ST ST5-Q, ST10-Q, ST5-Q-E, ST10-Q-E, ST5-Si Hardware Manual

...

Download

Page 1

• ST5-Q • ST10-Q

• ST5-Q-E • ST10-Q-E

• ST5-Si • ST10-Si

• ST5-C • ST10-C

• ST5-IP-E • ST10-IP-E

920-0004 Rev. D 12/20/12

Page 2

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Contents

Introduction...............................................................................................................................................................................3

Features ....................................................................................................................................................................................3

Block Diagrams ......................................................................................................................................................................... 4

Getting Started ..........................................................................................................................................................................6

Connecting to the PC using RS-232 .........................................................................................................................................8

Connecting the Drive to Your PC using Ethernet .......................................................................................................................9

Addresses, Subnets, and Ports ........................................................................................................................................... 9

Option 1: Connect a Drive to Your Local Area Network ....................................................................................................11

Using DCHP .............................................................................................................................................................. 13

Option 2: Connect a Drive Directly to Your PC ................................................................................................................14

Option 3: Use Two Network Interface Cards (NICs) .........................................................................................................16

Connecting to a host using RS-485 option card......................................................................................................................17

RS-232 to RS-485 2-wire Converter ................................................................................................................................18

Converting USB to RS-485 ..............................................................................................................................................18

Connecting the Power Supply ................................................................................................................................................. 20

Connecting the Motor .............................................................................................................................................................21

Connecting an Encoder (Requires the optional Encoder Feedback Card) ................................................................................22

Connecting Input Signals ........................................................................................................................................................ 23

Connector Pin Diagram .................................................................................................................................................... 23

High Speed Digital Inputs ................................................................................................................................................24

Connecting a Potentiometer to Analog Input 1 .................................................................................................................31

Programmable Outputs ...........................................................................................................................................................32

Sinking Output .................................................................................................................................................................32

Using Y1, Y2, Y3 .............................................................................................................................................................. 32

Sinking Output .................................................................................................................................................................32

Sourcing Output ............................................................................................................................................................... 33

Driving a Relay ................................................................................................................................................................. 33

Choosing a Power Supply ....................................................................................................................................................... 34

Recommended Motors ............................................................................................................................................................ 35

Torque-Speed Curves..............................................................................................................................................................36

Motor Heating ......................................................................................................................................................................... 42

Mounting the Drive .................................................................................................................................................................47

Mechanical Outline .................................................................................................................................................................47

Technical Speciﬁcations .......................................................................................................................................................... 48

Mating Connectors and Accessories ....................................................................................................................................... 49

Alarm Codes ...........................................................................................................................................................................50

Connector Diagrams ...............................................................................................................................................................50

Page 3

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

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

• Programmable, 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

• Operates in velocity or position mode

• Accepts analog signals, digital signals and RS-232 serial commands

• Optional RS-422/485 communication

• Optional encoder feedback

• Optional CANopen DSP402 Control

• Optional CANopen DS301 communication with DS402 motion control

• Optional 100 Mbit Ethernet communication using SCL and Q

• Optional Ethernet/IP protocol communication

• ST5 provides motor current up to 5 amps/phase (peak of sine)

• ST10 provides motor current up to 10 amps/phase (peak of sine)

• Eight optically isolated digital inputs

• Four optically isolated digital outputs

• Two ±10 volt analog inputs for speed and position control. Can also be congured for 0 to 10V, ±5V or 0 to 5V signal ranges.

Page 4

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Block Diagrams

ST5-Si and ST10-Si

ST5-Q, ST5-C, ST10-Q and ST10-C

motor

encoder

24 - 48 VDC*

INPUT X1

INPUT X2

INPUT X3

INPUT X4

INPUT X5

INPUT X6

X7/CWLIM

*24 - 80 VDC for ST10

to PC/MMI

RS-485

X8/CCWLIM

OUTPUT Y1

OUTPUT Y2

OUTPUT Y3

OUTPUT Y4

ANALOG IN2

ANALOG IN1

DSP

Optical

Isolation

Si™

Chip

RS-232

Option Card

MOSFET

PWM

Power

Amplifier

Internal

Logic

Supply

Status

motor

encoder

24 - 48 VDC*

INPUT X1

INPUT X2

INPUT X3

INPUT X4

INPUT X5

INPUT X6

X7/CWLIM

*24 - 80 VDC for ST10

to PC/MMI

X8/CCWLIM

OUTPUT Y1

OUTPUT Y2

OUTPUT Y3

OUTPUT Y4

ANALOG IN2

ANALOG IN1

DSP

Optical

Isolation

RS-232

Option Card

MOSFET

PWM

Power

Amplifier

Internal

Logic

Supply

Status

CANopen (Required on ST-C Drives only) or RS485 (Optional on ST-Q Drives only)

Option Card

Page 5

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

ST5-Q-EN, ST5-Q-EE, ST5-IP-EN, ST5-IP-EE,

ST10-Q-EN, ST10-Q-EE, ST10-IP-EN, ST10-IP-EE

motor

encoder

24 - 48 VDC*

INPUT X1

INPUT X2

INPUT X3

INPUT X4

INPUT X5

INPUT X6

X7/CWLIM

*24 - 80 VDC for ST10

not used

X8/CCWLIM

OUTPUT Y1

OUTPUT Y2

OUTPUT Y3

OUTPUT Y4

ANALOG IN2

ANALOG IN1

DSP

Optical

Isolation

RS-232

Option Card

MOSFET

PWM

Power

Amplifier

Internal

Logic

Supply

Status

to Ethernet switch or network interface card

Ethernet

Option Card

Page 6

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Getting Started

This manual describes the use of six different drive models. What you need to know and what you must have depends on the drive model. For all models, you’ll need the following:

• a 24-48 volt DC power supply. (24 - 80VDC for ST10 models). 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 7.

• An Applied Motion programming cable (included with non-Ethernet drives).

• For Ethernet drives you will need a CAT5 cable (not included).

