404 Westridge Dr.
Watsonville, CA 95076
Tel: 800-525-1609
Fax: 831-761 -6544
www.applied-motion.com
#006BB3
#FFFFFF
When over a dark color...
#383838 85%k
76%C
68%M
67%Y
90%K
Specifications
High Performance Step
Motor Drives with Multiple
Control Options
Advanced Current Control
Anti-Resonance
Torque Ripple Smoothing
Microstep Emulation
Stall Detection/Prevention ▪Si Programmer™ with built-in Congurator
▪Point-and-click indexing software
▪User Friendly GUI
▪I/O and motion programming
▪MMI-01 compatibility
▪Pulse & direction, CW/CCW pulse, A/B
quadrature
▪Velocity (Oscillator) mode
▪Host commands (SCL compatible)
▪SiNet Hub compatible
▪ST Congurator™ software for setup
▪Executes stored Q programs
▪Networking with RS-485 or Ethernet options
▪Conditional processing & multi-tasking
▪Math functions, register manipulation
▪Encoder following
▪Third-party HMI compatibility
Control Options
C
IP
C
IP
C
IP
C
IP
C
IP
C
IP
C
IP
C
IP
C
IP
POWER SUPPLY:
▪ST5 24-48 VDC
▪ST10 24-80 VDC
OUTPUT CURRENT:
▪ST5 0.1 - 5.0A
▪ST10 0.1 - 10.0A
PROTECTION:
▪Over-Voltage
▪Under-Voltage
▪Over-Temp
▪Motor Shorts
▪Motor Open Phase
DistributeD by:
C
IP
C
IP
C
IP
▪CANopen protocols DS301 and DSP402
▪Prole Position, Prole Velocity, and
Homing Modes
▪Up to 127 axes per channel
▪Execute stored Q programs
For more information, visit: www.applied-motion.com/ST
▪Same size and I/O as S model
▪Execute stored Q programs like Q model
Q
Plus
Si
S
C
Text Outlines
11/15/11 925-0007 C
8
C
IP
C
IP
C
IP
▪EtherNet/IP industrial networking
▪Same control modes as Q model
Model
Numbers
Q Program
Si Program
RS-232
RS-422/485
Ethernet
EtherNet/IP
CANopen
Encoder
ST10-S X
ST10-Plus X X
ST10-Q-NN X X
ST10-Q-NE X X X
ST10-Q-RN X X X
ST10-Q-RE X X X X
ST10-Q-EN X X
ST10-Q-EE X X X
ST10-Si-NN X X
ST10-Si-NE X X X
ST10-C-CN X* X X
ST10-C-CE X* X X X
ST10-IP-EN X X X
ST10-IP-EE X X X X
ST Drive Model Numbers
ST5-Si-NE
Output Current
5 = 5A
10 = 10A
Control Options
S
Plus
Q
Si
C
IP
Feedback
(not available on S or Plus control options)
N = None
E = Encoder
Series
ST Series
Communications Option Board
(not available on S, Plus or Si control options)
N = None (RS-232 standard communications)
R = RS-485 option board (Q control option only)
C = CANopen option board (required on C control option)
E = Ethernet option board
(Q control option, required on IP)
*CANopen drives cannot run Q Programs stand-alone at power-up.
Model
Numbers
Q Program
Si Program
RS-232
RS-422/485
Ethernet
EtherNet/IP
CANopen
Encoder
ST5-S X
ST5-Plus X X
ST5-Q-NN X X
ST5-Q-NE X X X
ST5-Q-RN X X X
ST5-Q-RE X X X X
ST5-Q-EN X X
ST5-Q-EE X X X
ST5-Si-NN X X
ST5-Si-NE X X X
ST5-C-CN X* X X
ST5-C-CE X* X X X
ST5-IP-EN X X X
ST5-IP-EE X X X X
SPECIFICATIONS
OUTPUT CURRENT ST5: 0.1-5.0 amps/phase (peak-of-sine) in 0.01 amp increments
ST10: 0.1-10.0 amps/phase (peak-of-sine) in 0.01 amp increments
POWER SUPPLY ST5: External 24-48 VDC power supply required
ST10: External 24-80 VDC power supply required
PROTECTION Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground)
IDLE CURRENT REDUCTION Reduction range of 0-90% of running current after delay selectable in milliseconds
MICROSTEP RESOLUTION Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
MICROSTEP EMULATION Performs high resolution stepping by synthesizing ne microsteps from coarse steps. Reduces jerk and
extraneous system resonances. (Step & direction mode only)
ANTI-RESONANCE
(Electronic Damping)
Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout
the speed range and improves settling time
TORQUE RIPPLE SMOOTHING Allows for ne adjustment of phase current waveform harmonic content to reduce low-speed torque ripple
in the range 0.25 to 1.5 rps
MODES OF OPERATION ST-S: Step & direction, CW/CCW pulse, A/B quadrature, velocity (oscillator, joystick), streaming serial com-
mands (SCL), SiNet Hub compatible
ST-Plus, ST-Q: Same as S models, plus Q programming
ST-Si: Same as Q models, plus Si programming
ST-C: CANopen slave node with Q programming
ST-IP: Same as Q models, plus EtherNet/IP communications
INPUTS/OUTPUTS: ST-S, ST-Plus STEP, DIR inputs: Optically isolated, differential, 5 VDC, minimum pulse width = 250 ns, maximum pulse
frequency = 2 MHz
EN input: Optically isolated, 5-12 VDC
OUT output: Optically isolated, 24 VDC max, 10 mA max
AIN analog input: Range = 0-5 VDC, resolution = 12 bits
INPUTS/OUTPUTS:
ST-Q, ST-Si, ST-C, ST-IP
X1, X2 inputs: Optically isolated, differential, 5 VDC, minimum pulse width = 250 ns, maximum pulse
frequency = 2 MHz
X3-X6 inputs: Optically isolated, single-ended, shared common, sinking or sourcing, 12-24 VDC
X7, X8 inputs: Optically isolated, differential, 12-24 VDC
Y1-Y3 outputs: Optical darlington, single-ended, shared common, sinking, 30 VDC max, 100 mA max
Y4 output: Optical darlington, sinking or sourcing, 30 VDC max, 100 mA max
Analog inputs IN1, IN2: Can be used as two single-ended inputs or one differential input. Range =
software selectable 0-5, +/-5, 0-10, or +/-10 VDC. Software congurable offset, deadband, and ltering.
