Applied Motion STR2 User Manual

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Page 1

Hardware Manual

STR2

Step Motor Drive

920-0059B 1/30/2014

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STR2 Hardware Manual

Contents

Safety Instructions ............................................................................................................................................................................................................................. 3

Introduction ........................................................................................................................................................................................................................................... 5

Features .................................................................................................................................................................................................................................................... 5

Block Diagram ....................................................................................................................................................................................................................................... 6

Geing Started .....................................................................................................................................................................................................................................7

Mounting the Drive ........................................................................................................................................................................................................................... 8

Connecting the Power Supply .................................................................................................................................................................................................... 8

Choosing a Power Supply...........................................................................................................................................................................................................10

Voltage ......................................................................................................................................................................................................................................... 10

Current ......................................................................................................................................................................................................................................... 10

Multiple Drives Sharing One Power Supply ........................................................................................................................................................... 11

System Wiring Recommendations ......................................................................................................................................................................................... 12

Connecting the Motor.................................................................................................................................................................................................................. 13

Four Lead Motor ................................................................................................................................................................................................................... 13

Eight Lead Motor ....................................................................................................................................................................................................................13

Connecting Input Signals............................................................................................................................................................................................................. 14

Connector Pin Diagram .......................................................................................................................................................................................................14

Connection Examples: STEP & DIR .............................................................................................................................................................................. 14

Internal Circuit Diagram ...................................................................................................................................................................................................... 14

Connection Examples: EN .................................................................................................................................................................................................. 15

FAULT Output...................................................................................................................................................................................................................................16

Conguring the Drive.................................................................................................................................................................................................................... 17

Step 1: Selecting a Motor and Seing the Current ............................................................................................................................................. 17

Step 2: Fine Tuning the Motor Current ..................................................................................................................................................................... 18

Step 3: Seing Idle Current .............................................................................................................................................................................................. 18

Step 4: Load Inertia ..............................................................................................................................................................................................................19

Step 5: Step Size...................................................................................................................................................................................................................... 19

Step 6: Step Pulse Type ...................................................................................................................................................................................................... 21

Step 7: Step Pulse Noise Filter ......................................................................................................................................................................................... 22

Self Test ................................................................................................................................................................................................................................................. 22

Reference Materials ........................................................................................................................................................................................................................ 23

Motor Outlines ........................................................................................................................................................................................................................ 23

Torque-Speed Curves .........................................................................................................................................................................................................25

Motor Heating ......................................................................................................................................................................................................................... 30

Drive Heating ............................................................................................................................................................................................................................ 34

Mechanical Outline ............................................................................................................................................................................................................... 35

Technical Specications ...................................................................................................................................................................................................... 36

Mating Connectors and Accessories ........................................................................................................................................................................... 37

Alarm Codes ............................................................................................................................................................................................................................. 38

Connector Diagrams .............................................................................................................................................................................................................38

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Safety Instructions

Only qualied personnel are permied to transport, assemble, commission, and maintain this equipment. Properly qualied personnel are persons who are familiar with the transport, assembly, installation, commissioning and operation of motors, and who have the appropriate qualications for their jobs. e qualied personnel must know and observe the following standards and regulations:

IEC 364 resp. CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National regulations for safety and accident prevention or VBG 4

To minimize the risk of potential safety problems, you should follow all applicable local and national codes that regulate the installation and operation of your equipment. ese codes vary from area to area and it is your responsibility to determine which codes should be followed, and to verify that the equipment, installation, and operation are in compliance with the latest revision of these codes.

Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards. We do not guarantee the products described in this publication are suitable for your particular application, nor do we assume any responsibility for your product design, installation, or operation.

• Read all available documentation before assembly and commissioning. Incorrect handling

of products in this manual can result in injury and damage to persons and machinery. Strictly adhere to the technical information on the installation requirements.

• It is vital to ensure that all system components are connected to earth ground. Electrical safety

is impossible without a low-resistance earth connection.

• e STR2 contains electrostatically sensitive components that can be damaged by incorrect

handling. Discharge yourself before touching the product. Avoid contact with high insulating materials (articial fabrics, plastic lm, etc.). Place the product on a conductive surface.

• During operation keep all covers and cabinet doors shut. Otherwise, there are deadly hazards

that could possibility cause severe damage to health or the product.

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• In operation, depending on the degree of enclosure protection, the product can have bare

components that are live or have hot surfaces. Control and power cables can carry a high voltage even when the motor is not rotating.

