Page 1
• ST5-S • ST10-S
ST
920-0027 Rev. D
2/7/2014
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920-0027 Rev. D
2/7/14
ST5/10-S Hardware manual
Table Of Contents
Contents
Introduction ....................................................................................................................................... 3
Features ........................................................................................................................................... 3
Block Diagrams ................................................................................................................................ 4
Getting Started ................................................................................................................................. 5
Connecting to the PC using RS-232................................................................................................. 6
Connecting the Power Supply .......................................................................................................... 7
Connecting the Motor ....................................................................................................................... 8
Connecting Input Signals................................................................................................................ 10
High Speed Digital Inputs (STEP, DIR) ...........................................................................................11
Using High Speed Inputs with 12-24 Volt Signals .......................................................................... 12
Other Digital Input........................................................................................................................... 14
Connecting Limit Switches ............................................................................................................. 15
Wiring a Mechanical Limit Switch ................................................................................................... 15
Wiring a Limit Sensor ..................................................................................................................... 16
Analog Inputs.................................................................................................................................. 17
Connecting the Digital Output ........................................................................................................ 18
Choosing a Power Supply .............................................................................................................. 20
Recommended Power Supplies ..................................................................................................... 20
Recommended Motors ................................................................................................................... 21
Torque-Speed Curves..................................................................................................................... 22
Motor Heating ................................................................................................................................. 28
Mounting the Drive ......................................................................................................................... 33
Mechanical Outline ......................................................................................................................... 33
Technical Specications ................................................................................................................. 34
Mating Connectors and Accessories .............................................................................................. 35
Alarm Codes ................................................................................................................................... 36
Connector Diagrams....................................................................................................................... 36
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920-0027 Rev. D
ST5/10-S Hardware manual
2/7/14
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. 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
• Microstepping digital step motor driver in compact package
• ST5 operates from a 24 to 48 volt DC power supply
• ST10 operates from a 24 to 80 volt DC power supply
• Accepts analog signals, digital signals and RS-232 serial commands
• ST5 provides motor current up to 5 amps/phase (peak of sine)
• ST10 provides motor current up to 10 amps/phase (peak of sine)
• Three digital inputs
• One digital output
• One analog input
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920-0027 Rev. D
Configuration
Storage
Alarm History
Storage
Block Diagram
AMPLIFIER
24-48 VDC (ST5)
24-80 VDC (ST10)
from external power supply
STEP
DIR
PC
ANALOG IN
OUT1
Overcurrent
Sensors
motor
3.3/5/15V
Regulators
Optical
Isolation
Optical
Isolation
Software
Filter
Digital
Filter
Optical
Isolation
TX/RX
EN
ST5-S
ST10-S
Analog
Filter
Software
Filter
DSP
Voltage
Sensors
RS-232
2/7/14
Block Diagrams
ST5/10-S Hardware manual
ST5-S and ST10-S
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920-0027 Rev. D
ST5/10-S Hardware manual
2/7/14
Getting Started
This manual describes the use of two different drive models, ST5-S & ST10-S. To get started, you’ll need the
following:
• A 24-48 volt DC power supply. (24 - 80VDC for ST10 model). Please read the
section entitled Choosing a Power Supply for help in choosing the right power supply.
• A compatible step motor. See section on Recommended Motors.
• A small at blade screwdriver for tightening the connectors (included).
• A personal computer running Microsoft Windows 98, 2000, NT, Me, XP, Vista or Windows 7.
• Relevant software applications, as outlined below. All software is available as a free download from http://
www.applied-motion.com/products/software.
• An Applied Motion programming cable (included)
If you’ve never used an ST drive before you’ll need to get familiar with the drive and the set up software before
you try to deploy the system in your application. We strongly recommend the following:
1. Launch the ST Congurator™ software by clicking Start...Programs...Applied Motion...
2. Connect the drive to your PC using the programming cable.
3. Connect the drive to the power supply.
4. Connect the drive to the motor.
5. Apply power to the drive.
6. The software will recognize your drive, display the model and rmware version and be ready for action.
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920-0027 Rev. D
ground (to PC ground)
TX (to PC RX)
No connection
RX (to PC TX)
2/7/14
ST5/10-S Hardware manual
Connecting to the PC using RS-232
• Locate your computer within 8 feet of the drive.
