Applied Motion Products ST5-Q Bedienungsanleitung
• ST5-Q • ST10-Q
• ST5-Q-E • ST10-Q-E
• ST5-Si • ST10-Si
• ST5-C • ST10-C
• ST5-IP-E • ST10-IP-E
920-0004 Rev. C
4/21/11
ST
• •
ST5-CST5-C
• •
ST10-CST10-C
• •
ST5-IP-EST5-IP-E
• •
ST10-IP-EST10-IP-E
2
ST5/10-Si,-Q,-C, -IP Hardware manual
920-0004 Rev. C
4/21/11
Contents
Introduction...............................................................................................................................................................................3
Features ....................................................................................................................................................................................3
Block Diagrams.........................................................................................................................................................................4
Getting Started ..........................................................................................................................................................................6
Connecting to the PC using RS-232 .........................................................................................................................................8
Connecting the Drive to Your PC using Ethernet.......................................................................................................................9
Addresses, Subnets, and Ports...........................................................................................................................................9
Option 1: Connect a Drive to Your Local Area Network....................................................................................................11
Using DCHP..............................................................................................................................................................13
Option 2: Connect a Drive Directly to Your PC ................................................................................................................14
Option 3: Use Two Network Interface Cards (NICs) .........................................................................................................16
Connecting to a host using RS-485 option card......................................................................................................................17
RS-232 to RS-485 2-wire Converter ................................................................................................................................18
Converting USB to RS-485 ..............................................................................................................................................18
Connecting the Power Supply.................................................................................................................................................20
Connecting the Motor .............................................................................................................................................................21
Connecting an Encoder (Requires the optional Encoder Feedback Card) ................................................................................22
Connecting Input Signals........................................................................................................................................................23
Connector Pin Diagram....................................................................................................................................................23
High Speed Digital Inputs ................................................................................................................................................24
Connecting a Potentiometer to Analog Input 1 .................................................................................................................31
Programmable Outputs ...........................................................................................................................................................32
Sinking Output .................................................................................................................................................................32
Using Y1, Y2, Y3..............................................................................................................................................................32
Sinking Output .................................................................................................................................................................32
Sourcing Output...............................................................................................................................................................33
Driving a Relay.................................................................................................................................................................33
Choosing a Power Supply.......................................................................................................................................................34
Recommended Motors............................................................................................................................................................35
Torque-Speed Curves..............................................................................................................................................................35
Motor Heating.........................................................................................................................................................................38
Mounting the Drive .................................................................................................................................................................43
Mechanical Outline .................................................................................................................................................................43
Technical Specifications..........................................................................................................................................................44
Mating Connectors and Accessories.......................................................................................................................................45
Alarm Codes ...........................................................................................................................................................................46
Connector Diagrams ...............................................................................................................................................................46
3
ST5/10-Si,-Q,-C, IP Hardware manual 920-0004 Rev. C
4/21/11
Introduction
Thank you for selecting an Applied Motion Products motor control. We hope our dedication to performance,
quality and economy will make your motion control project successful.
If there’s anything we can do to improve our products or help you use them better, please call or fax. We’d
like to hear from you. Our phone number is (800) 525-1609, or you can reach us by fax at (831) 761-6544.
Features
• Programmable, microstepping digital step motor driver in compact package
• ST5 operates from a 24 to 48 volt DC power supply
• ST10 operates from a 24 to 80 volt DC power supply
• Operates in velocity or position mode
• Accepts analog signals, digital signals and RS-232 serial commands
• Optional RS-422/485 communication
• Optional encoder feedback
• Optional CANopen DSP402 Control
• Optional CANopen DS301 communication with DS402 motion control
• Optional 100 Mbit Ethernet communication using SCL and Q
• Optional Ethernet/IP protocol communication
• ST5 provides motor current up to 5 amps/phase (peak of sine)
• ST10 provides motor current up to 10 amps/phase (peak of sine)
• Eight optically isolated digital inputs
• Four optically isolated digital outputs
• Two ±10 volt analog inputs for speed and position control. Can also be congured for 0 to
10V, ±5V or 0 to 5V signal ranges.
