Applied Motion Products STR4 Hardware Manual Download Page 1

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Hardware Manual

STR4 & STR8

Step Motor Drives

920-0030E

2/3/2010

Re-Order from

omegamation.com

Omegamation

1-888-55-OMEGA

1-888-55-66342

Summary of Contents for STR4

Page 1: ...Hardware Manual STR4 STR8 Step Motor Drives 920 0030E 2 3 2010 Re Order from omegamation com OmegamationTM 1 888 55 OMEGA 1 888 55 66342 1 888 55 66342 ...

Page 2: ...ternal Circuit Diagram 12 Connection Examples EN 13 FAULT Output 15 Configuring the Drive 16 Step 1 Selecting a Motor 16 STR4 Motor Table 16 STR8 Motor Table 17 Step 2 Setting the Current 17 Step 3 Setting 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 2...

Page 3: ...lectable Enable input Fault output Optically isolated I O Digital filters prevent position error from electrical noise on command signals Jumper selectable 150 kHz or 2 MHz Rotary switch easily selects from many popular motors Electronic damping and anti resonance Automatic idle current reduction to reduce heat when motor is not moving Switch selectable 50 or 90 of running current Switch selectabl...

Page 4: ... power supply Status LEDs Motor Selection Current Idle Current Steps Rev Load Inertia Self Test STEP DIR OUT1 Overcurrent Sensors motor 3 3 5 15V Regulators Optical Isolation Optical Isolation Software Filter Digital Filter Optical Isolation EN DSP Voltage Sensors 4 3 2 1 0 F E DCB A 9 8 7 6 5 1 2 3 4 5 6 7 8 ...

Page 5: ...wing a 24 to 48 volt DC power supply 75V max for STR8 Please read the section Choosing a Power Supply for help in choosing the right power supply one of the motors listed on the drive label see section Configuring the Drive a small flat blade screwdriver for tightening the connectors a source of step signals such as a PLC or motion controller The connectors and other points of interest are illustr...

Page 6: ...around the drive When mounting multiple drives near each other maintain at least one half inch of space between drives Connecting the Power Supply If you need information about choosing a power supply please read the section Choosing a Power Supply Connect the power supply terminal to the connector terminal labeled V Connect power supply to the connector terminal labeled V The green ground screw o...

Page 7: ...ad is transferred back to the power supply This can trip the overvoltage protection of a switching power supply causing it to shut down We offer the RC 050 regeneration clamp to solve this problem If in doubt buy an RC 050 for your first installation If the regen LED on the RC 050 never flashes you don t need the clamp RC 050 Regen Clamp Power Supply and Ground Connections Locate fuse in line with...

Page 8: ...ld ever need is two times the motor current However you will generally need a lot less than that depending on the motor type voltage speed and load conditions That s because the STR uses a switching amplifier converting a high voltage and low current into lower voltage and higher current The more the power supply voltage ex ceeds the motor voltage the less current you ll need from the power supply...

Page 9: ...h have four leads Motor Current A Max Power Supply Current A Switch Motor 24VDC 48VDC 0 reserved for custom motors 1 2 3 HT17 068 268 1 6 parallel 1 1 1 1 4 HT17 071 271 2 0 parallel 1 1 1 1 5 HT17 075 275 2 0 parallel 1 1 1 1 6 HT23 394 594 3 4 parallel 1 9 2 0 7 HT23 398 598 4 5 parallel 3 2 3 3 8 HT23 401 601 4 5 parallel 3 2 3 4 9 HT24 100 3 36 2 6 2 3 A HT24 105 4 5 5 2 3 2 B HT24 108 4 5 4 3...

Page 10: ...Supply Current All motors connected in parallel except HT24 which have four leads Regeneration If you plan to use a regulated power supply you may encounter a problem with regeneration If you rapidly decelerate a load from a high speed much of the kinetic energy of that load is transferred back to the power supply This can trip the overvoltage protection of a switching power supply causing it to s...