• Your drive was shipped with a communication cable. Plug the large end into the serial port of your PC and the
small end into the jack on your drive. Secure the cable to the PC with the screws on the sides.
Never connect a drive to a telephone circuit. It uses the same connectors and cords
as telephones and modems, but the voltages are not compatible.
If your PC does not have a serial port, you should purchase a “USB Serial Converter”. We have had good results
with the Port Authority “USB Serial DB9” Adapter from CablesToGo.com and with the SW1301 from
SewellDirect.com. For 64 bit XP and Vista systems, the recommended USB serial adapter is USB-COM-CBL
from byterunner.com. This adapter also works for 32 bit Windows systems.
For laptops, a PCMCIA converter card is a good choice. Our applications engineers use the SSP-100 from Sewell
Direct.
Pin Assignments of the PC/MMI Port
(RJ11 connector)
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920-0027 Rev. D
ST5/10-S Hardware manual
2/7/14
Connecting the Power Supply
If you need information about choosing a power supply, please read Choosing a Power Supply located
elsewhere in this manual.
Connect the motor power supply “+” terminal to the drive terminal labeled “VDC”. Connect power supply “-” to the
drive terminal labeled “GND”. Use 18 or 20 gauge wire. The ST 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 servicable fuse in your
system install a fast acting fuse in line with the + power supply lead. Use a 4 amp fuse for the ST5 drives and 7
amps for the ST10.
The green ground screw on the corner of the chassis should be connected to earth ground.
Be careful not to reverse the power supply wires. Reverse connection will
destroy your driver, void your warranty and generally wreck your day.
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 RC050
“regeneration clamp” to solve this problem. If in doubt, buy an RC050 for your rst installation. If the “regen” LED
on the RC050 never ashes, you don’t need the clamp.
RC050 Regen Clamp
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920-0027 Rev. D
A+
A–
B+ B–
4
lead
motor
Red
Blue
Yellow
White
4 Leads
A+
A–
B+ B–
8
lead
motor
8 Leads Series Connected 8 Leads Parallel Connected
A+
A–
B+
B–
8
lead
motor
Orange
Org/Wht
Blk/Wht
Black
Red
Red/
Wht
Yel/
Wht
Yellow
Orange
Org/
Wht
Blk/Wht
Black
Red
Red/Wht
Yel/
Wht
Yel
low
2/7/14
ST5/10-S Hardware manual
Connecting the Motor
Never connect or disconnect the motor while the power is on.
If you are using a non-Applied Motion Products motor, do not con-
nect it until you have congured the drive for that motor.
Four lead motors can only be connected one way. Please follow the
sketch at the right.
Six lead motors can be connected in series or center tap. In series
operation, motors produce more torque at low speeds, but cannot
run as fast as in the center tap conguration. In series operation,
the motor should be operated at 30% less than the rated current to
prevent overheating. Winding diagrams for both connection methods
are shown below. NC means not connected.
Eight lead motors can also be connected in two ways: series and parallel. As with six lead motors, series opera-
tion gives you less torque at high speeds, but may result in lower motor losses and less heating. In series operation, the motor should be operated at 30% less than the unipolar rated current. The motors recommended in this
manual should be connected in parallel. The wiring diagrams for eight lead motors are shown on the following
page.
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ST5/10-S Hardware manual
A+
A–
B+ B–
8
lead
motor
8 Leads Series Connected 8 Leads Parallel Connected
A+
A–
B+
B–
8
lead
motor
Orange
Org/Wht
Blk/Wht
Black
Red
Red/
Wht
Yel/
Wht
Yellow
Orange
Org/
Wht
Blk/Wht
Black
Red
Red/Wht
Yel/
Wht
Yel
low
920-0027 Rev. D
2/7/14
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920-0027 Rev. D
680
inside drive
EN-
EN+
DIR-
DIR+
330
330
220
pF
STEP-
STEP+
6 Position Connector
220
pF
2/7/14
ST5/10-S Hardware manual
Connecting Input Signals
The ST drives have three types of inputs:
• High speed digital inputs -STEP & DIR- for step & direction commands, encoder following, run/stop & direction,
or general purpose, 5 volt logic.
• Quadrature signals from encoders can also be used.
• Digital input for other signals, 5 -12 volt logic, including an enable (EN) . Digital signal for enabling the drive.