Resolution = 12 bits (+/-10 volt range), 11 bits (+/-5 or 0-10 volt range), or 10 bits (0-5 volt range). Note:
Si programming mode does not support analog inputs.
COMMUNICATION INTERFACE ST-S, ST-Plus: RS-232 for programming and serial communications
ST-Q-Nx, ST-Si-Nx: RS-232 for programming and serial communications
ST-Q-Rx: RS-232 for programming and serial communications, RS-485 for serial communications
ST-Q-Ex: Ethernet for programming and serial communications
ST-C-Cx: RS-232 for programming, CANopen for communications
ST-IP-Ex: Ethernet for programming, EtherNet/IP for network communications
ENCODER INTERFACE ST-Q-xE, ST-Si-xE, ST-C-CE, ST-IP-EE: For connecting to motor-mounted encoder. Used to provide stall
detection and stall prevention with static position maintenance. Differential line receivers, up to 2 MHz.
AGENCY APPROVALS RoHS
CE: EN61800-3:2004, EN61800-5-1:2003 (CE pending on CANopen model)
AMBIENT TEMPERATURE 0 to 55 ºC (32 to 131 ºF). ST10 must be mounted to suitable heatsink.
HUMIDITY 90% max, non-condensing
WEIGHT ST-S, ST-Plus: 7.1 oz
ST-Q, ST-Si, ST-C, ST-IP: 10.4 oz
27
NEMA 34
0 5 10 15 20 25 30 35 40
0
300
600
900
1200
1500
HT34-506
HT34-505
HT34-504
HT34-487
HT34-486
HT34-485
Torque (oz-in)
Speed (rev/sec)
80 Volts DC, ST10
0 5 10 15 20 25 30 35 40
0
300
600
900
1200
1500
HT34-487
HT34-486
HT34-485
HT34-506
HT34-505
HT34-504
Torque (oz-in)
Speed (rev/sec)
48 Volts DC, ST10
All curves run at 20,000 steps per rev.
Part #
Motor
Length
(inch)
Min-Holding
Torque
(oz-in)
Amps* Ohms mH Rotor Inertia
(
oz-in-sec
2
)
Motor Weight
lbs.
HT34-485 3.11 650 8.5 0.18 1.5 2.27E-02 4.6
HT34-486 4.63 1202 8.1 0.26 2.7 4.53E-02 7.7
HT34-487 6.14 1768 8.9 0.26 2.8 6.80E-02 11.0
HT34-504 2.62 397 6.3 0.24 1.7 1.56E-02 3.5
HT34-505 3.78 850 6.3 0.33 2.7 2.62E-02 5.9
HT34-506 4.94 1260 5.6 0.48 5.4 3.89E-02 8.4
* Motor only rating. Optimal current setting in ST drive may differ.
All ratings are for bipolar parallel connection.
Step angle 1.8 degrees for all motors.
DIMENSIONS
3.0
3.65
1.125
6X SLOT 0.16
WIDE, FULL R
1.98
0.61
0.663
3.39
3.0
1.75
5.0
6X SLOT 0.16
WIDE, FULL R
0.663
1.98
0.61
4.74
Dimensions in inches, not to scale
Recommended Motors Continued
36
Part #
Motor Length
(inch)
Min-Holding
Torque
(oz-in)
Amps*
Ohms mH
Rotor
Inertia
(
oz-in-sec
2
)
Motor
Weight
(lbs.)
HT23-594 1.61 76.5 2.83 0.7 1.4 1.91E-03 0.9
HT23-598 2.13 159 4.24 0.4 1.4 3.68E-03 1.3
HT23-601 2.99 269 4.24 0.5 1.7 6.51E-03 2.2
* Motor only rating. Optimal current setting in ST drive may differ.
All ratings are for bipolar parallel connection.
Step angle 1.8 degrees for all motors.
NEMA 23 - HigH Torque
Recommended Motors - a selection of motors suitable for use with the ST Drives
0 5 10 15 20 25 30 35 40
0
50
100
150
200
250
HT23-601 5A
HT23-598 5A
HT23-594 3.4A
Torque (oz-in)
Speed (rev/sec)
48 Volts DC
0 5 10 15 20 25 30 35 40
0
50
100
150
200
250
HT23-601 5A
HT23-598 5A
HT23-594 3.4A
Torque (oz-in)
Speed (rev/sec)
24 Volts DC
All curves run at 20,000 steps per rev.
