ST Drive Model Numbers ST5-Si-NE Series ST Series Feedback (not available on S or Plus control options) N = None E = Encoder Output Current 5 = 5A 10 = 10A ST5-S X ST10-S X ST10-Plus X X ST5-Q-NN X X ST10-Q-NN X X ST5-Q-NE X X ST10-Q-NE X X ST5-Q-RN X X X ST10-Q-RN X X X ST5-Q-RE X X X ST10-Q-RE X X X ST5-Q-EN X X ST10-Q-EN X X ST5-Q-EE X X ST10-Q-EE X X ST5-Si-NN X X ST5-Si-NE X X X X X X ST5-C-CN X* X X ST5-C-CE X* X X ST5-IP-EN X X X ST5-IP-EE X X X X X ST10-Si-NN X X ST10-Si-NE X X #FFFFFF 925-0007 C When over a dark color... Encoder CANopen X X X X* X X ST10-C-CE X* X X ST10-IP-EN X X X ST10-IP-EE X X X Distributed by: Motor Drives with Multiple Control S Options Text X ST10-C-CN 85%k 404 Westridge76%C Dr. Watsonville, CA68%M 95076 #006BB3 Tel: 800-525-1609 67%Y Fax: 831-761 -6544 90%K www.applied-motion.com EtherNet/IP Ethernet RS-422/485 X #383838 8 C Options C Control C Pulse & direction, CW/CCW pulse, A/B IP High Performance Step IP IP quadrature X ST5-Plus *CANopen drives cannot run Q Programs stand-alone at power-up. 11/15/11 RS-232 Model Numbers Si Program Encoder CANopen EtherNet/IP Ethernet RS-422/485 RS-232 Si Program Q Program Model Numbers Q Program 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) Control Options S Plus Q Si C IP X X Plus Outlines C C IP IP Advanced Current Control Q Anti-Resonance C C Torque RippleSi Smoothing IP IP Microstep Emulation C Stall Detection/Prevention Specifications POWER SUPPLY: PROTECTION: ST5 24-48 VDC ST10 24-80 VDC OUTPUT CURRENT: ST5 0.1 - 5.0A ST10 0.1 - 10.0A Over-Voltage Under-Voltage Over-Temp Motor Shorts Motor Open Phase C C IP IP C C IP IP Velocity (Oscillator) mode Host commands (SCL compatible) SiNet Hub compatible ST ConfiguratorTM software for setup C IP Same size and I/O as S model Execute stored Q programs like Q model 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 Si ProgrammerTM with built-in Configurator Point-and-click indexing software User Friendly GUI I/O and motion programming MMI-01 compatibility C IP CANopen protocols DS301 and DSP402 Profile Position, Profile Velocity, and Homing Modes Up to 127 axes per channel Execute stored Q programs C IP C EtherNet/IP industrial networking Same control modes as Q model IP For more information, visit: www.applied-motion.com/ST Recommended Motors Continued 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) HT34-485 Reduction range of 0-90% of running current after delay selectable in milliseconds HT34-486 MICROSTEP RESOLUTION Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev HT34-487 6.14 MICROSTEP EMULATION Performs high resolution stepping by synthesizing fine microsteps from coarse steps. Reduces jerk and extraneous system resonances. (Step & direction mode only) HT34-504 HT34-505 HT34-506 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 fine 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 commands (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 INPUTS/OUTPUTS: ST-Q, ST-Si, ST-C, ST-IP COMMUNICATION INTERFACE 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 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 configurable offset, deadband, and filtering. 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. 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 C (32 to 131 F). 