• Analog input for analog speed adjustment - analog velocity 0-5V
All drives include three digital inputs and one analog input. See page 35 for a list of all functions.
• STEP & DIR: digital signals for commanding position. Quadrature signals from encoders can also be used.
• EN - enable . Digital signal for enabling the drive, speed change, or general purpose..
• Analog In: analog velocity 0-5V.
Connector Pin Diagram
HUB & SCL
IN 1
IN 2
IN 3
OUT 1
STEP+
STEP-
DIR+
DIR-
EN+
EN-
OUT+
OUT-
+5V
AIN
GND
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920-0027 Rev. D
ST5/10-S
COM
DIR-
DIR DIR+
STEP-
STEP STEP+
Indexer
with
Sourcing
Outputs
ST5/10-S
+5V OUT
DIR+
DIR DIR-
STEP+
STEP STEP-
Indexer
with
Sinking
Outputs
STM23
DIR+
DIR+
DIR- DIR-
STEP+
STEP-
STEP+
STEP-
Indexer
with
Differential
Outputs
ST5/10-S Hardware manual
2/7/14
High Speed Digital Inputs (STEP, DIR)
The -S drives include two high speed inputs labeled STEP and DIR. They accept 5 volt single-ended or differential
signals, up to 2 MHz.
STEP and DIR Inputs are congured using the ST Congurator software.
The inputs can connect to an indexer, a master encoder or CNC handwheel for following applications, or they can
be used for connecting sensors, switches and other electronic devices. They can be used as the run/stop and
direction inputs for velocity (oscillator) mode.
Connection diagrams follow.
Connecting to indexer with Sourcing Outputs
Connecting to Indexer with Sinking Outputs
Connecting to Indexer with Differential Outputs
(Many High Speed Indexers have Differential Outputs)
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920-0027 Rev. D
Drive
+12-24V
GND
DIR-
OUT1 DIR+
STEP-
OUT2 STEP+
PLC
with
Sourcing
Outputs
R
R
Drive
Master
Encoder
DIR-
DIR+
STEP-
STEP+
B-
B+
A-
A+
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ST5/10-S Hardware manual
Wiring for Encoder Following
Using High Speed Inputs with 12-24 Volt Signals
Most PLCs don’t use 5 volt logic. You can connect signal levels as high as 24 volts to the STEP and DIR inputs if
you add external dropping resistors, as shown below.
• For 12 volt logic, add 820 ohm, 1/4 watt resistors
• For 24 volt logic, use 2200 ohm, 1/4 watt resistors
The maximum voltage that can be applied to an input terminal is 24 volts DC. Never
apply AC voltage to an input terminal.
Connecting to PLC with Sourcing (PNP) Outputs
(Most PLC’s use 24 volt logic)
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ST5/10-S Hardware manual
Drive
+12-24V
DIR+
DIR DIR-
STEP+
STEP STEP-
PLC
with
Sinking
Outputs
R
R
Drive
+
DIR+
DIR-
STEP+
- STEP-
+24VDC
Power
Supply
2200
2200
direction switch
run/stop switch
(closed=run)
Connecting to PLC with Sinking (NPN) Outputs
(Most PLC’s use 24 volt logic)
920-0027 Rev. D
2/7/14
Using Mechanical Switches at 24 Volts
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920-0027 Rev. D
2/7/14
Other Digital Input
As previously noted, the high speed STEP and DIR inputs are congured for 5V logic. EN is designed for operation between 5 and 12 volts DC. Add 1500 ohms to EN for 24V operation.
ST5/10-S Hardware manual
5-12
VDC
Power
Supply
5-12
VDC
Power
Supply
+
EN+
ST5-S
switch or relay
(closed=logic low)
-
+
+
+
+
output
NPN
NPN
Proximity
Proximity
Sensor
-
-
Sensor
–
–
output
EN-
COM
EN+
IN
EN-
or
ST10-S
Drive
5-12
VDC
Power
Supply
+
+
+
+
output
PNP
PNP
Proximity
Proximity
Sensor
Sensor
–
–
-
-
output
IN
EN+
COM
EN-
Drive
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920-0027 Rev. D
ST5-S
or
ST10-S
drive
+
5-24
VDC
SUPPLY
-
STEP-
DIR-
STEP+
DIR+
cw limit
ccw limit
R
R
for 24V logic R=2200 ohms
for 12V logic, R=820 ohms
for 5V logic , R not required
ST5/10-S Hardware manual
2/7/14
Connecting Limit Switches
For point to point SCL and HUB applications, the STEP input can be used as a clockwise end of travel limit and
the DIR input can be used as the counterclockwise end of travel limit. If using SCL, you activate the limits using
the SCL “DL” command, as described in the Host Command Reference manual.