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ST5/10-Si,-Q,-C, -IP Hardware manual
920-0004 Rev. C
4/21/11
Block Diagrams
ST5-Si and ST10-Si
ST5-Q, ST5-C, ST10-Q and ST10-C
motor
encoder
24 - 48 VDC*
INPUT X1
INPUT X2
INPUT X3
INPUT X4
INPUT X5
INPUT X6
X7/CWLIM
*24 - 80 VDC for ST10
to PC/MMI
RS-485
X8/CCWLIM
OUTPUT Y1
OUTPUT Y2
OUTPUT Y3
OUTPUT Y4
ANALOG IN2
ANALOG IN1
DSP
Optical
Isolation
Si™
Chip
RS-232
Option Card
Option Card
MOSFET
PWM
Power
Amplifier
Internal
Logic
Supply
Status
motor
encoder
24 - 48 VDC*
INPUT X1
INPUT X2
INPUT X3
INPUT X4
INPUT X5
INPUT X6
X7/CWLIM
*24 - 80 VDC for ST10
to PC/MMI
X8/CCWLIM
OUTPUT Y1
OUTPUT Y2
OUTPUT Y3
OUTPUT Y4
ANALOG IN2
ANALOG IN1
DSP
Optical
Isolation
RS-232
Option Card
MOSFET
PWM
Power
Amplifier
Internal
Logic
Supply
Status
CANopen
(Required on ST-C Drives only)
or RS485
(Optional on ST-Q Drives only)
Option Card
5
ST5/10-Si,-Q,-C, IP Hardware manual 920-0004 Rev. C
4/21/11
ST5-Q-EN, ST5-Q-EE, ST5-IP-EN, ST5-IP-EE,
ST10-Q-EN, ST10-Q-EE, ST10-IP-EN, ST10-IP-EE
motor
encoder
24 - 48 VDC*
INPUT X1
INPUT X2
INPUT X3
INPUT X4
INPUT X5
INPUT X6
X7/CWLIM
*24 - 80 VDC for ST10
not used
X8/CCWLIM
OUTPUTY1
OUTPUTY2
OUTPUTY3
OUTPUTY4
ANALOG IN2
ANALOG IN1
DSP
Optical
Isolation
RS-232
Option Card
MOSFET
PWM
Power
Amplifier
Internal
Logic
Supply
Status
to Ethernet switch
or network interface
card
Ethernet
Option Card
6
ST5/10-Si,-Q,-C, -IP Hardware manual
920-0004 Rev. C
4/21/11
Getting Started
This manual describes the use of six different drive models. What you need to know and what you must
have depends on the drive model. For all models, you’ll need the following:
• a 24-48 volt DC power supply. (24 - 80VDC for ST10 models). Please read the
section entitled Choosing a Power Supply for help in choosing the right power supply.
• a compatible step motor. See section on Recommended Motors.
• a small at blade screwdriver for tightening the connectors (included).
• a personal computer running Microsoft Windows 98, 2000, NT, Me, XP, Vista or 7.
• An Applied Motion programming cable (included with non-Ethernet drives).
• For Ethernet drives you will need a CAT5 cable (not included).
• Relevant software applications, as outlined below. All software is available as a free download from
http://www.applied-motion.com/products/software.
If you’ve never used an ST drive before you’ll need to get familiar with the drive and the set up software
before you try to deploy the system in your application. We strongly recommend the following:
1. For -S drives, install the ST Configurator™ software application.
For -Q drives, install the ST Configurator™ and Q Programmer™ software applications.
For -Q-E and -IP-E drives, install ST Configurator Ethernet™ and Q Programmer™ software applications.
For -Si models, install and use the Si Programmer™ software for configuration and programming.
For -C drives, install the ST Configurator™ and the CANopen Example Program software applications.
Q Programmer™ software may also be installed, if needed.
2. Launch the software by clicking Start...Programs...Applied Motion...
3. Connect the drive to your PC using the programming cable. For RS-232 drives, select the correct COM
port. For Ethernet drives, ensure that the IP address is correct.
4. Connect the drive to the power supply.
5. Connect the drive to the motor.
6. Apply power to the drive.
7. The software will recognize your drive, display the model and firmware version and be ready for action.
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ST5/10-Si,-Q,-C, IP Hardware manual 920-0004 Rev. C
4/21/11
The connectors and other points of interest are illustrated below. Depending on your drive model and appli-
cation, you’ll need to make connections to various parts of the drive. These are detailed later in the manual.
B-
B+
A-
A+
V-
V+
B-
B+
A-
A+
V-
V+
LED Codes
GR=Green
RD=Red
MOTOR DISABLED SOLID GREEN
MOTOR ENABLED GR-GR-GR
MOTOR STALL 1 GR + 1 RD
CCW LIMIT 1 GR + 2 RD
CW LIMIT 2 GR + 2 RD
CAN’T MOVE (DISABLED) 2 GR + 1 RD
DRIVE OVER TEMP 1 GR + 3 RD
VOLTAGE HIGH 1 GR + 4 RD
VOLTAGE LOW 2 GR + 4 RD
OVER CURRENT 1 GR + 5 RD
MOTOR OHMS 2 GR + 5 RD
OPEN MOTOR PHASE 1 GR + 6 RD
BAD ENCODER SIGNAL 2 GR + 6 RD
COMM ERROR 1 GR + 7 RD
GND
+5V OUT
Y COMMON
Y3 / FAULT
Y2 / MOTION
Y1 / BRAKE
X8 / CCWLIMIT+
X8 / CCWLIMIT -
X7 / CWLIMIT -
X7 / CWLIMIT+
Y4 -
Y4+
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
X COMMON
X3 / ENABLE
X5 / CWJOG
X4 / ALARM RESET
ANALOG IN2
ANALOG IN1
X2 / DIR -
X2 / DIR+
X1 / STEP+
X1 / STEP -
GND
X6 / CCWJOG
Serial No
ST5-Q
STEP MOTOR
DRIVER
screw terminal
connector
•motor
•power supply
DB-25 connector
•digital inputs
•digital outputs
•analog input
screw terminal
connector
•optional RS-485 port
HD-15 connector
•optional encoder feedback
RJ11 connector
•RS-232 port
LEDs
• status & error codes
grounding
screw
spring terminal
connector
and rotary switches
•optional CANopen interface
RJ45 connector and
rotary address switch
•optional Ethernet interface
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ST5/10-Si,-Q,-C, -IP Hardware manual
920-0004 Rev. C
4/21/11
Connecting to the PC using RS-232
• Locate your computer within 8 feet of the drive.
