Hardware Manual

STR4 & STR8

Step Motor Drives

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Contents
Introduction............................................................................................................................................................................................................................................ 3
Features..................................................................................................................................................................................................................................................... 3
Block Diagram........................................................................................................................................................................................................................................ 4
Getting Started...................................................................................................................................................................................................................................... 5
Mounting the Drive............................................................................................................................................................................................................................ 6
Connecting the Power Supply..................................................................................................................................................................................................... 6
Drive CE Requirements.................................................................................................................................................................................................................... 7
Choosing a Power Supply.............................................................................................................................................................................................................. 9
Voltage............................................................................................................................................................................................................................................. 9
Current............................................................................................................................................................................................................................................. 9
Connecting the Motor.................................................................................................................................................................................................................. 12
Four Lead Motor .................................................................................................................................................................................................................... 12
Eight Lead Motor..................................................................................................................................................................................................................... 12
Connecting Input Signals............................................................................................................................................................................................................. 13
Connector Pin Diagram........................................................................................................................................................................................................ 13
Connection Examples: STEP & DIR............................................................................................................................................................................... 13
Internal Circuit Diagram....................................................................................................................................................................................................... 13
Connection Examples: EN................................................................................................................................................................................................... 14
FAULT Output................................................................................................................................................................................................................................... 16
Configuring the Drive.................................................................................................................................................................................................................... 17
Step 1: Selecting a Motor................................................................................................................................................................................................... 17
STR4 Motor Table............................................................................................................................................................................................................. 17
STR8 Motor Table............................................................................................................................................................................................................. 18
Step 2: Setting the Current................................................................................................................................................................................................ 18
Step 3: Setting Idle Current............................................................................................................................................................................................... 19
Step 4: Load Inertia............................................................................................................................................................................................................... 20
Step 5: Step Size...................................................................................................................................................................................................................... 20
Step 6: Step Pulse Type....................................................................................................................................................................................................... 22
Step 7: Step Pulse Noise Filter.......................................................................................................................................................................................... 23
Self Test.................................................................................................................................................................................................................................................. 24
Reference Materials......................................................................................................................................................................................................................... 24
Motor Outlines......................................................................................................................................................................................................................... 24
Torque-Speed Curves.......................................................................................................................................................................................................... 27
Motor Heating.......................................................................................................................................................................................................................... 33
STR4 Maximum Motor Duty Cycle........................................................................................................................................................................... 34
STR8 Maximum Motor Duty........................................................................................................................................................................................ 35
Drive Heating............................................................................................................................................................................................................................. 42
Mechanical Outline................................................................................................................................................................................................................ 43
Technical Specifications....................................................................................................................................................................................................... 44
Mating Connectors and Accessories............................................................................................................................................................................ 45
Alarm Codes.............................................................................................................................................................................................................................. 46
Connector Diagrams.............................................................................................................................................................................................................. 46

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Introduction
Thank you for selecting an Applied Motion Products motor drive. We hope our dedication to
performance, quality and economy will make your motion control project successful.

If theres anything we can do to improve our products or help you use them better, please call
or fax. Wed like to hear from you. Our phone number is (800) 525-1609, or you can reach us
by fax at (831) 761-6544. You can also email [email protected].

Features
Low cost, digital step motor driver in compact package
Operates from Step & Direction signals or Step CW & Step CCW ( jumper selectable)
Enable input
Fault output
Optically isolated I/O
Digital filters prevent position error from electrical noise on command signals
Jumper selectable: 150 kHz or 2 MHz
Rotary switch easily selects from many popular motors
Electronic damping and anti-resonance
Automatic idle current reduction to reduce heat when motor is not moving
Switch selectable: 50% or 90% of running current
Switch selectable step resolution: 200 (full step), 400 (half step), 2000, 5000, 12800 or
20000 steps/rev
Switch selectable microstep emulation provides smoother, more reliable motion in full and
half step modes
Automatic self test (switch selectable)

STR4
Operates from a 24 to 48 volt DC power supply
Running current up to 4.5 amps per phase

STR8
Operates from a 24 to 75 volt DC power supply
Running current up to 7.8 amps per phase

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Block Diagram

24-48 VDC (STR4)

24-75 VDC (STR8)
from external power supply
3.3/5/15V
Regulators

Voltage
Status LEDs Sensors

AMPLIFIER motor

STEP Optical Digital

DIR Isolation Filter
Overcurrent
Sensors
Optical Software
EN
Isolation Filter DSP
1 2 3 4 5 6 7 8

Current
Optical Idle Current
OUT1
Isolation Steps/Rev
Load Inertia
345
Self Test
67
0 12

Motor Selection
89A
EF

BCD

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Getting Started
This manual describes the use of two different drive models: the STR4 and STR8. They differ
in maximum output current and maximum power supply voltage. For both models, youll need
the following:

a 24 to 48 volt DC power supply (75V max for STR8). Please read the section Choosing a
Power Supply for help in choosing the right power supply.
one of the motors listed on the drive label (see section Configuring the Drive).
a small flat blade screwdriver for tightening the connectors.
a source of step signals, such as a PLC or motion controller.

The connectors and other points of interest are illustrated below. These are detailed later in
the manual.
Motor & Power Supply Input & Output
Status LEDs
Connector Signals

Run Current, Idle Current

Steps/rev, Inertia, Self Test Motor Selector

Jumper S4:
Noise Filter Frequency

RemoveCover
Remove connectors
and
and cover to
connectors to access
access
jumpers S3 and S4
Jumpers

Jumper S3:
Step & Direction or
Step CW & Step CCW

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Mounting the Drive

You can mount your drive on the wide or the narrow side of the chassis using #6 screws. If
possible, the drive should be securely fastened to a smooth, flat metal surface that will help
conduct heat away from the chassis. If this is not possible, then forced airflow from a fan may
be required to prevent the drive from overheating. See page 40 for more details about drive
heating.

