Aluminum Plate on a 10 x 10 x 5 Aluminum Plate 100 100 4 80 80 2 2 9 60 9 60 fa 6 z z a 40 a 40 a R 20 20 0 0 0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40 Speed RPS Speed RPS Yo Duty Cycle 96 Duty Cycle 96 Duty Cycle 100 80 STR Hardware Manual HT24 105 Max Duty Cycle vs Speed 24VDC 4 8A 40 C Ambient ona 10 x 10 x 5 Aluminum Plate 60 40 20 100 4 5 10 15 20 25 30 35 40 Speed RPS HT24 108 Max Duty Cycle vs Speed 24VDC 4 8A 40 C Ambient ona 10 x 10 x 5 Aluminum Plate 80 60 40 20 100 80 5 10 15 20 25 30 35 40 Speed RPS HT34 504 Max Duty Cycle vs Speed 24VDC 4 5A series 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 60 40 20 5 10 15 20 25 30 35 40 Speed RPS Duty Cycle Duty Cycle Duty Cycle 100 920 0030E 2 3 2010 HT24 105 Max Duty Cycle vs Speed 48VDC 4 8A 40 C Ambient on a 10 x 10 x 5 Aluminum Plate lt gt 80 60 40 20 100 5 10 15 20 25 30 35 4
6. fuse for the STR8 Be careful not to reverse the wires Reverse connection will destroy your drive vo d your warranty and generally wreck your day 920 0030E 2 3 2010 STR Hardware 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 don t need the clamp regen LED RC 050 Regen Clamp 920 0030E 2 3 2010 STR 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 PS150A24 24V 6 3A and PS320A48 48V 6 7A Voltage Your motor can prov
7. Plate Wm n n RARE 0 5 10 15 20 25 30 35 40 Speed RPS HT34 486 Max Duty Cycle vs Speed 48VDC 8A parallel 40 C Ambient ona 10 x 10 x 5 Aluminum Plate Ff mete 0 5 10 15 20 25 30 35 40 Speed RPS HT34 486 Max Duty Cycle vs Speed 60VDC 8A parallel 40 C Ambient ona 10 x 10 x 5 Aluminum Plate V 0 5 10 15 20 25 30 35 40 Speed RPS STR Hardware Manual Duty Cycle Duty Cycle Duty Cycle 920 0030E 2 3 2010 HT34 487 Max Duty Cycle vs Speed 24VDC 8A parallel 40 C Ambient ona 10 x 10 x 5 Aluminum Plate 100 OE 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 P 80 60 40 20 0 5 10 15 20 25 30 35 40 100 80 Speed RPS HT34 487 Max Duty Cycle vs Speed 60VDC 8A parallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate un on oe 60 40 20 0 5 10 15 20 25 30 35 40 Speed RPS 920 0030E 2 3 2010 STR 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
8. 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 e 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 e Never put the drive where it can get wet or where metal or other electrically con ductive particles can get on the circuitry e 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
9. 0 Speed RPS HT24 108 Max Duty Cycle vs Speed 48VDC 4 8A 40 C Ambient on a 10 x 10 x 5 Aluminum Plate Ed e 80 60 40 20 100 5 10 15 20 25 30 35 40 Speed RPS HT34 504 Max Duty Cycle vs Speed 48VDC 4 5A series 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 80 60 40 20 5 10 15 20 25 30 35 40 Speed RPS 920 0030E 2 3 2010 STR Hardware Manual HT34 505 Max Duty Cycle vs Speed 48VDC 4 5A series 40 C Ambient ona 10 x 10 x 5 Aluminum Plate HT34 505 Max Duty Cycle vs Speed 24VDC 4 5A series 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 100 100 4 80 80 2 2 9 60 9 60 6 6 z z 40 40 a x 20 20 0 0 0 10 15 20 25 30 35 40 0 10 15 20 25 30 35 40 Speed RPS Speed RPS HT34 485 Max Duty Cycle vs Speed HT34 485 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 100 100 80 80 2 2 60 9 60 amp amp z z 40 40 8 20 20 0 r T r 0 r 0 10 15 20 25 30 35 40 0 10 15 20 25 30 35 40 Speed RPS Speed RPS HT34 486 Max Duty Cycle vs Speed HT34 486 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 ona 10 x 10 x 5 Al
10. 010 STR Hardware Manual 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 alittle 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 or 400 The chart on the next page shows an example of the 12800 9000 400 400 200 SMOOTH SMOOTH 920 0030E 2 3 2010 STR Hardware Manual Motion Profile with Step Smoothing Filter revisec Seconds 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 However a few PLCs use a different type of command signal one signal pulses onc