0 5 10 15 20 25 30 35 40
0
50
100
150
200
250
300
350
HT24-108 4.8A
HT24-105 4.8A
HT24-100 3.36A
Torque (oz-in)
Speed (rev/sec)
24 Volts DC
NEMA 24 - HigH Torque
Part #
Motor
Length
(inch)
Min-Holding
Torque
(oz-in)
Amps* Ohms mH Rotor Inertia
(
oz-in-sec
2
)
Motor Weight
lbs.
HT24-100 1.73 123 2.8 0.73 1.6 3.68E-03 1.3
HT24-105 2.13 177 4.0 0.43 1.1 6.37E-03 1.8
HT24-108 3.35 354 4.0 0.65 2.4 1.27E-02 3.0
* Motor only rating. Optimal current setting in ST drive may differ.
Step angle 1.8 degrees for all motors.
All curves run at 20,000 steps per rev.
0 5 10 15 20 25 30 35 40
50
100
150
200
250
300
350
HT24-108 4.8A
HT24-105 4.8A
HT24-100 3.36A
Torque (oz-in)
Speed (rev/sec)
48 Volts DC
NEMA 17 - HigH Torque
Part # Motor Length
(inch)
Min-Holding
Torque
(oz-in)
Amps* Ohms
mH
Rotor
Inertia
(oz-in-sec
2
)
Motor
Weight
(lbs)
HT17-268
1.31 31.2 1.34 2.1 2.5 5.38E-04 0.46
HT17-271
1.57 52.4 1.7 1.7 3.0 8.07E-04 0.60
HT17-275
1.90 77.9 1.7 1.7 3.2 1.16E-03 0.80
* Motor only rating. Optimal current setting in ST drive may differ.
All ratings are for bipolar parallel connection.
Step angle 1.8 degrees for all motors.
0 5 10 15 20 25 30 35 40
0
10
20
30
40
50
HT17-275 2A
HT17-271 2A
HT17-268 1.6A
Torque (oz-in)
Speed (rev/sec)
48 Volts DC
0 5 10 15 20 25 30 35 40
0
10
20
30
40
50
HT17-275 2A
HT17-271 2A
HT17-268 1.6A
Torque (oz-in)
Speed (rev/sec)
24 Volts DC
All curves run at 20,000 steps per rev.
Accessories
Power Supplies
Applied Motion offers two matched power supplies for
use with the ST Drives. A 24VDC, 150W supply (part
number PS150A24) and a 48VDC, 320W supply (part
number PS320A48). These power sup-
plies have current overload capabil-
ity making them ideal for use
with stepper drives.
RC-050 Regeneration Clamp
The RC-050 regeneration clamp is for use where regeneration
from the motor may cause an over-voltage condition at the power
supply. In these cases the RC-050 is connected between the
drive and power supply and absorbs regenerated energy.
Software
Si Programmer™
Intended for use in stand-alone applications, Si Programmer™
provides a user friendly, point-and-click, graphical interface that
doesn’t require any previous programming experience.
Q Programmer™
Q Programmer™ is used to create and edit stand-alone
programs for Q drives. The functions of these drives include
multi-tasking, math, register manipulation, encoder following,
and more.
ST Congurator™
Used for setup and conguration of the drive. For more informa-
tion about the ST Congurator™ visit the Applied Motion Products
website.
All software applications run on Windows 7 (32-bit & 64-bit), Vista, XP, 2000, NT, ME, 98.
Help Manuals
ST Congurator™ incorporates context sensitive help. All the
technical data, application information and advice on setting up
the drive is just a mouse click away.
Self Test & Auto Setup
At start-up the drive measures motor parameters, including the resistance and inductance,
then uses this information to optimize the system performance. The drive can also detect
open and short circuits.
Command Signal Smoothing
Command signal smoothing can soften the effect of
immediate changes in velocity and direction, making the
motion of the motor less jerky. An added advantage is
that it can reduce the wear on mechanical components.
Benet: Delivers smoother system performance
Torque Ripple Smoothing
All step motors have an inherent low speed torque ripple
that can affect the motion of the motor. By analyzing this
torque ripple the system can apply a negative harmonic
to negate this effect, which gives the motor much
smoother motion at low speed.
Benet: Delivers smoother motion at lower speeds
Microstep Emulation
With Microstep Emulation, low resolution systems can still provide
smooth motion. The drive can take low-resolution step pulses and
create ne resolution micro-step motion.
Benet: Delivers smoother motion in any application
1.8° Steps
Synthesized
Microsteps
Step motor systems have a natural tendency to resonate
at certain speeds. The ST drives automatically calculate
the system’s natural frequency and apply damping to the
control algorithm. This greatly improves midrange stability,
allows higher speeds and greater torque utilization, and
also improves settling times.
Features
Anti-Resonance/Electronic Damping Option Boards
The following option boards are available with the ST drives (depending on
control option)
Encoder Feedback
(Q, Si, C and IP control options)
Example: ST5-Si-NE
The Encoder Feedback option board provides Stall Detection and Stall
Prevention functionality to the drive. Stall Detection
detects the moment the motor has stalled
and triggers a drive fault. Stall
Prevention automatically senses
rotor lag (just before
stalling) and reduces
motor speed to avoid
stalling. Stall Prevention
includes Position
Maintenance, which
maintains shaft position
when the motor is stopped.
RS-485
(Q control option)
Example: ST10-Q-RN
The RS-485 option board enhances the ability to stream serial
commands (SCL) by allowing you to connect to up to 32 drives in a serial
communications network.