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 Motor Length (inch) Part # Min-Holding Torque (oz-in) Amps* 3.11 650 8.5 0.18 4.63 1202 8.1 0.26 1768 8.9 0.26 2.8 2.62 397 6.3 0.24 3.78 850 6.3 0.33 4.94 1260 5.6 0.48 5.4 Ohms Rotor Inertia (oz-in-sec2) Motor Weight lbs. 1.5 2.27E-02 4.6 2.7 4.53E-02 7.7 6.80E-02 11.0 1.7 1.56E-02 3.5 2.7 2.62E-02 5.9 3.89E-02 8.4 mH * 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. 1500 48 Volts DC, ST10 HT34-487 1200 Torque (oz-in) IDLE CURRENT REDUCTION NEMA 34 - High Torque HT34-486 900 HT34-485 HT34-506 600 HT34-505 300 1500 80 Volts DC, ST10 HT34-487 1200 Torque (oz-in) SPECIFICATIONS HT34-486 900 HT34-485 HT34-506 600 HT34-505 300 HT34-504 0 0 5 10 15 20 25 30 35 HT34-504 0 40 Speed (rev/sec) 0 5 10 15 20 25 30 35 40 Speed (rev/sec) All curves run at 20,000 steps per rev. DIMENSIONS Q, Si, C AND IP MODELS S AND Plus models 4.74 3.39 0.61 0.61 1.98 3.0 3.0 1.98 1.125 1.75 6X SLOT 0.16 WIDE, FULL R 0.663 3.65 6X SLOT 0.16 WIDE, FULL R 0.663 5.0 Dimensions in inches, not to scale 2 7 Recommended Motors - a selection of motors suitable for use with the ST Drives NEMA 17 - High Torque Motor Length (inch) Part # Min-Holding Torque (oz-in) Amps* Ohms mH Rotor Inertia (oz-in-sec2) Software 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. 50 50 24 Volts DC HT17-275 2A Torque (oz-in) HT17-271 2A 30 HT17-268 1.6A 20 48 Volts DC 40 Torque (oz-in) 40 30 HT17-275 2A ST ConfiguratorTM Q ProgrammerTM HT17-271 2A Used for setup and configuration of the drive. For more information about the ST ConfiguratorTM visit the Applied Motion Products website. Q ProgrammerTM 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. Si ProgrammerTM Help Manuals Intended for use in stand-alone applications, Si ProgrammerTM provides a user friendly, point-and-click, graphical interface that doesn't require any previous programming experience. ST ConfiguratorTM incorporates context sensitive help. All the technical data, application information and advice on setting up the drive is just a mouse click away. HT17-268 1.6A 20 10 10 0 0 5 10 15 20 25 30 35 0 40 0 5 10 15 20 25 30 35 40 Speed (rev/sec) Speed (rev/sec) All curves run at 20,000 steps per rev. NEMA 23 - High Torque Part # Motor Length (inch) Min-Holding Torque (oz-in) Amps* Ohms mH Rotor Inertia (oz-in-sec2) Motor Weight (lbs.) 0.9 HT23-594 1.61 76.5 2.83 0.7 1.4 1.91E-03 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. 250 HT23-601 5A HT23-598 5A 150 HT23-594 3.4A 100 HT23-601 5A 150 HT23-594 3.4A 100 0 0 5 10 15 20 25 30 35 40 Accessories 0 5 10 15 20 25 30 35 Power Supplies 40 Speed (rev/sec) Speed (rev/sec) All curves run at 20,000 steps per rev. NEMA 24 - High Torque All software applications run on Windows 7 (32-bit & 64-bit), Vista, XP, 2000, NT, ME, 98. HT23-598 5A 50 50 0 48 Volts DC 200 Torque (oz-in) 200 Torque (oz-in) 250 24 Volts DC Part # Motor Length (inch) Min-Holding Torque (oz-in) Amps* Ohms mH Rotor Inertia (oz-in-sec2) 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 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 supplies have current overload capability making them ideal for use with stepper drives. * Motor only rating. Optimal current setting in ST drive may differ. Step angle 1.8 degrees for all motors. HT24-108 4.8A 250 HT24-105 4.8A 200 HT24-100 3.36A 150 HT24-108 4.8A 250 HT24-105 4.8A 200 HT24-100 3.36A RC-050 Regeneration Clamp 100 50 0 5 10 15 20 Speed (rev/sec) All curves run at 20,000 steps per rev. 6 48 Volts DC 300 150 100 0 350 24 Volts DC 300 Torque (oz-in) Torque (oz-in) 350 25 30 35 40 50 0 5 10 15 20 Speed (rev/sec) 25 30 35 40 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. 