• Relevant software applications, as outlined below. All software is available as a free download from http://www.applied-motion.com/products/software.

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. For -S drives, install the ST Conﬁgurator™ software application.

For -Q drives, install the ST Conﬁgurator™ and Q Programmer™ software applications. For -Q-E and -IP-E drives, install ST Conﬁgurator Ethernet™ and Q Programmer™ software applications.

For -Si models, install and use the Si Programmer™ software for conﬁguration and programming. For -C drives, install the ST Conﬁgurator™ and the CANopen Example Program software applications. Q Programmer™ software may also be installed, if needed.

2. Launch the software by clicking Start...Programs...Applied Motion...

3. Connect the drive to your PC using the programming cable. For RS-232 drives, select the correct COM port. For Ethernet drives, ensure that the IP address is correct.

4. Connect the drive to the power supply.

5. Connect the drive to the motor.

6. Apply power to the drive.

7. The software will recognize your drive, display the model and ﬁrmware version and be ready for action.

Page 7

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

The connectors and other points of interest are illustrated below. Depending on your drive model and application, you’ll need to make connections to various parts of the drive. These are detailed later in the manual.

B-

B+

A-

A+

V-

V+

B-

B+

A-

A+

V-

V+

LED Codes

GR=Green

RD=Red

MOTOR DISABLED SOLID GREEN

MOTOR ENABLED GR-GR-GR

MOTOR STALL 1 GR + 1 RD

CCW LIMIT 1 GR + 2 RD

CW LIMIT 2 GR + 2 RD

CAN’T MOVE (DISABLED) 2 GR + 1 RD

DRIVE OVER TEMP 1 GR + 3 RD

VOLTAGE HIGH 1 GR + 4 RD

VOLTAGE LOW 2 GR + 4 RD

OVER CURRENT 1 GR + 5 RD

MOTOR OHMS 2 GR + 5 RD

OPEN MOTOR PHASE 1 GR + 6 RD

BAD ENCODER SIGNAL 2 GR + 6 RD

COMM ERROR 1 GR + 7 RD

GND

+5V OUT

Y COMMON

Y3 / FAULT

Y2 / MOTION

Y1 / BRAKE

X8 / CCWLIMIT+

X8 / CCWLIMIT -

X7 / CWLIMIT -

X7 / CWLIMIT+

Y4 -

Y4+

X COMMON

X3 / ENABLE

X5 / CWJOG

X4 / ALARM RESET

ANALOG IN2

ANALOG IN1

X2 / DIR -

X2 / DIR+

X1 / STEP+

X1 / STEP -

GND

X6 / CCWJOG

Serial No

ST5-Q

STEP MOTOR

DRIVER

screw terminal connector

• motor

• power supply

DB-25 connector

• digital inputs

• digital outputs

• analog input

screw terminal connector

• optional RS-485 port

HD-15 connector

• optional encoder feedback

RJ11 connector

• RS-232 port

LEDs

• status & error codes

grounding screw

spring terminal connector and rotary switches

• optional CANopen interface

RJ45 connector and rotary address switch

• optional Ethernet interface

Page 8

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Connecting to the PC using RS-232

• Locate your computer within 8 feet of the drive.

• If you have a CANopen drive, you still need to connect to the RS232 port on your PC to congure the drive and download Q Programs, if necessary. Once conguration is complete, refer to the CANopen Manual

for information on using your CANopen drive.

• If you have an Ethernet drive, this port is not used. All communcation uses the RJ45 Ethernet connector.

• RS-232 drives are shipped with a communication cable. Plug the large end into the serial port of your PC and the small end into the PC/MMI 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.

It’s not recommended that both the RS232 and RS485 ports be active (connected) at the same time. Only one serial port should be physically connected at any time.

If your PC does not have a serial port, you should purchase a “USB Serial Converter”. We have had good results with the USB-COM-CBL from byterunner.com. If you wish to use a different converter, it is recommended to use one that makes use of the FTDI chipset to perform the actual conversion.

Pin Assignments of the PC/MMI Port

(RJ11 connector)

ground (to PC ground)

TX (to PC RX)

No connection

RX (to PC TX)

Page 9

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

Connecting the Drive to Your PC using Ethernet

This process requires three steps

• Physically connect the drive to your network (or directly to the PC)

• Set the drive’s IP address

• Set the appropriate networking properties on your PC.

Note: the following pages are an excerpt from the “eSCL Communication Reference Guide”. For more information, please read the rest of the guide.

Addresses, Subnets, and Ports

Every device on an Ethernet network must have a unique IP address. In order for two devices to communicate with each other, they must both be connected to the network and they must have IP addresses that are on the same subnet. A subnet is a logical division of a larger network. Members of one subnet are generally not able to communicate with members of another unless they are connected through special network equipment (e.g. router). Subnets are deﬁned by the choices of IP addresses and subnet masks. If you want to know the IP address and subnet mask of your PC, select Start…All Programs…Accessories…Command Prompt. Then type “ipconﬁg” and press Enter. You should see something like this:

If your PC’s subnet mask is set to 255.255.255.0, a common setting known as a Class C subnet mask, then your machine can only talk to another network device whose IP address matches yours in the ﬁrst three octets. (The numbers between the dots in an IP address are called octets.) For example, if your PC is on a Class C subnet and has an IP address of 192.168.0.20, it can talk to a device at 192.168.0.40, but not one at

192.168.1.40. If you change your subnet mask to 255.255.0.0 (Class B) you can talk to any device whose ﬁrst two octets match yours. Be sure to ask your system administrator before doing this. You network may be segmented for a reason.

Your drive includes a 16 position rotary switch for setting its IP address. The factory default address for each switch setting is shown in the table on the next page.

Page 10

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Settings 1 through E can be changed using the ST Congurator software (use Quick Tuner for servo drives).