These inputs are differential, which allows you to use signals that are sinking (NPN), sourcing (PNP) or differential
(line driver). The limit inputs are optically isolated.
Input signals must not exceed 5 volts DC unless external current limiting resistors are used in series with STEP+
and DIR+.
For 12 volt logic, add 820 ohm, 1/4 watt resistors
For 24 volt logic, use 2200 ohm, 1/4 watt resistors
Because these inputs can accept high frequency signals, care must be taken in locating the signal wires and drop-
ping resistors. Shielded cables are recommended. Separate any limit sensor wires from the motor wires by at
least 4 inches. If false triggering of a limit occurs, increase the value of the internal digital lter using the EI150
command. This will limit the bandwidth of the STEP and DIR inputs to 100 kHz.
Wiring a Mechanical Limit Switch
You can use normally open or normally closed limit switches. Either way, wire them as shown here.
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920-0027 Rev. D
+
5-24
VDC
Power
Supply
–
NPN
Limit
Sensor
output
+
–
ST5-S
or
ST10-S
drive
STEP-
DIR-
STEP+
DIR+
cw limit
NPN
Limit
Sensor
output
+
–
ccw limit
R
R
for 24V logic R=2200 ohms
for 12V logic, R=820 ohms
for 5V logic , R not required
+
5-24
VDC
Power
Supply
–
PNP
Limit
Sensor
output
+
–
ST5-S
or
ST10-S
drive
STEP+
DIR+
STEP-
DIR-
cw limit
PNP
Limit
Sensor
output
+
–
ccw limit
R
R
for 24V logic R=2200 ohms
for 12V logic, R=820 ohms
for 5V logic , R not required
2/7/14
ST5/10-S Hardware manual
Wiring a Limit Sensor
Some systems use active limit sensors that produce a voltage output rather than a switch or relay closure. These
devices must be wired differently than switches.
If your sensor has an open collector output or a sinking output, wire it like this:
If the sensor output goes low at the limit, select the option ”closed” (DL1). If the output is open, or high voltage,
choose ”open” (DL2).
Other sensors have sourcing outputs. That means that current can ow out of the sensor output, but not into it. In
that case, wire the sensor this way:
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920-0027 Rev. D
Drive
GND
AIN
1k-10k ohm
pot
cw
ccw
+5V
AIN2
inside ST5/10-S
5 Position Connector
OUT+
OUT-
AIN
AGND
+5V
33.0K
10nF
50V
+5VDC, 10mA max
49.9K
ANA1
0 - 5V
speed signal
signal return
GND
AIN
ST5/10-S Hardware manual
2/7/14
Analog Inputs
The ST5-S and ST10-S have one 0 to 5 volt analog input that can be used by the drive for controlling the motor
speed in velocity mode. This input can also be used to read a voltage using the SCL “IA” or “RA” commands.
Connecting to an Analog Signal
Connecting the Analog Signal to a Potentiometer or Joystick
WARNING - Analog input must be used with care. It is not optically isolated and may
operate improperly or could be damaged when system grounds are not compatible.
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920-0027 Rev. D
inside ST5/10-S
5 Position Connector
OUT+
OUT-
AIN
AGND
+5V
33.0K
10nF
50V
+5VDC, 10mA max
49.9K
ANA1
2/7/14
Connecting the Digital Output
ST5/10-S Hardware manual
HUB & SCL
IN 1
IN 2
IN 3
OUT 1
STEP+
STEP-
DIR+
DIR-
EN+
EN-
OUT+
OUT-
+5V
AIN
GND
The ST5-S and ST10-S drives include one digital output that can be used in one of ve ways:
Brake: output can be congured to control an electric brake relay, automatically releasing and engaging as the
drive requires.
Motion: indicates when the motor is moving.
Fault: closes when a drive fault or alarm condition occurs. The red and green LEDs will ash an error code.