3 C IP 4 -S -G -R re ED en Se ria l No S T 5 -S S T 5 l No Se ria en -G -R re ED GR RD V+ VA+ AB+ GR RD V+ VA+ AB+ GN BAN D OU +5 1 V OU T+ T- EN EN DIR + DIR STE STE + PP+ GN BAN D OU +5 1 V OU T+ T- EN EN DIR + DIR STE STE + PP+ -S 5 T S l No ria Se 2 GR + 1 GR + 3 1 GR + 4 RD GR + 4 RD + 5 RD 7 RD RD GR RD -G 1 -R re ED en 1 GR VO IVE VO LTA OV OV LTA GE ER CO ER GE HIG TE MM CU LO MP H RR ER W RO EN DR T R -S 5 T S l No ria Se GR RD -G -R re ED en d es V+ V- C o A+ ro r A- Er B+ GN BAN D OU +5 1 V OU T+ T- EN EN DIR + DIR ST ST EP + EP + 45 23 ID 3 12 GR 2 + + 3 3 RD + 4 RD RD 1 2 GR + + 4 5 RD RD GR 1 GR ++ 6 6 RD RD 2 GR + 7 1 GR + 1 2 GR GR 1 GR GR-Gr 1 2 GRGR LIMIT TRIP TEMP TRIP TEMP 3 4 45 5 Front Y1 View Y2 / Y3 / BRAKE Y / INPOS +5VCOMMALARM GND N OUT ON 14 6 7 15 16 17 18 ID 2 E O u nc o tpu de r ts Z+Z- IN/O 1 D RD-RE RD 1 RD een++ 2 2 RDRD 1 N 19202122 B- 1 UT E O u nc o tpu de r ts 13 LIMIT OVER OVER HIGH POSITIOLIMIT E LOWNT CCW E CW DRIVE CURRE FAIL MOTOR FAILER VOLTAG VOLTAG ERROR OVER HALL ENCOD COMM 232425 8 9 10 11 12 D A+A-B+ 19202122 11 RD-RE RD 1 RD een++ 2 2 RDRD 13 1 N s 18 10 GND 17 9 de 16 232425 8 Co 15 or 7 Err 14 6 Analo X6 X7 Analo / CCW/ CW g IN+ X3 X4 g / Alarm Limit IN/ Servo Limit X Reset X5 COMMEnable X2 X2 / ON / PWM-/ DIRDIR+ / PWM+ 5 X1 X1 / / STEPSTEP 4 A+A-B+ 3 s 2 + + 3 3 RD + 4 RD RD 1 2 GR + + 4 5 RD RD GR 1 GR ++ 6 6 RD RD 2 GR + 7 1 GR + 1 2 GR GR 1 Seri al Seri GR GR GR-Gr 1 2 GRGR LIMIT TRIP TEMP TRIP TEMP Front Y1 View Y2 / Y3 / BRAKE Y / INPOS +5VCOMMALARM GND N OUT ON IN/O 1 D RD-RE RD 1 RD een++ 2 2 RDRD 1 N Z+Z- 1 UT E O u nc o tpu de r ts 13 23 No ST No 12 LIMIT OVER OVER HIGH POSITIOLIMIT E LOWNT CCW E CW DRIVE CURRE FAIL MOTOR FAILER VOLTAG VOLTAG ERROR OVER HALL ENCOD COMM al 45 23 ID 4 19202122 11 GND 18 10 Analo X6 X7 Analo / CCW/ CW g IN+ X3 X4 g / Alarm Limit IN/ Servo Limit X Reset X5 COMMEnable X2 X2 / ON / PWM-/ DIRDIR+ / PWM+ 9 Co 17 232425 8 X1 X1 / / STEPSTEP 16 Z+Z- 15 Err 7 B- 14 6 Err 5 A+A-B+ 4 s 3 de 2 + + 3 3 RD + 4 RD RD 1 2 GR + + 4 5 RD RD GR 1 GR ++ 6 6 RD RD 2 GR + 7 1 GR + 1 2 GR GR 1 Co GR GR GR-Gr 1 2 GRGR LIMIT TRIP TEMP TRIP TEMP Front Y1 View Y2 / Y3 / BRAKE Y / INPOS +5VCOMMALARM GND N OUT ON IN/O 1 D RD-RE RD 1 RD een++ 2 2 RDRD 1 N or al Seri 1 UT E O u nc o tpu de r ts 13 GND 12 LIMIT OVER OVER HIGH POSITIOLIMIT E LOWNT CCW E CW DRIVE CURRE FAIL MOTOR FAILER VOLTAG VOLTAG ERROR OVER HALL ENCOD COMM 1T 1T 1T ID 5 19202122 11 or 18 10 GR IP + + 3 3 RD + 4 RD RD 1 2 GR + + 4 5 RD RD GR 1 GR ++ 6 6 RD RD 2 GR + 7 1 GR + 1 2 GR GR 1 GR GR-Gr 1 2 GRGR LIMIT TRIP TEMP TRIP TEMP LIMIT OVER OVER HIGH POSITIOLIMIT E LOWNT CCW E CW DRIVE CURRE FAIL MOTOR FAILER VOLTAG VOLTAG ERROR OVER HALL ENCOD COMM ID 1 UP TO C 127 AXES -Q 5 T S l No ria RD 25 -R ED B+BA+A- Se An X6 X7 An alo / CCW/ CW alo g IN+ X3 X4 