• Never pull out or plug in the product while the system is live. ere is a danger of electric arcing and danger to persons and contacts.

• Aer powering down the product, wait at least ten minutes before touching live sections of

the equipment or undoing connections (e.g., contacts, screwed connections). Capacitors can

store dangerous voltages for long periods of time aer power has been switched o. To be

safe, measure the contact points with a meter before touching.

Be alert to the potential for personal injury. Follow the recommended precautions and safe operating practices. Safety notices in this manual provide important information. Read and be familiar with these instructions before aempting installation, operation, or maintenance. e purpose of this section is to alert users to possible safety hazards associated with this equipment and the precautions that need to be taken to reduce the risk of personal injury and damage to the equipment. Failure to observe these precautions could result in serious bodily injury, damage to the equipment, or operational diculty.

STR2 Hardware Manual

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Introduction

ank 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 beer, 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

• Low cost, digital step motor driver in compact package

• Operates from a 12 to 48 volt DC power supply

• Running current up to 2.2 amps per phase

• Operates from Step & Direction signals or Step CW & Step CCW ( jumper selectable)

• Enable input

• Fault output

• Optically isolated I/O

• Digital lters prevent position error from electrical noise on command signals

• switch selectable: 150 kHz or 2 MHz

• 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

• Self test (switch selectable)

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Overcurrent

Sensors

DSP

Voltage Sensors

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Block Diagram

STR2 Hardware Manual

STEP

DIR

OUT

from external power supply

12-48 VDC

Status LEDs

Optical

Isolation

Optical

Isolation

Digital

Filter

Step Pulse Type

3.3/5/15V

Regulators

AMPLIFIER

Steps/rev

Run Current

Idle Current Step Noise Filter

123456781234

Self Test

Load Inertia

Motor Selection

motor

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Motor &

Power Supply

Connector

SWITCH A

Self Test

Step Noise Filter

Idle Current Run Current

Steps/rev

Input & Output

Signals

SWITCH B

Motor Selection

Load Inertia

Status LEDs

Geing Started

To use your STR2 step motor drive, you’ll need the following:

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• a 12 to 48 volt DC power supply. Please read the section

Choosing a Power Supply

for

help in choosing the right power supply.

• one of the motors listed recommended in this manual.

• a small at blade screwdriver for tightening the connectors.

• a source of step signals, such as a PLC or motion controller.

e connectors and other points of interest are illustrated below. ese are detailed later in the manual.

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STR2 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, at metal surface that will help conduct heat away from the chassis. If this is not possible, then forced airow from a fan may be

required to prevent the drive from overheating. See “Drive Heating” for more details.

• 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 50°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 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

Power Supply

• Connect the power supply “+” terminal to the connector terminal labeled “V+”.

• Connect power supply “-” to the connector terminal labeled “V-”.

• e green ground screw on the corner of the chassis should be connected to earth ground.

• Use 18 or 20 gauge wire.

e STR drives contain an internal fuse that connects to the power supply + terminal. is fuse is not user replaceable. If you want to install a user serviceable fuse in your system install a fast acting 3 amp fuse in line with the + power supply lead.

Choosing a

Be careful not to reverse the wires. Reverse connection will destroy your drive, void your warranty and generally wreck your day.

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Power Supply and Ground Connections

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Locate fuse in-line with “+” connection

power supply, causing it to shut down. We oer the RC-050 “regeneration clamp” to solve this

problem. If in doubt, buy an RC-050 for your rst installation. If the “regen” LED on the RC-050

never ashes, you don’t need the clamp.

RC-050 Regen Clamp

regen LED

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STR2 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 oers three powers supplies that are excellent matches for the STR2 drive:

PS50A24 (24V, 2.1A), PS150A24 (24V, 6.3A) and PS320A48 (48V, 6.7A).

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 voltage of the supply does not exceed the drive’s maximum input voltage specication.

Current

e 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. at’s because the STR uses a switching amplier, converting a high voltage and low current into lower voltage and higher current. e 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 “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. is will tell you how much current you really need so you can design in a lower cost

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power supply.

e tables below and on the net page list the maximum current required for each motor at several common power supply voltages. Please consider this information when choosing a power supply.

Table 1: STR2 Power Supply Current

All motors connected as indicated.