Ethernet & EtherNet/IP
(Q control option for
Ethernet TCP/UDP)
(IP control option for
EtherNet/IP)
Examples: ST5-Q-EN,
ST5-IP-EN
ST-Q drives with the
Ethernet option can
accept streaming serial
commands (SCL) and Q
serial commands over
a high throughput, high-
reliability 100Mbit network. The drives can also execute Q programs stored
in built-in, non-volatile memory. IP models communicate with PLCs and other
industrial devices supporting the EtherNet/IP standard. They can also be
commanded to execute stored Q programs.
CANopen
(C control option)
Example: ST5-C-CN
The CANopen option
board used with ST-C
drives allows the drive
to be connected to
a CANopen network
along with other CANopen
devices. Drives can be
controlled and interrogated
over the network.
Benet: Delivers better motor performance and higher speeds
IP
C
IP
Q
C
IP
Plus
Inputs & Outputs
8 digital inputs
4 digital outputs
2 analog inputs
8 digital inputs
4 digital outputs
3 digital inputs
1 digital output
1 analog input
Use SiNet Hub Programmer soft-
ware to develop your sequence of
events, then download them to a
SiNet Hub for a stand-alone system
or stream serial commands to the
drives from a PC, PLC, HMI, or other
host controller.
Run/Stop (Toggle Switch)
Speed1/Speed2 (Toggle Switch)
Speed (Potentiometer)
Serial No
Error Codes
GR-Green
RD-RED
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
COMM ERROR 1 GR + 7 RD
ST5-S
GND
B-
B+
A-
A+
V-
V+
AN1
+5V
OUT+
OUT-
EN-
EN+
DIR-
DIR+
STEP-
STEP+
Step & Direction
Host Control
Stand-Alone Programmable
Multi-Axis Systems
Oscillator / Run-Stop
3rd Party Controller
Serial No
Error Codes
GR-Green
RD-RED
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
COMM ERROR 1 GR + 7 RD
ST5-S
GND
B-
B+
A-
A+
V-
V+
AN1
+5V
OUT+
OUT-
EN-
EN+
DIR-
DIR+
STEP-
STEP+
Serial No
Error Codes
GR-Green
RD-RED
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
COMM ERROR 1 GR + 7 RD
ST5-S
GND
B-
B+
A-
A+
V-
V+
AN1
+5V
OUT+
OUT-
EN-
EN+
DIR-
DIR+
STEP-
STEP+
▪Software Conguration
▪Two speeds
▪Vary speed with analog input
▪Joystick compatible
▪Accepts streaming commands from
host PC or PLC
▪Point & click graphical interface
▪MMI option
▪Download, store & execute programs
Each drive connects
to a port on the hub.
or
UP TO
8
AXES
UP TO
4
AXES
RS232
RS232
HUB 444
1
2
3
4
Serial No
Error Codes
GR-Green
RD-RED
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
COMM ERROR 1 GR + 7 RD
ST5-S
GND
B-
B+
A-
A+
V-
V+
AN1
+5V
OUT+
OUT-
EN-
EN+
DIR-
DIR+
STEP-
STEP+
ID 1ID 2ID 3ID 4ID 5ID 6
Ethernet Connection
PC or 3rd Party
Controller
T1
4
3
2
1
0
F
E
D
C
B
A
9
8
7
6
5
T1
4
3
2
1
0
F
E
D
C
B
A
9
8
7
6
5
T1
4
3
2
1
0
F
E
D
C
B
A
9
8
7
6
5
T1
4
3
2
1
0
F
E
D
C
B
A
9
8
7
6
5
T1
4
3
2
1
0
F
E
D
C
B
A
9
8
7
6
5
T1
4
3
2
1
0
F
E
D
C
B
A
9
8
7
6
5
RS232
Serial No
Error Codes
GR-Green
RD-RED
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
COMM ERROR 1 GR + 7 RD
ST5-S
GND
B-
B+
A-
A+
V-
V+
AN1
+5V
OUT+
OUT-
EN-
EN+
DIR-
DIR+
STEP-
STEP+
MMI Control Option
RS232
MMI
Serial No
Error Codes
GR-Green RD-RED
POSITION LIMIT 1 GR + 1 RD
CCW LIMIT TRIP 1 GR + 2 RD
CW LIMIT TRIP 2 GR + 2 RD
DRIVE OVER TEMP 1 GR + 3 RD
MOTOR OVER TEMP 2 GR + 3 RD
VOLTAGE HIGH 1 GR + 4 RD
VOLTAGE LOW 2 GR + 4 RD
OVER CURRENT 1 GR + 5 RD
HALL FAIL 1 GR + 6 RD
ENCODER FAIL 2 GR + 6 RD
COMM ERROR 1 GR + 7 RD
Front View
X COMMON
X7 / CW Limit
X3 / Servo Enable
X5
X4 / Alarm Reset
Analog IN-
Analog IN+
X2 / DIR-
X2 / DIR+
X1 / STEP / PWM+
X1 / STEP / PWM-
GND
GND
A+
A-
B+