g IN Lim IN/ Ser/ Ala Lim i rm t 1 /O X vo Res it X1 2 CO Ena X5 X1 / U 3 MM et / STESTE X2 ble 4 T P X2 / ON 5 1 P / PW / DIRDIR 6 14 / PW 7 M- + 8 M+ 1615 9 GN Y1 Y2 / 1817 D 1110 Y3 / BRA 19 Y / INP KE 20 1312 +5VCO ALA OS 21 GN MM RM N 22 C 23 D OU ON o Z+ZT 24 IP RS232 E O u nc o tpu de r ts E rr o r d e s G R- G re en RD 1 + 2 RD RDRD RD GR + 2 1 GR + + 3 3 RD + 4 RD 1 GRGR 2 1 GR + 4 RD 2 GR + + 5 RDRD 6 1 GR IT 2 GR + + 6 7 RD P P 1 GR + LIM 1 2 GR N IT TRIP TEMTEM GR TRIP 1 R R H ITIO LIM IT T HIG LIM OVEOVE POS E LOW CCW VE REN E CW TOR TAG DRI FAIL TAGCUR MO OR R FAILER VOL L VOL ODM ERR OVE HAL ENC COM M M I MMI Control Option IP -S 5 T 1 -R re ED en 1 GR 2 GR + 1 GR + 3 1 GR + 4 RD GR + 4 RD + 5 RD 7 RD RD G G RD R- VO IV VO LT E OV LT AG OV CO ER AG E ER M CU E HI TE LO GH M M RR P ER W RO EN T R r Co B+ ro Er DR A- C IP DS301 and DSP402 protocols Up to 127 axes Q IP C Plus IP Point & click graphical interface MMI option Q IP Download, store & execute programs C C Plus C S de A+ BGND AN1 +5V + OUT OUT ENEN+ DIR + DIR PSTE P+ STE IP C C Multi-Axis Systems RS232 S T 5 -S RS232 ria l No A- B+ E P TEM R T OVEE HIGH LOW E REN R 1 RD 3 RD + 4 RD + 4 GR + 5 RDRD GR 1 7 GR + 2 GR + 1 GR 1 TAG DRIV BCURERRO VOL TAG R M VOL GND AN1 OVE +5V COM OUT+ OUT-ENEN+ DIRDIR+ - + STEP STEP UP TO 8 AXES Each drive connects to a port on the hub. or UP TO 4 AXES HUB 444 A+ es GR RD -G -R re ED en Se V- od V+ Plus Comprehensive text based language Download, store & execute programs Q High levelIP features: multi-tasking, Plus conditional programming, & math functions Host interface while executing Q internal programs IP o s V- C C IP RS232 V+ IP Up to 32 axes with RS-485 option 1000's of axes with Ethernet and EtherNet/IP Q IP Stand-Alone Programmable t View Fron C Plus Connect to CANopen network 5-Q ST No 17 9 Analo X6 X7 Analo / CCW/ CW g IN+ X3 X4 g / Alarm Limit IN/ Servo Limit X Reset X5 X1 COMMEnable X1 / / STEPSTEP X2 X2 / ON / PWM-/ DIRDIR+ / PWM+ 16 232425 8 B- 45 23 45 23 No al 15 Z+Z- Seri Front Y1 View Y2 / Y3 / BRAKE Y / INPOS +5VCOMMALARM GND N OUT ON 7 B- 14 6 A+A-B+ 5 s 4 Analo X6 X7 Analo / CCW/ CW g IN+ X3 X4 g / Alarm Limit IN/ Servo Limit X Reset X5 COMMEnable X2 X2 / ON / PWM-/ DIRDIR+ / PWM+ 3 GND 2 + + 3 3 RD + 4 RD RD 1 2 GR + + 4 5 RD RD GR 1 GR ++ 6 6 RD RD 2 GR + 7 1 GR + 1 2 GR GR 1 Co GR GR GR-Gr 1 2 GRGR LIMIT TRIP TEMP TRIP TEMP de IN/O 1 D RD-RE RD 1 RD een++ 2 2 RDRD 1 N 5-Q ST 1 UT E O u nc o tpu de r ts 13 X1 X1 / / STEPSTEP 12 LIMIT OVER OVER HIGH POSITIOLIMIT E LOWNT CCW E CW DRIVE CURRE FAIL MOTOR FAILER VOLTAG VOLTAG ERROR OVER HALL ENCOD COMM or 19202122 11 Err 10 de 1T 1T 1T 45 23 No al 9 s Seri Front Y1 View Y2 / Y3 / BRAKE Y / INPOS +5VCOMMALARM GND N OUT ON 18 Z+Z- 17 B- 16 232425 8 A+A-B+ 15 Err X1 X1 / / STEPSTEP 7 GND Analo X6 X7 Analo / CCW/ CW g IN+ X3 X4 g / Alarm Limit IN/ Servo Limit X Reset X5 COMMEnable X2 X2 / ON / PWM-/ DIRDIR+ / PWM+ 14 6 de 5 Co 4 or 3 ID 1 4 C 2 PC or 3rd Party Controller C ID 2 C IP 8 digital inputs Q 4 digital outputs 2 analog inputs 5-Q ST 1 UT IN/O 1 r 8 digital inputs 4 digital outputs 2 analog inputs 5-Q ST ID 3 3 C 8 digital inputs 4 digital outputs IP 5-Q ID 4 6 7 89 2 IP 8 digital inputs 4 digital outputs 2 analog inputs C C Plus 6 7 89 6 7 