Stepping Systems

User Manual
Manual #: STP-SYS-M-WO
7th Edition, Rev E
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PAGE
 ~ WARNING ~
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w–1
 ~ AVERTISSEMENT ~
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w–2
 ~ WARNING ~
Warning: Read this manual thoroughly before using SureStep™ Stepping
System drives, motors, and power supplies.

Warning: AC input power must be disconnected before performing any

maintenance. Do not connect or disconnect wires or connectors while power
is applied to the circuit. Maintenance must be performed only by a qualified
technician.

Warning: There are highly sensitive MOS components on the printed circuit
boards, and these components are highly sensitive to static electricity. To
avoid damage to these components, do not touch the components or the
circuit boards with metal objects or with your bare hands.

Warning: Ground the SureStep™ power supply using the ground terminal.
The grounding method must comply with the laws of the country where the
equipment is to be installed. Refer to “Power Supply Terminal & Component
Layout” in the Power Supply chapter.

w–3
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PAGE
SureStep™
Stepping Systems
User Manual
Please include the Manual Number and the Manual Issue, both shown below, when communicating
with Technical Support regarding this publication.

Manual Number: STP-SYS-M-WO

Issue: Seventh Edition, Revision E
Issue Date: 04/08/2025

Publication History
Issue Date Description of Changes
First Edition 7/28/04 Original
AC power fuse changed from 2A slow blow to 3A
1st Ed, Rev A 8/26/04
fast acting, plus other minor changes and corrections.
Added wiring diagrams for both sink and source for indexers and PLCs
1st Ed, Rev B 3/28/07 with 12-24 VDC outputs. Also corrected value for r4 from 64 to 1296 in
formula under Step 4 on page 15 of Appendix A.
Changed name of user manual (was STP-SYS-M).
Added new components:
3 new power supplies: STP-PWR-4805, -4810, -7005
Second Edition 11/2008 2 new drives: STP-DRV-4850, -80100
5 new motors: STP-MTR-17040, STP-MTRH-23079, -34066, -34097, -34127
2 new cables: STP-EXTH-020, STP-232RJ11-CBL
Other minor changes throughout.
2nd Ed, Rev A 06/2009 Advanced drives RS-232 communication port pin-out; pages 3-4 & B-7
2nd Ed, Rev B 09/2009 Advanced drives Digital Output max current rating; page 3-10
Ch 2,3: drive storage temperature specs
2nd Ed, Rev C 02/2011 Ch 4: motor storage temperature specs; motor Torque vs Speed curves
Ch 5: power supply Watt loss specs
Ch 2: RoHS, Wiring for Encoder Following
2nd Ed, Rev D 11/2011 Ch 3: Connection Locations & Pin-out; Wiring for Encoder Following
Appx B: PLC connection diagrams
2nd Ed, Rev E 02/2012 Appx B: PLC connection diagrams
Third Edition 09/2012 Ch 1,4: Added new STP-MTR(H)-xxxxx(D) dual-shaft motors
Fourth Edition 12/2012 Added new drive STP-DRV-6575 & accessories; chapter renumberings

Manual update throughout for Integrated Motors/Drives additions. New

Fifth Edition 07/2018
Chapter 5, 8, and 9 added.
 Publication History, continued
Issue Date Description of Changes

5th Ed, Rev A 10/2018 Addition of SureStep Encoders and NEMA 14 motors.

5th Ed, Rev B 01/2019 Addition of SureStep IP65 motors.

Sixth Edition 11/2019 Addition of AC drives and step motors.

Seventh
04/2020 Addition of CUI encoders
Edition
Chapter 6: Update sourcing output connection diagram
7th Ed, Rev A 06/2020 Appendix B: Change serial connection diagram comm port from RJ12 to
RJ11

7th Ed, Rev B 11/2020 Addition of Linear SureStep Actuators.

7th Ed, Rev C 06/2021 Addition of NEMA 42 MTRAC(H) motors.

Change of factory default for jumper S4 on STP-DRV-4845 and STP-

7th Ed, Rev D 03/2022
DRV-6575 from 150kHz to 2MHz.