Never use your drive in a space where there is no air flow or where other devices
cause the surrounding air to be more than 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 near
each other, maintain at least one half inch of space between drives.
Connecting the Power Supply

If you need information about choosing a power supply, please read the section Choosing a
Power Supply.

Connect the power supply + terminal to the connector terminal labeled V+.
Connect power supply - to the connector terminal labeled V-.
The green ground screw on the corner of the chassis should be connected to earth ground.
Use 18 or 20 gauge wire.

The STR drives contain an internal fuse that connects to the power supply + terminal. This fuse
is not user replaceable. If you want to install a user serviceable fuse in your system install a fast
acting fuse in line with the + power supply lead. Use a 4 amp fuse for the STR4 and a 7 amp
fuse for the STR8. Some HT24 motors draw more than 4 amps, a 7 amp fuse is recommended
for all drives in this case.

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

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Drive CE Requirements

CE requires you to use an EMI line filter, P/N:092.00823.00(LCR), installed as shown:

Drive I/O Cable

Motor
Cable
EMI Filter
P/N:092.00823.00(LCR)
V- V-
DC N N
Motor
Power Ferrite
LOAD
LINE

Input V+ V+ absorber
L L

GND

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Power Supply and Ground Connections

Locate fuse in-line with + connection
If you plan to use a regulated power supply you may encounter a problem with regeneration.
If you rapidly decelerate a load from a high speed, much of the kinetic energy of that load is
transferred back to the power supply. This can trip the overvoltage protection of a switching
power supply, causing it to shut down. We offer the RC-050 regeneration clamp to solve this
problem. If in doubt, buy an RC-050 for your first installation. If the regen LED on the RC-050
never flashes, you dont need the clamp.

regen LED

RC-050 Regen Clamp

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Choosing a Power Supply

When choosing a power supply, there are many things to consider. If you are manufacturing
equipment that will be sold to others, you probably want a supply with all the safety agency
approvals. If size and weight are an issue get a switching supply.

And you must decide what size of power supply (in terms of voltage and current) is needed for
your application.

Applied Motion offers two powers supplies that are excellent matches for the STR4 and STR8
drives: PS150A24 (24V, 6.3A) and PS320A48 (48V, 6.7A).

Voltage
Your motor can provide more torque at higher speeds if a higher power supply voltage is used.
Please consult the speed-torque curves later in this manual for guidance.

If you choose an unregulated power supply, make sure the no load voltage of the supply does
not exceed the drives maximum input voltage specification.

Current
The maximum supply current you could ever need is two times the motor current. However,
you will generally need a lot less than that, depending on the motor type, voltage, speed and
load conditions. Thats because the STR uses a switching amplifier, converting a high voltage
and low current into lower voltage and higher current. The more the power supply voltage ex-
ceeds the motor voltage, the less current youll need from the power supply. A motor running
from a 48 volt supply can be expected to draw only half the supply current that it would with a
24 volt supply.

We recommend the following selection procedure:

1. If you plan to use only a few drives, get a power supply with at least twice per
phase current rating of the step motor. Example: for a motor thats rated for 2 A/phase use a 4
A power supply..
2. If you are designing for mass production and must minimize cost, get one power
supply with more than twice the rated current of the motor. Install the motor in the application
and monitor the current coming out of the power supply and into the drive at various motor
loads. This will tell you how much current you really need so you can design in a lower cost

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power supply.

The tables below and on the next page list the maximum current required for each motor at
several common power supply voltages. Please consider this information when choosing a
power supply.

Table 1: STR4 Power Supply Current

All motors connected as indicated, except HT24 which have four leads.
Drive Current Max Power Supply Current (A)
Switch Motor Amps, peak of 24VDC 48VDC
sine
0
reserved for custom motors
1
2 HT17-278 2.4 parallel 1.6 1.7
3 HT17-068/268 1.6 parallel 1.1 1.1
4 HT17-071/271 2.0 parallel 1.1 1.1
5 HT17-075/275 2.0 parallel 1.1 1.1
6 HT23-394/594 3.4 parallel 1.9 2.0
7 HT23-398/598 4.5 parallel 3.2 3.3
8 HT23-401/601 4.5 parallel 3.2 3.4
9 HT24-100 3.36 2.6 2.3
A HT24-105 4.5 5.2 3.2
B HT24-108 4.5 4.3 3.4
C HT34-485 4.5 series 2.6 2.5
D HT34-486 4.5 series 2.4 2.7
E HT34-504 3.816 series 2.1 2.1
F HT34-505 3.816 series 2.4 2.1

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Table 2: STR8 Power Supply Current

All motors connected in parallel, except HT24 which have four leads.