B-
Z+
Z-
+5V OUT
Y COMMON
Y3 / ALARM
Y2 / INPOSN
Y1 / BRAKE
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
2
3
1
19
20
21
22
23
24
25
redocnE
s
t
u
p
tuO
X6 / CCW Limit
IN/OUT 1
ST5-Q
▪Comprehensive text based language
▪Download, store & execute programs
▪High level features: multi-tasking,
conditional programming,
& math functions
▪Host interface while executing
internal programs
RS232
Serial No
Error Codes
GR-Green
RD-RED
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
COMM ERROR 1 GR + 7 RD
ST5-S
GND
B-
B+
A-
A+
V-
V+
AN1
+5V
OUT+
OUT-
EN-
EN+
DIR-
DIR+
STEP-
STEP+
▪Step & Direction
▪CW & CCW Pulse
▪A/B Quadrature (Master Encoder)
IP
C
IP
Q
C
IP
Plus
IP
C
IP
Q
C
IP
Plus
IP
C
IP
Q
C
IP
Plus
IP
C
IP
Q
C
IP
Plus
Control Options
▪Accepts streaming commands from
host PC or PLC
▪Up to 32 axes with RS-485 option
▪1000’s of axes with Ethernet and
EtherNet/IP
IP
C
IP
Q
C
IP
Plus
IP
C
IP
Q
C
IP
Plus
8 digital inputs
4 digital outputs
2 analog inputs
ID 1ID 2ID 3ID 4ID 5
Serial No
Error Codes
GR-Green RD-RED
POSITION LIMIT 1 GR + 1 RD
CCW LIMIT TRIP 1 GR + 2 RD
CW LIMIT TRIP 2 GR + 2 RD
DRIVE OVER TEMP 1 GR + 3 RD
MOTOR OVER TEMP 2 GR + 3 RD
VOLTAGE HIGH 1 GR + 4 RD
VOLTAGE LOW 2 GR + 4 RD
OVER CURRENT 1 GR + 5 RD
HALL FAIL 1 GR + 6 RD
ENCODER FAIL 2 GR + 6 RD
COMM ERROR 1 GR + 7 RD
Front View
X COMMON
X7 / CW Limit
X3 / Servo Enable
X5
X4 / Alarm Reset
Analog IN-
Analog IN+
X2 / DIR-
X2 / DIR+
X1 / STEP / PWM+
X1 / STEP / PWM-
GND
GND
A+
A-
B+
B-
Z+
Z-
+5V OUT
Y COMMON
Y3 / ALARM
Y2 / INPOSN
Y1 / BRAKE
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
2
3
1
19
20
21
22
23
24
25
redocnE
stuptuO
X6 / CCW Limit
IN/OUT 1
ST5-Q
Serial No
Error Codes
GR-Green RD-RED
POSITION LIMIT 1 GR + 1 RD
CCW LIMIT TRIP 1 GR + 2 RD
CW LIMIT TRIP 2 GR + 2 RD
DRIVE OVER TEMP 1 GR + 3 RD
MOTOR OVER TEMP 2 GR + 3 RD
VOLTAGE HIGH 1 GR + 4 RD
VOLTAGE LOW 2 GR + 4 RD
OVER CURRENT 1 GR + 5 RD
HALL FAIL 1 GR + 6 RD
ENCODER FAIL 2 GR + 6 RD
COMM ERROR 1 GR + 7 RD
Front View
X COMMON
X7 / CW Limit
X3 / Servo Enable
X5
X4 / Alarm Reset
Analog IN-
Analog IN+
X2 / DIR-
X2 / DIR+
X1 / STEP / PWM+
X1 / STEP / PWM-
GND
GND
A+
A-
B+
B-
Z+
Z-
+5V OUT
Y COMMON
Y3 / ALARM
Y2 / INPOSN
Y1 / BRAKE
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
2
3
1
19
20
21
22
23
24
25
redocnE
stuptuO
X6 / CCW Limit
IN/OUT 1
ST5-Q
Serial No
Error Codes
GR-Green RD-RED
POSITION LIMIT 1 GR + 1 RD
CCW LIMIT TRIP 1 GR + 2 RD
CW LIMIT TRIP 2 GR + 2 RD
DRIVE OVER TEMP 1 GR + 3 RD
MOTOR OVER TEMP 2 GR + 3 RD
VOLTAGE HIGH 1 GR + 4 RD
VOLTAGE LOW 2 GR + 4 RD
OVER CURRENT 1 GR + 5 RD
HALL FAIL 1 GR + 6 RD
ENCODER FAIL 2 GR + 6 RD
COMM ERROR 1 GR + 7 RD
Front View
X COMMON
X7 / CW Limit
X3 / Servo Enable
X5
X4 / Alarm Reset
Analog IN-
Analog IN+
X2 / DIR-
X2 / DIR+
X1 / STEP / PWM+
X1 / STEP / PWM-
GND
GND
A+
A-
B+
B-
Z+
Z-
+5V OUT
Y COMMON
Y3 / ALARM
Y2 / INPOSN
Y1 / BRAKE
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
2
3
1
19
20
21
22
23
24
25
redocnE
stu
ptuO
X6 / CCW Limit
IN/OUT 1
ST5-Q
Serial No
Error Codes
GR-Green RD-RED
POSITION LIMIT 1 GR + 1 RD
CCW LIMIT TRIP 1 GR + 2 RD
CW LIMIT TRIP 2 GR + 2 RD
DRIVE OVER TEMP 1 GR + 3 RD
MOTOR OVER TEMP 2 GR + 3 RD
VOLTAGE HIGH 1 GR + 4 RD
VOLTAGE LOW 2 GR + 4 RD
OVER CURRENT 1 GR + 5 RD
HALL FAIL 1 GR + 6 RD
ENCODER FAIL 2 GR + 6 RD
COMM ERROR 1 GR + 7 RD
Front View
X COMMON
X7 / CW Limit
X3 / Servo Enable
X5
X4 / Alarm Reset
Analog IN-
Analog IN+
X2 / DIR-
X2 / DIR+
X1 / STEP / PWM+
X1 / STEP / PWM-
GND
GND
