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

920-0004 Rev. F

6/10/14

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 Mo-

tion 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

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

Motion

Controller

RST OUT

X4/RESET

EN OUT

X3/ENABLE

12-24VDC

XCOM

COM

YCOM

FAULT IN

Y3/FAULT

Содержание ST10-C

Страница 1: ... ST5 Q ST10 Q ST5 Si ST10 Si ST5 C ST10 C ST5 IP ST10 IP ST5 Q NF ST10 Q NF ST5 Si NF ST10 Si NF 920 0004 Rev F 6 10 14 ST ...

Страница 2: ...r 19 Converting USB to RS 485 19 Connecting the Power Supply 21 Connecting the Motor 22 Connecting an Encoder Requires the optional Encoder Feedback Card 23 Interfacing to a Motion Controller 24 Encoder Outputs 24 Connecting Input Signals 25 Connector Pin Diagram 25 High Speed Digital Inputs 26 Connecting a Potentiometer to Analog Input 1 33 Programmable Outputs 34 Sinking Output 34 Using Y1 Y2 Y3...

Страница 3: ... 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 us...

Страница 4: ...IN2 ANALOG IN1 DSP Optical Isolation Si Chip RS 232 Option Card 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 Log...

Страница 5: ... 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 ...

Страница 6: ...r 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 Programm...

Страница 7: ...5 V O U T Y C O M M O N Y 3 F A U L T Y 2 M O T IO N Y 1 B R A K E X 8 C C W L IM IT X 8 C C W L IM IT X 7 C W L IM IT X 7 C W L IM IT Y 4 Y 4 2 5 2 4 2 3 2 2 2 1 2 0 1 9 1 8 1 7 1 6 1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 X C O M M O N X 3 E N A B L E X 5 C W J O G X 4 A L A R M R E S E T A N A L O G IN 2 A N A L O G IN 1 X 2 D IR X 2 D IR X 1 S T E P X 1 S T E P G N D X 6 C C W J O G S e r i a...

Страница 8: ...e 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 ...

Страница 9: ...ific based USB serial adapters do not work with Windows Vista 64 or Windows 7 64 bit operating systems For these operating systems you will need the Byterunner USB COMi M or a Byterunner USB COM CBL The switch settings for the Byterunner USB COMi M are shown below ...

Страница 10: ... 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 Accesso ries 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 an...

Страница 11: ...matically 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 a...

Страница 12: ...P 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...

Страница 13: ...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 netw...

Страница 14: ... 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...

Страница 15: ...the drive You don t need a special crossover cable the drive will automatically detect the direct connec tion 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...

Страница 16: ...wing 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 c...

Страница 17: ...aces 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...

Страница 18: ...ality 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 p...

Страница 19: ...erting 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 indivi...

Страница 20: ...ugh 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 sw...

Страница 21: ...y 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 lo...

Страница 22: ...ated current to prevent overheating Winding diagrams for both con nection 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 unipol...

Страница 23: ...dex signal and is optional Pin Assignments facing drive 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 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...

Страница 24: ...s 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 ...

Страница 25: ...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 See...

Страница 26: ...nals 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 fol lowing 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 wi...

Страница 27: ... 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 termin...

Страница 28: ...ith 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 R R DRIVE X2 DIR X2 DIR X1 STEP X1 STEP 24VDC Power Supply 2200 2200 direction switch run stop switch closed run ...

Страница 29: ...12 24 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...

Страница 30: ... 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 ...

Страница 31: ...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 wi...

Страница 32: ... 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 flow out of the sensor output but not int...

Страница 33: ... 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 1 2 13 DB 25 Connector Signal Conditioning Signal Conditioning 1 10kW pot cw ccw DRIVE GND A...

Страница 34: ...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 30...

Страница 35: ...t 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 IN COM PLC IN OUT1 5 24 VDC Power Supply Y4 Y4 IN COM Sourcing Output Using Y4 Driving a Relay Using Y4 IN OUT1 Y4 Y4 1N4935 suppression diode 5 24 VDC Power Supply relay ...

Страница 36: ...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 equipmen...

Страница 37: ...4 19 0 5 0 0 5 1 6 480 HT23 603 354 25 48 6 0 0 5 2 2 750 HT24 100 123 2 8 87 3 36 0 73 1 6 260 HT24 105 177 12 74 4 8 0 43 1 1 450 HT24 108 354 25 48 4 8 0 65 2 4 900 HT34 485 650 46 8 10 0 0 19 1 3 1400 HT34 486 1200 86 4 9 7 0 27 2 2 2680 HT34 487 1845 133 10 0 0 27 2 4 4000 HT34 504 396 5 28 55 7 56 0 24 1 7 1100 HT34 505 849 6 61 18 7 56 0 33 2 7 1850 HT34 506 1260 90 75 6 72 0 63 5 4 2750 No...