Setting 0 is always “10.10.10.10”, the universal recovery address. If someone were to change the other settings and not write it down or tell anyone (I’m not naming names here, but you know who I’m talking about) then you will not be able to communicate with your drive. The only way to “recover” it is to use the universal recovery address.

Setting F is “DHCP”, which commands the drive to get an IP address from a DHCP server on the network. The IP address automatically assigned by the DHCP server may be “dynamic” or “static” depending on how the administrator has conﬁgured DHCP. The DHCP setting is reserved for advanced users.

Your PC, or any other device that you use to communicate with the drive, will also have a unique address.

On the drive, switch settings 1 through E use the standard class B subnet mask (i.e. “255.255.0.0”). The mask for the universal recovery address is the standard class A (i.e. “255.0.0.0”). One of the great features of Ethernet is the ability for many applications to share the network at the same

Rotary Switch IP Address

0 10.10.10.10 1 192.168.1.10 2 192.168.1.20 3 192.168.1.30 4 192.168.0.40 5 192.168.0.50 6 192.168.0.60 7 192.168.0.70 8 192.168.0.80 9 192.168.0.90 A 192.168.0.100

B 192.168.0.110 C 192.168.0.120 D 192.168.0.130

E 192.168.0.140

F DHCP

Page 11

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

time. Ports are used to direct trafﬁc to the right application once it gets to the right IP address. The UDP eSCL port in our drives is 7775. To send and receive commands using TCP, use port number 7776. You’ll need to know this when you begin to write your own application. You will also need to choose an open (unused) port number for your application. Our drive doesn’t care what that is; when the ﬁrst command is sent to the drive, the drive will make note of the IP address and port number from which it originated and direct any responses there. The drive will also refuse any trafﬁc from other IP addresses that is headed for the eSCL port. The ﬁrst application to talk to a drive “owns” the drive. This lock is only reset when the drive powers down.

If you need help choosing a port number for your application, you can ﬁnd a list of commonly used port

numbers at http://www.iana.org/assignments/port-numbers.

One ﬁnal note: Ethernet communication can use one or both of two “transport protocols”: UDP and TCP. eSCL commands can be sent and received using either protocol. UDP is simpler and more efﬁcient than TCP, but TCP is more reliable on large or very busy networks where UDP packets might occasionally be dropped.

Option 1: Connect a Drive to Your Local Area Network

If you have a spare port on a switch or router and if you are able to set your drive to an IP address that is compatible with your network, and not used by anything else, this is a simple way to get connected. This technique also allows you to connect multiple drives to your PC. If you are on a corporate network, please

check with your system administrator before connecting anything new to the network. He or she should be able assign you a suitable address and help you get going.

If you are not sure which addresses are already used on your network, you can ﬁnd out using “Angry IP

scanner”, which can be downloaded free from http://www.angryip.org/w/Download. But be careful: an

address might appear to be unused because a computer or other device is currently turned off. And many networks use dynamic addressing where a DHCP server assigns addresses “on demand”. The address you choose for your drive might get assigned to something else by the DHCP server at another time.

PC NIC

SWITCH

ROUTER

LAN DRIVE

Page 12

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Once you’ve chosen an appropriate IP address for your drive, set the rotary switch according the address table above. If none of the default addresses are acceptable for your network, you can enter a new table of IP addresses using Conﬁgurator. If your network uses addresses starting with 192.168.0, the most common subnet, you will want to choose an address from switch settings 4 through E. Another common subnet is

192.168.1. If your network uses addresses in this range, the compatible default selections are 1, 2 and 3. If your PC address is not in one of the above private subnets, you will have to change your subnet mask to

255.255.0.0 in order to talk to your drive. To change your subnet mask:

1. On Windows XP, right click on “My Network Places” and select properties. On Windows 7, click

Computer. Scroll down the left pane until you see “Network”. Right click and select properties. Select “Change adapter settings”

2. You should see an icon for your network interface card (NIC). Right click and select properties.

3. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button. On Windows 7 and Vista, look for “(TCP/IPv4)”

4. If the option “Obtain an IP address automatically” is selected, your PC is getting an IP address and a subnet mask from the DHCP server. Please cancel this dialog and proceed to the next section of this

Page 13

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

manual: “Using DHCP”.

5. If the option “Use the following IP address” is selected, life is good. Change the subnet mask to

“255.255.0.0” and click OK.

Using DCHP

If you want to use your drive on a network that where all or most of the devices use dynamic IP addresses supplied by a DHCP server, set the rotary switch to “F”. When the drive is connected to the network and powered on, it will obtain an IP address and a subnet mask from the server that is compatible with your PC. The only catch is that you won’t know what address the server assigns to your drive. Ethernet Conﬁgurator can ﬁnd your drive using the Drive Discovery feature, as long as your network isn’t too large. With the drive connected to the network and powered on, select Drive Discovery from the Drive menu.

You will see a dialog such as this:

Normally, Drive Discovery will only detect one network interface card (NIC), and will select it automatically. If you are using a laptop and have both wireless and wired network connections, a second NIC may appear. Please select the NIC that you use to connect to the network to which you’ve connected your drive. Then click OK. Drive Discovery will notify you as soon as it has detected a drive.

If you think this is the correct drive, click Yes. If you’re not sure, click Not Sure and Drive Discovery will look for additional drives on you network. Once you’ve told Drive Discovery which drive is yours, it will automatically enter that drive’s IP address in the IP address text box so that you are ready to communicate.

Page 14

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Option 2: Connect a Drive Directly to Your PC

It doesn’t get much simpler than this:

1. Connect one end of a CAT5 Ethernet cable into the LAN card (NIC) on your PC and the other into the drive. You don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make the necessary physical layer changes.

2. Set the IP address on the drive to “10.10.10.10” by setting the rotary switch at “0”.

3. To set the IP address of your PC:

a. On Windows XP, right click on “My Network Places” and select properties.

b. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and

Page 15

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

select properties. Select “Change adapter settings”

4. You should see an icon for your network interface card (NIC). Right click and select properties.

a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties

button.

b. On Windows 7 and Vista, look for “(TCP/IPv4)”

5. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give

your PC an IP address that is on the same subnet as the drive. Windows will know to direct any trafﬁc intended for the drive’s IP address to this interface card.