Drive Current Max Power Supply Current (A)

Switch Motor Amps, peak of 24VDC 48VDC 60VDC
sine
0
1 reserved for custom motors
2
3 HT23-603 6 4.4 4.0 4.0
4 HT23-394/594 3.4 1.9 2.0 n/a
5 HT23-398/598 5 3.2 3.3 n/a
6 HT23-401/601 5 3.2 3.4 n/a
7 HT24-100 3.36 2.6 2.3 2.0
8 HT24-105 4.8 5.2 3.2 2.7
9 HT24-108 4.8 4.3 3.4 2.9
A HT34-485 8 5.1 5.0 5.0
B HT34-486 8 5.2 4.6 4.4
C HT34-487 8 5.2 5.4 5.3
D HT34-504 7.56 4.8 4.2 4.0
E HT34-505 7.56 4.4 4.2 4.2
F HT34-506 6.72 3.5 3.2 3.3

Regeneration
If you plan to use a regulated power supply you may encounter a problem with regeneration.
If you rapidly decelerate a load from a high speed, much of the kinetic energy of that load is
transferred back to the power supply. This can trip the overvoltage protection of a switching
power supply, causing it to shut down. If you have a high inertia load running at high speed an
unregulated supply may be better. It has large capacitors for storing energy coming back from
the drive. They are also less expensive. See previous section on Connecting the Power Supply
for details on the RC-050 regeneration clamp.

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Connecting the Motor

!
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 chassis
ground screw located on the chassis near the motor-power connector.

Four Lead Motor

These motors can only be connected one way. Please follow the sketch
below. Chassis Ground Screw

Red
A+ 4 MOTOR/POWER
lead CONNECTOR
A
motor MOTOR
Blue
V+
V-
A+
A-
B+
B-
Yellow White
B+ B

4 Leads
Eight Lead Motor
These motors can be connected in series or parallel. A series connected motor needs less cur-
rent than one that is connected in parallel but it will not be able to run as fast. Once you have
determined which way you want to connect your motor to the drive, please follow the wiring
diagrams below.

Orange Orange
A+ A+
Blk/Wht
Org/Wht 8 8
lead lead
Blk/Wht motor Org/ motor
Wht
A A
Black Black
Yel
Red low
Red Red/ Yel/ Yellow
Wht Wht B Yel/ Red/Wht
B+ B+ Wht B
8 Leads Series Connected 8 Leads Parallel Connected

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Connecting Input Signals

The STR drives have three inputs:
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 removing power from the step motor. When the EN input is activated
the motor is disabled. Activating then de-activating the EN input clears alarms and faults, and
re-enables the motor in the case of drive faults.

Connector Pin Diagram Internal Circuit Diagram

FAULT+
FAULT

inside drive
STEP+
STEP

STEP+
DIR+
DIR
EN+
EN

220 pF
STEP-

DIR+
220 pF
DIR-

EN+
220 pF
EN-

FAULT+

FAULT-

Connection Examples: STEP & DIR

COM DIR-
Indexer
with DIR DIR+
Sourcing STR
Outputs STEP-
STEP STEP+

Connecting to indexer with Sourcing Outputs

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+V OUT DIR+
Indexer
with DIR DIR-
STR
Sinking
Outputs STEP+
STEP STEP-

Connecting to Indexer with Sinking Outputs

DIR+ DIR+
Indexer
with DIR- DIR-
STM17R
Differential
Outputs STEP+ STEP+
STEP- STEP-

Connecting to Indexer with Differential Outputs

(Many High Speed Indexers have Differential Outputs)

Connection Examples: EN

+ EN+
5-24
VDC switch or relay STR
Power (closed=disable)
Supply - EN-

Connecting an Input to a Switch or Relay

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+
5-24
EN+
VDC

Si drive

STR
OUT+ EN- Power
Supply
OUT -

Connecting another drive to EN

(When output closes, the drive disables)

5-24 + EN+
VDC +
Power NPN output STR
Supply Proximity EN-
Sensor
-

Connecting an NPN Type Proximity Sensor to an input

(When prox sensor activates, the drive disables)

5-24 + +
PNP output
VDC EN+
Proximity
Power
Supply
Sensor
STR
- EN-

Connecting a PNP Type Proximity Sensor to an input

(When prox sensor activates, the drive disables)

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FAULT Output
The STR drives feature a digital FAULT output. This output closes FAULT+

to signal a fault condition. FAULT-

This output can be used to drive LEDs, relays and the inputs of
other electronic devices like PLCs. The + (collector) and - (emitter) terminals of the output
transistor are available at the connector. This allows you to configure the output for current
sourcing or sinking.

Diagrams of each type of connection follow.

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

5-24 VDC 5-24 VDC

Power Supply Power Supply
+ +

FAULT+ Load FAULT+

STR STR
FAULT- FAULT- Load

Sinking Output Sourcing Output

5-24 VDC
relay Power Supply
+

FAULT+
STR
1N4935 suppression diode
FAULT-

Driving a Relay

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Configuring the Drive

Step 1: Selecting a Motor

The STR drives are optimized for use with carefully selected motors. To
select a motor, simply move the rotary switch to the letter or number
that corresponds to the motor of your choice. You can do this while
power is on, but it is safer to select the motor before applying power
to the drive so that you do not risk applying too much current to your motor.

If your motor is not on the list, please set the switch to a selection whose rotor inertia, holding
torque and current are within 10% of your motor. Custom configurations can be added for
qualifying applications.
STR4 Motor Table
Drive Cur- Holding Torque Rotor Inertia
Switch Motor Wiring rent Amps, oz-in g-cm2
peak of sine
0
reserved for custom configurations
1
2 HT17-278 parallel 2.4 113 123
3 HT17-068/268 parallel 1.6 31.4 35
4 HT17-071/271 parallel 2 51 54
5 HT17-075/275 parallel 2 62.8 68
6 HT23-394/594 parallel 3.4 76.6 120
7 HT23-398/598 parallel 4.5 159.3 300
8 HT23-401/601 parallel 4.5 237.6 480
9 HT24-100 4 leads 3.36 123 280
A HT24-105 4 leads 4.5 166 450
B HT24-108 4 leads 4.5 332 900
C HT34-485 series 4.5 585 1400
D HT34-486 series 4.5 1113 2680
E HT34-504 series 3.816 396 1100
F HT34-505 series 3.816 849 1850