Page 11: ...CTOR A A B B 4 lead motor Red Blue Yellow White 4 Leads Chassis Ground Screw A A B B 8 lead motor 8 Leads Series Connected 8 Leads Parallel Connected A A B B 8 lead motor Orange Org Wht Blk Wht Black Red Red Wht Yel Wht Yellow Orange Org Wht Blk Wht Black Red Red Wht Yel Wht Yel low Eight Lead Motor These motors can be connected in series or parallel A series connected motor needs less cur rent th...

Page 12: ...nput for commanding the removal of power from the motor Note STEP and DIR inputs can be converted to STEP CW and STEP CCW by moving the inter nal jumper S3 See Page 5 Connector Pin Diagram Internal Circuit Diagram STEP STEP DIR EN EN FAULT FAULT DIR inside drive 220 pF STEP STEP 220 pF DIR DIR 220 pF EN EN FAULT FAULT Connection Examples STEP DIR Connecting to indexer with Sourcing Outputs STR COM...

Page 13: ...rential Outputs Connecting to Indexer with Sinking Outputs STR V OUT DIR DIR DIR STEP STEP STEP Indexer with Sinking Outputs STR DIR DIR DIR DIR STEP STEP STEP STEP Indexer with Differential Outputs Connecting an Input to a Switch or Relay STR switch or relay closed logic low EN EN 5 24 VDC Power Supply Connection Examples EN ...

Page 14: ... Proximity Sensor to an input When prox sensor activates input closes STR EN EN Si drive OUT OUT 5 24 VDC Power Supply STR NPN Proximity Sensor EN EN output 5 24 VDC Power Supply Connecting a PNP Type Proximity Sensor to an input When prox sensor activates input closes STR PNP Proximity Sensor EN output EN 5 24 VDC Power Supply ...

Page 15: ...he output transistor are available at the connector This allows you to configure the output for current sourcing or sinking Diagrams of each type of connection follow Do not connect the output to more than 30VDC The current through the output terminal must not exceed 80 mA Sinking Output STR 5 24 VDC Power Supply Load FAULT FAULT STR 5 24 VDC Power Supply Load FAULT FAULT Sourcing Output Driving a...

Page 16: ...tion whose rotor inertia holding torque and current are within 10 of your motor Custom configurations can be added for qualifying applications STR4 Motor Table Current Holding Torque Rotor Inertia Switch Motor Wiring A oz in g cm2 0 reserved for custom configurations 1 2 3 HT17 068 268 parallel 1 6 31 4 35 4 HT17 071 271 parallel 2 51 54 5 HT17 075 275 parallel 2 62 8 68 6 HT23 394 594 parallel 3 ...

Page 17: ...rent you ll get 90 of the rated torque But the motor will produce approximately 81 as much heat At 70 current the torque is reduced to 70 and the heating to about 50 Two of the small switches on the front of the STR drive are used to set the percent of rated STR8 Motor Table Max Current Holding Torque Rotor Inertia Switch Motor Wiring A oz in g cm2 0 reserved for custom configurations 1 2 3 4 HT23...

Page 18: ...he STR will automatically lower the motor current when it is idle to either 50 or 90 of the running current The 50 idle current setting will lower the holding torque to 50 which is enough to prevent the load from moving in most applications This reduces motor heating by 75 In some applications such as those supporting a vertical load it is necessary to provide a high holding torque In such cases t...

Page 19: ...r Applications department Step 5 Step Size The STR requires a source of step pulses to command motion This may be a PLC an indexer a motion controller or another type of device The only requirement is that the device be able to produce step pulses whose frequency is in proportion to the desired motor speed and be able to smoothly ramp the step speed up and down to produce smooth motor acceleration...

Page 20: ...othing that can provide smooth motion from coarse command signals If you select 200 SMOOTH or 400 SMOOTH this feature is automatically employed to provide the smoothest possible motion from a less than ideal signal source Because a command filter is used as part of the step smoothing process there will be a slight delay or lag in the motion If this delay is objectionable for your application pleas...

Page 21: ...p and Direc tion format The Step signal pulses once for each motor step and the direction signal commands direction However a few PLCs use a different type of command signal one signal pulses once for each desired step in the clockwise direction called STEP CW while a second signal pulses for counterclockwise motion STEP CCW The STR drives can accept this type of signal if you remove the drive ...