Changed CUI Devices to Same Sky brand. Part numbers unchanged.

7th Ed, Rev E 04/2025
Incremental minor fixes throughout manual.
SureStep™
Stepping Systems
User Manual
Table of Contents
Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . w–1
Chapter 1: Getting Started. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–1
Manual Overview ��������������������������������������������������������������������������������������������������������� 1–2
Overview of this Publication������������������������������������������������������������������������������������������������1–2
Who Should Read this Manual����������������������������������������������������������������������������������������������1–2
Technical Support ������������������������������������������������������������������������������������������������������������������1–2
Special Symbols����������������������������������������������������������������������������������������������������������������������1–2
SureStep™ System Introduction������������������������������������������������������������������������������� 1–3
SureStep™ Part Number Explanation ��������������������������������������������������������������������������������1–3
SureStep™ System Recommended Component Compatibility������������������������������������1–5
Drive and Motor Compatibility ��������������������������������������������������������������������������������� 1–6
Microstepping Drives Introduction��������������������������������������������������������������������������� 1–9
Standard Microstepping Drives��������������������������������������������������������������������������������������������1–9
High Bus Voltage Microstepping Drives ��������������������������������������������������������������������������1–11
Advanced Microstepping Drive������������������������������������������������������������������������������������������1–12
Standard Integrated Motors/Drives����������������������������������������������������������������������������������1–13
Advanced Integrated Motors/Drives ��������������������������������������������������������������������������������1–14
Step Motor Introduction�������������������������������������������������������������������������������������������1–15
Stepping System Power Supply Introduction�����������������������������������������������������1–16
Selecting the Stepping System�������������������������������������������������������������������������������1–17
Use with AutomationDirect PLCs���������������������������������������������������������������������������1–17
High-Speed Pulse Output Control (Standard Drives)���������������������������������������������������1–17
Serial Communication Control (Advanced Drives)��������������������������������������������������������1–17
Chapter 2: SureStep STP-DRV-4830,-4845,-6575 Standard DC
Microstepping Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–1
Features ������������������������������������������������������������������������������������������������������������������������� 2–2
Specifications ��������������������������������������������������������������������������������������������������������������� 2–3
Typical Wiring Diagram����������������������������������������������������������������������������������������������� 2–5
Wiring Connections and Configuration Switches������������������������������������������������� 2–5
 Table of Contents

STP-DRV-4830��������������������������������������������������������������������������������������������������������������������������2–5
STP-DRV-4845 and STP-DRV-6575 ��������������������������������������������������������������������������������������2–6
Connecting the Motor������������������������������������������������������������������������������������������������� 2–7
Connecting the Power Supply����������������������������������������������������������������������������������� 2–8
SureStep™ Drive Digital Inputs and Outputs��������������������������������������������������������������������2–9
Connecting the Input Signals: STEP and DIR��������������������������������������������������������������������2–9
Connecting the Input Signals – EN Input ������������������������������������������������������������������������2–10
Connecting the Fault Output����������������������������������������������������������������������������������������������2–11
Drive Configuration���������������������������������������������������������������������������������������������������2–12
Drive Configurations Settings��������������������������������������������������������������������������������������������2–12
DIP Switch Settings��������������������������������������������������������������������������������������������������������������2–13
Alarm Codes�����������������������������������������������������������������������������������������������������������������2–16
Mounting the Drive�����������������������������������������������������������������������������������������������������2–19
Drive Heating��������������������������������������������������������������������������������������������������������������������������2–19
Dimensions and Mounting Slot Locations �����������������������������������������������������������2–19
STP-DRV-4830������������������������������������������������������������������������������������������������������������������������2–19
STP-DRV-4845 and STP-DRV-6575 ������������������������������������������������������������������������������������2–20
Chapter 3: SureStep STP-DRV-4035 Microstepping Drive. . . . . . . . . . . . . 3–1
Features ������������������������������������������������������������������������������������������������������������������������� 3–2
Specifications ��������������������������������������������������������������������������������������������������������������� 3–3
Typical Wiring Diagram����������������������������������������������������������������������������������������������� 3–4
Connection and Adjustment Locations������������������������������������������������������������������� 3–4
Connecting the Motor������������������������������������������������������������������������������������������������������������3–5
Connecting the Power Supply����������������������������������������������������������������������������������������������3–6
Connecting the Logic��������������������������������������������������������������������������������������������������������������3–7
Using Logic That is Not 5 volt TTL Level����������������������������������������������������������������������������3–9
The Enable Input ��������������������������������������������������������������������������������������������������������� 3–9
Setting Phase Current�����������������������������������������������������������������������������������������������3–10
Current Setting Formula������������������������������������������������������������������������������������������������������3–10
Current Setting Table ����������������������������������������������������������������������������������������������������������3–11
Microstepping�������������������������������������������������������������������������������������������������������������3–12
Idle Current Reduction ���������������������������������������������������������������������������������������������3–13
Self Test �����������������������������������������������������������������������������������������������������������������������3–13
Dimensions �����������������������������������������������������������������������������������������������������������������3–15
Chapter 4: SureStep Advanced Microstepping Drives. . . . . . . . . . . . . . . . 4–1
Features ������������������������������������������������������������������������������������������������������������������������� 4–2
Specifications ��������������������������������������������������������������������������������������������������������������� 4–3
Typical Wiring Diagram����������������������������������������������������������������������������������������������� 4–4