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STR8 Motor Table

Motor Wiring Drive Cur- Holding Torque Rotor Inertia
Switch rent Amps, oz-in g-cm2
peak of sine
0
1 reserved for custom configurations
2
3 HT23-603 parallel 6 354 750
4 HT23-394/594 parallel 3.4 76.6 120
5 HT23-398/598 parallel 5 177 300
6 HT23-401/601 parallel 5 264 480
7 HT24-100 4 leads 3.36 123 280
8 HT24-105 4 leads 4.8 177 450
9 HT24-108 4 leads 4.8 354 900
A HT34-485 parallel 8 507 1400
B HT34-486 parallel 8 965 2680
C HT34-487 parallel 8 1439 4000
D HT34-504 parallel 7.56 396 1100
E HT34-505 parallel 7.56 849 1850
F HT34-506 parallel 6.72 1260 2750
Step 2: Setting the Current
The maximum current for the motor you have selected is set automatically when you set the
rotary switch. But you may want to reduce the current to save power or lower motor tempera-
ture. This is important if the motor is not mounted to a surface that will help it dissipate heat or
if the ambient temperature is expected to be high.

Step motors produce torque in direct proportion to current, but the amount of heat generated
is roughly proportional to the square of the current. If you operate the motor at 90% of rated
current, youll get 90% of the rated torque. But the motor will produce approximately 81% as
much heat. At 70% current, the torque is reduced to 70% and the heating to about 50%.

Two of the small DIP switches on the front of the STR drive are used to set the percent of rated

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current that will be applied to the motor: SW1 and SW2. Please set them according to the
illustration below.

1 2 1 2 1 2 1 2

100% 90% 80% 70%

Step 3: Setting Idle Current
Motor heating and power consumption can also be reduced by lowering the motor current
when it is not moving. The STR will automatically lower the motor current when it is idle to
either 50% or 90% of the running current. The 50% idle current setting will lower the holding
torque to 50%, which is enough to prevent the load from moving in most applications. This
reduces motor heating by 75%. In some applications, such as those supporting a vertical load, it
is necessary to provide a high holding torque. In such cases, the idle current can be set to 90%
as shown below.

4 4

50% 90%

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Step 4: Load Inertia

The STR drives include anti-resonance and electronic damping features which greatly improve
motor performance. To perform optimally, the drive must understand the electromechanical
characteristics of the motor and load. Most of this is done automatically when you select the
motor by setting the rotary switch. To further enhance performance, you must set a switch to
indicate the approximate inertia ratio of the load and motor. The ranges are 0 to 4X and 5 to
10X. The motors table shown in Step 1 of this section include the rotor inertia of each motor.
Please divide the load inertia by the rotor inertia to determine the ratio, then set switch 3 ac-
cordingly, as shown. For assistance in calculating the load inertia of your application contact our
Applications department.

3 3

5-10X 0-4X

Step 5: Step Size

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

Smaller step sizes result in smoother motion and more precise speed, but also require a higher
step pulse frequency to achieve maximum speed. The smallest step size of the STR drives is
1/20,000th of a motor turn. To command a motor speed of 50 revolutions per second (3000
rpm) the step pulses frequency must be 50 x 20,000 = 1 MHz. Many motion devices, especially
PLCs cannot provide step pulses at such a high speed. If so, the drive must be set for a lower
number of steps per revolution. Six different settings are provided in the STR drive, as shown
in the table on the next page.

Please choose the one that best matches the capability of your system.

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At lower step resolutions such as 200 steps/ rev (full step) and 400 steps/rev (half step), motors
run a little rough and produce more audible noise than when they are microstepped (2000
steps/rev and beyond). The STR drives include a feature called microstep emulation, also
called step smoothing, that can provide smooth motion from coarse command signals. If you
select 200 SMOOTH or 400 SMOOTH, this feature is automatically employed to provide
the smoothest possible motion from a less than ideal signal source.

Because a command filter is used as part of the step smoothing process, there will be a slight
delay, or lag in the motion. If this delay is objectionable for your application, please choose
the non-filtered setting 200 or 400. The chart on the next page shows an example of the
delay that can occur from using the step smoothing filter.

5 6 7 5 6 7 5 6 7 5 6 7

20000 12800 5000 2000

5 6 7 5 6 7 5 6 7 5 6 7

400 400 200 200

SMOOTH SMOOTH

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Step 6: Step Pulse Type

Most indexers and motion controllers provide motion commands in the Step and Direction
format. The Step signal pulses once for each motor step and the direction signal commands
direction. However, a few PLCs use a different type of command signal: one signal pulses once
for each desired step in the clockwise direction (called STEP CW), while a second signal pulses
for counterclockwise motion (STEP CCW). S3 Jumper settings
The STR drives can accept this
type of signal if you remove the
drive cover and move jumper
S3 from the 1-2 position to
the 1-3 position. In STEP CW/
STEP CCW mode, the CW signal
should be connected to the STEP
input and the CCW signal to the
DIR input.
1-2: Step & Direction 1-3: STEP CW & STEP CCW

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Step 7: Step Pulse Noise Filter

Just when you thought there couldnt be any more to know about step signals, we present one
more setting for your consideration. Electrical noise can affect the STEP signal in a negative way,
causing the drive to think that one step pulse is two or more pulses. This results in extra motion
and inaccurate motor and load positioning. To combat this problem, the STR drives include a
digital noise filter on the STEP and DIR inputs. The default factory setting of this filter is150 kHz,
which works well for most applications.