A+
A-
B+
B-
Z+
Z-
+5V OUT
Y COMMON
Y3 / ALARM
Y2 / INPOSN
Y1 / BRAKE
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
2
3
1
19
20
21
22
23
24
25
redocnE
stu
ptuO
X6 / CCW Limit
IN/OUT 1
ST5-Q
Serial No
Error Codes
GR-Green RD-RED
POSITION LIMIT 1 GR + 1 RD
CCW LIMIT TRIP 1 GR + 2 RD
CW LIMIT TRIP 2 GR + 2 RD
DRIVE OVER TEMP 1 GR + 3 RD
MOTOR OVER TEMP 2 GR + 3 RD
VOLTAGE HIGH 1 GR + 4 RD
VOLTAGE LOW 2 GR + 4 RD
OVER CURRENT 1 GR + 5 RD
HALL FAIL 1 GR + 6 RD
ENCODER FAIL 2 GR + 6 RD
COMM ERROR 1 GR + 7 RD
Front View
X COMMON
X7 / CW Limit
X3 / Servo Enable
X5
X4 / Alarm Reset
Analog IN-
Analog IN+
X2 / DIR-
X2 / DIR+
X1 / STEP / PWM+
X1 / STEP / PWM-
GND
GND
A+
A-
B+
B-
Z+
Z-
+5V OUT
Y COMMON
Y3 / ALARM
Y2 / INPOSN
Y1 / BRAKE
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
2
3
1
19
20
21
22
23
24
25
redocnE
stu
ptuO
X6 / CCW Limit
IN/OUT 1
ST5-Q
UP TO
127
AXES
▪Connect to CANopen network
▪DS301 and DSP402 protocols
▪Up to 127 axes
5
4
IP
C
IP
Q
C
IP
Plus
IP
C
IP
Q
C
IP
Plus
IP
C
IP
Q
C
IP
Plus
IP
C
IP
Q
C
IP
Plus
IP
C
IP
Q
C
IP
Plus
8 digital inputs
4 digital outputs
2 analog inputs
IP
C
IP
Q
C
IP
Plus
IP
C
IP
Q
C
IP
Plus
IP
C
IP
Q
C
IP
Plus
3 digital inputs
1 digital output
1 analog input
IP
C
IP
Q
C
IP
Plus
IP
C
IP
Q
C
IP
Plus
36
Part #
Motor Length
(inch)
Min-Holding
Torque
(oz-in)
Amps*
Ohms mH
Rotor
Inertia
(
oz-in-sec
2
)
Motor
Weight
(lbs.)
HT23-594 1.61 76.5 2.83 0.7 1.4 1.91E-03 0.9
HT23-598 2.13 159 4.24 0.4 1.4 3.68E-03 1.3
HT23-601 2.99 269 4.24 0.5 1.7 6.51E-03 2.2
* Motor only rating. Optimal current setting in ST drive may differ.
All ratings are for bipolar parallel connection.
Step angle 1.8 degrees for all motors.
NEMA 23 - HigH Torque
Recommended Motors - a selection of motors suitable for use with the ST Drives
0 5 10 15 20 25 30 35 40
0
50
100
150
200
250
HT23-601 5A
HT23-598 5A
HT23-594 3.4A
Torque (oz-in)
Speed (rev/sec)
48 Volts DC
0 5 10 15 20 25 30 35 40
0
50
100
150
200
250
HT23-601 5A
HT23-598 5A
HT23-594 3.4A
Torque (oz-in)
Speed (rev/sec)
24 Volts DC
All curves run at 20,000 steps per rev.
0 5 10 15 20 25 30 35 40
0
50
100
150
200
250
300
350
HT24-108 4.8A
HT24-105 4.8A
HT24-100 3.36A
Torque (oz-in)
Speed (rev/sec)
24 Volts DC
NEMA 24 - HigH Torque
Part #
Motor
Length
(inch)
Min-Holding
Torque
(oz-in)
Amps* Ohms mH Rotor Inertia
(
oz-in-sec
2
)
Motor Weight
lbs.
HT24-100 1.73 123 2.8 0.73 1.6 3.68E-03 1.3
HT24-105 2.13 177 4.0 0.43 1.1 6.37E-03 1.8
HT24-108 3.35 354 4.0 0.65 2.4 1.27E-02 3.0
* Motor only rating. Optimal current setting in ST drive may differ.
Step angle 1.8 degrees for all motors.
All curves run at 20,000 steps per rev.
0 5 10 15 20 25 30 35 40
50
100
150
200
250
300
350
HT24-108 4.8A
HT24-105 4.8A
HT24-100 3.36A
Torque (oz-in)
Speed (rev/sec)
48 Volts DC
NEMA 17 - HigH Torque
Part # Motor Length
(inch)
Min-Holding
Torque
(oz-in)
Amps* Ohms
mH
Rotor
Inertia
(oz-in-sec
2
)
Motor
Weight
(lbs)
HT17-268
1.31 31.2 1.34 2.1 2.5 5.38E-04 0.46
HT17-271
1.57 52.4 1.7 1.7 3.0 8.07E-04 0.60
HT17-275
1.90 77.9 1.7 1.7 3.2 1.16E-03 0.80
* Motor only rating. Optimal current setting in ST drive may differ.
All ratings are for bipolar parallel connection.
Step angle 1.8 degrees for all motors.
0 5 10 15 20 25 30 35 40
0
10
20
30
40
50
HT17-275 2A
HT17-271 2A
HT17-268 1.6A
Torque (oz-in)
Speed (rev/sec)
48 Volts DC
0 5 10 15 20 25 30 35 40
0
10
20
30
40
50
HT17-275 2A
HT17-271 2A
HT17-268 1.6A
Torque (oz-in)
Speed (rev/sec)
24 Volts DC
All curves run at 20,000 steps per rev.