6. Next, enter the subnet mask as “255.255.255.0”.

7. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this

subnet.

8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will annoy

you with a small message bubble in the corner of your screen saying “The network cable is unplugged.”

Page 16

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Option 3: Use Two Network Interface Cards (NICs)

This technique allows you to keep your PC connected to your LAN, but keeps the drive off the LAN, prevent-

ing possible IP conicts or excessive trafc.

1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it directly to the drive using a CAT5 cable. You don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make the necessary physical layer changes.

2. If you use a laptop and only connect to your LAN using wireless networking, you can use the built-in

RJ45 Ethernet connection as your second NIC.

3. Set the IP address on the drive to “10.10.10.10” by setting the rotary switch at “0”.

4. To set the IP address of the second NIC:

a. On Windows XP, right click on “My Network Places” and select properties.

b. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and

select properties. Select “Change adapter settings”

5. You should see an icon for your newly instated NIC. Right click again and select properties.

a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties

button.

b. On Windows 7 and Vista, look for “(TCP/IPv4)”

6. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give your PC an IP address that is on the same subnet as the drive. Windows will know to direct any trafﬁc intended for the drive’s IP address to this interface card.

7. Next, enter the subnet mask as “255.255.255.0”. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this subnet.

8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will annoy you with a small message bubble in the corner of your screen saying “The network cable is unplugged.”

PC NIC1 NIC2 LAN DRIVE

Page 17

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

RS-485 Four Wire System

to PC TX+

to PC TX-

to PC RX+

to PC RX-

to PC GND

Drive #1 Drive #2 Drive #3

+RX- +TX- GND

120*

twisted pair

*resistor recommended for cable

lengths longer than 20 feet total

Connecting to a host using RS-485 option card

RS-485 allows you to connect more than one drive to a single host PC, PLC, HMI or other computer. It also allows the communication cable to be long (more than 1000 feet). But the device to which you connect must have an RS-485 port.

It’s not recommended that both the RS232 and RS485 ports be active (connected) at the same time. Only one serial port should be physically connected at any time.

Pin diagram is shown to the right. Wiring diagrams can be found on the next page. We recommend the use of Category 5 cable. It is widely used for computer networks, it is inexpensive, easy to get and certiﬁed for quality and data integrity.

The ST drives can be used with either two wire or four wire RS-485 implementations. The connection can be point to point (i.e. one drive and one host) or a multi-drop network (one host and up to 32 drives).

Four Wire Systems utilize separate transmit and receive wires. One pair of wires must connect the host

computer’s transmit signals to each drive’s RX+ and RX- terminals. Another pair connects the TX+ and TX-

drive terminals to the host computer’s receive signals. A logic ground terminal is provided on each drive and can be used to keep all drives at the same ground potential. This terminal connects internally to the DC power supply return (V-), so if all the drives on the RS-485 network are powered from the same supply it is not necessary to connect the logic grounds. You should still connect one drive’s GND terminal to the host

computer ground.

Four wire systems are better than two wire types because the host can send and receive data at the same time, increasing system throughput. Furthermore, the host never needs to disable its transmitter, which simpliﬁes your software.

RX+

–

TX+

GND

RS-485/422

Page 18

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Two Wire Systems transmit and receive on the same pair of wires, which can lead to trouble. The host must not only disable its transmitter before it can receive data, it must do so quickly, before a drive begins to answer a query. The ST drives include a “transmit delay” parameter that can be adjusted to compensate for a host that is slow to disable its transmitter. This adjustment can be made over the network using the TD command, or it can be set using the ST Conﬁgurator software. It is not necessary to set the transmit delay in a four wire system.

RS-232 to RS-485 2-wire Converter

Model 485-25E from Integrity Instruments (800-450-2001) works well for converting your PC’s RS-232 port to RS-485. It comes with everything you need. Connect the adaptor’s “B” pin to the ST drive’s TX+ and RX+ terminals. Connect “A” to the drive’s TX- and RX- terminals.

Converting USB to RS-485

The USB-COMi-M from www.byterunner.com is an excellent choice for USB to RS-485 conversion. Set SW1 to ON and SW2-4 to OFF. On the USB-COMi-M screw terminal connector: pin1 goes to RX- and TX-. Connect pin 2 to RX+ and TX+. Pin 6 is ground. The DB-9 is not used.

Assigning Multi-Drop Addresses

Before wiring all of the drives in a multi-drop network, you’ll need to connect each drive individually to the host computer so that a unique address can be assigned to each drive. Use the programming cable and the ST Conﬁgurator™ software that came with your drive for this purpose.

Connect the drive to your PC, then launch the ST Conﬁgurator™ software. Finally, apply power to your drive. If you have already conﬁgured your drive, then you should click the Upload button so that the ST Conﬁgurator™ settings match those of your drive. Click on the Motion button, then select the “SCL”

operating mode. If you have a Q drive, you may want to select “Q Programming”. Either way, you’ll see the

+RX- +TX- GND +RX- +TX- GND +RX- +TX- GND

to PC TX+ (B)

to PC TX- (A)

to PC GND

Drive #1 Drive #2 Drive #3

twisted pair

RS-485 Two Wire System

Page 19

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

RS-485 Address panel appear. Just click on the address character of your choice. You can use the numerals 0..9 or the special characters ! “ # $ % & ‘ ( ) * + , - . / : ; < = > ? @ . Just make sure that each drive

on your network has a unique address. If you are using a 2 wire network, you may need to set the Transmit Delay, too. 10 milliseconds works on the adapters we’ve tried. Once you’ve made your choices, click Download to save the settings to your drive.