However, as discussed in Step 5, if you are operating the STR at a high number of steps/rev and
at high motor speeds, you will be commanding the drive at step rates above 150 kHz. In such
cases, you should remove the cover and move jumper S4 from the 150 kHz position (1-3) to
the 2 MHz position (1-2) as shown below.

Your maximum pulse rate will be the highest motor speed times the steps/rev. For example, 40
revs/second at 20,000 steps/rev is 40 x 20,000 = 800 kHz. Please consider this when deciding if
you must increase the filter frequency.

S4 Jumper settings

1-2: 2 Mhz 1-3: 150 Mhz

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Self Test
If you are having trouble getting your motor to turn, you may want to try the built-in self test.
Anytime switch 8 is moved to the ON position, the drive will automatically rotate the motor
back and forth, two turns in each direction. This feature can be used to confirm that the motor
is correctly wired, selected and otherwise operational.

8 8

ON OFF
SELF TEST
Reference Materials

Motor Outlines

MOTOR LENGTH(L)
HT17-068 331 mm
HT17-071 391 mm ADD D TO END OF PART NUMBER TO ADD
HT17-075 471 mm REAR SHAFT AND ENCODER HOLES
HT17-268 33.3 mm MAX
HT17-271 39.8 mm MAX
HT17-275 48.3 mm MAX

HT17 Outline Drawing

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ADD D TO END OF PART NUMBER TO ADD

L REAR SHAFT AND ENCODER HOLES

MOTOR LENGTH(L)
HT23-394/594 41 mm MAX
HT23-398/598 54 mm MAX
HT23-401/601 76 mm MAX

HT23 Outline Drawing

MOTOR LENGTH(L)
HT24-100 441 mm
HT24-105 541 mm
HT24-108 851 mm
L

8.0

8.0

HT24 Outline Drawing

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MOTOR LENGTH(L)
HT34-504 66.51 mm
HT34-505 961 mm
HT34-506 125.51 mm

HT34-504, 505 & 506 Outline Drawing

HT34-485, 486, 487 Outline Drawing

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Torque-Speed Curves
HT17 with STR4 HT17-068/268
Connection: Parallel
24v Power Supply , 20,000 steps/rev
HT17-071/271
100
HT17-075/275
90
HT17-278
80

70

60
oz-in

50

40

30

20

10

0
0 5 10 15 20 25 30 35 40
rps

HT17 with STR4 HT17-278

Connection: Parallel 48v Power Supply , 20,000 steps/rev HT17-075/275
100
HT17-071/271
90
HT17-068/268
80

70

60
oz-in

50

40

30

20

10

0
0 5 10 15 20 25 30 35 40
rps

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HT23 with STR4/8

HT23-394/594 (STR4)
Connection: Parallel, 24V Power Supply, 20,000 steps/rev
HT23-398/598 (STR4)
350
HT23-401/601 (STR4)
300
HT23-603 (STR8)

250

200
oz-in

150

100

50

0
0 5 10 15 20 25 30 35 40
rps

HT23 with STR4/8 HT23-603 (STR8)

Connection: Parallel, 48v Power Supply , 20,000 steps/rev
350 HT23-401/601 (STR4)

HT23-398/598 (STR4)
300
HT23-394/594 (STR4)
250

200
oz-in

150

100

50

0
0 5 10 15 20 25 30 35 40
rps

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HT24 with STR8 HT24-100 HT24-105 HT24-108

Connection: Parallel
24v Power Supply , 20,000 steps/rev
350

300

250

200
oz-in

150

100

50

0
0 5 10 15 20 25 30 35 40
rps

HT24 with STR8

Connection: Parallel, 48v Power Supply , 20,000 steps/rev
350
HT24-100 HT24-105 HT24-108
300

250

200
oz-in

150

100

50

0
0 5 10 15 20 25 30 35 40
rps

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HT34 with STR4

Connection: Series HT34-504 HT34-505 HT34-485 HT34-486
Power Supply 48V, 20,000 steps/rev
900

800

700

600

500
oz-in

400

300

200

100

0
0 5 10 15 20 25 30 35 40
rps

HT34 with STR8

Connection: Parallel HT34-504 HT34-505 HT34-506
Power Supply 24V, 20,000 steps/rev
1000

900

800

700

600
oz-in

500

400

300

200

100

0
0 5 10 15 20 25 30 35 40
rps

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HT34 with STR8

Connection: Parallel HT34-504 HT34-505 HT34-506
Power Supply 48V, 20,000 steps/rev
1000

900

800

700

600
oz-in

500

400

300

200

100

0
0 5 10 15 20 25 30 35 40
rps

HT34 with STR8

Connection: Parallel HT34-504 HT34-505 HT34-506
Power Supply 60V, 20,000 steps/rev
1000

900

800

700

600
oz-in

500

400

300

200

100

0
0 5 10 15 20 25 30 35 40
rps

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HT34 with STR8

Connection: Parallel HT34-485 HT34-486 HT34-487
Power Supply 24V, 20,000 steps/rev
1200

1000

800
oz-in

600

400

200

0
0 5 10 15 20 25 30 35 40
rps

HT34 with STR8

Connection: Parallel HT34-485 HT34-486 HT34-487
Power Supply 48V, 20,000 steps/rev
1200

1000

800
oz-in

600

400

200

0
0 5 10 15 20 25 30 35 40
rps

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HT34 with STR8

Connection: Parallel HT34-485 HT34-486 HT34-487
Power Supply 60V, 20,000 steps/rev
1200

1000

800
oz-in

600

400

200

0
0 5 10 15 20 25 30 35 40
rps

Motor Heating
Step motors convert electrical power from the driver into mechanical power to move a load.
Because step motors are not perfectly efficient, some of the electrical power turns into heat on
its way through the motor. This heating is not so much dependent on the load being driven but
rather the motor speed and power supply voltage. There are certain combinations of speed
and voltage at which a motor cannot be continuously operated without damage.

