Applied Motion Products STR3 User manual

920-0102 RevE
01/25/2018
STR3

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STR3 Hardware Manual
920-0102 Rev.E
01/25/2018
Contents
1 Introduction.............................................................................................................................................................................................................4
1.1 Features ........................................................................................................................................................................................................4
1.2 Block Diagram...............................................................................................................................................................................................4
1.3 Safety Instructions.........................................................................................................................................................................................5
2 Getting Started ........................................................................................................................................................................................................6
2.1 Mounting the Hardware.................................................................................................................................................................................6
2.2 Choosing a Power Supply.............................................................................................................................................................................6
2.2.1 Supply Voltage ................................................................................................................................................................................6
2.2.2 Supply Current.................................................................................................................................................................................6
2.2.3 Multiple Drives Sharing One Power Supply .....................................................................................................................................7
3 Connections............................................................................................................................................................................................................8
3.1 Connector Signals.........................................................................................................................................................................................8
3.1.1 Connect Main Power Supply ...........................................................................................................................................................9
3.1.2 Connector Pin Diagram...................................................................................................................................................................10
3.1.3 STEP and DIR Inputs.......................................................................................................................................................................10
3.1.4 EN Input ........................................................................................................................................................................................11
3.2 Switch Selecting..........................................................................................................................................................................................12
3.2.1 Running Current ............................................................................................................................................................................12
3.2.2 Idle Current....................................................................................................................................................................................13
3.2.3 MicroStep Setting ..........................................................................................................................................................................13
3.2.4 Self Test .........................................................................................................................................................................................14
3.2.5 Step Smoothing Filter ....................................................................................................................................................................14
3.2.6 Control Mode.................................................................................................................................................................................14
3.2.7 Step Noise Filter .............................................................................................................................................................................14
4 Motor Selection......................................................................................................................................................................................................15
5 Troubleshooting .....................................................................................................................................................................................................16
6 Reference Materials...............................................................................................................................................................................................17
6.1 Mechanical Outline ......................................................................................................................................................................................17
6.2 Technical Specifications...............................................................................................................................................................................18
6.3 Torque Curves..............................................................................................................................................................................................19
6.4 Motor Heating ..............................................................................................................................................................................................21

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1 Introduction
Thank you for selecting the Applied Motion Products STR3 step motor drive. We hope our commitment to performance, quality
and economy will make a successful motion control project. The STR3 Step motor drive is a cost-effective, high performance
drive. The design is based on advanced digital current control technology, and features high torque, low noise and low
vibration. Running current, microstep resolution, and other parameters are switch selectable so software configuration is not
required.
1.1 Features
• Power Supply - Operates from a 12 to 48 volt DC power supply
• Inputs - 3 optically isolated digital inputs, 5 to 24 volts
• Speed Range - up to 3000 rpm
• Current Control - 3 piano switch setting running current, 3 Amps peak maximum
• Idle Current - Switch selectable for reduction to 50% or 90% of running current 1 second after the motor stops
• Self Test - Performs a 2 rev, 1 rps, CW/CCW move test, switch selectable: ON or OFF
• Control Mode - Step & Direction mode, CW/CCW mode
• Microstep Resolution - 4 piano Switch selectable, 16 settings: 200, 400, 800, 1600, 3200, 6400, 12800, 25600, 1000,
2000, 4000, 5000, 6000, 8000, 10000, 20000 steps/rev
1.2 Block Diagram

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1.3 Safety Instructions
Only qualified personnel should transport, assemble, install, operate, or maintain this equipment. Properly qualified personnel
are persons who are familiar with the transport, assembly, installation, operation, and maintenance of motors, and who meet
the appropriate qualifications for their jobs.
To minimize the risk of potential safety problems, all applicable local and national codes regulating the installation and opera-
tion of equipment should be followed. These codes may vary from area to area and it is the responsibility of the operating
personnel to determine which codes should be followed, and to verify that the equipment, installation, and operation are in
compliance with the latest revision of these codes.
Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards. Ap-
plied Motion Products does not guarantee the products described in this publication are suitable for a particular application,
nor do they assume any responsibility for product design, installation, or operation.
• Read all available documentation before assembly and operation. Incorrect handling of the products referenced in this
manual can result in injury and damage to persons and machinery. All technical information concerning the installation
requirements must be strictly adhered to.
• It is vital to ensure that all system components are connected to earth ground. Electrical safety is impossible without a
low-resistance earth connection.
• This product contains electrostatically sensitive components that can be damaged by incorrect handling.
• Follow qualified anti-static procedures before touching the product.
• During operation keep all covers and cabinet doors shut to avoid any hazards that could possibly cause severe damage to
the product or personal health.
• During operation the product may have components that are live or have hot surfaces.
• Never plug in or unplug the step motor drive while the system is live. The possibility of electric arcing can cause damage.
Be alert to the potential for personal injury. Follow all recommended precautions and safe operating practices. Safety notices in
this manual provide important information. Read and be familiar with these instructions before attempting installation, opera-
tion, or maintenance.
The purpose of this section is to alert users to the possible safety hazards associated with this equipment and the precautions
necessary to reduce the risk of personal injury and damage to equipment. Failure to observe these precautions could result in
serious bodily injury, damage to the equipment, or operational difficulty.