Assigning CANopen Addresses

Each node on a CANopen system must have a unique Node ID. Valid ranges for the Node ID are 0x01 through 0x7F. Node ID 0x00 is reserved in accordance with DS301. The Node ID is selected using two rotary switches; one sixteen position switch and one eight position switch. The sixteen position switch is located just to the left of the CANopen connector. The eight position switch is located inside the drive, and may only be accessed by removing the cover of the drive. It is recommended that the internal switch be left at the factory default setting “0”. However, if additional Node IDs are required, it is possible to access them using the internal switch.

The Node ID is a concatenation of the two switch values. To set the Node ID to 0x3B, for example, turn the internal eight position switch to the value “3”, and the sixteen position switch to the value “B”.

Please refer to the CANopen manual for more information.

Page 20

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

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 driver terminal labeled “V+”. Connect power supply

“-” to the drive terminal labeled “V-”. 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 7 amp

fast acting fuse for the ST5 and ST10 drives.

The green ground screw on the corner of the chassis should be connected to earth ground.

Be careful not to reverse the 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 ﬁrst instal-

lation. If the “regen” LED on the RC050 never ashes, you don’t need the clamp.

RC050 Regen Clamp

Page 21

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

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 connect it until you have conﬁgured 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 mode, motors produce more torque at low speeds, but cannot run as fast as in the center tap conﬁguration. 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 operation 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 following page.

A+

A–

B+ B–

lead

motor

Red

Blue

Yellow

White

4 Leads

A+

A–

B+

B–

lead

motor

Red

Black

Red/

Wht

Green

Grn/Wht

White

A+

A–

B+B–

lead

motor

Grn/Wht

White

Green

Red

Red/

Wht

Black

6 Leads Series Connected 6 Leads Center Tap Connected

Page 22

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Connecting an Encoder (Requires the optional Encoder Feedback Card)

The encoder connections use a HD-15 connector, which you must connect to your encoder as shown below. See back page for mating connector information.

If your encoder is single ended, connect the encoder outputs to the A+, B+ and Z+ inputs. Leave A-, B- and Z- unconnected. (Z is the encoder index signal and is

optional.)

Pin Assignments (facing drive)

A+

A–

B+ B–

lead

motor

8 Leads Series Connected 8 Leads Parallel Connected

A+

A–

B+

B–

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

encoder Z+ (5)

do not connect (10)

encoder B- (4)

do not connect (9)

encoder B+ (3)

do not connect (13)

do not connect (14)

shield (15)

(12) do not connect

(11) do not connect

(6) encoder Z-

(1) encoder A+

(7) +5VDC 200mA

(2) encoder A-

(8) GND

Front View

Internal Circuit

inside drive

A-

A+

GND

+5V

HD-15 Connector

B-

B+

Z-

Z+

12.5K

8.3K

12.5K

8.3K

12.5K

8.3K

Page 23

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

Interfacing to a Motion Controller

In some applications, servo control is provided by a motion controller and the drive simply obeys a velocity

or torque command. The industry standard for this command signal is ±10V. In most cases, the encoder

signals from the motor must feed back to the controller. The SV7-S-AF servo drive includes a special Motion Controller Feedback board to accomodate such applications.

To connect an SV7-S-AF to a motion controller, you must make a cable to connect the motion controller to the DB9 connector on the motion controller feedback board. Diagrams are shown below. Providing the motion controller with access to the analog command, servo enable, alarm reset, and fault output signals requires an additional cable to the SV7’s DB25 connector. See the diagram below for pin numbers. Note: this diagram assumes that FAULT IN of the motion controller can accept a sinking signal.

You’ll also need to use our

QuickTuner™

software to set the drive for torque or velocity mode, to set the

scaling and offset of the analog input, and to conﬁgure the motor.

Encoder Outputs

If you are using the SV servo in torque or velocity mode with a servo controller, you may need to feed the encoder signals back to the controller. The DB-9 connector on the motion controller feedback option board includes encoder output signals for this purpose.

Front View of Motion Controller Feedback

(MCF) connector

encoder A+ OUT (1)

encoder A- OUT (2)

encoder B+ OUT (3)

(5) encoder Z+ OUT

(4) encoder B- OUT

GND (7)

encoder Z- OUT (6)

(8) Not Connected

(9) Not Connected

Connecting a Motion Controller with Analog (±10V) Output

SV Servo Drive

Signal+

ANALOG+

DB-25 CONNECTOR DB-9 CONNECTOR

Connect cable shield to connector shell

Signal- GND

A+

A+ OUT

A- A- OUT

B+ B+ OUT

B- B- OUT

Z+ Z+ OUT

Z- Z- OUT

GND GND

Motion

Controller

RST OUT

X4/RESET

EN OUT X3/ENABLE

12-24VDC

XCOM

COM

YCOM

FAULT IN

Y3/FAULT

Page 24

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Connecting Input Signals

The ST drives have three types of inputs:

• high speed digital inputs for step & direction commands or encoder following, 5 volt logic

• digital inputs for other signals, 12 - 24 volt logic

• analog inputs for analog speed and positioning modes

All drives include eight digital inputs and two analog inputs.

• CW & CCW Limit: can be used to inhibit motion in a given direction, forcing the motor and load to travel

within mechanical limits. Can be conﬁgured for active closed, active open or not used.

• IN1/STEP & IN2/DIR: digital signals for commanding position. Quadrature signals from encoders can

also be used. These inputs can also be connected to sensors, switches and other devices for use with Q and Si™ commands such as Wait Input, Seek Home, Feed to Sensor, If Input and others.

• IN3,4,5,6: software programmable inputs can be used for motor enable, alarm reset or jogging. These in-

puts can also be connected to sensors, switches and other devices for use with Q and Si™ Wait Input, Seek

Home, Feed to Sensor, If Input and other commands.

• Analog In: analog velocity or position command signal. Can be congured for 0-10V, 0-5V, ±10V or ±5V,

with or without offset.