Страница 38: ...n 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 012 212 HT11 013 213 5014 042 842 24 VDC power supply 20000 steps rev 0 5 10 15 20 25 0 5 10 15 20 25 30 35 40 oz in rev sec 5014 042 842 1 2 A phase HT11 013 213 1 2 A phase HT11 012 212 1 2 A phase ...

Страница 39: ... 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 VDC power supply steps rev all motors connected in parallel 0 10 20 30 40 50 60 70 80 90 100 0 5 10 15 20 25 30 35 40 oz in rev sec HT17 278 2 4 A phase HT17 075 275 2 0 A phase HT17 071 271 2 0 A phase HT17 068 268 1 6 A phase ...

Страница 40: ...0 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 VDC power supply steps rev all motors connected in parallel 0 50 100 150 200 250 300 350 0 5 10 15 20 25 30 35 40 oz in rev sec HT23 603 6 0 A phase HT23 401 601 5 0 A phase HT23 398 598 5 0 A phase HT23 394 594 3 4 A phase ...

Страница 41: ...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 VDC power supply steps rev all motors connected in parallel 0 200 400 600 800 1000 1200 1400 0 5 10 15 20 25 30 35 40 oz in rev sec HT34 487 10 A phase HT34 486 9 7 A phase HT34 485 10 A phase ...

Страница 42: ...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 VDC power supply steps rev all motors connected in parallel 0 200 400 600 800 1000 1200 1400 0 5 10 15 20 25 30 35 40 oz in rev sec HT34 487 10 A phase HT34 486 9 7 A phase HT34 485 10 A phase ...

Страница 43: ... 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 VDC power supply steps rev all motors connected in parallel 0 100 200 300 400 500 600 700 800 900 1000 0 5 10 15 20 25 30 35 40 oz in rev sec HT34 506 6 72 A phase HT34 505 7 56 A phase HT34 504 7 56 A phase ...

Страница 44: ...ase 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 exce...

Страница 45: ...0 40 60 80 100 0 10 20 30 40 50 Speed RPS Duty Cycle HT11 012 212 Max Duty Cycle vs Speed 24 VDC 1 2A 40 C Ambient Mounted on 3 5 dia x 125 Aluminum Plate 0 20 40 60 80 100 0 10 20 30 40 50 Speed RPS Duty Cycle HT11 013 213 Max Duty Cycle vs Speed 24 VDC 1 2A 40 C Ambient Mounted on 3 5 dia x 125 Aluminum Plate 0 20 40 60 80 100 0 10 20 30 40 50 Speed RPS Duty Cycle ...

Страница 46: ...e vs Speed 24 VDC 2 0 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate 0 20 40 60 80 100 0 10 20 30 40 50 Speed RPS Duty Cycle HT17 068 Max Duty cycle vs Speed 48 VDC 1 60 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate 0 20 40 60 80 100 0 10 20 30 40 50 Speed RPS Duty Cycle HT17 071 Max Duty cycle vs Speed 48 VDC 2 0 Amps 40 C Ambient on 4 75 x 4 75 x 25 Aluminum Plate 0 20 40 60 80 100 ...

Страница 47: ...cle vs Speed 48 VDC 5 0 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 0 20 40 60 80 100 0 10 20 30 40 50 Speed RPS Duty Cycle HT23 394 Max Duty Cycle vs Speed 24 VDC 3 4 Amps 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 0 20 40 60 80 100 0 10 20 30 40 50 Speed RPS Duty Cycle HT23 398 Max Duty cycle vs Speed 24VDC 5 0A 40 C Ambient on 6 4 x 6 4 x 25 Aluminum Plate 0 20 40 60 80 100 0 10 20 30...

Страница 48: ...Cycle vs Speed 48 VDC 10 0 Amps 40 C Ambient on 10 x 10 x 5 Aluminum Plate 0 20 40 60 80 100 0 10 20 30 40 50 Speed RPS Duty Cycle HT34 485 Max Duty cycle vs Speed 48 VDC 10 0 Amps 40 C Ambient on 10 x 10 x 5 Aluminum Plate 0 20 40 60 80 100 0 10 20 30 40 50 Speed RPS Duty Cycle HT34 487 Max Duty cycle vs Speed 80 VDC 10 0 Amps 40 C Ambient on 10 x 10 x 5 Aluminum Plate 0 20 40 60 80 100 0 10 20 3...

Страница 49: ...hen forced airflow 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 ...

Страница 50: ...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 circu...

Страница 51: ...must purchase it from a Phoenix distributor Mating Cable for IN OUT connector with flying 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 flying lead cable It ll be easier to wire if you...

Страница 52: ...oder 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 gree...

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