89 1 C IP 3 digital inputs 1 digital output 1 analog input Q Q IP ID 5 ro 3 digital inputs 1 digital output 1 analog input IP IP 6 7 89 Er Plus Plus Ethernet Connection ID 6 C IP CD IP IP IP Q Q Q IP IP IP C C C Inputs & Outputs C C C C IP 6 7 89 Q IP Q commands from Accepts streaming IP C IP host PC or PLC Q Plus C IP C IP C Accepts streaming Q commands from IP C host PC or Plus PLC RD 3 RD + 4 RD + 4 GR + 5 RDRD GR 1 7 GR + 2 GR + 1 GR 1 6 7 89 IP Plus Software Configuration Two speeds Vary speed with analog input Q Joystick compatible IP Plus AB IP 1 P TEM R HIGH LOW E OVE RENTR AGE AGECUR DRIV VOLT R M ERRO VOLT OVE COM CD IP 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. RS232 AB IP 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. Plus Plus Plus Host Control CD IPIP Self Test & Auto Setup IP IP AB IP Speed (Potentiometer) CD Benefit: Delivers smoother system performance IP Speed1/Speed2 (Toggle Switch) AB 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. Co CD Command Signal Smoothing or Err BGND AN1 +5V + OUT OUT ENEN+ DIRDIR+ - + STEP STEP AB Benefit: Delivers smoother motion at lower speeds 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, highreliability 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. B+ CD 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. A- lN Torque Ripple Smoothing de A+ AB 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. V- ria Benefit: Delivers smoother motion in any application C IP Run/Stop (Toggle Switch) s V+ C Step & Direction Plus CW & CCW Pulse A/B Quadrature (Master Encoder) RD 3 RD + 4 RD + 4 GR + 5 RDRD GR 1 7 GR + 2 GR + 1 GR 1 Oscillator / Run-Stop Se Synthesized Microsteps 1 DRIV CURERRO VOLT R M VOLT OVE COM 3rd Party Controller EF 0 1 With Microstep Emulation, low resolution systems can still provide smooth motion. The drive can take low-resolution step pulses and create fine resolution micro-step motion. s de P Co R TEM T or OVE HIGH LOW REN R Err E AGE AGE EF 0 1 1.8 Steps RD 3 RD + 4 RD + 4 GR + 5 RDRD GR 1 7 GR + 2 GR + 1 GR 1 EF 0 1 Microstep Emulation 1 DRIV CURERRO VOLT R M VOLT OVE COM EF 0 1 Benefit: Delivers better motor performance and higher speeds 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. s de P Co R TEM T or OVE HIGH LOW REN R Err E AGE AGE EF 0 1 Features The following option boards are available with the ST drives (depending on control option) Q IP Control Options 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. Step & Direction EF 0 1 Option Boards Anti-Resonance/Electronic Damping IP IP C Use SiNet Hub Programmer software 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. 5 Recommended Motors - a selection of motors suitable for use with the ST Drives NEMA 17 - High Torque Motor Length (inch) Part # Min-Holding Torque (oz-in) Amps* Ohms mH Rotor Inertia (oz-in-sec2) Software 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. 