STR8 - Manual

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Hardware ManualSTR4 & STR8

Step Motor Drives

920-0030E

2/3/2010

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STR Hardware Manual920-0030E2/3/2010

ContentsInroducion ...........................................................................................................................................................................................................................................3Feaures ....................................................................................................................................................................................................................................................3

Block Diagram .......................................................................................................................................................................................................................................4Geting Sared ..................................................................................................................................................................................................................................... 5Mouning he Drive ........................................................................................................................................................................................................................... 6Connecing he Power Supply .................................................................................................................................................................................................... 6Choosing a Power Supply..............................................................................................................................................................................................................8

Volage ............................................................................................................................................................................................................................................8Curren ............................................................................................................................................................................................................................................8

Connecing he Moor..................................................................................................................................................................................................................11Four Lead Moor ...................................................................................................................................................................................................................11Eigh Lead Moor .................................................................................................................................................................................................................... 11

Connecing Inpu Signals.............................................................................................................................................................................................................12Connecor Pin Diagram ....................................................................................................................................................................................................... 12

Connecion Examples: SEP & DIR ..............................................................................................................................................................................12Inernal Circui Diagram ......................................................................................................................................................................................................12Connecion Examples: EN .................................................................................................................................................................................................. 13

FAUL Oupu................................................................................................................................................................................................................................... 15Configuring he Drive....................................................................................................................................................................................................................16

Sep 1: Selecing a Moor .................................................................................................................................................................................................. 16SR4 Moor able............................................................................................................................................................................................................. 16SR8 Moor able............................................................................................................................................................................................................. 17

Sep 2: Seting he Curren ...............................................................................................................................................................................................17Sep 3: Seting Idle Curren .............................................................................................................................................................................................. 18Sep 4: Load Ineria .............................................................................................................................................................................................................. 19Sep 5: Sep Size......................................................................................................................................................................................................................19Sep 6: Sep Pulse ype ...................................................................................................................................................................................................... 21Sep 7: Sep Pulse Noise Filer......................................................................................................................................................................................... 22

Sel es .................................................................................................................................................................................................................................................22Reerence Maerials ........................................................................................................................................................................................................................23

Moor Oulines ........................................................................................................................................................................................................................23orque-Speed Curves......................................................................................................................................................................................................... 26Moor Heaing .........................................................................................................................................................................................................................32Drive Heaing............................................................................................................................................................................................................................ 40Mechanical Ouline ...............................................................................................................................................................................................................41echnical Specificaions ......................................................................................................................................................................................................42Maing Connecors and Accessories ........................................................................................................................................................................... 43Alarm Codes .............................................................................................................................................................................................................................44Connecor Diagrams ............................................................................................................................................................................................................. 44

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InroducionTank you or selecing an Applied Moion Producs moor conrol. We hope our dedicaiono perormance, qualiy and economy will make your moion conrol projec successul.

I heres anyhing we can do o improve our producs or help you use hem beter, please callor ax. Wed like o hear rom you. Our phone number is (800) 525-1609, or you can reach usby ax a (831) 761-6544. You can also email [email protected].

FeauresLow cos, digial sep moor driver in compac packageOperaes rom Sep & Direcion signals or Sep CW & Sep CCW ( jumper selecable)

Enable inpuFaul oupuOpically isolaed I/ODigial filers preven posiion error rom elecrical noise on command signals

Jumper selecable: 150 kHz or 2 MHzRoary swich easily selecs rom many popular moorsElecronic damping and ani-resonanceAuomaic idle curren reducion o reduce hea when moor is no moving

Swich selecable: 50% or 90% o running curren

Swich selecable sep resoluion: 200 (ull sep), 400 (hal sep), 2000, 5000, 12800 or 20000 seps/revSwich selecable microsep emulaion provides smooher, more reliable moion in ull andhal sep modesAuomaic sel es (swich selecable)

STR4Operaes rom a 24 o 48 vol DC power supplyRunning curren up o 4.5 amps per phase