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Motor Connection

HT08-020 4 leads 0.42 0.95A 0.95A N/A HT08-021 4 leads 0.42 0.95A 0.95A N/A HT11-012 4 leads 1.20 0.6A 0.6A N/A HT11-013 4 leads 1.20 0.95A 0.95A N/A

5014-042 4 leads 1.0 0.87A 0.87A N/A HT17-268 parallel 1.61 1.0A 1.0A 1.0A HT17-271 parallel 2.04 1.3A 1.3A 1.3A HT17-275 parallel 2.04 1.32A 1.32A 1.32A HT23-595 series 2.20 1.36A 1.36A 1.36A HT23-598 series 2.20 1.56A 1.56A 1.56A HT23-601 series 2.20 1.4A 1.4A 1.4A

Multiple Drives Sharing One Power Supply

You can use one supply to power multiple drives. e worst case condition occurs when all the drives are running simultaneously. In this case, just add up the power supply currents for each to determine the total power supply current requirement.

Current

Seing (A)

Max Power Supply Current (A)

12VDC 24VDC 48VDC

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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. is can trip the overvoltage protection of a switching power supply, causing it to shut down. Unregulated power supplies are beer because they generally do not have overvoltage protection and have large capacitors for storing energy coming back from the drive. ey are also less expensive. See previous section on

the Power Supply

for details on the RC-050 regeneration clamp.

STR2 Hardware Manual

Connecting

System Wiring Recommendations

1. Separate the DC power supply cable by at least 2” from the small signal input cable and the encoder feedback cable.

2. A shielded cable for the DC power supply connections will result in a quieter system. Ground the shield at the power supply.

3. A shielded cable is recommended for the small signal connections. Ground the shield at the signal source.

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STR2 Hardware Manual

Connecting the Motor

Never connect or disconnect the motor while the power is on.

If the motor has a shield or grounding wire, please connect it to the chassis

ground screw located on the chassis near the motor-power connector.

Four Lead Motor

ese motors can only be connected one way. Please follow the sketch below.

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Chassis Ground Screw

Red

A+

A–

Blue

Yellow

4 Leads

lead

motor

B+ B–

White

MOTOR/POWER

CONNECTOR

MOTOR

A+

B+

V+

Eight Lead Motor

ese motors can be connected in series or parallel. A series connected motor needs less current 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.

Orange

A+

Org/Wht

Blk/Wht

lead

Blk/Wht

A–

Black

Red

8 Leads Series Connected 8 Leads Parallel Connected

motor

Red/

Yel/

Wht

B+ B–

Wht

A–

Yellow

A+

Org/

Wht

Orange

Black

Red

B+

Yel/ Wht

lead

motor

Red/Wht

Yel low

B–

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STEP

DIR

OUT

OUT–

COM+

STR2

+V OUT

COM+

DIR DIR

STEP STEP

Indexer

with Sinking Outputs

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STR2 Hardware Manual

Connecting Input Signals

e STR drives have three inputs:

• STEP: a high speed digital input for step pulse commands, 5-24 volt logic

• DIR: a high speed digital input for the direction signal, 5-24 volt logic

• EN: a 5-24V input for commanding the removal of power from the motor, EN input must be

open 50 milliseconds before pulses are received. Note: STEP and DIR inputs can be converted to STEP CW and STEP CCW by moving the internal jumper. See “Step 6: Step Pulse Type”.

Connector Pin Diagram Internal Circuit Diagram

Connection Examples: STEP & DIR

See “System Wiring Recommendations” for cable instructions

COM+

inside drive

220 pF

STEP

220 pF

DIR

220 pF

OUT+

OUT-

Connecting to Indexer with Sinking Outputs

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STR2 Hardware Manual

STR2

switch or relay

(closed=logic low)

COM+

5-24

VDC

Power

Supply

STR

COM+

Si drive

OUT+

OUT–

5-24

VDC

Power

Supply

STR2

NPN

Proximity

Sensor

COM+

output

–

5-24

VDC

Power

Supply

Connection Examples: EN

Connecting an Input to a Switch or Relay

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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)

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STR2

5-24 VDC

Power Supply

+ –

Load

OUT-

OUT+

STR2

5-24 VDC

Power Supply

+ –

Load

OUT-

OUT+

STR2

OUT-

OUT+

1N4935 suppression diode

5-24 VDC

Power Supply

+ –

relay

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STR2 Hardware Manual

FAULT Output

e STR2 features a digital FAULT output. is output closes to signal a fault condition.

is output can be used to drive LEDs, relays and the inputs of other electronic devices like PLCs. e “+” (collector) and “-” (emier) terminals of the output transistor are available at the connector. is allows you to congure the output for current sourcing or sinking.

Diagrams of each type of connection follow.

Do not connect the output to more than 30VDC.