TC–ii SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Table of Contents

Connection Locations & Pin-out������������������������������������������������������������������������������� 4–4

Connecting the Power Supply����������������������������������������������������������������������������������� 4–6
Connecting the I/O������������������������������������������������������������������������������������������������������� 4–7
SureStep™ Drive Digital Inputs��������������������������������������������������������������������������������������������4–7
Connecting STEP and DIR to 5V TTL Logic������������������������������������������������������������������������4–7
Connecting STEP and DIR to Logic Other Than 5V TTL Level����������������������������������������4–8
Connections to the EN Input������������������������������������������������������������������������������������������������4–9
Connecting the Analog Input����������������������������������������������������������������������������������������������4–10
Connecting the Digital Output ������������������������������������������������������������������������������������������4–10
LED Display Codes�����������������������������������������������������������������������������������������������������4–12
Drive Configuration���������������������������������������������������������������������������������������������������4–15
Mounting the Drive�����������������������������������������������������������������������������������������������������4–17
Drive Heating��������������������������������������������������������������������������������������������������������������������������4–17
Dimensions and Mounting Slot Locations �����������������������������������������������������������4–17
Chapter 5: SureStep STP-DRVAC-24025 Microstepping Drive. . . . . . . . . 5–1
Features ������������������������������������������������������������������������������������������������������������������������� 5–2
Specifications ��������������������������������������������������������������������������������������������������������������� 5–3
Mounting the Drive������������������������������������������������������������������������������������������������������� 5–4
Dimensions ������������������������������������������������������������������������������������������������������������������������������5–4
Wiring Connections and Configuration Switches������������������������������������������������� 5–5
STP-DRVAC-24025 ������������������������������������������������������������������������������������������������������������������5–5
Connecting the Power Supply����������������������������������������������������������������������������������� 5–6
Connecting the Motor������������������������������������������������������������������������������������������������� 5–7
Selecting the Motor����������������������������������������������������������������������������������������������������������������5–8
Connecting the I/O������������������������������������������������������������������������������������������������������� 5–9
Step/Direction Mode and CW/CCW Mode Jumper����������������������������������������������������������5–9
Connecting the Input Signals - Step and Direction ��������������������������������������������������������5–9
The Enable Input ������������������������������������������������������������������������������������������������������������������5–10
Connecting the Fault Output Setting��������������������������������������������������������������������������������5–11
Drive Configuration���������������������������������������������������������������������������������������������������5–12
Microstepping������������������������������������������������������������������������������������������������������������������������5–13
Setting Running Current������������������������������������������������������������������������������������������������������5–13
Idle Current Reduction��������������������������������������������������������������������������������������������������������5–14
Step Noise Filter��������������������������������������������������������������������������������������������������������������������5–14
Load Inertia����������������������������������������������������������������������������������������������������������������������������5–14
Smoothing Filter��������������������������������������������������������������������������������������������������������������������5–14
Self Test ����������������������������������������������������������������������������������������������������������������������������������5–15
Alarm Codes�����������������������������������������������������������������������������������������������������������������5–16