STR8Operaes rom a 24 o 75 vol DC power supplyRunning curren up o 7.8 amps per phase

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Block Diagram

AMPLIFIER

24-48 VDC (STR4)24-75 VDC (STR8)

from external power supply

Status LEDs

Motor Selection

Current

Idle Current

Steps/Rev

Load Inertia

Self Test

STEP

DIR

OUT1

motor

3.3/5/15VRegulators

OpticalIsolation

OpticalIsolation

SoftwareFilter

DigitalFilter

OpticalIsolation

EN

43210FEDCB

A987

65

1

2

3

4

5

6

7

8

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Jumper S4:

Noise Filter Frequency

Jumper S3:

Step & Direction or

Step CW & Step CCW

Remove connectors

and cover to access

jumpers S3 and S4

Geting SaredTis manual describes he use o wo differen drive models: he SR4 and SR8. Tey differin maximum oupu curren and maximum power supply volage. For boh models, youll need

he ollowing:

a 24 to 48 volt DC power supply (75V max for STR8). Please read the section Choosing aPower Supplyor help in choosing he righ power supply.

one of the motors listed on the drive label (see section Configuring the Drive). a small at blade screwdriver for tightening the connectors. a source of step signals, such as a PLC or motion controller.

Te connecors and oher poins o ineres are illusraed below. Tese are deailed laer in

he manual.Motor & Power Supply

Connector

Run Current, Idle Current

Steps/rev, Inertia, Self Test

Input & Output

Signals

Motor Selector

Status LEDs

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Mouning he Drive

You can moun your drive on he wide or he narrow side o he chassis using #6 screws. I

possible, the drive should be securely fastened to a smooth, at metal surface that will helpconduct heat away from the chassis. If this is not possible, then forced airow from a fan maybe required o preven he drive rom overheaing. See page 40 or more deails abou driveheaing.

Never use your drive in a space where there is no air flow or where other devicescause the surrounding air to be more than 50C.

Never put the drive where it can get wet or where metal or other electrically con-ductive particles can get on the circuitry.

Always provide air flow around the drive. When mounting multiple drives neareach other, maintain at least one half inch of space between drives.

Connecing he Power Supply

I you need inormaion abou choosing a power supply, please read he secion Choosing aPower Supply.

Connec he power supply + erminal o he connecor erminal labeled V+.Connec power supply - o he connecor erminal labeled V-.

Te green ground screw on he corner o he chassis should be conneced o earh ground.Use 18 or 20 gauge wire.

Te SR drives conain an inernal use ha connecs o he power supply + erminal. Tis useis no user replaceable. I you wan o insall a user serviceable use in your sysem insall a asacing use in line wih he + power supply lead. Use a 4 amp use or he SR4 and a 7 ampuse or he SR8.

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

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I you plan o use a regulaed power supply you may encouner a problem wih regeneraion.I you rapidly decelerae a load rom a high speed, much o he kineic energy o ha load isranserred back o he power supply. Tis can rip he overvolage proecion o a swichingpower supply, causing i o shu down. We offer he RC-050 regeneraion clamp o solve hisproblem. I in doub, buy an RC-050 or your firs insallaion. I he regen LED on he RC-050

never ashes, you dont need the clamp.

RC-050 Regen Clamp

Power Supply and Ground Connecions

Locate fuse in-line with + connection

regen LED

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power supply.

Te ables below and on he ne page lis he maximum curren required or each moor a sev-

eral common power supply volages. Please consider his inormaion when choosing a powersupply.

Table 1: STR4 Power Supply Current All moors conneced as indicaed, excep H24 which have our leads.