Tach: produces pulses proportional to the distance traveled (and thereby a frequency that is proportional to mo-
tor speed.)
General purpose digital output, controlled by the SCL SO, FO, IL and IH commands.
The output features separate + and - terminals and can be used to sink or source current.
Diagrams of each type of connection follow.
Do not connect the output to more than 30VDC.
The current through the output terminals must not exceed 10 mA.
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ST5/10-S Hardware manual
Drive
OUT-
OUT+
5-24 VDC
Power Supply
+ –
Load
Drive
OUT-
OUT+
5-24 VDC
Power Supply
+ –
Load
Sinking Output
920-0027 Rev. D
2/7/14
Sourcing Output
Drive
Driving a Relay
OUT+
OUT-
5-24 VDC
Power Supply
relay
+ –
1N4935 suppression diode
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920-0027 Rev. D
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ST5/10-S 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
use a switching supply.
You must also decide what size of power supply (in terms of voltage and current) is needed for your application.
Voltage
PWM drives work by switching the voltage to the motor terminals on and off while monitoring current to achieve a
precise level of phase current. To do this efciently and silently, you’ll want to have a power supply with a voltage
rating at least ve times that of the motor. Depending on how fast you want to run the motor, you may need even
more voltage than that.
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 specication.
Current
The maximum supply current you could ever need is the sum of the two phase currents. However, you will generally need a lot less than that, depending on the motor type, voltage, speed and load conditions. That’s because
the ST drives use switching ampliers, converting a high voltage and low current into lower voltage and higher
current. The more the power supply voltage exceeds 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 the rated phase current of the
motor.
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 power supply.
Recommended Power Supplies
Applied Motion Products offers two Power Supplies recommended for use with the ST drives. These are switch-
ing power supplies offering 24V and 48V, and an overload current capability making them ideal for use with drive
applications.
Model Power Output Voltage
PS150A24 150W 24VDC
PS320A48 320W 48VDC
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920-0027 Rev. D
ST5/10-S Hardware manual
Recommended Motors
Holding Drive Rotor
Part Torque Current Setting Resistance Inductance Inertia
Number oz-in kg-cm amps ohms mH g-cm2
HT11-012/212 7.0 0.50 1.2 1.4 1.4 8
HT11-013/213 15.0 1.08 1.2 2.0 2.6 18
5014-042/842 26.0 1.87 1.2 4.3 5.5 20
HT17-068/268 # 31.4 2.26 1.6 2.1 2.8 35
HT17-071/271 # 51.0 3.67 2.0 1.7 3.6 54
HT17-075/275 # 62.8 4.52 2.0 1.7 3.0 68
HT23-394/594 # 76.6 5.52 3.4 0.7 1.4 120
HT23-398/598 # 177 12.7 5.0 0.4 1.2 300
HT23-401/601 # 264 19.0 5.0 0.5 1.6 480
HT23-603 354 25.48 6.0 0.5 2.2 750
HT24-100 123.2 8.87 3.36 0.73 1.6 260
HT24-105 177 12.74 4.8 0.43 1.1 450
HT24-108 354 25.48 4.8 0.65 2.4 900
HT34-485 # 650 46.8 10.0 0.19 1.3 1400
HT34-486 # 1200 86.4 9.7 0.27 2.2 2680
HT34-487 # 1845 133 10.0 0.27 2.4 4000
HT34-504 396.5 28.55 7.56 0.24 1.7 1100
HT34-505 849.6 61.18 7.56 0.33 2.7 1850
HT34-506 1260 90.75 6.72 0.63 5.4 2750
2/7/14
Note: The “Drive Current Setting” shown here differs from the rated current of each motor because the rated
current is RMS and the drive current setting is peak sine. If you are using a motor not listed here, for best results
set the drive current at the motor’s rated current x 1.2.
# Indicates values are with motor connected in Parallel.
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920-0027 Rev. D
HT11-012/212, HT11-013/213, 5014-042/842
24 VDC power supply, 20000 steps/rev
0
5
10
15
20
25
0 5 10 15 20 25 30 35 40
oz‐in
rev/sec
5014‐042/842(1.2A/phase)
HT11‐013/213(1.2A/phase)
HT11‐012/212(1.2A/phase)
HT17
24 VDC power supply, 20000 steps/rev, all motors connected in parallel
0
10
20
30
40
50
60
70
80
90
100
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT17-278 (2.4 A/phase)
HT17-075/275 (2.0 A/phase)
HT17-071/271 (2.0 A/phase)
HT17-068/268 (1.6 A/phase)
2/7/14
ST5/10-S Hardware manual
Torque-Speed Curves
Note: all torque curves were measured at 20,000 steps/rev.