50 50 24 Volts DC HT17-275 2A Torque (oz-in) HT17-271 2A 30 HT17-268 1.6A 20 48 Volts DC 40 Torque (oz-in) 40 30 HT17-275 2A ST ConfiguratorTM Q ProgrammerTM HT17-271 2A Used for setup and configuration of the drive. For more information about the ST ConfiguratorTM visit the Applied Motion Products website. Q ProgrammerTM 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. Si ProgrammerTM Help Manuals Intended for use in stand-alone applications, Si ProgrammerTM provides a user friendly, point-and-click, graphical interface that doesn't require any previous programming experience. ST ConfiguratorTM incorporates context sensitive help. All the technical data, application information and advice on setting up the drive is just a mouse click away. HT17-268 1.6A 20 10 10 0 0 5 10 15 20 25 30 35 0 40 0 5 10 15 20 25 30 35 40 Speed (rev/sec) Speed (rev/sec) All curves run at 20,000 steps per rev. NEMA 23 - High Torque Part # Motor Length (inch) Min-Holding Torque (oz-in) Amps* Ohms mH Rotor Inertia (oz-in-sec2) Motor Weight (lbs.) 0.9 HT23-594 1.61 76.5 2.83 0.7 1.4 1.91E-03 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. 250 HT23-601 5A HT23-598 5A 150 HT23-594 3.4A 100 HT23-601 5A 150 HT23-594 3.4A 100 0 0 5 10 15 20 25 30 35 40 Accessories 0 5 10 15 20 25 30 35 Power Supplies 40 Speed (rev/sec) Speed (rev/sec) All curves run at 20,000 steps per rev. NEMA 24 - High Torque All software applications run on Windows 7 (32-bit & 64-bit), Vista, XP, 2000, NT, ME, 98. HT23-598 5A 50 50 0 48 Volts DC 200 Torque (oz-in) 200 Torque (oz-in) 250 24 Volts DC Part # Motor Length (inch) Min-Holding Torque (oz-in) Amps* Ohms mH Rotor Inertia (oz-in-sec2) 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 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 supplies have current overload capability making them ideal for use with stepper drives. * Motor only rating. Optimal current setting in ST drive may differ. Step angle 1.8 degrees for all motors. HT24-108 4.8A 250 HT24-105 4.8A 200 HT24-100 3.36A 150 HT24-108 4.8A 250 HT24-105 4.8A 200 HT24-100 3.36A RC-050 Regeneration Clamp 100 50 0 5 10 15 20 Speed (rev/sec) All curves run at 20,000 steps per rev. 6 48 Volts DC 300 150 100 0 350 24 Volts DC 300 Torque (oz-in) Torque (oz-in) 350 25 30 35 40 50 0 5 10 15 20 Speed (rev/sec) 25 30 35 40 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. 3 Recommended Motors Continued 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) HT34-485 Reduction range of 0-90% of running current after delay selectable in milliseconds HT34-486 MICROSTEP RESOLUTION Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev HT34-487 6.14 MICROSTEP EMULATION Performs high resolution stepping by synthesizing fine microsteps from coarse steps. Reduces jerk and extraneous system resonances. (Step & direction mode only) HT34-504 HT34-505 HT34-506 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 fine 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 commands (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 INPUTS/OUTPUTS: ST-Q, ST-Si, ST-C, ST-IP COMMUNICATION INTERFACE 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 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 configurable offset, deadband, and filtering. 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. 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 C (32 to 131 F). 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 Motor Length (inch) Part # Min-Holding Torque (oz-in) Amps* 3.11 650 8.5 0.18 4.63 1202 8.1 0.26 1768 8.9 0.26 2.8 2.62 397 6.3 0.24 3.78 850 6.3 0.33 4.94 1260 5.6 0.48 5.4 Ohms Rotor Inertia (oz-in-sec2) Motor Weight lbs. 1.5 2.27E-02 4.6 2.7 4.53E-02 7.7 6.80E-02 11.0 1.7 1.56E-02 3.5 2.7 2.62E-02 5.9 3.89E-02 8.4 mH * 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. 