Motor Current(A)

Max Power Supply Current (A)

Switch Motor 24VDC 48VDC

0

reserved or cusom moors12

3 H17-068/268 1.6 parallel 1.1 1.1

4 H17-071/271 2.0 parallel 1.1 1.1

5 H17-075/275 2.0 parallel 1.1 1.1

6 H23-394/594 3.4 parallel 1.9 2.0

7 H23-398/598 4.5 parallel 3.2 3.3

8 H23-401/601 4.5 parallel 3.2 3.4

9 H24-100 3.36 2.6 2.3A H24-105 4.5 5.2 3.2

B H24-108 4.5 4.3 3.4

C H34-485 4.5 series 2.6 2.5

D H34-486 4.5 series 2.4 2.7

E H34-504 3.816 series 2.1 2.1

F H34-505 3.816 series 2.4 2.1

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Motor Current(A)

Max Power Supply Current (A)Switch Motor 24VDC 48VDC 60VDC

0

reserved or cusom moors1

2

3

4 H23-394/594 3.4 1.9 2.0 n/a

5 H23-398/598 5 3.2 3.3 n/a

6 H23-401/601 5 3.2 3.4 n/a7 H24-100 3.36 2.6 2.3 2.0

8 H24-105 4.8 5.2 3.2 2.7

9 H24-108 4.8 4.3 3.4 2.9

A H34-485 8 5.1 5.0 5.0

B H34-486 8 5.2 4.6 4.4

C H34-487 8 5.2 5.4 5.3

D H34-504 7.56 4.8 4.2 4.0

E H34-505 7.56 4.4 4.2 4.2F H34-506 6.72 3.5 3.2 3.3

Table 2: STR8 Power Supply Current All moors conneced in parallel, excep H24 which have our leads.

RegeneraionI you plan o use a regulaed power supply you may encouner a problem wih regeneraion.I you rapidly decelerae a load rom a high speed, much o he kineic energy o ha load isranserred back o he power supply. Tis can rip he overvolage proecion o a swiching

power supply, causing i o shu down. Unregulaed power supplies are beter because heygenerally do no have overvolage proecion and have large capaciors or soring energycoming back rom he drive. Tey are also less expensive. See previous secion on Connectingthe Power Supplyor deails on he RC-050 regeneraion clamp.

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Connecing he Moor

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

If the motor has a shield or grounding wire, please connect it to the chassisground screw located on the chassis near the motor-power connector.

Four Lead MoorTese moors can only be conneced one way. Please ollow he skechbelow.

!

V+

V-

A-

A+

MOTORB+

B-

MOTOR/POWERCONNECTOR

A+

A

B+ B

4

leadmotor

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

BlackRed

Red/WhtYel/Wht

Yellow

Eigh Lead MoorTese moors can be conneced in series or parallel. A series conneced moor needs less cur-

ren han one ha is conneced in parallel bu i will no be able o run as as. Once you havedeermined which way you wan o connec your moor o he drive, please ollow he wiringdiagrams below.

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Connecing Inpu SignalsTe SR drives have hree inpus: STEP: a high speed digital input for step pulse commands, 5-24 volt logic

DIR: a high speed digital input for the direction signal, 5-24 volt logic EN: a 5-24V input for commanding the removal of power from the motorNoe: SEP and DIR inpus can be convered o SEP CW and SEP CCW by moving he iner-nal jumper S3. See Page 5.

Connecor Pin Diagram Inernal Circui Diagram

STE

P+

STE

P

DI

R

E

N+

E

N

FAUL

T+

FAUL

T

DI

R+

inside drive

220 pF

STEP+

STEP-

220 pF

DIR+

DIR-

220 pF

EN+

EN-

FAULT+

FAULT-

Connecion Examples: STEP & DIR

Connecing o indexer wih Sourcing Oupus

STR

COM DIR-

DIR DIR+

STEP-

STEP STEP+

Indexerwith

SourcingOutputs

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Connecing o Indexer wih Differenial Oupus(Many High Speed Indexers have Differential Outputs)

Connecing o Indexer wih Sinking Oupus

STR

+V OUT DIR+

DIR DIR-

STEP+

STEP STEP-

Indexerwith

SinkingOutputs

STR

DIR+ DIR+

DIR- DIR-

STEP+

STEP-

STEP+

STEP-

Indexerwith

DifferentialOutputs

Connecing an Inpu o a Swich or Relay

STRswitch or relay

(closed=logic low)EN-

EN+

5-24VDC

PowerSupply -

+

Connecion Examples: EN

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Connecing anoher drive o EN(When output closes, input closes)