Connector Pin Diagram

IN/OUT1 (DB-25) Connector

Front View

X COMMON

X3 / Enable

X5 / CWJOG

X4 / Alarm Reset

Analog IN2

Analog IN1

X2 / DIR-

X2 / DIR+

X1 / STEP +

X1 / STEP -

GND

+5V OUT

Y COMMON

Y3 / FAULT

Y2 / MOTION

Y1 / BRAKE

2 3

20 21 22 23 24 25

X6 / CCWJOG

IN/OUT

X8/CCWLIMIT+ X8/CCWLIMIT-

X7/CWLIMIT-

X7/CWLIMIT+

Y4-

Y4+

Page 25

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

Connecting to Indexer with Differential Outputs

(Many High Speed Indexers have Differential Outputs)

Connecting to indexer with Sourcing Outputs

Connecting to Indexer with Sinking Outputs

High Speed Digital Inputs

The ST Series drives include two high speed inputs called STEP and DIR. They accept 5 volt single-ended or differential signals, up to 2 MHz. Normally these inputs connect to an external controller that provides step & direction command signals. You can also connect a master encoder to the high speed inputs for following applications. Or you can use these inputs with Wait Input, If Input, Feed to Sensor, Seek Home and other such commands.

Connection diagrams follow.

IN/OUT 1

COM

X2/DIR-

DIR X2/DIR+

X1/STEP-

STEP X1/STEP+

Indexer

with

Sourcing

Outputs

IN/OUT 1

+5V OUT

X2/DIR+

DIR X2/DIR-

X1/STEP+

STEP X1/STEP-

Indexer

with Sinking Outputs

IN/OUT 1

DIR+

X2/DIR+

DIR- X2/DIR-

X1/STEP+

STEP-

STEP+

X1/STEP-

Indexer

with

Differential

Outputs

Page 26

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Connecting to PLC with Sourcing (PNP) Outputs

(Most PLC’s use 24 volt logic)

DRIVE

+12-24V

GND

X2/DIR-

OUT1 X2/DIR+

X1/STEP-

OUT2 X1/STEP+

PLC

with

Sourcing

Outputs

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.

-Si or -Q

drive

Master

Encoder

GND

X2/DIR-

X2/DIR+

X1/STEP-

X1/STEP+

GND

B-

B+

A-

A+

Page 27

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

Connecting to PLC with Sinking (NPN) Outputs

(Most PLC’s use 24 volt logic)

Using Mechanical Switches at 24 Volts

DRIVE

+12-24V

X2/DIR+

DIR X2/DIR-

X1/STEP+

STEP X1/STEP-

PLC

with

Sinking

Outputs

DRIVE

X2/DIR+

X2/DIR-

X1/STEP+

- X1/STEP-

+24VDC

Power

Supply

2200

direction switch

run/stop switch

(closed=run)

Page 28

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Other Digital Inputs

As we mentioned in the previous section, the high speed STEP and DIR inputs are conﬁgured for ﬁve volt logic. All other digital inputs are designed for operation between 12 and 24 volts DC.

Single Ended Inputs

The ST drives include four single ended, optically isolated input circuits that can be used with sourcing or sinking signals, 12 to 24 volts. This allows connection to PLCs, sensors, relays and mechanical switches. Because the input circuits are isolated, they require a source of power. If you are connecting to a PLC, you should be able to get power from the PLC power supply. If you are using relays or mechanical switches, you will need a 1224 V power supply. This also applies if you are connecting the inputs to the programmable outputs of an Si product from Applied Motion.

What is COM?

“Common” is an electronics term for an electrical connection to a common voltage. Sometimes “common” means the same thing as “ground”, but not always. In the case of the ST drives, if you are using sourcing (PNP) input signals, then you will want to connect COM to ground (power sup-

ply -). If you are using sinking (NPN) signals, then COM must connect to power supply +.

Note: If current is ﬂowing into or out of an input, the logic state of that input is low or closed. If no current is ﬂowing, or the input is not connected, the logic state is high or open.

The diagrams on the following pages show how to connect the inputs to various commonly used devices.

2200

inside drive

XCOM

X3/EN

X4/RST

X8/CCWLIM-

X8/CCWLIM+

2200

X7/CWLIM-

X7/CWLIM+

DB-25 Connector

Page 29

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

Connecting another Si™ drive to the ST

(When output closes, input goes low).

Connecting an NPN Type Proximity Sensor to an input

(When prox sensor activates, input goes low).

IN/OUT1

X3..X6

XCOM

DRIVE

OUT+

OUT–

12-24

VDC

Power

Supply

DRIVE

NPN

Proximity

Sensor

X3..X6

XCOM

output

–

12-24

VDC

Power

Supply

Connecting an Input to a Switch or Relay

DRIVE

switch or relay

(closed=logic low)

X3..X6

XCOM

12-24

VDC

Power

Supply

Page 30

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Connecting a PNP Type Proximity Sensor to a an input

(When prox sensor activates, input goes low).

DRIVE

PNP

Proximity

Sensor

X3..X6

output

–

XCOM

12-24

VDC

Power

Supply

Connecting Limit Switches

The CWLIMIT and CCWLIMIT inputs are used for connecting end of travel sensors. These inputs are differential, which allows you to use signals that are sinking (NPN), sourcing (PNP) or differential (line driver). By connecting switches or sensors that are triggered by the motion of the motor or load, you can force the motor to operate within certain limits. This is useful if a program or operator error could cause damage to your system by traveling too far.

The limit inputs are optically isolated. This allows you to choose a voltage for your limit circuits of 12 to 24 volts DC. This also allows you to have long wires on limit sensors that may be far from the drive with less risk of introducing noise to the drive electronics. The schematic diagram of the limit switch input circuit is shown below.

inside drive

2200

X8/CCWLIM-

X8/CCWLIM+

2200

X7/CWLIM-

X7/CWLIM+

Page 31

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

Wiring a Mechanical Limit Switch

You can use normally open or normally closed limit switches. Either way, wire them as shown here. Be sure to set the polarity using the Si Programmer™ for Si™ drives or the ST Conﬁgurator™

software for the ST5-Q, ST10-Q, ST5-C and ST10-C.