11. 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 STR Hardware Manual Note STEP and DIR inputs can be converted to STEP CW and STEP CCW by moving the inter nal jumper 53 See Page 5 Connector Pin Diagram Internal Circuit Diagram as inside drive d3lS dilS ula ald N3 N3 L inv L10nVv3 d wu V1 y l 220 pF Connection Examples STEP amp DIR Indexer with Sourcing Outputs Connecting to indexer with Sourcing Outputs 920 0030E 2 3 2010 STR Hardware Manual V OUT Indexer with Sinking Outputs Connecting to Indexer with Sinking Outputs DIR Indexer B CO C DIR with C DIR Differential I ZI icd STEP Connecting to Indexer with Differential Outputs Many High Speed Indexers have Differential Outputs Connection Examples EN pee SS it T DP Supply 9 o EN G EO 5 24 VDC switch or relay STR Power closed logic low Connecting an Input to a Switch or Relay 920 0030E 2 3 2010 STR Hardware Manual Connecting another drive to EN When output closes input closes Connecting an NPN Type Proximity Sensor to an input When prox sensor activates input closes Connecting a PNP Type P
12. 5 30 35 40 rps HT24 101 HT24 105 HT24 108 350 300 250 200 oz in 150 100 4 50 920 0030E 2 3 2010 STR Hardware Manual HT34 with STR4 Connection Series HT34 504 HT34 505 HT34 485 HT34 486 Power Supply 48V 20 000 steps rev 900 800 700 600 g 500 N O 400 300 200 4 100 0 0 5 10 15 20 25 30 35 40 rps HT34 with STR8 Connection Parallel HT34 504 HT34 505 HT34 506 Power Supply 24V 20 000 steps rev 920 0030E 2 3 2010 1000 900 800 700 600 i 500 o 400 300 200 100 0 HT34 with STR8 STR Hardware Manual HT34 with STR8 Connection Parallel HT34 504 HT34 505 HT34 506 Power Supply 48V 20 000 steps rev rps 40 Connection Parallel HT34 504 HT34 505 HT34 506 Power Supply 60V 20 000 steps rev 1000 4 900 800 700 600 3500 o 400 300 200 100 0 1200 1000 200 STR Hardware Manual HT34 with STR8 Connection Parallel Power Supply 24V 20 000 steps rev 920 0030E 2 3 2010 HT34 485 HT34 486
13. 920 0030E 2 3 2010 STR Hardware Manual 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 Wed 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 step 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 curren
14. Cycle vs Speed 24VDC 6 72A parallel 40 C Ambient ona 10 x 10 x 5 Aluminum Plate STR Hardware Manual HT34 485 Max Duty Cycle vs Speed 24VDC 8A parallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 100 100 80 80 2 2 9 60 9 60 6 6 z z 40 40 a x 20 20 0 0 0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40 Speed RPS Speed RPS HT34 506 Max Duty Cycle vs Speed HT34 485 Max Duty Cycle vs Speed 48VDC 6 72A parallel 40 C Ambient 48VDC 8A parallel 40 C Ambient ona 10 x 10 x 5 Aluminum Plate ona 10 x 10 x 5 Aluminum Plate 100 100 lt 80 80 3 60 60 e 2 2 B 40 40 x 20 20 0 T T 0 T T T T T 1 0 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40 Speed RPS Speed RPS HT34 506 Max Duty Cycle vs Speed HT34 485 Max Duty Cycle vs Speed 60VDC 6 72A parallel 40 C Ambient 60VDC 8A parallel 40 C Ambient ona 10 x 10 x 5 Aluminum Plate ona 10 x 10 x 5 Aluminum Plate 100 100 2 2 60 9 60 amp amp z z 40 40 P x 20 20 0 r r 0 0 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40 Speed RPS Speed RPS Yo Duty Cycle Duty Cycle 96 Duty Cycle 100 80 60 40 20 100 80 60 40 20 100 80 60 40 20 HT34 486 Max Duty Cycle vs Speed 24VDC 8A parallel 40 C Ambient ona 10 x 10 x 5 Aluminum