Connecing an NPN Type Proximiy Sensor o an inpu(When prox sensor activates, input closes)

STR

EN-

EN+

Sidriv

e

OUT+

OUT

5-24

VDCPowerSupply

-

+

STRNPNProximitySensor

EN-

EN+

output+

5-24VDCPowerSupply

-

+

Connecing a PNP Type Proximiy Sensor o an inpu(When prox sensor activates, input closes)

STR

PNPProximitySensor

EN+output

+

EN-

5-24VDCPower

Supply-

+

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FAULT OupuTe SR drives eaure a digial FAUL oupu. Tis oupu closeso signal a aul condiion.

Tis oupu can be used o drive LEDs, relays and he inpus ooher elecronic devices like PLCs. Te + (collecor) and - (emiter) erminals o he oupuransisor are available a he connecor. Tis allows you o configure he oupu or currensourcing or sinking.

Diagrams o each ype o connecion ollow.

Do not connect the output to more than 30VDC.Te current through the output terminal must not exceed 80 mA.

Sinking Oupu

STR

5-24 VDC

Power Supply

+

Load

FAULT-

FAULT+

!

STR

5-24 VDC

Power Supply

+

LoadFAULT-

FAULT+

Sourcing Oupu

Driving a Relay

STRFAULT-

FAULT+

1N4935 suppression diode

5-24 VDC

Power Supply

+

relay

FAULT+

FAULT-

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Configuring he Drive

Sep 1: Selecing a Moor

Te SR drives are opimized or use wih careully seleced moors. oselec a moor, simply move he roary swich o he leter or numberha corresponds o he moor o your choice. You can do his whilepower is on, bu i is saer o selec he moor beore applying powero he drive so ha you do no risk applying oo much curren o your moor.

I your moor is no on he lis, please se he swich o a selecion whose roor ineria, holdingorque and curren are wihin 10% o your moor. Cusom configuraions can be added orqualiying applicaions.

STR4 Moor Table

Current Holding Torque Rotor Inertia

Switch Motor Wiring A oz-in g-cm2

0

reserved or cusom configuraions1

2

3 H17-068/268 parallel 1.6 31.4 35

4 H17-071/271 parallel 2 51 545 H17-075/275 parallel 2 62.8 68

6 H23-394/594 parallel 3.4 76.6 120

7 H23-398/598 parallel 4.5 159.3 300

8 H23-401/601 parallel 4.5 237.6 480

9 H24-100 4 leads 3.36 123 280

A H24-105 4 leads 4.5 166 450

B H24-108 4 leads 4.5 332 900

C H34-485 series 4.5 585 1400D H34-486 series 4.5 1113 2680

E H34-504 series 3.816 396 1100

F H34-505 series 3.816 849 1850

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Sep 2: Seting he CurrenTe maximum curren or he moor you have seleced is se auomaically when you se heroary swich. Bu you may wan o reduce he curren o save power or lower moor empera-ure. Tis is imporan i he moor is no mouned o a surace ha will help i dissipae hea ori he ambien emperaure is expeced o be high.

Sep moors produce orque in direc proporion o curren, bu he amoun o hea generaedis roughly proporional o he square o he curren. I you operae he moor a 90% o raed

curren, youll ge 90% o he raed orque. Bu he moor will produce approximaely 81% asmuch hea. A 70% curren, he orque is reduced o 70% and he heaing o abou 50%.