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ST5/10-S Hardware manual
HT17
48 VDC power supply, 20000 steps/rev, all motors connected in parallel
0
10
20
30
40
50
60
70
80
90
100
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT17-278 (2.4 A/phase)
HT17-075/275 (2.0 A/phase)
HT17-071/271 (2.0 A/phase)
HT17-068/268 (1.6 A/phase)
HT23
24 VDC power supply, 20000 steps/rev, all motors connected in parallel
0
50
100
150
200
250
300
350
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT23-603 (6.0 A/phase)
HT23-401/601 (5.0 A/phase)
HT23-398/598 (5.0 A/phase)
HT23-394/594 (3.4 A/phase)
920-0027 Rev. D
2/7/14
23
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920-0027 Rev. D
HT23
48 VDC power supply, 20000 steps/rev, all motors connected in parallel
0
50
100
150
200
250
300
350
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT23-603 (6.0 A/phase)
HT23-401/601 (5.0 A/phase)
HT23-398/598 (5.0 A/phase)
HT23-394/594 (3.4 A/phase)
HT24
24 VDC power supply, 20000 steps/rev
0
50
100
150
200
250
300
350
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT24-108 (4.8 A/phase)
HT24-105 (4.8 A/phase)
HT24-100 (3.36 A/phase)
2/7/14
ST5/10-S Hardware manual
24
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ST5/10-S Hardware manual
HT24
48 VDC power supply, 20000 steps/rev
0
50
100
150
200
250
300
350
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT24-108 (4.8 A/phase)
HT24-105 (4.8 A/phase)
HT24-100 (3.36 A/phase)
HT34-485/486/487 with ST10
24 VDC power supply, 20000 steps/rev, all motors connected in parallel
0
200
400
600
800
1000
1200
1400
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT34-487 (10 A/phase)
HT34-486 (9.7 A/phase)
HT34-485 (10 A/phase)
920-0027 Rev. D
2/7/14
25
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920-0027 Rev. D
HT34-485/486/487 with ST10
48 VDC power supply, 20000 steps/rev, all motors connected in parallel
0
200
400
600
800
1000
1200
1400
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT34-487 (10 A/phase)
HT34-486 (9.7 A/phase)
HT34-485 (10 A/phase)
HT34-485/486/487 with ST10
80 VDC power supply, 20000 steps/rev, all motors connected in parallel
0
200
400
600
800
1000
1200
1400
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT34-487 (10 A/phase)
HT34-486 (9.7 A/phase)
HT34-485 (10 A/phase)
2/7/14
ST5/10-S Hardware manual
26
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ST5/10-S Hardware manual
HT34-504/505/506 with ST10
24 VDC power supply, 20000 steps/rev, all motors connected in parallel
0
100
200
300
400
500
600
700
800
900
1000
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT34-506 (6.72 A/phase)
HT34-505 (7.56 A/phase)
HT34-504 (7.56 A/phase)
HT34-504/505/506 with ST10
48 VDC power supply, 20000 steps/rev, all motors connected in parallel
0
100
200
300
400
500
600
700
800
900
1000
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT34-506 (6.72 A/phase)
HT34-505 (7.56 A/phase)
HT34-504 (7.56 A/phase)
920-0027 Rev. D
2/7/14
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920-0027 Rev. D
HT34-504/505/506 with ST10
60 VDC power supply, 20000 steps/rev, all motors connected in parallel
0
100
200
300
400
500
600
700
800
900
1000
0 5 10 15 20 25 30 35 40
oz-in
rev/sec
HT34-506 (6.72 A/phase)
HT34-505 (7.56 A/phase)
HT34-504 (7.56 A/phase)
2/7/14
ST5/10-S Hardware manual
Motor Heating
Step motors convert electrical power from the driver into mechanical power to move a load. Because step motors
are not perfectly efcient, 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% duty cycle. Five minutes on and ve minutes off is also 50% duty. However, one hour on and one hour off has the effect of 100% duty
because during the rst 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 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.