15. F PART NUMBER TO ADD REAR SHAFT AND ENCODER HOLES STR Hardware Manual 4X 0 6 35 0 013 5 8 0 15 H 2X 28 2 4 2x 56 4 2X 42 56 UNC TAP THRU EQ SP ON A 232 5 B C 0 5 X mj20 0 5 5 8 0 15 TA B 8 013 I 15 0 25 96 35 0 013 2X 23 57 l H 2X 47 14 0 5 X 45 j r 9 00 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 TAP THRU EQ SP ON A 932 5 B C HT23 Outline Drawing MOTOR LENGTH L HT24 100 442 1 mm HT24 105 5421 mm HT24 108 85 1 mm MEN 26 0 4X R46 1740 3 OJo 075 s0002 38 140 05 i DMBCOA 2X 47 1440 35 4X 04 52 0 1 920 0030E 2 3 2010 STR Hardware Manual MOTOR LENGTH L
16. Hardware Manual STR4 amp STR8 Ives Step Motor Dr Applied Motion Products LU Seo Be So e 2 ann 920 0030E 2 3 2010 STR Hardware Manual Contents l g a er IOLE a TERNI ERR Features A ib et BUTT ATA ta eu c m Mounting the Drive Connecting the Power dd Choosing a Power Mi ical c Voltage 8 Current Connecting the Motor M POUT Sad OUI RN I RR NR EA EENE EE A Eight each M nasa Connecting Input Signals ii Connector Pin Dia Gra se sr i a Connection Examples STEP k DIR EN A Internal Circuit Diagram a Connection Examples CHAM OMM HMM AE Configuring the Drive Step 1 Selecting a Motor STR4 Motor Table STR8 Motor Table Step 2 Setting the Current Step 3 Setting Idle Current P Step 4 Load YI LA tis epo e E Step 6 Step Pulse Type Step 7 Sep Pulse Noise FILET eterni aana Self Test MMA Reference Materials Motor Outlines ttt ttt makamba TTorcue Speed CU VES i du CI dMEIIE ME d E Motor Heating Drive Eatin e Mechanical Outline ttt ttt nnmnnn nnna Technical Specifications Mating Connectors and Accessories Alarm Codes eee Connector I A NNNM CMM ANNAM hata
17. a HT17 071 Max Duty Cycle vs Speed 48 VDC 2 0 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate o 10 15 20 25 30 35 40 Speed RPS o a 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 S o 0 5 10 15 20 25 30 35 40 Speed RPS 920 0030E 2 3 2010 STR Hardware Manual HT23 394 Max Duty Cycle vs Speed 24 VDC 3 4 Amps 40 C Ambient HT23 394 Max Duty Cycle vs Speed 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 100 1L 100 80 80 G 60 8 60 gt 40 gt 40 a a 2 20 x 20 0 0 0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40 Speed RPS Speed RPS HT23 398 Max Duty cycle vs Speed HT23 398 Max Duty cycle vs Speed 24VDC 5 0Amps 40 C Ambient 48VDC 5 0 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate on 6 4 x 6 4 x 25 Aluminum Plate 100 i 100 80 80 9 60 i 60 E 40 2 40 F Q S 20 a 20 0 0 0 5 10 15 2 2 30 35 40 9 p UD E IM ME AA Speed RPS Speed RPS HT23 401 Max Duty Cycle vs Speed HT23 401 Max Duty Cycle vs Speed 24 VDC 5 0 Amps 40 C Ambient 48 VDC 5 0 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate on 6 4 x 6 4 x 25 Aluminum Plate 100 i
18. ance 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 4X 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 especially 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 920 0030E 2 3 2
19. 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 P versus motor current and power supply voltage see chart 2 drive thermal constant Ro The final drive case temperature is given by Le Laer P 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 mounted 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 R 2 1 C W STR Drive Losses 25 60V 48V 24V 20 Driver Loss W 1 2 3 4 5 6 d oo motor current A 920 0030E 2 3 2010 uu gil Gb uw z GZl WA X TIN FAIM TILILILIUOILILILI HU c 1 ww amp 4LO LOTS XZ 4 OUT T uu 6 g GEO uu GZ 266 0 l o uu G ZZ LEGO at uu Ge LEF VIA xe uu GGL LEZ STR Hardware Manual ILI ww ZI Zrt Mechanical Outline 920 0030E 2 3 2010 Technical Specifications Amplifier Digital Inputs Fault Output Physical STR Hardware Manual Digital MOSFET 20 kHz PWM Suitable for driving two p