wo o he small swiches on he ron o he SR drive are used o se he percen o raed

STR8 Moor Table

Max Current Holding Torque Rotor Inertia

Switch Motor Wiring A oz-in g-cm20

reserved or cusom configuraions1

2

3

4 H23-394/594 parallel 3.4 76.6 120

5 H23-398/598 parallel 5 177 300

6 H23-401/601 parallel 5 264 480

7 H24-100 4 leads 3.36 123 2808 H24-105 4 leads 4.8 177 450

9 H24-108 4 leads 4.8 354 900

A H34-485 parallel 8 507 1400

B H34-486 parallel 8 965 2680

C H34-487 parallel 8 1439 4000

D H34-504 parallel 7.56 396 1100

E H34-505 parallel 7.56 849 1850

F H34-506 parallel 6.72 1260 2750

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curren ha will be applied o he moor: SW1 and SW2. Please se hem according o heillusraion below.

Sep 3: Seting Idle CurrenMoor heaing and power consumpion can also be reduced by lowering he moor currenwhen i is no moving. Te SR will auomaically lower he moor curren when i is idle oeiher 50% or 90% o he running curren. Te 50% idle curren seting will lower he holdingorque o 50%, which is enough o preven he load rom moving in mos applicaions. Tisreduces moor heaing by 75%. In some applicaions, such as hose supporing a verical load, iis necessary o provide a high holding orque. In such cases, he idle curren can be se o 90%as shown below.

1 2

100%

1 2

90%

1 2

80%

1 2

70%

4

50%

4

90%

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Sep 4: Load IneriaTe SR drives include ani-resonance and elecronic damping eaures which grealy improvemoor perormance. o perorm opimally, he drive mus undersand he elecromechanical

characerisics o he moor and load. Mos o his is done auomaically when you selec hemoor by seting he roary swich. o urher enhance perormance, you mus se a swich oindicae he approximae ineria raio o he load and moor. Te ranges are 0 o 4X and 5 o10X. Te moors able shown in Sep 1 o his secion include he roor ineria o each moor.Please divide he load ineria by he roor ineria o deermine he raio, hen se swich 3 ac-cordingly, as shown. For assisance in calculaing he load ineria o your applicaion conac ourApplicaions deparmen.

Sep 5: Sep SizeTe SR requires a source o sep pulses o command moion. Tis may be a PLC, an indexer, amoion conroller or anoher ype o device. Te only requiremen is ha he device be ableo produce sep pulses whose requency is in proporion o he desired moor speed, and beable o smoohly ramp he sep speed up and down o produce smooh moor acceleraionand deceleraion.

Smaller sep sizes resul in smooher moion and more precise speed, bu also require a highersep pulse requency o achieve maximum speed. Te smalles sep size o he SR drives is1/20,000h o a moor urn. o command a moor speed o 50 revoluions per second (3000

rpm) he sep pulses requency mus be 50 x 20,000 = 1 MHz. Many moion devices, especiallyPLCs canno provide sep pulses a such a high speed. I so, he drive mus be se or a lowernumber o seps per revoluion. Six differen setings are provided in he SR drive, as shownin he able on he nex page.

3

5-10X

3

0-4X

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Please choose he one ha bes maches he capabiliy o your sysem.

A lower sep resoluions such as 200 seps/ rev (ull sep) and 400 seps/rev (hal sep), moorsrun a litle rough and produce more audible noise han when hey are microsepped (2000seps/rev and beyond). Te SR drives include a eaure called microsep emulaion, alsocalled sep smoohing, ha can provide smooh moion rom coarse command signals. I youselec 200 SMOOH or 400 SMOOH, his eaure is auomaically employed o providehe smoohes possible moion rom a less han ideal signal source.

Because a command filer is used as par o he sep smoohing process, here will be a slighdelay, or lag in he moion. I his delay is objecionable or your applicaion, please choose

he non-filered seting 200 or 400. Te char on he nex page shows an example o he

5 6 7

20000

5 6 7

12800

5 6 7

5000

5 6 7

2000

5 6 7

400SMOOTH

5 6 7

400

5 6 7

200SMOOTH

5 6 7

200

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delay ha can occur rom using he sep smoohing filer.