28
Page 29
ST5/10-S Hardware manual
5014-042/-842 Max Duty Cycle vs Speed
24 VDC, 1.2A, 40°C Ambient
Mounted on 4.75" x 4.75" x .25" Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS
)
% Duty Cycle
HT11-012/212 Max Duty Cycle vs Speed
24 VDC, 1.2A, 40°C Ambient
Mounted on 3.5" dia x .125" Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS
)
% Duty Cycle
HT11-013/213 Max Duty Cycle vs Speed
24 VDC, 1.2A, 40°C Ambient
Mounted on 3.5" dia x .125" Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS
)
% Duty Cycle
920-0027 Rev. D
2/7/14
29
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920-0027 Rev. D
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
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
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
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
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
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
HT17-068 Max Duty cycle vs Speed
48 VDC, 1.60 Amps 40
°C Ambient
on 4.75 x 4.75 x .25 Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
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
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
HT17-075 Max Duty cycle vs Speed
48 VDC, 2.0 Amps 40
°C Ambient
on 4.75 x 4.75 x .25 Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
2/7/14
ST5/10-S Hardware manual
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ST5/10-S Hardware manual
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
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
HT23-398 Max Duty cycle vs Speed
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
48VDC, 5.0A, 40°C Ambient
on 6.4 x 6.4 x .25 Aluminum Plate
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
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS )
% Duty Cycle
HT23-394 Max Duty Cycle vs Speed
24 VDC, 3.4 Amps, 40°C Ambient
on 6.4 x 6.4 x .25 Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS )
% Duty Cycle
HT23-398 Max Duty cycle vs Speed
24VDC, 5.0A, 40°C Ambient
on 6.4 x 6.4 x .25 Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
HT23-401 Max Duty Cycle vs Speed
24 VDC, 5.0 Amps, 40°C Ambient
on 6.4 x 6.4 x .25 Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
920-0027 Rev. D
2/7/14
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920-0027 Rev. D
HT34-487 Max Duty Cycle vs Speed
48 VDC, 10.0 Amps 40°C Ambient
on 10 x 10 x .5 Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
HT34-486 Max Duty cycle vs Speed
80 VDC, 10.0 Amps 40
°C Ambient
on 10 x 10 x .5 Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
HT34-486 Max Duty Cycle vs Speed
48 VDC, 10.0 Amps 40°C Ambient
on 10 x 10 x .5 Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
HT34-485 Max Duty cycle vs Speed
48 VDC, 10.0 Amps 40°C Ambient
on 10 x 10 x .5 Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
HT34-487 Max Duty cycle vs Speed
80 VDC, 10.0 Amps 40
°C Ambient
on 10 x 10 x .5 Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
HT34-485 Max Duty cycle vs Speed
80 VDC, 10.0 Amps 40
°C Ambient
on 10 x 10 x .5 Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Spee d (RPS)
% Duty Cycle
2/7/14
ST5/10-S Hardware manual
32
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920-0027 Rev. D
ST5/10-S Hardware manual
2/7/14
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, at metal surface that will help conduct heat away from the chassis. If
this is not possible, then forced airow from a fan may be required to prevent the drive from overheating.
• Never use your drive in a space where there is no air ow or where other devices
cause the surrounding air to be more than 40°C.
• Never put the drive where it can get wet or where metal or other electrically conductive particles can get on the circuitry.
• Always provide air ow around the drive. When mounting multiple ST drives near
each other, maintain at least one half inch of space between drives.
Mechanical Outline
3.39
0.61
1.98
0.663
3.0
1.125
6X SLOT 0.16
WIDE, FULL R
3.65
33
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920-0027 Rev. D
2/7/14
ST5/10-S Hardware manual
Technical Specications
POWER AMPLIFIER: All Models
AMPLIFIER TYPE Dual H-Bridge, 4 Quadrant
CURRENT CONTROL 4 state PWM at 20 Khz
OUTPUT CURRENT
POWER SUPPLY
INPUT VOLTAGE RANGE
PROTECTION Over-Voltage, Under-voltage, Over-Temp, Motor/wiring shorts (Phase-to-Phase, Phase-
IDLE CURRENT REDUCTION Reduction range of “0 – 90%” of “Running Current” after delay selectable in millisec-
AMBIENT TEMPERATURE 0 to 55°C (32 - 158°F) (ST10 must be mounted to suitable heatsink)
HUMIDITY 90% non-condensing.