20. design in a lower cost 920 0030E 2 3 2010 STR Hardware Manual power supply 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 HT 24 which have four leads P Motor Current Max Power Supply Current A Motor A 24VDC 48VDC reserved for custom motors 7 F 920 0030E 2 3 2010 STR Hardware Manual Table 2 STR8 Power Supply Current All motors connected in parallel except HT24 which have four leads LA Motor Current Max Power Supplv Current A A 24VDC 48VDC 60VDC 9 reserved for custom motors 3 6 _ HT23 401 601 5 32 34 m 8 HD410 48 52 32 27 9 HD4108 48 43 34 29 A HB445 8 51 50 50 8 HT34 486 8 52 46 44 c Heg 8 52 54 53 D HT34 504 756 48 42 40 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 Unregulated power supplies are better because they generally do not have overvoltage protecti
21. 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 100 duty because during the first hour the motor will reach full and possibly excessive temperature The actual temperature of the motor depends on how much heat is conducted convected or STR Hardware Manual 920 0030E 2 3 2010 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 Duty Cycle Duty Cycle Duty Cycle HT17 068 Max Duty cycle vs Speed 24 VDC 1 60 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate 0 5 10 15 20 25 30 35 40 Speed RPS HT17 071 Max Duty Cycle vs Speed 24 VDC 2 0 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate 0 5 10 15 20 25 30 35 40 Speed RPS 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 V R 15 20 25 30 35 40 Speed RPS Duty Cycle Duty Cycle Duty Cycle o 6 B o N o o e eo o o e R o N o o e Boo o oo N o HT17 068 Max Duty cycle vs Speed 48 VDC 1 60 Amps Ambient of 40 on 4 75 x 4 75 x 25 Aluminum Plate B o 6 6 o 10 15 20 25 30 35 40 Speed RPS o
22. e for each desired step in the dockwise 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 1 2 Step 8 Direction 1 3 STEP CW amp STEP CCW 920 0030E 2 3 2010 STR Hardware Manual cover and move jumper 3 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 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 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 r
23. evs 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 2MHz 1 3 150 kHz Self Test If you are having trouble getting your motor to turn you may want to try the built in self test Motor Outlines STR Hardware Manual 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 Reference Materials 920 0030E 2 3 2010 ON OFF SELF TEST HT17 Outline Drawing I 2 0 5 I 20 0 5 2X 42 00 4X 4 40 UNC 4 3 MIN DEEP TYP O ZA MOUNTING IN E F 5 000 0 012 T END E L 2X 31 00 d 4 5 0 15 ki FLAT r 2K 15 50 4 5 0 15 19 29 a 2X 2 56 UNC TAP ka AN BEEP roe MOTOR LENGTH 52200 003 ON A 932 5 B C HT17 068 33 1 mm HT17 071 391mm 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 920 0030E 2 3 2010 0 5 X 45 15 0 25 e a 0 5 0 38 1 0 03 1 640 2 ADD D TO END O
24. hase 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 0 25 to 4 5 amps phase peak of sine STR4 0 5 to 8 amps phase peak of sine STR8 Optically isolated 5 24V logic Sourcing sinking or differential signals can be used Drive steps on falling edge of STEP input Minimum on 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 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 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 Er
25. ide 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 voltage of the supply does not exceed the drive s 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 That s 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
26. l 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 switches on the front of the STR drive are used to set the percent of rated 920 0030E 2 3 2010 STR 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 90 90 920 0030E 2 3 2010 STR Hardware Manual 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 To further enh