1500 48 Volts DC, ST10 HT34-487 1200 Torque (oz-in) IDLE CURRENT REDUCTION NEMA 34 - High Torque HT34-486 900 HT34-485 HT34-506 600 HT34-505 300 1500 80 Volts DC, ST10 HT34-487 1200 Torque (oz-in) SPECIFICATIONS HT34-486 900 HT34-485 HT34-506 600 HT34-505 300 HT34-504 0 0 5 10 15 20 25 30 35 HT34-504 0 40 Speed (rev/sec) 0 5 10 15 20 25 30 35 40 Speed (rev/sec) All curves run at 20,000 steps per rev. DIMENSIONS Q, Si, C AND IP MODELS S AND Plus models 4.74 3.39 0.61 0.61 1.98 3.0 3.0 1.98 1.125 1.75 6X SLOT 0.16 WIDE, FULL R 0.663 3.65 6X SLOT 0.16 WIDE, FULL R 0.663 5.0 Dimensions in inches, not to scale 2 7 ST Drive Model Numbers ST5-Si-NE Series ST Series Feedback (not available on S or Plus control options) N = None E = Encoder Output Current 5 = 5A 10 = 10A ST5-S X ST10-S X ST10-Plus X X ST5-Q-NN X X ST10-Q-NN X X ST5-Q-NE X X ST10-Q-NE X X ST5-Q-RN X X X ST10-Q-RN X X X ST5-Q-RE X X X ST10-Q-RE X X X ST5-Q-EN X X ST10-Q-EN X X ST5-Q-EE X X ST10-Q-EE X X ST5-Si-NN X X ST5-Si-NE X X X X X X ST5-C-CN X* X X ST5-C-CE X* X X ST5-IP-EN X X X ST5-IP-EE X X X X X ST10-Si-NN X X ST10-Si-NE X X #FFFFFF 925-0007 C When over a dark color... Encoder CANopen X X X X* X X ST10-C-CE X* X X ST10-IP-EN X X X ST10-IP-EE X X X Distributed by: Motor Drives with Multiple Control S Options Text X ST10-C-CN 85%k 404 Westridge76%C Dr. Watsonville, CA68%M 95076 #006BB3 Tel: 800-525-1609 67%Y Fax: 831-761 -6544 90%K www.applied-motion.com EtherNet/IP Ethernet RS-422/485 X #383838 8 C Options C Control C Pulse & direction, CW/CCW pulse, A/B IP High Performance Step IP IP quadrature X ST5-Plus *CANopen drives cannot run Q Programs stand-alone at power-up. 11/15/11 RS-232 Model Numbers Si Program Encoder CANopen EtherNet/IP Ethernet RS-422/485 RS-232 Si Program Q Program Model Numbers Q Program 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) Control Options S Plus Q Si C IP X X Plus Outlines C C IP IP Advanced Current Control Q Anti-Resonance C C Torque RippleSi Smoothing IP IP Microstep Emulation C Stall Detection/Prevention Specifications POWER SUPPLY: PROTECTION: ST5 24-48 VDC ST10 24-80 VDC OUTPUT CURRENT: ST5 0.1 - 5.0A ST10 0.1 - 10.0A Over-Voltage Under-Voltage Over-Temp Motor Shorts Motor Open Phase C C IP IP C C IP IP Velocity (Oscillator) mode Host commands (SCL compatible) SiNet Hub compatible ST ConfiguratorTM software for setup C IP Same size and I/O as S model Execute stored Q programs like Q model 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 Si ProgrammerTM with built-in Configurator Point-and-click indexing software User Friendly GUI I/O and motion programming MMI-01 compatibility C IP CANopen protocols DS301 and DSP402 Profile Position, Profile Velocity, and Homing Modes Up to 127 axes per channel Execute stored Q programs C IP C EtherNet/IP industrial networking Same control modes as Q model IP For more information, visit: www.applied-motion.com/ST Mouser Electronics Authorized Distributor Click to View Pricing, Inventory, Delivery & Lifecycle Information: Applied Motion: ST5-S-NN ST5-SI-NN ST10-Si-NN ST10-S-NN ST5-S ST10-Si-NF