Accessories
Power Supplies
Applied Motion offers two matched power supplies for
use with the ST Drives. A 24VDC, 150W supply (part
number PS150A24) and a 48VDC, 320W supply (part
number PS320A48). These power sup-
plies have current overload capabil-
ity making them ideal for use
with stepper drives.
RC-050 Regeneration Clamp
The RC-050 regeneration clamp is for use where regeneration
from the motor may cause an over-voltage condition at the power
supply. In these cases the RC-050 is connected between the
drive and power supply and absorbs regenerated energy.
Software
Si Programmer™
Intended for use in stand-alone applications, Si Programmer™
provides a user friendly, point-and-click, graphical interface that
doesn’t require any previous programming experience.
Q Programmer™
Q Programmer™ is used to create and edit stand-alone
programs for Q drives. The functions of these drives include
multi-tasking, math, register manipulation, encoder following,
and more.
ST Congurator™
Used for setup and conguration of the drive. For more informa-
tion about the ST Congurator™ visit the Applied Motion Products
website.
All software applications run on Windows 7 (32-bit & 64-bit), Vista, XP, 2000, NT, ME, 98.
Help Manuals
ST Congurator™ incorporates context sensitive help. All the
technical data, application information and advice on setting up
the drive is just a mouse click away.
SPECIFICATIONS
OUTPUT CURRENT ST5: 0.1-5.0 amps/phase (peak-of-sine) in 0.01 amp increments
ST10: 0.1-10.0 amps/phase (peak-of-sine) in 0.01 amp increments
POWER SUPPLY ST5: External 24-48 VDC power supply required
ST10: External 24-80 VDC power supply required
PROTECTION Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground)
IDLE CURRENT REDUCTION Reduction range of 0-90% of running current after delay selectable in milliseconds
MICROSTEP RESOLUTION Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
MICROSTEP EMULATION Performs high resolution stepping by synthesizing ne microsteps from coarse steps. Reduces jerk and
extraneous system resonances. (Step & direction mode only)
ANTI-RESONANCE
(Electronic Damping)
Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout
the speed range and improves settling time
TORQUE RIPPLE SMOOTHING Allows for ne adjustment of phase current waveform harmonic content to reduce low-speed torque ripple
in the range 0.25 to 1.5 rps
MODES OF OPERATION ST-S: Step & direction, CW/CCW pulse, A/B quadrature, velocity (oscillator, joystick), streaming serial com-
mands (SCL), SiNet Hub compatible
ST-Plus, ST-Q: Same as S models, plus Q programming
ST-Si: Same as Q models, plus Si programming
ST-C: CANopen slave node with Q programming
ST-IP: Same as Q models, plus EtherNet/IP communications
INPUTS/OUTPUTS: ST-S, ST-Plus STEP, DIR inputs: Optically isolated, differential, 5 VDC, minimum pulse width = 250 ns, maximum pulse
frequency = 2 MHz
EN input: Optically isolated, 5-12 VDC
OUT output: Optically isolated, 24 VDC max, 10 mA max
AIN analog input: Range = 0-5 VDC, resolution = 12 bits
INPUTS/OUTPUTS:
ST-Q, ST-Si, ST-C, ST-IP
X1, X2 inputs: Optically isolated, differential, 5 VDC, minimum pulse width = 250 ns, maximum pulse
frequency = 2 MHz
X3-X6 inputs: Optically isolated, single-ended, shared common, sinking or sourcing, 12-24 VDC
X7, X8 inputs: Optically isolated, differential, 12-24 VDC
Y1-Y3 outputs: Optical darlington, single-ended, shared common, sinking, 30 VDC max, 100 mA max
Y4 output: Optical darlington, sinking or sourcing, 30 VDC max, 100 mA max
Analog inputs IN1, IN2: Can be used as two single-ended inputs or one differential input. Range =
software selectable 0-5, +/-5, 0-10, or +/-10 VDC. Software congurable offset, deadband, and ltering.
Resolution = 12 bits (+/-10 volt range), 11 bits (+/-5 or 0-10 volt range), or 10 bits (0-5 volt range). Note:
Si programming mode does not support analog inputs.
COMMUNICATION INTERFACE ST-S, ST-Plus: RS-232 for programming and serial communications
ST-Q-Nx, ST-Si-Nx: RS-232 for programming and serial communications
ST-Q-Rx: RS-232 for programming and serial communications, RS-485 for serial communications
ST-Q-Ex: Ethernet for programming and serial communications
ST-C-Cx: RS-232 for programming, CANopen for communications
ST-IP-Ex: Ethernet for programming, EtherNet/IP for network communications
ENCODER INTERFACE ST-Q-xE, ST-Si-xE, ST-C-CE, ST-IP-EE: For connecting to motor-mounted encoder. Used to provide stall
detection and stall prevention with static position maintenance. Differential line receivers, up to 2 MHz.
AGENCY APPROVALS RoHS
CE: EN61800-3:2004, EN61800-5-1:2003 (CE pending on CANopen model)
AMBIENT TEMPERATURE 0 to 55 ºC (32 to 131 ºF). ST10 must be mounted to suitable heatsink.