Page 22: ...drives include a digital noise filter on the STEP and DIR inputs The default factory setting of this filter is150 kHz which works well for most applications However as discussed in Step 5 if you are operating the STR at a high number of steps rev and at high motor speeds you will be commanding the drive at step rates above 150 kHz In such cases you should remove the cover and move jumper S4 from t...

Page 23: ...d forth two turns in each direction This feature can be used to confirm that the motor is correctly wired selected and otherwise operational 8 ON 8 OFF SELF TEST HT17 Outline Drawing L MOTOR LENGTH L HT17 068 33 1 mm HT17 071 39 1 mm HT17 075 47 1 mm HT17 268 33 3 mm MAX HT17 271 39 8 mm MAX HT17 275 48 3 mm MAX ADD D TO END OF PART NUMBER TO ADD REAR SHAFT AND ENCODER HOLES ...

Page 24: ... Drawing L MOTOR LENGTH L HT23 394 594 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 HT24 Outline Drawing L MOTOR LENGTH L HT24 100 44 1 mm HT24 105 54 1 mm HT24 108 85 1 mm 8 0 8 0 ...

Page 25: ... 920 0030E 2 3 2010 HT34 485 486 487 Outline Drawing L MOTOR LENGTH L HT34 485 79 mm HT34 486 117 5 mm HT34 487 156 mm HT34 504 505 506 Outline Drawing L MOTOR LENGTH L HT34 504 66 5 1 mm HT34 505 96 1 mm HT34 506 125 5 1 mm ...

Page 26: ... 0 5 10 15 20 25 30 35 40 oz in rps HT17 with STR4 Connection Parallel 24v Power Supply 20 000 steps rev HT17 068 HT17 071 HT17 075 0 10 20 30 40 50 60 0 5 10 15 20 25 30 35 40 oz in rps HT17 with STR4 Connection Parallel 48v Power Supply 20 000 steps rev HT17 068 HT17 071 HT17 075 ...

Page 27: ... 20 25 30 35 40 oz in rps HT23 with STR4 Connection Parallel 24v Power Supply 20 000 steps rev HT23 394 HT23 398 HT23 401 0 50 100 150 200 250 0 5 10 15 20 25 30 35 40 oz in rps HT23 with STR4 Connection Parallel 48v Power Supply 20 000 steps rev HT23 394 HT23 398 HT23 401 ...

Page 28: ... 20 25 30 35 40 oz in rps HT24 with STR8 Connection Parallel 24v Power Supply 20 000 steps rev HT24 100 HT24 105 HT24 108 0 50 100 150 200 250 300 350 0 5 10 15 20 25 30 35 40 oz in rps HT24 with STR8 Connection Parallel 48v Power Supply 20 000 steps rev HT24 101 HT24 105 HT24 108 ...

Page 29: ... 30 35 40 oz in rps HT34 with STR4 Connection Series Power Supply 48V 20 000 steps rev HT34 504 HT34 505 HT34 485 HT34 486 0 100 200 300 400 500 600 700 800 900 1000 0 5 10 15 20 25 30 35 40 oz in rps HT34 with STR8 Connection Parallel Power Supply 24V 20 000 steps rev HT34 504 HT34 505 HT34 506 ...

Page 30: ... 20 25 30 35 40 oz in rps HT34 with STR8 Connection Parallel Power Supply 48V 20 000 steps rev HT34 504 HT34 505 HT34 506 0 100 200 300 400 500 600 700 800 900 1000 0 5 10 15 20 25 30 35 40 oz in rps HT34 with STR8 Connection Parallel Power Supply 60V 20 000 steps rev HT34 504 HT34 505 HT34 506 ...

Page 31: ... 20 25 30 35 40 oz in rps HT34 with STR8 Connection Parallel Power Supply 24V 20 000 steps rev HT34 485 HT34 486 HT34 487 0 200 400 600 800 1000 1200 0 5 10 15 20 25 30 35 40 oz in rps HT34 with STR8 Connection Parallel Power Supply 48V 20 000 steps rev HT34 485 HT34 486 HT34 487 ...