FAULT+

FAULT-

e current through the output terminal must not exceed 80 mA.

Sinking Output

Sourcing Output

Driving a Relay

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Conguring the Drive

Step 1: Selecting a Motor and Seing the Current

e STR2 is optimized for use with carefully selected motors. To select a motor, simply move switches B1, B2 and B3 to the seing 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.

Motor Wiring

Current

Seing (A)

Holding Torque

(oz-in)

Rotor Inertia

(g-cm2)

HT08-020 4 leads 0.42 2.4 1.9

HT08-021 4 leads 0.42 4.4 4.0

HT11-012 4 leads 1.20 7.4 8

HT11-013 4 leads 1.20 15.3 18

5014-042 4 leads 1.0 25 20

HT17-268 parallel 1.61 31 38

HT17-271 parallel 2.04 52 57

HT17-275 parallel 2.04 78 82

Switch B

1 2 3

HT23-595 series 2.20 76 135

HT23-598 series 2.20 158 260

HT23-601 series 2.20 269 460

1 2 3

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100%

90%

80%

70%

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Step 2: Fine Tuning the Motor Current

e maximum current for the motor you have selected was set automatically when you selected the motor in Step1. But you may want to reduce the current to save power or lower motor temperature. is 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’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%.

Switches A4 and A5 on the front of the STR2 drive are used to set the percent of rated current that will be applied to the motor. Please set them according to the illustration below.

STR2 Hardware Manual

Step 3: Seing Idle Current

Motor heating and power consumption can also be reduced by lowering the motor current when it is not moving. e STR2 will automatically lower the motor current when it is idle to either 50% or 90% of the running current. e 50% idle current seing will lower the holding torque to 50%, which is enough to prevent the load from moving in most applications. is 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. e idle current switch is located in switch bank A, on the front of the STR2.

50%

90%

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Step 4: Load Inertia

e 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 using switches B1, B2 and B3. To further enhance performance, you must set switch B4 to indicate the approximate inertia ratio of the load and motor. e ranges are 0 to 4X and 5 to 10X. e 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 B4 as shown. For assistance in calculating the load inertia of your application contact our Applications department.

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5-10X

Step 5: Step Size

e STR2 requires a source of step pulses to command motion. is may be a PLC, an indexer, a motion controller or another type of device. e 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. e smallest step size of the STR2 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 dierent seings are provided in the STR2 drive, as shown

in the table on the next page.

0-4X

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Please choose the one that best matches the capability of your system.

At lower step resolutions such as 200 steps/ rev (full step) and 400 steps/rev (half step), motors run a lile rough and produce more audible noise than when they are microstepped (2000 steps/rev and beyond). e STR drives include a feature called “microstep emulation”, also called “step smoothing”, that can provide smooth motion from coarse command signals. By selecting “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 lter 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-ltered seing “200” or “400”. e chart on the next page shows an example of the delay that can occur from using the step smoothing lter.

STR2 Hardware Manual

6 7 8

200

6 7 8

2000

6 7 8

200

SMOOTH

6 7 8

5000

6 7 8

400

6 7 8

12800

6 7 8

400

SMOOTH

6 7 8

20000

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STR2 Hardware Manual

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Step 6: Step Pulse Type

Most indexers and motion controllers provide motion commands in the “Step and Direction” format. e Step signal pulses once for each motor step and the direction signal commands

direction. However, a few PLCs use a dierent 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). e STR drives can accept this type of signal if you remove the drive cover and move jumper S3 from the “1-2” position to the “1-3” position. In STEP CW/STEP CCW mode, the CW signal should be connected to the STEP input and the CCW signal to the DIR input.

Step & Direction STEP CW & STEP CCW

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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 seing for your consideration. Electrical noise can aect the STEP signal in a negative way,

causing the drive to think that one step pulse is two or more pulses. is results in extra motion and inaccurate motor and load positioning. To combat this problem, the STR drives include a digital noise lter on the STEP and DIR inputs. ere are two seings for this lter: 150 kHz works well for most applications,. If you are operating the STR2 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 use the 2 MHz seing as shown below. e step noise lter is controlled by switch 4 of the small bank of switches.

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 lter frequency.

STR2 Hardware Manual

150 KHZ

Self Test

If you are having trouble geing your motor to turn, you may want to try the built-in self test. Anytime switch A1 is moved to the ON position, the drive will automatically rotate the motor back and forth, 2.5 turns in each direction. is feature can be used to conrm that the motor is correctly wired, selected and otherwise operational.