HUMIDITY 90% max, non-condensing
WEIGHT ST-S, ST-Plus: 7.1 oz
ST-Q, ST-Si, ST-C, ST-IP: 10.4 oz
27
NEMA 34
0 5 10 15 20 25 30 35 40
0
300
600
900
1200
1500
HT34-506
HT34-505
HT34-504
HT34-487
HT34-486
HT34-485
Torque (oz-in)
Speed (rev/sec)
80 Volts DC, ST10
0 5 10 15 20 25 30 35 40
0
300
600
900
1200
1500
HT34-487
HT34-486
HT34-485
HT34-506
HT34-505
HT34-504
Torque (oz-in)
Speed (rev/sec)
48 Volts DC, ST10
All curves run at 20,000 steps per rev.
Part #
Motor
Length
(inch)
Min-Holding
Torque
(oz-in)
Amps* Ohms mH Rotor Inertia
(
oz-in-sec
2
)
Motor Weight
lbs.
HT34-485 3.11 650 8.5 0.18 1.5 2.27E-02 4.6
HT34-486 4.63 1202 8.1 0.26 2.7 4.53E-02 7.7
HT34-487 6.14 1768 8.9 0.26 2.8 6.80E-02 11.0
HT34-504 2.62 397 6.3 0.24 1.7 1.56E-02 3.5
HT34-505 3.78 850 6.3 0.33 2.7 2.62E-02 5.9
HT34-506 4.94 1260 5.6 0.48 5.4 3.89E-02 8.4
* Motor only rating. Optimal current setting in ST drive may differ.
All ratings are for bipolar parallel connection.
Step angle 1.8 degrees for all motors.
DIMENSIONS
3.0
3.65
1.125
6X SLOT 0.16
WIDE, FULL R
1.98
0.61
0.663
3.39
3.0
1.75
5.0
6X SLOT 0.16
WIDE, FULL R
0.663
1.98
0.61
4.74
Dimensions in inches, not to scale
Recommended Motors Continued
404 Westridge Dr.
Watsonville, CA 95076
Tel: 800-525-1609
Fax: 831-761 -6544
www.applied-motion.com
#006BB3
#FFFFFF
When over a dark color...
#383838 85%k
76%C
68%M
67%Y
90%K
Specifications
High Performance Step
Motor Drives with Multiple
Control Options
Advanced Current Control
Anti-Resonance
Torque Ripple Smoothing
Microstep Emulation
Stall Detection/Prevention ▪Si Programmer™ with built-in Congurator
▪Point-and-click indexing software
▪User Friendly GUI
▪I/O and motion programming
▪MMI-01 compatibility
▪Pulse & direction, CW/CCW pulse, A/B
quadrature
▪Velocity (Oscillator) mode
▪Host commands (SCL compatible)
▪SiNet Hub compatible
▪ST Congurator™ software for setup
▪Executes stored Q programs
▪Networking with RS-485 or Ethernet options
▪Conditional processing & multi-tasking
▪Math functions, register manipulation
▪Encoder following
▪Third-party HMI compatibility
Control Options
C
IP
C
IP
C
IP
C
IP
C
IP
C
IP
C
IP
C
IP
C
IP
POWER SUPPLY:
▪ST5 24-48 VDC
▪ST10 24-80 VDC
OUTPUT CURRENT:
▪ST5 0.1 - 5.0A
▪ST10 0.1 - 10.0A
PROTECTION:
▪Over-Voltage
▪Under-Voltage
▪Over-Temp
▪Motor Shorts
▪Motor Open Phase
DistributeD by:
C
IP
C
IP
C
IP
▪CANopen protocols DS301 and DSP402
▪Prole Position, Prole Velocity, and
Homing Modes
▪Up to 127 axes per channel
▪Execute stored Q programs
For more information, visit: www.applied-motion.com/ST
▪Same size and I/O as S model
▪Execute stored Q programs like Q model
Q
Plus
Si
S
C
Text Outlines
11/15/11 925-0007 C
8
C
IP
C
IP
C
IP
▪EtherNet/IP industrial networking
▪Same control modes as Q model
Model
Numbers
Q Program
Si Program
RS-232
RS-422/485
Ethernet
EtherNet/IP
CANopen
Encoder
ST10-S X
ST10-Plus X X
ST10-Q-NN X X
ST10-Q-NE X X X
ST10-Q-RN X X X
ST10-Q-RE X X X X
ST10-Q-EN X X
ST10-Q-EE X X X
ST10-Si-NN X X
ST10-Si-NE X X X
ST10-C-CN X* X X
ST10-C-CE X* X X X
ST10-IP-EN X X X
ST10-IP-EE X X X X
ST Drive Model Numbers
ST5-Si-NE
Output Current
5 = 5A
10 = 10A
Control Options
S
Plus
Q
Si
C
IP
Feedback
(not available on S or Plus control options)
N = None
E = Encoder
Series
ST Series
Communications Option Board
(not available on S, Plus or Si control options)
N = None (RS-232 standard communications)
R = RS-485 option board (Q control option only)
C = CANopen option board (required on C control option)
E = Ethernet option board
(Q control option, required on IP)
*CANopen drives cannot run Q Programs stand-alone at power-up.
Model
Numbers
Q Program
Si Program
RS-232
RS-422/485
Ethernet
EtherNet/IP
CANopen
Encoder
ST5-S X
ST5-Plus X X
ST5-Q-NN X X
ST5-Q-NE X X X
ST5-Q-RN X X X
ST5-Q-RE X X X X
ST5-Q-EN X X
ST5-Q-EE X X X
ST5-Si-NN X X
ST5-Si-NE X X X
ST5-C-CN X* X X
ST5-C-CE X* X X X
ST5-IP-EN X X X
ST5-IP-EE X X X X