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2 Getting Started
To use the STR3 step motor drive, the following items are needed:
• A 12 - 48 volt DC power supply, see the section below entitled “Choosing a Power Supply” for help in choosing the right
one
• Step & Direction signals
• A small flat blade screwdriver for configuring the switches (included)
2.1 Mounting the Hardware
As with any step motor, the STR3 must be mounted so as to provide maximum heat sinking and airflow. Keep enough space
around the Step motor drive to allow for airflow.
• Never use the drive where there is no airflow or where other devices cause the surrounding air to
be more than 40°C (104°F).
• Never put the drive where it can get wet.
• Never use the drive where metal or other electrically conductive particles can infiltrate the drive.
• Always provide airflow around the drive.
2.2 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 oth-
ers, you probably want a supply with all the safety agency approvals. If size and weight are an issue get a switching supply.
Also, you must decide what size of power supply (in terms of voltage and current) is needed for your application.
Applied Motion offers three powers supplies that are excellent matches for the STR3 drive: PS50A24 (24V, 2.1A), PS150A24
(24V, 6.3A) and PS320A48 (48V, 6.7A).
2.2.1 Supply 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 drive’s maximum
input voltage specification.
2.2.2 Supply 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. That’s 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 exceeds
the motor voltage, the less current you’ll 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.

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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 that’s rated for 2 A/phase use a 4A power supply.
2. If you are designing for mass production and must minimize cost, get one power supply with more than twice the rated cur-
rent of the motor. Install the motor in the application and monitor the current coming out of the power supply and into the drive
at various motor loads. This will tell you how much current you really need so you can design in a lower cost power supply.
The table below list the maximum current required for each motor at several common power supply voltages. Please consider
this information when choosing a power supply.
Motor Connection Current Setting
(A)
Max Power Supply Current (A)
12VDC 24VDC 48VDC
HT08-020 4 leads 0.40 0.95A 0.95A N/A
HT08-021 4 leads 0.40 0.95A 0.95A N/A
HT11-012 4 leads 1.20 0.6A 0.6A N/A
HT11-013 4 leads 1.20 0.95A 0.95A N/A
HT17-268 parallel 1.60 1.0A 1.0A 1.0A
HT17-271 parallel 2.00 1.3A 1.3A 1.3A
HT17-275 parallel 2.00 1.32A 1.32A 1.32A
HT23-595 series 2.40 1.36A 1.36A 1.36A
HT23-598 series 2.40 1.56A 1.56A 1.56A
HT23-601 series 2.40 1.4A 1.4A 1.4A
HT23-394 parallel 3.0 N/A 2.0A 3A
HT24-100 4 leads 3.0 N/A 1.2A 1.75A
2.2.3 Multiple Drives Sharing One Power Supply
You can use one supply to power multiple drives. The worst case condition occurs when all the drives are running
simultaneously. In this case, just add up the power supply currents for each to determine the total power supply current
requirement.

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3 Connections
3.1 Connector Signals

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3.1.1 Connect Main Power Supply
If the power supply does not have a fuse on the output or some kind of short circuit current limiting device a fast acting fuse is
required. A 3 Amp fast acting fuse should be installed in line with the “+” power supply lead.
Connect the power supply “+” terminal to the drive “ V+” terminal.
Connect the power supply “-” terminal to the drive “ V-” terminal.
Be careful not to reverse the“+” and “-” wires. Reversing the connection may open the
internal fuse on the drive and void the warranty.
If a regulated power supply is being used, there may be a problem with regeneration. When a load decelerates rapidly from a
high speed, some of the kinetic energy of the load is transferred back to the power supply, possibly tripping the over-voltage
protection of a regulated power supply, causing it to shut down. This problem can be solved with the use of A Applied Motion
Products RC880 Regeneration Clamp. It is recommended that an RC880 initially be installed in an application. If the “regen”
LED on the RC880 never flashes, the clamp is not necessary.

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3.1.2 Connector Pin Diagram
3.1.3 STEP and DIR Inputs
The STR3 step motor drive has two high speed optically isolated inputs called STEP and DIR. They accept 5 to 24 volt single-
ended or differential signals, up to 500KHz. The maximum voltage that can be applied to the input is 28V.
The motor executes one step when the STEP input closes.
The direction of rotation is controlled by the DIR input state. A closed input (logic “0”) will result in clockwise rotation, and an
open input (logic “1”) will result in counterclockwise rotation.