2.0

MHZ

OFF

SELF TEST

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STR2 Hardware Manual

MOTOR LENGTH(L)

HT11-012 33.5 mm HT11-013 47.5 mm

MOTOR LENGTH(L)

HT08-020 30.0 mm HT08-021 46.5 mm

Reference Materials

Motor Outlines

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HT08 Outline Drawing

5014-042 Outline Drawing

HT11 Outline Drawing

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MOTOR LENGTH(L)

HT17-068 33±1 mm HT17-071 39±1 mm HT17-075 47±1 mm HT17-268 33.3 mm MAX

ADD ‘D’ TO END OF PART NUMBER TO ADD REAR SHAFT AND ENCODER HOLES

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STR2 Hardware Manual

HT17 Outline Drawing

MOTOR LENGTH(L)

HT23-395/595 41 mm MAX HT23-398/598 54 mm MAX HT23-401/601 76 mm MAX

ADD ‘D’ TO END OF PART NUMBER TO ADD REAR SHAFT AND ENCODER HOLES

HT23 Outline Drawing

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STR2 Hardware Manual

Torque-Speed Curves

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HT08‐020,STR2

Connection: 4 leads Drive settin

2.5

1.5

s: 0.42A/phase, 20000 steps/re

oz-in

0.5

0 5 10 15 20 25 30 35 40

rps

12 VDC 24 VDC

HT08‐021,STR2

Connection: 4 leads Drive settin

s: 0.42A/phase, 20000 steps/re

12 VDC 24 VDC

2.5

1.5

oz-in

0.5

0 5 10 15 20 25 30 35 40

rps

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HT11‐012,STR2

Connection: 4 leads Drive settin

oz-in

0 5 10 15 20 25 30 35 40

s: 1.2A/phase, 20000 steps/re

rps

12 VDC 24 VDC

HT11‐013,STR2

Connection: 4 leads Drive settin

s: 1.2A/phase, 20000 steps/re

12 VDC 24 VDC

oz-in

0 5 10 15 20 25 30 35 40

rps

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STR2 Hardware Manual

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5014-042, STR2

Connection: 4 leads Drive settin

s: 1.2A/phase, 20000 ste

s/re

oz-in

0 5 10 15 20 25 30 35 40

rps

12 VDC 24 VDC

HT17‐268,STR2

Connection: parallel Drive settin

s: 1.61A/phase, 20000 steps/re

12 VDC 24 VDC 48 VDC

oz-in

0 10 20 30 40 50

rps

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STR2 Hardware Manual

HT17‐271,STR2

Connection: parallel Drive settin

s: 2.04A/phase, 20000 steps/re

oz-in

0 10 20 30 40 50

rps

12 VDC 24 VDC 48 VDC

HT17‐275,STR2

Connection: parallel Drive settin

s: 2.04A/phase, 20000 steps/re

12 VDC 24 VDC 48 VDC

oz-in

0 10 20 30 40 50

rps

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HT23‐595,STR2

Connection:series

Drive settin

s: 2.2A/phase, 20000 steps/re

oz-in

0 10 20 30 40 50

rps

12 VDC 24 VDC 48 VDC

HT23‐598,STR2

Connection:series

Drive settin

160

s: 2.2A/phase, 20000 steps/re

12 VDC 24 VDC 48 VDC

140

120

100

oz-in

0 10 20 30 40 50

rps

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STR2 Hardware Manual

HT23‐601,STR2

Connection:series

Drive settin

200

180

160

140

120

100

oz-in

0 10 20 30 40 50

s: 2.2A/phase, 20000 steps/re

rps

12 VDC 24 VDC 48 VDC

Motor Heating

Step motors convert electrical power from the driver into mechanical power to move a load. Because step motors are not perfectly ecient, some of the electrical power turns into heat on its way through the motor. is heating is not so much dependent on the load being driven but rather the motor speed and power supply voltage. ere 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 a table and several curves showing the maximum duty cycle versus speed for each motor at commonly used power supply voltages. Please refer to this information when planning your application.

Please also keep in mind that a step motor typically reaches maximum temperature aer 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 o is also 50% duty. However, one hour on and one hour o has the eect of 100% duty because during the rst hour the motor

will reach full (and possibly excessive) temperature.

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e 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.