We have characterized the recommended motors in our lab and provided curves showing the
maximum duty cycle versus speed for each motor at commonly used power supply voltages.
Please refer to these curves when planning your application.

Please also keep in mind that a step motor typically reaches maximum temperature after 30 to
45 minutes of operation. If you run the motor for one minute then let it sit idle for one minute,
that is a 50% duty cycle. Five minutes on and five minutes off is also 50% duty. However, one
hour on and one hour off has the effect of 100% duty because during the first hour the motor
will reach full (and possibly excessive) temperature.

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The actual temperature of the motor depends on how much heat is conducted, convected or
radiated out of it. Our measurements were made in a 40C (104F) environment with the motor
mounted to an aluminum plate sized to provide a surface area consistent with the motor power
dissipation. Your results may vary.

STR4 Maximum Motor Duty Cycle

Drive Current Max Duty Cycle at 40C Ambient

Motor Connection Amps, peak of 24VDC 48VDC
sine
HT17-068 parallel 1.6 100% see chart
HT17-071 parallel 2 100% see chart
HT17-075 parallel 2 see chart see chart
HT17-268 parallel 1.6 100% see chart
HT17-271 parallel 2 100% see chart
HT17-275 parallel 2 100% see chart
HT17-278 parallel 2.4 100% see chart
HT23-394 parallel 3.4 100% see chart
HT23-398 parallel 4.5 100% see chart
HT23-401 parallel 4.5 100% see chart
HT23-594 parallel 3.4 100% see chart
HT23-598 parallel 4.5 100% see chart
HT23-601 parallel 4.5 100% see chart
HT24-100 4 leads 3.36 100% 100%
HT24-105 4 leads 4.5 100% see chart
HT24-108 4 leads 4.5 100% see chart
HT34-485 series 4.5 100% 100%
HT34-486 series 4.5 see chart see chart
HT34-504 series 3.816 100% 100%
HT34-505 series 3.816 100% 100%

34
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STR8 Maximum Motor Duty

Drive Current Max Duty Cycle at 40C Ambient

Motor Connection Amps, peak of 24VDC 48VDC 60VDC
sine
HT23-394 parallel 3.4 100% see chart see chart
HT23-398 parallel 5 100% see chart see chart
HT23-401 parallel 5 100% see chart see chart
HT23-594 parallel 3.4 100% see chart see chart
HT23-598 parallel 5 100% see chart see chart
HT23-601 parallel 5 100% see chart see chart
HT23-603 parallel 6 100% see chart see chart
HT24-100 4 leads 3.36 100% 100% see chart
HT24-105 4 leads 4.8 100% see chart see chart
HT24-108 4 leads 4.8 100% see chart see chart
HT34-485 parallel 8 100% see chart see chart
HT34-486 parallel 8 see chart see chart see chart
HT34-487 parallel 8 see chart see chart see chart
HT34-504 parallel 7.56 100% 100% 100%
HT34-505 parallel 7.56 100% 100% see chart
HT34-506 parallel 6.72 100% 100% 100%

HT17-068 Max Duty cycle vs Speed HT17-071 Max Duty Cycle vs Speed
48 VDC, 1.60 Amps @Ambient of 40 48 VDC, 2.0 Amps 40C Ambient
on 4.75 x 4.75 x .25 Aluminum Plate on 4.75 x 4.75 x .25 Aluminum Plate
100 100

80 80
% Duty Cycle
e
% Duty Cycle
e

60 60

40 40

20 20

0 0
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Speed (RPS) Speed (RPS)

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HT17-075 Max Duty Cycle vs Speed HT17-075 Max Duty cycle vs Speed
24 VDC, 2.0 Amps 40C Ambient 48 VDC, 2.0 Amps @Ambient of 40
on 4.75 x 4.75 x .25 Aluminum Plate on 4.75 x 4.75 x .25 Aluminum Plate
100 100
80 80
% Duty Cycle
e

% Duty Cycle
e
60 60
40 40
20 20
0 0
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Speed (RPS) Speed (RPS)

HT17268MaxDutyCyclevsSpeed HT17271MaxDutyCyclevsSpeed
48VDC 48VDC
4.75x4.75x.25AluminumPlate 4.75x4.75x.25AluminumPlate
100% 100%

80% 80%
maxdutycycle

maxdutycycle
60% 60%

40% 40%
m

20% 20%

0% 0%
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
rev/sec rev/sec

HT17275MaxDutyCyclevsSpeed HT17278MaxDutyCyclevsSpeed
48VDC 48VDC
4.75x4.75x.25AluminumPlate 4.75x4.75x.25AluminumPlate
100% 100%

80% 80%
maxdutycycle

maxdutycycle

60% 60%

40% 40%
m

20% 20%

0% 0%
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
rev/sec rev/sec

HT23-394 Max Duty Cycle vs Speed HT23394MaxDutyCyclevsSpeed

48 VDC, 3.4 Amps, 40C Ambient STR860VDC
on 6.4 x 6.4 x .25 Aluminum Plate 8.4x8.4x.25AluminumPlate
100
100%
80
80%
maxdutycycle