Page 32: ...tain 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 ma...

Page 33: ... Amps Ambient of 40 on 4 75 x 4 75 x 25 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT17 071 Max Duty Cycle vs Speed 24 VDC 2 0 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT17 071 Max Duty Cycle vs Speed 48 VDC 2 0 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate 0 20 40 60 0 5 10 1...

Page 34: ... cycle vs Speed 48VDC 5 0 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 0 20 40 0 5 10 15 20 25 30 35 40 Duty Cyc Speed RPS 80 100 e HT23 401 Max Duty Cycle vs Speed 24 VDC 5 0 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT23 401 Max Duty Cycle vs Speed 48 VDC 5 0 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 0 20 4...

Page 35: ...d 24VDC 4 8A 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT24 108 Max Duty Cycle vs Speed 48VDC 4 8A 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT34 504 Max Duty Cycle vs Speed 24VDC 4 5A series 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 5 10 15 20 2...

Page 36: ...d 24VDC 4 5A series 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT34 485 Max Duty Cycle vs Speed 48VDC 4 5A series 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT34 486 Max Duty Cycle vs Speed 24VDC 4 5A series 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 ...

Page 37: ...60VDC 7 56Aparallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT34 505 Max Duty Cycle vs Speed 24VDC 7 56Aparallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT34 505 Max Duty Cycle vs Speed 48VDC 7 56Aparallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40...

Page 38: ...peed 60VDC 6 72Aparallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT34 485 Max Duty Cycle vs Speed 24VDC 8Aparallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT34 485 Max Duty Cycle vs Speed 48VDC 8Aparallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 ...

Page 39: ...ed 60VDC 8Aparallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT34 487 Max Duty Cycle vs Speed 24VDC 8Aparallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 5 10 15 20 25 30 35 40 Duty Cycle Speed RPS 80 100 e HT34 487 Max Duty Cycle vs Speed 48VDC 8Aparallel 40 C Ambient on a 10 x 10 x 5 Aluminum Plate 0 20 40 60 0 ...

Page 40: ...ollowing infor mation is provided drive power dissipation P 1 d versus motor current and power supply voltage see chart drive thermal constant R 2 Q The final drive case temperature is given by Tc Ta RQ Pd where Ta is the ambient temperature of the surrounding air The case of the drive should not be allowed to exceed 70 C or the life of the product could be reduced Drive thermal constant Narrow si...

Page 41: ...2 3 2010 Mechanical Outline 1 2 3 4 5 6 7 8 4 3 2 10F E D C B A 9 8 7 6 5 2 97 75 5 mm 4 65 118 mm 125 3 2 mm 1 30 33 mm 2X SLOT 0 17 4 3 mm WIDE FULL R 0 887 22 5 mm 0 996 25 3 mm 0 35 8 9 mm 0 89 22 5 mm 4X DIA 137 3 5 mm 4 42 112 mm ...

Page 42: ...cally isolated 5 24V logic Sourcing sinking or differential signals can be used Drive steps on falling edge of STEP input Minimum on voltage 4 VDC Maximum voltage 30 VDC Input current 5 mA typ at 4V 15 mA typ at 30V Maximum pulse frequency 150 kHz or 2 MHz set by internal jumper Minimum pulse width 3 usec at 150 kHz setting 0 25 usec at 2 MHz setting Photodarlington 80 mA 30 VDC max Voltage drop 1...

Page 43: ...nectors and Accessories Mating Connectors Motor power supply PCD P N ELV06100 Phoenix Contact 1757051 included with drive Signals PCD P N ELVH08100 Phoenix Contact 1803633 included with drive Accessories Regeneration Clamp Applied Motion Products RC 050 ...

Page 44: ...ctor Signal Connector Connector Diagrams Code Error solid green no alarm motor disabled flashing green no alarm motor enabled flashing red configuration or memory error 1 green 4 red power supply voltage too high 1 green 5 red over current short circuit 1 green 6 red open motor winding 2 green 3 red internal voltage out of range 2 green 4 red power supply voltage too low V V A B B A STEP STEP DIR ...

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