• If you have a CANopen drive, you still need to connect to the RS232 port on your PC to congure the
drive and download Q Programs, if necessary. Once conguration is complete, refer to the CANopen Manual
for information on using your CANopen drive.
• If you have an Ethernet drive, this port is not used. All communcation uses the RJ45 Ethernet connector.
• RS-232 drives are shipped with a communication cable. Plug the large end into the serial port of your PC
and the small end into the PC/MMI jack on your drive. Secure the cable to the PC with the screws on the
sides.
Never connect a drive to a telephone circuit. It uses the same connectors and cords as
telephones and modems, but the voltages are not compatible.
If your PC does not have a serial port, you should purchase a “USB Serial Converter”. We have had good
results with the USB-COM-CBL from byterunner.com. If you wish to use a different converter, it is recom-
mended to use one that makes use of the FTDI chipset to perform the actual conversion.
Pin Assignments of the PC/MMI Port
(RJ11 connector)
ground (to PC ground)
TX (to PC RX) No connection
RX (to PC TX)
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ST5/10-Si,-Q,-C, IP Hardware manual 920-0004 Rev. C
4/21/11
Connecting the Drive to Your PC using Ethernet
This process requires three steps
• Physically connect the drive to your network (or directly to the PC)
• Set the drive’s IP address
• Set the appropriate networking properties on your PC.
Note: the following pages are an excerpt from the “eSCL Communication Reference Guide”. For more
information, please read the rest of the guide.
Addresses, Subnets, and Ports
Every device on an Ethernet network must have a unique IP address. In order for two devices to communi-
cate with each other, they must both be connected to the network and they must have IP addresses that are
on the same subnet. A subnet is a logical division of a larger network. Members of one subnet are gener-
ally not able to communicate with members of another unless they are connected through special network
equipment (e.g. router). Subnets are defined by the choices of IP addresses and subnet masks.
If you want to know the IP address and subnet mask of your PC, select Start…All Programs…Accesso-
ries…Command Prompt. Then type “ipconfig” and press Enter. You should see something like this:
If your PC’s subnet mask is set to 255.255.255.0, a common setting known as a Class C subnet mask, then
your machine can only talk to another network device whose IP address matches yours in the first three
octets. (The numbers between the dots in an IP address are called octets.) For example, if your PC is on a
Class C subnet and has an IP address of 192.168.0.20, it can talk to a device at 192.168.0.40, but not one at
192.168.1.40. If you change your subnet mask to 255.255.0.0 (Class B) you can talk to any device whose
first two octets match yours. Be sure to ask your system administrator before doing this. You network may
be segmented for a reason.
Your drive includes a 16 position rotary switch for setting its IP address. The factory default address for
each switch setting is shown in the table on the next page.
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ST5/10-Si,-Q,-C, -IP Hardware manual
920-0004 Rev. C
4/21/11
Settings 1 through E can be changed using the ST Congurator software (use Quick Tuner for servo drives).
Setting 0 is always “10.10.10.10”, the universal recovery address. If someone were to change the other
settings and not write it down or tell anyone (I’m not naming names here, but you know who I’m talking
about) then you will not be able to communicate with your drive. The only way to “recover” it is to use the
universal recovery address.
Setting F is “DHCP”, which commands the drive to get an IP address from a DHCP server on the network.
The IP address automatically assigned by the DHCP server may be “dynamic” or “static” depending on how
the administrator has configured DHCP. The DHCP setting is reserved for advanced users.
Your PC, or any other device that you use to communicate with the drive, will also have a unique address.
On the drive, switch settings 1 through E use the standard class B subnet mask (i.e. “255.255.0.0”). The
mask for the universal recovery address is the standard class A (i.e. “255.0.0.0”).
One of the great features of Ethernet is the ability for many applications to share the network at the same
Rotary Switch IP Address
0 10.10.10.10
1 192.168.1.10
2 192.168.1.20
3 192.168.1.30
4 192.168.0.40
5 192.168.0.50
6 192.168.0.60
7 192.168.0.70
8 192.168.0.80
9 192.168.0.90
A 192.168.0.100
B 192.168.0.110
C 192.168.0.120
D 192.168.0.130
E 192.168.0.140
F DHCP
Dieses Handbuch passt für folgende Modelle
9
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