60
% Duty Cycle
e

60%
40
40%
m

20
20%

0
0%
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Speed (RPS) rev/sec

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STR4/8 Hardware Manual 5/12/2015

HT23-398 Max Duty cycle vs Speed HT23398MaxDutyCyclevsSpeed

48VDC, 5.0 Amps, 40C Ambient STR860VDC
on 6.4 x 6.4 x .25 Aluminum Plate 8.4x8.4x.25AluminumPlate
100
100%

80
80%

maxdutycycle
60
cle

60%
% Duty Cyc

40 40%

m
20 20%

0 0%
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40

Speed (RPS) rev/sec

HT23-401 Max Duty Cycle vs Speed HT23401MaxDutyCyclevsSpeed

48 VDC, 5.0 Amps, 40C Ambient STR860VDC
on 6.4 x 6.4 x .25 Aluminum Plate 8.4x8.4x.25AluminumPlate
100 100%

80 80%

maxdutycycle
% Duty Cycle
e

60 60%

40 40%

m
20 20%

0 0%
0 5 10 15 20 25 30 35 40
0 5 10 15 20 25 30 35 40
rev/sec
Speed (RPS)

HT23594MaxDutyCyclevsSpeed HT23594MaxDutyCyclevsSpeed
STR448VDC STR860VDC
8.4x8.4x.25AluminumPlate 8.4x8.4x.25AluminumPlate
100% 100%

80% 80%
maxdutycycle

maxdutycycle

60% 60%

40% 40%
m

20% 20%

0% 0%
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
rev/sec rev/sec

HT23598MaxDutyCyclevsSpeed HT23598MaxDutyCyclevsSpeed
STR848VDC STR860VDC
8.4x8.4x.25AluminumPlate 8.4x8.4x.25AluminumPlate
100% 100%

80% 80%
maxdutycycle

maxdutycycle

60% 60%

40% 40%
m

20% 20%

0% 0%
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
rev/sec rev/sec

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5/12/2015 STR4/8 Hardware Manual

HT23601MaxDutyCyclevsSpeed HT23601MaxDutyCyclevsSpeed
STR848VDC STR860VDC
8.4x8.4x.25AluminumPlate 8.4x8.4x.25AluminumPlate
100% 100%

80% 80%
maxdutycycle

maxdutycycle
60% 60%

40% 40%
m

m
20% 20%

0% 0%
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
rev/sec rev/sec

HT23603MaxDutyCyclevsSpeed HT23603MaxDutyCyclevsSpeed
STR848VDC STR860VDC
8.4x8.4x.25AluminumPlate 8.4x8.4x.25AluminumPlate
100% 100%

80% 80%
maxdutycycle

maxdutycycle
60% 60%

40% 40%
m

20% 20%

0% 0%
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
rev/sec rev/sec

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HT24100MaxDutyCyclevsSpeed
STR860VDC
8.4x8.4x.25AluminumPlate
100%

80%
maxdutycycle

60%

40%
m

20%

0%
0 5 10 15 20 25 30 35 40
rev/sec

HT24-105 Max Duty Cycle vs Speed HT24105MaxDutyCyclevsSpeed

48VDC, 4.8A 40 C Ambient STR860VDC
on a 8.4 x 8.4 x .25 Aluminum Plate 8.4x8.4x.25AluminumPlate
100 100%

80 80%

axdutycycle
% Duty Cycle

60 60%

40 40%
ma

20 20%

0%
0
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
rev/sec
Speed (RPS)

HT24-108 Max Duty Cycle vs Speed HT24108MaxDutyCyclevsSpeed

48VDC, 4.8A 40 C Ambient STR860VDC
on a 8.4 x 8.4 x .25 Aluminum Plate 8.4x8.4x.25AluminumPlate
100 100%

80 80%
maxdutycycle
% Duty Cycle

60 60%

40 40%
m

20 20%

0 0%
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Speed (RPS) rev/sec

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5/12/2015 STR4/8 Hardware Manual

HT34-485 Max Duty Cycle vs Speed HT34-485 Max Duty Cycle vs Speed
48VDC, 8A parallel 40 C Ambient 60VDC, 8A parallel 40 C Ambient
on a 10 x 10 x .5 Aluminum Plate on a 10 x 10 x .5 Aluminum Plate

100 100

80 80
% Duty Cycle
e

% Duty Cycle
e
60 60

40 40

20 20

0 0
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Speed (RPS) Speed (RPS)

HT34-486 Max Duty Cycle vs Speed HT34-486 Max Duty Cycle vs Speed
24VDC, 8A parallel 40 C Ambient 48VDC, 8A parallel 40 C Ambient
on a 10 x 10 x .5 Aluminum Plate on a 10 x 10 x .5 Aluminum Plate

100 100

80 80
% Duty Cycle
e

% Duty Cycle
e

60 60

40 40

20 20

0 0
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Speed (RPS) Speed (RPS)

HT34-486 Max Duty Cycle vs Speed

60VDC, 8A parallel 40 C Ambient
on a 10 x 10 x .5 Aluminum Plate

100

80
% Duty Cycle
e

60

40

20

0
0 5 10 15 20 25 30 35 40
Speed (RPS)

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HT34-486 Max Duty Cycle vs Speed HT34-486 Max Duty Cycle vs Speed
24VDC, 4.5A series 40 C Ambient 48VDC, 4.5A series 40 C Ambient
on a 10 x 10 x .5 Aluminum Plate on a 10 x 10 x .5 Aluminum Plate