27. on and have large capacitors for storing energy coming back from the drive They are also less expensive See previous section on Connecting the Power Supply for details on the RC 050 regeneration clamp 920 0030E 2 3 2010 STR Hardware Manual Connecting the Motor N Never connect or disconnect the motor while the power is on ifthe 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 TOM 4 MOTOR POWER 3 lead CONNECTOR A motor r MOTORA Blue lt rrww t T I Yellow White B B 4 Leads Eight Lead Motor These motors can be connected in series or parallel A 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 A Orange TS 8 BIKk Wht 8 lead lead BIK Wht motor Org motor Wht A Black 2 Black Yel Red low Red Red ra Yellow tl p Wht Wht p B wrt Ped Wht o 8 Leads Series Connected 8 Leads Parallel Connected 920 0030E 2 3 2010 Connecting Input Signals The STR drives have three inputs STEP a high speed digital input for step pulse commands 5
28. ror 6 solid green no alarm motor disabled flashing green no alarm motor enabled flashing red configuration or memory error 909000 1 green 4 red power supply voltage too high 900000 1 green 5 red over current short circuit 09000000 1 green 6 red open motor winding 9000 O 2 green 3 red internal voltage out of range 900000 2 green 4 red power supply voltage too low Connector Diagrams m T E EE Se SS 2255 TITO TOY 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
29. roximity Sensor to an input When prox sensor activates input closes 920 0030E 2 3 2010 STR Hardware Manual FAULT Output a The STR drives feature a digital FAULT output This output doses Day 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 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 920 0030E 2 3 2010 STR 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 for qualifying applications STR4 Motor Table
30. t up to 7 8 amps per phase 920 0030E 2 3 2010 STR 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 Idle Current Steps Rev Load Inertia Self Test OUT1 Motor Selection 920 0030E 2 3 2010 STR 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 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 one of the motors listed on the drive label see section Configuring the Drive a small flat blade screwdriver for tightening the connectors a source 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 Status LEDs Connector Signals Run Current Idle Current Steps rev Inertia Self Test Motor Selector Jumper S4 Noise Filter Frequency Remove connectors and cover to access jumpers S3 and S4 Jumper S3 Step amp Direction or Step CW amp Step CCW 920 0030E 2 3 2010 STR Hardware Manual Mounting the Drive
31. uminum Plate 100 58558 100 yO 80 80 2 2 60 2 60 fa 6 z z a 40 40 x 20 20 0 r r 0 r 0 10 15 20 25 30 35 40 0 10 15 20 25 30 35 40 Speed RPS Speed RPS Duty Cycle Duty Cycle 96 Duty Cycle 100 80 60 40 20 100 80 60 40 20 100 4 80 60 40 20 STR Hardware Manual HT34 504 Max Duty Cycle vs Speed 24VDC 7 56A parallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate Duty Cycle HT34 504 Max Duty Cycle vs Speed 48VDC 7 56A parallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate Duty Cycle HT34 504 Max Duty Cycle vs Speed 60VDC 7 56A parallel 40 C Ambient ona 10 x 10 x 5 Aluminum Plate Duty Cycle 100 80 60 40 20 100 4 eo o o 6 R o N o o 80 60 40 20 920 0030E 2 3 2010 HT34 505 Max Duty Cycle vs Speed 24VDC 7 56A parallel 40 C Ambient ona 10 x 10 x 5 Aluminum Plate 0 5 10 15 20 25 30 35 40 Speed RPS HT34 505 Max Duty Cycle vs Speed 48VDC 7 56A parallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate o a 10 15 20 25 30 35 40 Speed RPS HT34 505 Max Duty Cycle vs Speed 60VDC 7 56A parallel 40 C Ambient ona 10 x 10 x 5 Aluminum Plate 10 FR I 0 5 10 15 20 25 30 35 40 Speed RPS 920 0030E 2 3 2010 HT34 506 Max Duty

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