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Chapter 6: SureStep Integrated Motors/Drives. . . . . . . . . . . . . . . . . . . . . . 6–1

Features ������������������������������������������������������������������������������������������������������������������������� 6–3
General Features:��������������������������������������������������������������������������������������������������������������������6–3
Standard Drive Features��������������������������������������������������������������������������������������������������������6–3
Advanced Drive Features ������������������������������������������������������������������������������������������������������6–3
Features Comparison ������������������������������������������������������������������������������������������������������������6–4
Specifications ��������������������������������������������������������������������������������������������������������������� 6–5
Getting Started�����������������������������������������������������������������������������������������������������������6–11
Installing Software�����������������������������������������������������������������������������������������������������6–11
Mounting ���������������������������������������������������������������������������������������������������������������������6–11
Additional Reading�����������������������������������������������������������������������������������������������������6–12
Mating Connectors and Accessories ���������������������������������������������������������������������6–12
Using a Regulated Power Supply��������������������������������������������������������������������������������������6–17
LED Error Codes ���������������������������������������������������������������������������������������������������������6–18
STP-MTRD Inputs and Outputs�������������������������������������������������������������������������������6–22
Input/Output Functions ������������������������������������������������������������������������������������������������������6–25
The Step (STEP) and Direction (DIR) Inputs��������������������������������������������������������������������6–26
The Enable (EN/IN3) Digital Input��������������������������������������������������������������������������������������6–28
The Analog (AIN) Input ��������������������������������������������������������������������������������������������������������6–29
The Digital Output����������������������������������������������������������������������������������������������������������������6–30
Using the Optional Encoder�������������������������������������������������������������������������������������6–31
Configuring the Standard STP-MTRD �������������������������������������������������������������������6–32
Drive/Motor Heating �������������������������������������������������������������������������������������������������6–37
Torque Speed Graphs�����������������������������������������������������������������������������������������������6–40
Dimensions and Mounting Slot Locations �����������������������������������������������������������6–43
Chapter 7: SureStep Stepping Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–1
Features ������������������������������������������������������������������������������������������������������������������������� 7–2
Design and Installation Tips ������������������������������������������������������������������������������������� 7–3
Specifications ��������������������������������������������������������������������������������������������������������������� 7–4
Power Supply and Step Motor Drive ����������������������������������������������������������������������� 7–8
Mounting the Motor����������������������������������������������������������������������������������������������������� 7–8
Connecting the Motor������������������������������������������������������������������������������������������������� 7–8
Extension Cable Wiring Diagrams����������������������������������������������������������������������������������������7–9
Connecting a STP-MTRAC-23x or STP-MTRAC-34x Motor��������������������������������������������7–10
Connecting a STP-MTRAC(H)-42 Motor����������������������������������������������������������������������������7–11
Motor Dimensions and Cabling�������������������������������������������������������������������������������7–12
Typical Dimension & Cable Diagrams������������������������������������������������������������������������������7–12
Typical Dimension & Cable Diagram for STP-MTRH������������������������������������������������������7–15

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Typical Dimension & Cable Diagram for STP-MTRAC����������������������������������������������������7–18