Sep 6: Sep Pulse TypeMos indexers and moion conrollers provide moion commands in he Sep and Direc-ion orma. Te Sep signal pulsesonce or each moor sep and hedirecion signal commands direcion.However, a ew PLCs use a differenype o command signal: one signalpulses once or each desired sep inhe clockwise direcion (called SEP

CW), while a second signal pulsesor counerclockwise moion (SEPCCW). Te SR drives can accep hisype o signal i you remove he drive

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cover and move jumper S3 rom he 1-2 posiion o he 1-3 posiion. In SEP CW/SEPCCW mode, he CW signal should be conneced o he SEP inpu and he CCW signal o heDIR inpu.

Sep 7: Sep Pulse Noise FilerJus when you hough here couldn be any more o know abou sep signals, we presen onemore seting or your consideraion. Elecrical noise can affec he SEP signal in a negaive way,causing he drive o hink ha one sep pulse is wo or more pulses. Tis resuls in exra moionand inaccurae moor and load posiioning. o comba his problem, he SR drives include adigial noise filer on he SEP and DIR inpus. Te deaul acory seting o his filer is150 kHz,which works well or mos applicaions.

However, as discussed in Sep 5, i you are operaing he SR a a high number o seps/rev anda high moor speeds, you will be commanding he drive a sep raes above 150 kHz. In suchcases, you should remove he cover and move jumper S4 rom he 150 kHz posiion (1-3) ohe 2 MHz posiion (1-2) as shown below.

Your maximum pulse rae will be he highes moor speed imes he seps/rev. For example, 40revs/second a 20,000 seps/rev is 40 x 20,000 = 800 kHz. Please consider his when deciding iyou mus increase he filer requency.

Self TesI you are having rouble geting your moor o urn, you may wan o ry he buil-in sel es.

1-2: 2 MHz 1-3: 150 kHz

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Motor Outlines

Reference Maerials

Anyime swich 8 is moved o he ON posiion, he drive will auomaically roae he moorback and orh, wo urns in each direcion. Tis eaure can be used o confirm ha he mooris correcly wired, seleced and oherwise operaional.

8

ON

8

OFF

SELF TEST

HT17 Ouline Drawing

L

MOTOR LENGTH(L)

HT17-068 331 mm

HT17-071 391 mm

HT17-075 471 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

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HT23 Ouline 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 Ouline Drawing

L

MOTOR LENGTH(L)HT24-100 441 mm

HT24-105 541 mm

HT24-108 851 mm

8.0

8.0

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HT34-485, 486, 487 Ouline Drawing

L

MOTOR LENGTH(L)

HT34-485 79 mm

HT34-486 117.5 mm

HT34-487 156 mm

HT34-504, 505 & 506 Ouline Drawing

L

MOTOR LENGTH(L)

HT34-504 66.51 mm

HT34-505 961 mm

HT34-506 125.51 mm

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Torque-Speed Curves

0

10

20

30

40

50

60

0 5 10 15 20 25 30 35 40

oz-in

rps

HT17 with STR4Connection: 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 STR4Connection: Parallel48v Power Supply , 20,000 steps/rev

HT17-068 HT17-071 HT17-075

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0

50

100

150

200

250

0 5 10 15 20 25 30 35 40

oz-in

rps

HT23 with STR4Connection: Parallel24v 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 STR4Connection: Parallel48v Power Supply , 20,000 steps/rev

HT23-394 HT23-398 HT23-401

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0

100

200

300

400

500

600

700

800

900

1000

0 5 10 15 20 25 30 35 40

oz-in

rps

HT34 wi th STR8Connection: ParallelPower 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 STR8Connection: ParallelPower Supply 60V, 20,000 steps/rev

HT34-504 HT34-505 HT34-506

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0

200

400

600

800

1000

1200

0 5 10 15 20 25 30 35 40

oz-in

rps


HT34-485 HT34-486 HT34-487

0

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0 5 10 15 20 25 30 35 40

oz-in

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0

200

400

600

800

1000

1200

0 5 10 15 20 25 30 35 40

oz-in

rps

HT34 wi th STR8Connection: ParallelPower Supply 60V, 20,000 steps/rev

HT34-485 HT34-486 HT34-487

Motor HeatingSep moors conver elecrical power rom he driver ino mechanical power o move a load.Because sep moors are no perecly efficien, some o he elecrical power urns ino hea on

is way hrough he moor. Tis heaing is no so much dependen on he load being driven buraher he moor speed and power supply volage. Tere are cerain combinaions o speedand volage a which a moor canno be coninuously operaed wihou damage.