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” (in the software). If the output is open, or high voltage, choose “open”.

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:

DRIVE

Power

Supply

–

Limit

Sensor

output

–

CW LIMIT+

CW LIMIT-

DRIVE

Power

Supply

–

Proximity

Sensor

output

–

CW LIMIT+

CW LIMIT-

DRIVE

12-24

VDC

SUPPLY

CW LIMIT+

CW LIMIT-

CCW LIMIT+

CCW LIMIT-

Page 32

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Connecting a Potentiometer to Analog Input 1

Analog Inputs

The ST drives feature two analog inputs. Each input can accept

a signal range of 0 to 5 VDC, ±5 VDC, 0 to 10 VDC or ±10 VDC.

The drive can be conﬁgured to operate at a speed or position that is proportional to the analog signal.

A shielded cable is recommended for electrically noisy environments.

Use the ST Conﬁgurator software to set the signal range, offset, deadband and ﬁlter frequency.

inside drive

AIN1

AIN2

GND

DB-25 Connector

Signal

Conditioning

Signal

Conditioning

1-10kW

pot

ccw

DRIVE

GND

AIN

+5V OUT

AIN2

Page 33

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

Programmable Outputs

The ST drives feature four digital outputs. These outputs can be set to automically control a motor brake, to signal a fault condition, to indicate when the motor is moving or to provide an output frequency proportional to motor speed (tach signal). Or the outputs can be turned on and off by program instructions like Set Output.

The outputs can be used to drive LEDs, relays and the inputs of other electronic devices like PLCs and counters. For Y4, the

“+” (collector) and “-” (emitter) terminals of each transistor are

available at the connector. This allows you to conﬁgure this output for current sourcing or sinking. The Y1-3 outputs can only sink current. The Y COM terminal must be tied to power supply (-).

Diagrams of each type of connection follow.

Do not connect the outputs to more than 30VDC. The current through each output terminal must not exceed 100 mA.

IN/OUT1

YCOM

Y1/2/3

5-24 VDC

Power Supply

+ –

Load

IN/OUT1

YCOM

Y4+

Y4-

Sinking Output

Using Y4

IN/OUT1

Y4-

Y4+

5-24 VDC

Power Supply

+ –

Load

Sinking Output

Using Y1, Y2, Y3

Page 34

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Driving a Relay

Y1, Y2 or Y3

Sourcing Output

Y1, Y2 or Y3

IN/OUT1

YCOM

Y1/2/3

1N4935 suppression diode

5-24 VDC

Power Supply

+ –

relay

PLC

IN/OUT1

5-24 VDC

Power Supply

+ –

YCOM

Y1/2/3

COM

PLC

IN/OUT1

5-24 VDC

Power Supply

+ –

Y4-

Y4+

COM

Sourcing Output Using Y4

Driving a Relay

Using Y4

IN/OUT1

Y4-

Y4+

1N4935 suppression diode

5-24 VDC

Power Supply

+ –

relay

Page 35

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

drive’s maximum input voltage speciﬁcation.

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 ampliﬁers, 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.

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 efﬁciently and silently, you’ll want to have a power supply with a voltage rating at least ﬁve 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

Page 36

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Holding Drive Rotor Part Torque Current Setting Resistance Inductance Inertia Number oz-in kg-cm amps ohms mH g-cm2

HT11-012 7.0 0.50 1.2 1.4 1.4 8 HT11-013 15.0 1.08 1.2 2.0 2.6 18 5014-842 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 HT24-100 HT24-105 HT24-108 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 HT34-505 HT34-506

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.

Recommended Motors

Page 37

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

HT17

24 VDC power supply, 20000 steps/rev, all motors connected in parallel

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)

Torque-Speed Curves

Note: all torque curves were measured at 20,000 steps/rev.

HT11-012, HT11-013, 5014-842

24 VDC power supply, 20000 steps/rev

0 5 10 15 20 25 30 35 40

oz-in

rev/sec

5014-842 (1.2 A/phase)

HT11-013 (1.2 A/phase)

HT11-012 (1.2 A/phase)

Page 38

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

HT23

24 VDC power supply, 20000 steps/rev, all motors connected in parallel

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)

HT17

48 VDC power supply, 20000 steps/rev, all motors connected in parallel

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)

Page 39

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

HT24

24 VDC power supply, 20000 steps/rev

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)

HT23

48 VDC power supply, 20000 steps/rev, all motors connected in parallel

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)

Page 40

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

HT24

48 VDC power supply, 20000 steps/rev

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

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)

Page 41

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

HT34-485/486/487 with ST10

48 VDC power supply, 20000 steps/rev, all motors connected in parallel

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

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)

Page 42

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

HT34-504/505/506 with ST10

24 VDC power supply, 20000 steps/rev, all motors connected in parallel

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

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)

Page 43

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

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% 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 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.

HT34-504/505/506 with ST10

60 VDC power supply, 20000 steps/rev, all motors connected in parallel

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)

Page 44

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

5014-842 Max Duty Cycle vs Speed

24 VDC, 1.2A, 40°C Ambient

Mounted on 4.75" x 4.75" x .25" Aluminum Plate

100

0 10 20 30 40 50

Spee d (RPS)

% Duty Cycle

HT11-012 Max Duty Cycle vs Speed

24 VDC, 1.2A, 40°C Ambient

Mounted on 3.5" dia x .125" Aluminum Plate

100

0 10 20 30 40 50

Spee d (RPS)

% Duty Cycle

HT11-013 Max Duty Cycle vs Speed

24 VDC, 1.2A, 40°C Ambient

Mounted on 3.5" dia x .125" Aluminum Plate

100

0 10 20 30 40 50

Spee d (RPS)

% Duty Cycle

Page 45

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

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

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

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

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

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

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

100

0 10 20 30 40 50

Spee d (RPS)

% Duty Cycle

Page 46

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

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

100

0 10 20 30 40 50

Spee d (RPS)

% Duty Cycle

HT23-398 Max Duty cycle vs Speed

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

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

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

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

100

0 10 20 30 40 50

Spee d (RPS)

% Duty Cycle

Page 47

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

HT34-487 Max Duty Cycle vs Speed

48 VDC, 10.0 Amps 40°C Ambient

on 10 x 10 x .5 Aluminum Plate

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

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

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

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

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

100

0 10 20 30 40 50

Spee d (RPS)

% Duty Cycle

Page 48

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Mechanical Outline

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.