100 100

80 80
% Duty Cycle
e

% Duty Cycle
e
60 60

40 40

20 20

0 0
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Speed (RPS) Speed (RPS)

HT34-487 Max Duty Cycle vs Speed HT34-487 Max Duty Cycle vs Speed
24VDC, 8A parallel 40 C Ambient 48VDC, 8A parallel 40 C Ambient
on a 10 x 10 x .5 Aluminum Plate on a 10 x 10 x .5 Aluminum Plate

100 100

80 80
% Duty Cycle
e

% Duty Cycle
e
60 60

40 40

20 20

0 0
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Speed (RPS) Speed (RPS)

HT34-487 Max Duty Cycle vs Speed HT34-505 Max Duty Cycle vs Speed
60VDC, 8A parallel 40 C Ambient 60VDC, 7.56A parallel 40 C Ambient
on a 10 x 10 x .5 Aluminum Plate on a 10 x 10 x .5 Aluminum Plate

100 100

80 80
% Duty Cycle
e

% Duty Cycle
e

60 60

40 40

20 20

0 0
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Speed (RPS) Speed (RPS)

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Drive Heating
While STR drivers efficiently transmit power between the power supply and motor, they do
generate some heat in the process. This will cause the temperature of the drive to rise above
the surrounding air temperature and may also require that the drive be mounted to a heat
conducting metal surface.

For those who wish to calculate the power dissipation and temperature rise, the following infor-
mation is provided:
1. drive power dissipation Pd versus motor current and power supply voltage (see chart)
2. drive thermal constant RQ

The final drive case temperature is given by

Tc = Ta + RQ* Pd
where Ta is the ambient temperature of the surrounding air. The case of the drive should not
be allowed to exceed 70C or the life of the product could be reduced.

Drive thermal constant:

Narrow side of drive mounted on a 13.5 x 13.5 steel plate, .070 thick: RQ =1.0C/W
Narrow side of drive mounted on a non-heat conducting surface: RQ =2.1C/W
STRDriveLosses
25

60V
48V
20
24V
DriverLoss(W)

15

10

0
1 2 3 4 5 6 7 8
motorcurrent(A)

42
 4.42 (112 mm)

4X DIA .137 (3.5 mm)

Mechanical Outline

0.887 (22.5 mm) 2.97 (75.5 mm)

0.996 (25.3 mm)

1.30
(33 mm)
0.35 (8.9 mm)
STR4/8 Hardware Manual

43
456
23
1 2 3 4 5 6 7 8
789

F0 1

AB E
CD
2X SLOT 0.17 (4.3 mm)
0.89 (22.5 mm) WIDE, FULL R

.125 (3.2 mm)

4.65 (118 mm)
5/12/2015
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Technical Specifications
Amplifier Digital MOSFET. 20 kHz PWM. Suitable for driving two phase and four
phase step motors with four, six or eight leads.

Supply voltage:
STR4
24-48 VDC (STR4)
Under voltage alarm: 20 VDC
Over voltage shutdown: 60 VDC
STR8
24-75 VDC (STR8)
Under voltage alarm: 20 VDC
Over voltage shutdown: 85 VDC

Motor current:
(STR4) 1.12 (Rotary Sw3 X 70%) to 4.5 amps/phase peak of sine
(STR8) 2.35(Rotary Sw7 X 70%) to 8 amps/phase peak of sine

Digital Inputs Optically isolated, 5 - 24V logic. Sourcing, sinking or differential signals can
be used. Drive steps on falling edge of STEP+ input.
Minimum on voltage: 4 VDC.
Maximum voltage: 30 VDC.
Input current: 5 mA typ at 4V, 15 mA typ at 30V.
Maximum pulse frequency: 150 kHz or 2 MHz (set by internal jumper)
Minimum pulse width:
3 usec (at 150 kHz setting)
0.25 usec (at 2 MHz setting)

Fault Output Photodarlington, 80 mA, 30 VDC max. Voltage drop: 1.2V max at 80 mA.

Physical 1.3 x 3.0 x 4.65 inches (33 x 75.5 x 118 mm) overall. 10.8 oz (305 g) includ-
ing mating connectors.
Ambient temperature range: 0C to 50C.

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Mating Connectors and Accessories

Mating Connectors
Motor/power supply: PCD P/N ELV06100 (Phoenix Contact 1757051), included with drive.
Signals: PCD P/N ELVH08100 (Phoenix Contact 1803633), included with drive.

Accessories
Regeneration Clamp:
Applied Motion Products RC-050.

45
Alarm Codes
In the event of a drive fault or alarm, the green LED will flash one or two times, followed by a series of red flashes. The pattern
repeats until the alarm is cleared. Faults disable the motor and can be cleared by cycling power to the drive or toggling the
enable input. The power supply voltage too low alarm does not disable the motor and will self-clear after 30 seconds. It can
be cleared sooner by cycling power to the drive or toggling the enable input.

Code Error
solid green no alarm, motor disabled
flashing green no alarm, motor enabled
flashing red configuration or memory error; Contact factory for assistance.
1 green, 4 red power supply voltage too high fault
1 green, 5 red over current / short circuit fault
1 green, 6 red open motor winding fault
2 green, 3 red internal voltage out of range fault
2 green, 4 red power supply voltage too low alarm

Connector Diagrams

FAULT+
FAULT
STEP+
STEP
DIR+
DIR
EN+
EN
V+

A+

B+
V

Power and Motor Connector Signal Connector

404 Westridge Drive Watsonville, CA 95076

Tel (831) 761-6555 (800) 525-1609 Fax (831) 761-6544
www.applied-motion.com
920-0030G
12/12/2012