Typical Dimension & Cable Diagram for STP-MTRAC(H)-42x��������������������������������������7–20
Torque vs. Speed Charts�������������������������������������������������������������������������������������������7–21
Chapter 8: SureStep Linear Actuators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8–1
Features ������������������������������������������������������������������������������������������������������������������������� 8–2
Design and Installation Tips ������������������������������������������������������������������������������������� 8–3
Model Number Explanation��������������������������������������������������������������������������������������� 8–3
Specifications ��������������������������������������������������������������������������������������������������������������� 8–4
Power Supply and Step Motor Drive ����������������������������������������������������������������������� 8–8
Mounting the Motor����������������������������������������������������������������������������������������������������� 8–8
Journal Mounting��������������������������������������������������������������������������������������������������������������������8–8
Connecting the Motor�����������������������������������������������������������������������������������������������8–10
Extension Cable Wiring Diagrams��������������������������������������������������������������������������������������8–10
Motor Dimensions and Cabling�������������������������������������������������������������������������������8–12
Thrust vs. Speed Charts �������������������������������������������������������������������������������������������8–16
Chapter 9: SureStep System Power Supplies. . . . . . . . . . . . . . . . . . . . . . . 9–1
Features ������������������������������������������������������������������������������������������������������������������������� 9–2
Specifications ��������������������������������������������������������������������������������������������������������������� 9–3
Drive Heating����������������������������������������������������������������������������������������������������������������� 9–4
Choosing a Power Supply������������������������������������������������������������������������������������������� 9–5
Power Supply Terminal & Component Layout ����������������������������������������������������� 9–7
Mounting the Power Supply ������������������������������������������������������������������������������������� 9–8
Dimensions ������������������������������������������������������������������������������������������������������������������� 9–9
Dimensions (continued)������������������������������������������������������������������������������������������������������9–10
Chapter 10: SureMotion Pro Configuration Software. . . . . . . . . . . . . . . 10–1
SureMotion™ Pro Software�����������������������������������������������������������������������������������10–2
Communication ��������������������������������������������������������������������������������������������������������������������10–2
Motor Configuration ������������������������������������������������������������������������������������������������������������10–2
Motion and I/O ����������������������������������������������������������������������������������������������������������������������10–3
Drive Pull-down Menu����������������������������������������������������������������������������������������������������������10–4
Chapter 11: SureStep Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . 11–1
Connecting to a Host Using RS-485�����������������������������������������������������������������������11–2
Four-Wire Configuration������������������������������������������������������������������������������������������������������11–2
Two-Wire Configuration������������������������������������������������������������������������������������������������������11–3
Assigning RS-485 Addresses������������������������������������������������������������������������������������������������11–3
Connecting to an STP-MTRD-xxxxR using the STP-USB485-4W Adapter������������������11–4
Connecting to a drive using RJ12��������������������������������������������������������������������������������������11–5

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Appendix A: Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A–1

Braking Accessories�����������������������������������������������������������������������������������������������������A–2
Regeneration Clamp Features����������������������������������������������������������������������������������������������A–2
Cables and Accessories�����������������������������������������������������������������������������������������������A–5
Encoder Options���������������������������������������������������������������������������������������������������������A–10
Encoder Mounting Accessories����������������������������������������������������������������������������������������� A–15
Encoder Specifications������������������������������������������������������������������������������������������������������� A–16
Differential Electrical Specifications ������������������������������������������������������������������������������� A–18
Wiring Examples���������������������������������������������������������������������������������������������������������A–19
Line Filters�������������������������������������������������������������������������������������������������������������������A–24
Appendix B: Using SureStep with AutomationDirect PLCs . . . . . . . . . . . B–1
Compatible AutomationDirect PLCs and Modules�����������������������������������������������B–2
Typical Connections to a Productivity PLC �����������������������������������������������������������B–6
Typical Connections to a DL05 PLC�������������������������������������������������������������������������B–7
Typical Connections to an H0-CTRIO�����������������������������������������������������������������������B–8
Typical Connections – Multiple Drives/Motors �����������������������������������������������������B–9
Typical DirectLOGIC PLC RS-232
Serial Connections to an Advanced SureStep Drive������������������������������������������ B–10
Typical CLICK, P-Series, & BRX PLC RS-232
Serial Connections to an Advanced SureStep Drive������������������������������������������ B–11
Typical RS-485 Connections to
Integrated Motor/Drives������������������������������������������������������������������������������������������ B–12
Appendix C: Selecting the SureStep Stepping System. . . . . . . . . . . . . . . C–1
Selecting the SureStep™ Stepping System �����������������������������������������������������������C–2
The Selection Procedure ������������������������������������������������������������������������������������������������������C–2
How many pulses from the PLC to make the move?������������������������������������������������������C–2
What is the positioning resolution of the load? ��������������������������������������������������������������C–3
What is the indexing speed to accomplish the move time?������������������������������������������C–3
Calculating the Required Torque����������������������������������������������������������������������������������������C–4
Leadscrew – Example Calculations �������������������������������������������������������������������������C–8
Step 1 – Define the Actuator and Motion Requirements������������������������������������������������C–8
Step 2 – Determine the Positioning Resolution of the Load ����������������������������������������C–9
Step 3 – Determine the Motion Profile ������������������������������������������������������������������������������C–9
Step 4 – Determine the Required Motor Torque��������������������������������������������������������������C–9
Step 5 – Select & Confirm the Stepping Motor & Driver System������������������������������� C–10
Belt Drive – Example Calculations������������������������������������������������������������������������ C–15
Step 1 – Define the Actuator and Motion Requirements��������������������������������������������� C–15
Step 2 – Determine the Positioning Resolution of the Load ������������������������������������� C–16