We have characerized he recommended moors in our lab and provided curves showing hemaximum duy cycle versus speed or each moor a commonly used power supply volages.Please reer o hese curves when planning your applicaion.

Please also keep in mind ha a sep moor ypically reaches maximum emperaure afer 30 o45 minues o operaion. I you run he moor or one minue hen le i si idle or one minue,ha is a 50% duy cycle. Five minues on and five minues off is also 50% duy. However, onehour on and one hour off has he effec o 100% duy because during he firs hour he moorwill reach ull (and possibly excessive) emperaure.

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80

100

HT23-394 Max Duty Cycle vs Speed48 VDC, 3.4 Amps, 40C Ambienton 6.4 x 6.4 x .25 Aluminum Plate

0

20

40

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100


0

20

40

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

60

80

100

le

HT23-398 Max Duty cycle vs Speed24VDC, 5.0Amps, 40C Ambient

on 6.4 x 6.4 x .25 Aluminum Plate

0

20

40

0 5 10 15 20 25 30 35 40

%D

utyCy

Speed (RPS)

60

80

100

l

e

HT23-398 Max Duty cycle vs Speed48VDC, 5.0 Amps, 40C Ambient

on 6.4 x 6.4 x .25 Aluminum Plate

0

20

40

0 5 10 15 20 25 30 35 40

%D

utyCy

Speed (RPS)

80

100

e


0

20

40

60

0 5 10 15 20 25 30 35 40

%Du

tyCycl

Speed (RPS)

80

100

e


0

20

40

60

0 5 10 15 20 25 30 35 40

%Du

tyCycl

Speed (RPS)

80

100

HT24-100 Max Duty Cycle vs Speed24VDC, 3.36A 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

%D

utyCycl

Speed (RPS)

80

100



0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

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100



0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100



0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100



0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100



0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100

HT34-504 Max Duty Cycle vs Speed24VDC, 4.5A series 40 C Ambienton a 10 x 10 x .5 Aluminum Plate

0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100


0

20

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60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

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100


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20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

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100


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

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100

HT34-506 Max Duty Cycle vs Speed24VDC, 6.72A parallel 40 C Amb ient


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100

HT34-506 Max Duty Cycle vs Speed48VDC, 6.72A parallel 40 C Ambient


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100

HT34-506 Max Duty Cycle vs Speed60VDC, 6.72A parallel 40 C Ambient


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100

HT34-485 Max Duty Cycle vs Speed24VDC, 8A parallel 40 C Ambi ent


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100

HT34-485 Max Duty Cycle vs Speed48VDC, 8A parallel 40 C Ambient


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100

HT34-485 Max Duty Cycle vs Speed60VDC, 8A parallel 40 C Ambienton a 10 x 10 x .5 Aluminum Plate

0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

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80

100

HT34-486 Max Duty Cycle vs Speed24VDC, 8A parallel 40 C Ambi enton a 10 x 10 x .5 Aluminum Plate

0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100

HT34-487 Max Duty Cycle vs Speed24VDC, 8A parallel 40 C Ambi enton a 10 x 10 x .5 Aluminum Plate

0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

Speed (RPS)

80

100


0

20

40

60

0 5 10 15 20 25 30 35 40

%D

utyCycl

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Drive HeatingWhile SR drivers efficienly ransmi power beween he power supply and moor, hey dogenerae some hea in he process. Tis will cause he emperaure o he drive o rise above

he surrounding air emperaure and may also require ha he drive be mouned o a heaconducing meal surace.