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Motor Connection

HT08-020 4 leads 0.42 100% 100% NR HT08-021 4 leads 0.42 100% 100% NR HT11-012 4 leads 1.20 100% 100% NR HT11-013 4 leads 1.20 100% 100% NR

5014-042 4 leads 1.00 100% see chart NR HT17-268 parallel 1.61 100% 100% see chart HT17-271 parallel 2.04 100% 100% see chart HT17-275 parallel 2.04 100% 100% see chart HT23-595 series 2.20 100% 100% 100% HT23-598 series 2.20 100% 100% 100% HT23-601 series 2.20 100% 100% 100%

NR: power supply voltage is not recommended for this motor

Current

Seing (A)

Max Duty Cycle at 40°C Ambient

12VDC 24VDC 48VDC

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25 Al

100

0 5 10 15 20 25 30 35 40

% Duty Cycle

Speed (RPS)

HT17-268 Max Duty cycle vs Speed

1.61A/phase, parallel connected 40°C ambient temp

on 4.75 x 4.75 x .25 Aluminum Plate

12V 24V

48V

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STR2 Hardware Manual

5014-042 Max Duty cycle vs Speed

1.2 Amps/phase

40°C ambient temp

on4.

100

Duty Cycle

0 5 10 15 20 25 30 35 40

.75 x .

numPla

Speed (RPS)

12V 24V

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STR2 Hardware Manual

25 Alumi

0510

1520

2530

3540

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HT17-271 Max Duty cycle vs Speed

2.04A/phase, parallel connected 40°C ambient temp

on4.75 x 4.75 x .

100

Duty Cycle

0 5 10 15 20 25 30 35 40

Speed (RPS)

numPlate

HT17-275 Max Duty cycle vs Speed

2.04A/phase, parallel connected 40°C ambient temp

on4.75 x 4.75 x .

100

numPlate

12V

24V

48V

12V

24V

48V

Duty Cycle

Speed (RPS)

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STRDriveLosses

48V

24V

12V

ss(W)

DriverLo

200.4

0.6

0.811.2

1.4

1.6

1.822.2

motorcurrent(A)

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STR2 Hardware Manual

Drive Heating

While STR2 drivers eciently transmit power between the power supply and motor, they do generate some heat in the process. is 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 information is provided:

1. drive power dissipation Pd versus motor current and power supply voltage (see chart)

2. drive thermal constant R

e nal drive case temperature is given by Tc = Ta + RQ* P

where Ta is the ambient temperature of the surrounding air. e 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: RQ =1.84°C/W Narrow side of drive mounted on a non-heat conducting surface: RQ =3.99°C/W

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Mechanical Outline

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Technical Specications

STR2 Hardware Manual

Amplier

Digital Inputs

Digital MOSFET. 16 kHz PWM. Suitable for driving two phase step motors with four, six or eight leads. Protection against over-voltage, under-voltage, over-temp, and short circuit.

Supply voltage: 12-48 VDC Under voltage alarm: 10 VDC Over voltage shutdown: 52 VDC

Motor current:

0.3 to 2.2 amps/phase peak of sine

Optically isolated, 5 - 24V logic. Sinking (NPN) signals mus be used. Drive steps on rising 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 switch) Minimum pulse width: 3 usec (at 150 kHz seing)

0.25 usec (at 2 MHz seing)

Fault Output

Physical

Photodarlington, 80 mA, 30 VDC max. Voltage drop: 1.2V max at 80 mA.

0.82 x 2.21 x 3.65 inches (20.8 x 56 x 92.6 mm) overall.

4.7 oz (133 g) including mating connectors. Ambient temperature range: 0°C to 50°C. Operating temperature range: 0°C to 85°C (interior of electronic section).

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STR2 Hardware Manual

Mating Connectors and Accessories

Mating Connectors

Motor/power supply: Phoenix Contact 1803617, included with drive. Signals: Phoenix Contact 1840405, included with drive.

Accessories

Regeneration Clamp:

Applied Motion Products RC-050.

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Page 38

Alarm Codes

In the event of a drive fault or alarm, the green LED will ash one or two times, followed by a series of red ashes. e pattern repeats until the alarm is cleared.

Code Error

solid green no alarm, motor disabled flashing green no alarm, motor enabled 1 green, 3 red over temperature 2 green, 3 red internal voltage out of range 1 green, 4 red power supply voltage too high 2 green, 4 red power supply voltage too low 1 green, 5 red over current / short circuit 1 green, 6 red open motor winding

Connector Diagrams

COM+

STEP

DIR

V+

Power and Motor Connector Signal Connector

A+

–

Tel (831) 761-6555 (800) 525-1609 Fax (831) 761-6544

B+

A–

–

404 Westridge Drive Watsonville, CA 95076

www.applied-motion.com

OUT

OUT–

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