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Step 3 – Determine the Motion Profile ��������������������������������������������������������������������������� C–16

Step 4 – Determine the Required Motor Torque����������������������������������������������������������� C–16
Step 5 – Select & Confirm the Stepping Motor & Driver System������������������������������� C–17
Index Table – Example Calculations �������������������������������������������������������������������� C–19
Step 1 – Define the Actuator and Motion Requirements��������������������������������������������� C–19
Step 2 – Determine the Positioning Resolution of the Load ������������������������������������� C–19
Step 3 – Determine the Motion Profile ��������������������������������������������������������������������������� C–20
Step 4 – Determine the Required Motor Torque����������������������������������������������������������� C–20
Step 5 – Select & Confirm the Stepping Motor & Driver System������������������������������� C–21
Engineering Unit Conversion Tables,
Formulae, & Definitions:������������������������������������������������������������������������������������������ C–22

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Chapter
Getting Started

In This Chapter...
Manual Overview��������������������������������������������������������������������������������������������������� 1–2
Overview of this Publication�������������������������������������������������������������������������������������������������������������1–2
Who Should Read this Manual ���������������������������������������������������������������������������������������������������������1–2
Technical Support�������������������������������������������������������������������������������������������������������������������������������1–2
Special Symbols�����������������������������������������������������������������������������������������������������������������������������������1–2
SureStep™ System Introduction������������������������������������������������������������������������ 1–3
SureStep™ Part Number Explanation���������������������������������������������������������������������������������������������1–3
SureStep™ System Recommended Component Compatibility �����������������������������������������������1–5
Microstepping Drives Introduction�������������������������������������������������������������������� 1–9
Standard Microstepping Drives �������������������������������������������������������������������������������������������������������1–9
High Bus Voltage Microstepping Drives ���������������������������������������������������������������������������������������1–11
Advanced Microstepping Drive�������������������������������������������������������������������������������������������������������1–12
Standard Integrated Motors/Drives�����������������������������������������������������������������������������������������������1–13
Advanced Integrated Motors/Drives���������������������������������������������������������������������������������������������1–14
Step Motor Introduction������������������������������������������������������������������������������������1–15
Stepping System Power Supply Introduction ����������������������������������������������1–16
Selecting the Stepping System������������������������������������������������������������������������1–17
Use with AutomationDirect PLCs ��������������������������������������������������������������������1–17
High-Speed Pulse Output Control (Standard Drives) ���������������������������������������������������������������1–17
Serial Communication Control (Advanced Drives)��������������������������������������������������������������������1–17
 Chapter 1: Getting Started

Manual Overview
Overview of this Publication
Thank you for selecting the SureStep™ Stepping System components.
This user manual describes the selection, installation, configuration, and
methods of operation of the SureStep™ Stepping System. We hope our
dedication to performance, quality and economy will make your motion
control project successful.