For hose who wish o calculae he power dissipaion and emperaure rise, he ollowing inor-maion is provided:

drive power dissipaion P1.dversus moor curren and power supply volage (see char)

drive hermal consan R2.Q

Te final drive case emperaure is given by

c= a+ RQ* Pdwhere

ais he ambien emperaure o he surrounding air. Te case o he drive should no

be allowed o exceed 70C or he lie o he produc could be reduced.

Drive hermal consan: Narrow side o drive mouned on a 13.5 x 13.5 seel plae, .070 hick: R

Q=1.0C/W

Narrow side o drive mouned on a non-hea conducing surace: RQ

=2.1C/W

15

20

25

Loss(W)

STRDriveLosses

60V

48V

24V

0

5

10

1 2 3 4 5 6 7 8

Driver

motorcurrent(A)

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Mechanical Outline

1

2

3

4

5

6

7

8

43210F

EDCB

A98765

2.97(75.5mm)

4.6

5(118mm)

.125(3.2mm)

1.30

(33mm)

2XSLOT0.17(4.3mm)

WIDE,FULLR

0.887(2

2.5mm)

0.996(2

5.3mm)

0.35(8.9mm)

0.89(

22.5mm)

4XDIA.137(3.5

mm)

4.42(112mm)

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Digial MOSFE. 20 kHz PWM. Suiable or driving wo phase and our

phase sep moors wih our, six or eigh leads.

Supply volage:STR4

24-48 VDC (SR4) Under volage alarm: 20 VDC Over volage shudown: 60 VDC STR8 24-75 VDC (SR8)

Under volage alarm: 20 VDC Over volage shudown: 85 VDC

Moor curren:0.25 o 4.5 amps/phase peak o sine (SR4)

0.5 o 8 amps/phase peak o sine (SR8)

Opically isolaed, 5 - 24V logic. Sourcing, sinking or differenial signals canbe used. Drive seps on alling edge o SEP+ inpu.Minimum on volage: 4 VDC.Maximum volage: 30 VDC.Inpu curren: 5 mA yp a 4V, 15 mA yp a 30V.Maximum pulse requency: 150 kHz or 2 MHz (se by inernal jumper)Minimum pulse widh:

3 usec (a 150 kHz seting) 0.25 usec (a 2 MHz seting)

Phoodarlingon, 80 mA, 30 VDC max. Volage drop: 1.2V max a 80 mA.

1.3 x 3.0 x 4.65 inches (33 x 75.5 x 118 mm) overall. 10.8 oz (305 g) includ-ing maing connecors.Ambien emperaure range: 0C o 50C.

Technical Specifications

Amplifier

Digial Inpus

Faul Oupu

Physical

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Mating Connectors and Accessories

Maing Connecors

Moor/power supply: PCD P/N ELV06100 (Phoenix Conac 1757051), included wih drive.Signals: PCD P/N ELVH08100 (Phoenix Conac 1803633), included wih drive.

AccessoriesRegeneration Clamp: Applied Moion Producs RC-050.
http://www.applied-motion.com/products/servo/drives/regenclamp10.phphttp://www.applied-motion.com/products/servo/drives/regenclamp10.php

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Alarm CodesIn the event of a drive fault or alarm, the green LED will ash one or two times, followed by a series of red ashes. e p

ern repeas unil he alarm is cleared.

Power and Moor Connecor Signal Connecor

Connector Diagrams

Code Error

solid green no alarm, motor disabledflashing green no alarm, motor enabledflashing red configuration or memory error

1 green, 4 red power supply voltage too high1 green, 5 red over current / short circuit1 green, 6 red open motor winding2 green, 3 red internal voltage out of range2 green, 4 red power supply voltage too low

V+ V A B+ BA+

STE

P+

STE

P

DI

R

E

N+

E

N

FAUL

T+

FAUL

T

DI

R+

Documents

STR8 - Manual