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3.1.4 EN Input
The EN input enables or disables the drive Amplifier. It is an optically isolated input that accepts
a 5 to 24 volt single-ended or differential signal. The maximum voltage that can be applied to the input is 28V.
When EN input is closed, the drive Amplifier is deactivated. All the MOSFETs will shut down, and
the motor is free. When EN input is open, the drive is activated.
When the drive has encountered an error and the fault is removed from system, a falling signal
into the EN input will reset the error status and activate the drive Amplifier again.

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3.2 Switch Selecting
The EN input enables or disables the drive Amplifier. It is an optically isolated input that accepts
a 5 to 24 volt single-ended or differential signal. The maximum voltage that can be applied to the input is
3.2.1 Running Current
The output current of the STR3 step motor drive is set by the SW1, SW2 and SW3 switches and can be changed as necessary.
There are 8 settings available according to the ON/OFF combination of the switches.

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3.2.2 Idle Current
The running current of the STR3 is automatically reduced whenever the motor isn’t moving.
Setting the SW4 switch to ON maintains 50% of the running current. Setting this switch to OFF
maintains 90% of the running current. This 90% setting is useful when a high holding torque
is required. To minimize motor and drive heating it is highly recommended that the idle current
reduction feature be set to 50% unless the application requires the higher setting.
3.2.3 MicroStep Setting
STR3 setting switch SW5, SW6, SW7, SW8. There are 16 settings.

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3.2.4 Self Test
A built-in self-test feature is available on the STR3 to check the physical operation of the motor.
Setting switch SW9 to ON after the drive is powered up will cause the drive to perform a self
test move of 2 revolutions both CW and CCW at 1rps. Setting switch SW9 to OFF disables this
feature.
3.2.5 Step Smoothing Filter
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. SW10 selects this function - ON enables it, OFF disables it.
This function can cause a small delay in following the control signal, and it should be used with
that in mind
3.2.6 Control Mode
Switch SW11 sets control mode. Switch OFF sets the Step & Dir mode. Switch ON sets the CW/
CCW mode
3.2.7 Step Noise Filter
Switch SW12 sets the digital signal filter. The STEP and DIR signal inputs have built-in digital
filters and this setting will reduce external noise. If the system works on the low microstep,
select the 150 KHz (ON) setting. If the system works on the high microstep, select the 500KHz
(OFF) setting

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4 Motor Selection
Motor wires setting:

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5 Troubleshooting
LED ERROR CODES
The STR3 has one bicolor (red/green) LED to indicate status and errors. When the motor is enabled, the LED slowly flashes
green. When the LED is solid green, the motor is disabled. If the LED flashes red, an error has occurred. Errors are indicated by
a combination of red and green flashes as follows:

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6 Reference Materials
6.1 Mechanical Outline

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6.2 Technical Specifications
Power Amplier
Amplier Type Dual H-Bridge, 4 Quadrant
Current Control 4 state PWM at 16 KHz
Power Supply External 12 - 48 volt power supply required
Input Voltage Range 10 - 53 volts min/max (nominal 12 - 48 volts), voltages outside
this range will cause driver faults and/or may damage the drive
Protection Over-voltage, over-current, under-voltage, over-temp, internal mo-
tor shorts (phase-to-phase, phase-to-ground)
Ambient Temperature 0 - 40°C (32 - 104°F) when mounted to a suitable heat sink
Humidity 90% non-condensing
Controller
Current Control Advanced digital current control provides excellent high speed
torque
Speed Range Speeds up to 3000 rpm
Auto Setup Measures motor parameters to congure current control and anti-
resonance gain settings
Step Input STEP+/- Inputs: optically isolated, 5 - 24 volts, min. pulse width 250 us.,
max. pulse frequency 500KHz; motor executes one step when the
STEP input closes
Direction Input DIR+/- Inputs: optically isolated, 5 - 24 volts, min. pulse width 62.5 us.,
max. pulse frequency 500KHz; direction of rotation is controlled
by the DIR input state
Enable Input EN+/- Inputs: optically isolated, 5 - 24 volts, min. pulse width 500 us.,
max. pulse frequency 10 KHz; enables or disables the drive Ampli-
er
Running Current Switch selectable, 8 settings: 3 Amps peak maximum
Idle Current Reduction Automatically reduces the current 1 second after the motor stops;
switch selectable, 2 settings: 50% or 90% of the running current
Microstep Resolution Switch selectable, 16 settings: 200, 400, 800, 1600, 3200,
6400, 12800, 25600, 1000, 2000, 4000, 5000, 6000, 8000,
10000, 20000 steps/rev
Self Test Checks internal and external power supply voltages, 2 rev move
both CW and CCW at 1rps, switch selectable, ON or OFF
Modes Of Control Step & Direction, CW/CCW control

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6.3 Torque Curves

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