Who Should Read this Manual

This manual contains important information for those who will install,
maintain, and/or operate any of the SureStep™ Stepping System devices.

Technical Support
By Telephone: 7
 70-844-4200
(Mon.-Fri., 9:00 am – 6:00 pm E.T.)
On the Web: [Link]
Our technical support group is glad to work with you in answering your
questions. If you cannot find the solution to your particular application, or, if
for any reason you need additional technical assistance, please call technical
support at 770-844-4200. We are available weekdays from 9:00 am to 6:00 pm
Eastern Time.
We also encourage you to visit our web site where you can find technical and
non-technical information about our products and our company. Visit us at
[Link].

Special Symbols

When you see the “notepad” icon in the left-hand margin, the paragraph to its
immediate right will be a special note which presents information that may make
your work quicker or more efficient.

When you see the “exclamation mark” icon in the left-hand margin, the
paragraph to its immediate right will be a WARNING. This information could
prevent injury, loss of property, or even death (in extreme cases).

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 Chapter 1: Getting Started

SureStep™ System Introduction

SureStep open-loop and inclusive position verification (semi-closed loop)
stepping systems provide simple and accurate control of position and
speed where lower power and cost are considerations. The SureStep
family of stepping components includes power supplies, drives, motors,
and cables. The AutomationDirect family of PLCs or other indexers and
motion controllers can be used to provide the signals that are “translated”
by the microstepping drives into precise movement of the stepping motor
shaft.

SureStep™ Part Number Explanation

Drives
STP- D R V - 6575
Component Capacity
2-digit max nominal voltage followed by
max current with 1 implied decimal place
4035: 40VDC, 3.5 A
4830: 48VDC, 3.0 A
4845: 48VDC, 4.5 A
4850: 48VDC, 5.0 A
6575: 65VDC, 7.5 A
80100: 80VDC, 10.0 A
24025: 120/240VAC, 2.5 A
Component Type
DRV: DC powered stepper drive
DRVAC: AC powered stepper drive
DRVA: drive accessory
SureStep Series Designation: STP

Motors
STP- M T R x - 23079 x
Motor Shaft Type/Variant
blank: single shaft
D: dual shaft
E: encoder pre-mounted
W: IP65 (washdown)

Component Capacity
2-digit NEMA frame size followed by
approximate stack* length in mm
Component Type
MTRL: low-power DC stepper motor
MTR: high-power stepper motor
MTRH: higher-power stepper motor
MTRA: motor accessory
MTRAC: high-bus voltage stepper motor**
MTRACH: high-power high-bus voltage stepper motor
SureStep Series Designation: STP
* The length of the motor that produces torque (not including shaft)
** NEMA 23/34 motors optimized for use with DRVAC drives

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Power Supplies
STP- P W R - 3204

Component Capacity
2-digit output voltage followed by
output current

Component Type
PWR: power supply

SureStep Series Designation: STP

Integrated Motors/Drives
STP- M T R D - 23042 x
Integrated Drive Type
blank: Standard
R: Advanced
V: Variable I/O
E: Encoder included
Component Capacity
2-digit NEMA frame size followed by
approximate stack* length in mm

Component Type
MTRD: integrated motor/drive

SureStep Series Designation: STP

* The length of the motor that produces torque

Cables and Accessories

SureStep Cables & Accessories

Part Number Description

STP-EXTx-xx Motor extension cable, xx = cable length in feet,

x=H for high power, L for low power, W for IP65
STP-DRVA-xx Drive accessory, xx= accessory descriptor
STP-MTRA-xx Motor accessory, xx = accessory descriptor
Note: See Appendix A for the full range of SureStep accessories

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 Chapter 1: Getting Started

SureStep™ System Recommended Component Compatibility

SureStep Power Supply / DC Powered Drive Compatibility
Drive (1)(2)(4) Recommended Linear Power Supply (1)(2)(4)
STP-PWR STP-PWR STP-PWR STP-PWR
Model Number
-3024 -4805 -4810 -7005(3)
STP-DRV-4035
12-32 VDC input (40V max)
√ No No No