• 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 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 ﬂow around the drive. When mouting multiple ST drives near each other, maintain at least one half inch of space between drives.

3.0

1.775

5.0

6X SLOT 0.16 WIDE, FULL R

0.663

1.98

0.61

4.74

Page 49

ST5/10-Si,-Q,-C, IP Hardware manual

920-0004 Rev. D

12/20/12

Ampliﬁer

Digital MOSFET. 20 kHz PWM.

ST5: 18 - 53 VDC, motor current: 0.5 to 5.0 amps/phase peak of sine ST10: 18 - 88 VDC, motor current: 0.5 to 10 amps/phase peak of sine

Digital Inputs

Step & Direction: differential, optically isolated, 5V logic. 330 ohms internal resistance.

0.5 µsec minimum pulse width. 2 µsec minimum set up time for direction signal. All other digital inputs: optically isolated, 12 - 24V logic. 2200 ohms. Maximum current: 10 mA.

Analog Inputs

±10VDC, 12 bit ADC, 100k ohms internal impedance.

Outputs

Photodarlington, 100 mA, 30 VDC max. Voltage drop: 1.2V max at 100 mA.

+5V Out

Pin 18 of IN/OUT1 connector: 5 VDC output for powering external potentiometers or other low-power

circuits. 100 mA maximum.

Physical

1.775 x 3 x 5 inches overall. 10 oz (280 g) Ambient temperature range: 0°C to 40°C.

Technical Speciﬁcations

Page 50

ST5/10-Si,-Q,-C, -IP Hardware manual

920-0004 Rev. D 12/20/12

Mating Connectors and Accessories

Mating Connectors

Motor/power supply: PCD P/N ELV06100, included with drive. IN/OUT1: DB-25 male. AMP P/N 5-747912-2. Shell Kit AMP P/N 5-748678-3. Included. Optional encoder feedback: HD-15 male. Norcomp P/N 180-015-102-001. Shell Kit AMP P/N 5-748678-

1. Not included.

Accessories

Breakout Box for DB-25 Connector BOB-1, includes cable

Screw Terminal Connectors that mate directly to the DB-25 connector on the front panel of the drive:

Phoenix Contact P/N 2761622

This connector is not available from Applied Motion. You must purchase it from a Phoenix distributor.

Mating Cable for IN/OUT connector with “ying leads” Black Box P/N: BC00702

This cable is not available from Applied Motion. You must purchase it from Black Box.

Useful for custom wired applications. This shielded cable has a DB-25 connector on each

end. You can cut off the female end to create a 6 foot “DB-25 to ying lead cable”.

It’ll be easier to wire if you get the cable color chart from Black Box’s web site.

Regeneration Clamp: Applied Motion Products RC050.

Power supplies: Applied Motion Products PS320A48 (48 VDC, 6.7A) Applied Motion Products PS150A24 (24 VDC, 6.3A) Applied Motion Products PS50A24 (24 VDC, 2.1A)

Operator Terminal (-Si drives only) Applied Motion Products MMI-01 or MMI-02 (backlit).

Recommended CANopen USB Adapter (-C drives only) Kvaser LeafLight HS This adapter is not available from Applied Motion Products

Page 51

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.

Applied Motion Products, Inc.

404 Westridge Drive Watsonville, CA 95076

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

www.appliedmotionproducts.com

Front View

X COMMON

X3 / Enable

X5 / CWJOG

X4 / Alarm Reset

Analog IN2

Analog IN1

X2 / DIR-

X2 / DIR+

X1 / STEP +

X1 / STEP -

GND

+5V OUT

Y COMMON

Y3 / FAULT

Y2 / MOTION

Y1 / BRAKE

2 3

20 21 22 23 24 25

X6 / CCWJOG

IN/OUT

X8/CCWLIMIT+ X8/CCWLIMIT-

X7/CWLIMIT-

X7/CWLIMIT+

Y4-

Y4+

RX+

–

TX+

GND

RS-485/422

DB-25 I/O Connector

Connector Diagrams

encoder Z+ (5)

do not connect (10)

encoder B- (4)

do not connect (9)

encoder B+ (3)

do not connect (13)

do not connect (14)

shield (15)

(12) do not connect

(11) do not connect

(6) encoder Z-

(1) encoder A+

(7) +5VDC 200mA

(2) encoder A-

(8) GND

Front View

Code Error

solid green no alarm, motor disabled flashing green no alarm, motor enabled 1 red, 1 green motor stall (optional encoder only) 1 red, 2 green move attempted while drive disabled 1 red, 3 green subroutine stack overflow (Si only) 2 red, 1 green ccw limit 2 red, 2 green cw limit 2 red, 3 green subroutine stack underflow (Si only) 3 red, 1 green drive overheating 3 red, 2 green internal voltage out of range 3 red, 3 green blank Q segment 4 red, 1 green power supply overvoltage 4 red, 2 green power supply undervoltage 4 red, 3 green bad instruction in Si program 5 red, 1 green over current / short circuit 5 red, 2 green motor resistance out of range 6 red, 1 green open motor winding 6 red, 2 green bad encoder signal (optional encoder only) 7 red, 1 green serial communication error 7 red, 2 green flash memory error 8 red, 1 green internal voltage out of range

HD-15 Encoder Connector

GND

CAN_L

SHLD

CAN_H

CANopen

920-0004 Rev. D 12/20/12