CONTROLLER: All Models
MICROSTEP RESOLUTION Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev.
ANTI-RESONANCE
(Electronic Damping)
TORQUE RIPPLE SMOOTHING Allows for ne adjustment of phase current waveform harmonic content to reduce low-
AUTO SETUP Measures motor parameters and congures motor current control and anti-resonance gain
SELF TEST Checks Internal & External Power supply voltages. Diagnoses open motor phases and
MICROSTEP EMULATION Performs high resolution stepping by synthesizing ne microsteps from coarse steps
COMMAND SIGNAL SMOOTHING
ST5 Series 0.1 — 5.0 amps/phase in 0.01 amp increments
ST10 Series 0.1 — 10.0 amps/phase in 0.01 amp increments
ST5 Series External 24 - 48 VDC Power Supply Required
ST10 Series External 24 - 80 VDC Power Supply Required
ST5 Series 18 - 53 VDC
ST10 Series 18 - 88 VDC
to-Ground).
onds.
Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the speed range and improves settling time.
speed torque ripple in the range 0.25 to 1.5 rps
settings
motor resistance changes >40%. Detects encoder wiring and signal faults (differential
encoder only).
(Step & Direction Mode Only) .
Software congurable ltering reduces jerk and excitation of extraneous system resonances (Step & Direction Mode Only).
34
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920-0027 Rev. D
ST5/10-S Hardware manual
CONTROLLER: S Models
NON-VOLATILE STORAGE Congurations are saved in FLASH memory on-board the DSP.
MODE OF OPERATION Step & Direction, CW/CCW, A/B Quadrature, Oscillator, Joystick, SCL, Hub.
STEP AND DIRECTION INPUTS Optically Isolated, Differential, 5 Volt. Minimum pulse width = 250 ns. Maximum
pulse frequency = 2 MHz
Function: Step & Direction, CW/CCW Step, A/B Quadrature, Run/Stop & Direction,
Jog CW & CCW or CW & CCW Limits / Adjustable bandwidth digital noise rejection
lter.
ENABLE INPUT Optically Isolated, 5-12 Volt
Function: Motor Enable, Alarm Reset or Speed Select (Oscillator Mode).
OUTPUT Optically Isolated, 24V, 10mA MAX.
Function: Fault, Motion, Tach.
ANALOG INPUT 0 to 5VDC, 83k ohms input impedance
ANALOG INPUT RESOLUTION 12 bits
COMMUNICATION INTERFACE RS-232
2/7/14
Mating Connectors and Accessories
Mating Connectors
Motor/power supply: PCD P/N ELFP06210, included with drive.
Signal Connectors: 5 way = PCD P/N ELVP05100 , 6 way = PCD ELVP06100, included with drive.
Regeneration Clamp:
Applied Motion Products RC050.
35
Page 36
Alarm Codes
In the event of an error, the red and green LEDs on the main board will ash in alternating red-green patterns as shown below. The pattern repeats until the alarm is cleared.
Code Error
solid green no alarm, motor disabled
flashing green no alarm, motor enabled
1 red, 2 green move attempted while drive disabled
2 red, 1 green ccw limit
2 red, 2 green cw limit
3 red, 1 green drive overheating
3 red, 2 green internal voltage out of range - prior to 1.01R
4 red, 1 green power supply overvoltage
4 red, 2 green power supply undervoltage
5 red, 1 green over current / short circuit
5 red, 2 green motor resistance out of range
6 red, 1 green open motor winding
7 red, 1 green serial communication error
7 red, 2 green flash memory error
8 red, 1 green internal voltage out of range - after 1.01R
Connector Diagrams
HUB & SCL
OUT 1
IN 1
IN 2
IN 3
STEP+
STEP-
DIR+
DIR-
EN+
EN-
OUT+
OUT-
+5V
AIN
GND
920-0027 Rev. D
2/7/14
Applied Motion Products, Inc.
404 Westridge Drive Watsonville, CA 95076
Tel (831) 761-6555 (800) 525-1609 Fax (831) 761-6544
www.appliedmotionproducts.com
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