STP-DRV-4830
12-48 VDC Input (48V max)
√ √ √ No

STP-DRV-4845
24-48 VDC Input (48V max)
√ √ √ No

STP-DRV-4850
24-48 VDC input (48V max)
√ √ √ No

STP-DRV-6575
24-75 VDC input (85V max) √ √ √ No

STP-DRV-80100
24-80 VDC input (80V max) √ √ √ √

STP-MTRD-17
12-48 VDC input √ √ √ No

STP-MTRD-23, -24
12-70 VDC input √ √ √ √
1) Do NOT use a power supply that exceeds the drive’s input voltage range. If using a non-STP linear
power supply, ensure that the unloaded voltage does not float above the drive’s maximum input
range.
2) F
 or best performance, use the lowest voltage power supply that supplies the required speed and
torque.
3) A
 n unloaded STP-PWR-7005 can float above the allowable input voltages of some drives if it is fed
with a high AC input voltage (greater than 120VAC).
4) STP-DRVAC-x drives are AC powered and cannot be powered by DC power supplies. Please see
Chapter 5 for use of AC power drives and motors.

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SureStep Power Supply / Drive Compatibility

Drive (1)(2)(3) Recommended Switching Power Supply (1)(2)(3)

Model Number PSB12-xxxS PSB24-xxxS PSB48-xxxS

STP-DRV-4035
12-32 VDC input (40V max)
√ √ No

STP-DRV-4830
12-48 VDC Input (48V max)
√ √ √

STP-DRV-4845
24-48 VDC Input (48V max)
No √ √

STP-DRV-4850
24-48 VDC input (48V max)
No √ √

STP-DRV-6575
24-75 VDC input (85V max) No √ √

STP-DRV-80100
24-80 VDC input (80V max) No √ √

STP-MTRD-17
12-48 VDC input √ √ √

STP-MTRD-23, -24
12-70 VDC input √ √ √
1) Do NOT use a power supply that exceeds the drive’s input voltage range.
2) F
 or best performance, use the lowest voltage power supply that supplies the required speed and
torque.
3) STP-DRVAC-x drives are AC powered and cannot be powered by DC power supplies. Please see
Chapter 5 for use of AC power drives and motors.

Drive and Motor Compatibility

The following pages detail which SureStep drives are compatible with
which SureStep motors.
Bipolar Steppers are very universal in their compatibility. If you would like
to use SureStep motors with a different brand of drives (Leadshine, for
example) or use SureStep drives with other motors, you need to follow
some basic guidelines:
1. Ensure the drive can supply enough phase current to meet the motor’s rated current.
Example: we recommend STP-DRV-6575 (7.5 A max current) and STP-DRV-80100 (10A
max current) to drive the STP-MTRH-34xxxx motors (6.3 A rated current). Technically,
a smaller drive can power a larger motor, but the motor will not be able to produce its
rated torque.
2. Ensure the applied drive voltage does not exceed the design voltage for the stepper
motor. SureStep MTR motors are designed to be driven with drive input voltages less
than 75VDC. MTRAC/MTRACH motors can also be driven by these low voltages, but
are wound so that they can take advantage of higher voltages (110VAC or 220VAC
drive input). The speed torque curves for high voltage input result in higher torque at
much higher speeds. For a clear example, see the speed-torque curves for the NEMA 42
MTRAC/MTRACH motors. Compare the 24V torque curves for those motors vs the 160V
curves. The higher voltage results in much higher speeds/torques.

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SureStep DC Drive / Motor Compatibility(3)

Motor (1) Recommended Drive (1)

(10.0 A max output)

(3.5 A max output)

(3.0 A max output)

(4.5 A max output)

(5.0 A max output)

(7.5 A max output)

Rated Amps (RMS)

STP-DRV-80100
Bipolar Parallel

STP-DRV-4035

STP-DRV-4830

STP-DRV-4845

STP-DRV-4850

STP-DRV-6575
Extension
wound

Cable
Model Number(2)

STP-MTRL-14026x 0.35 STP- √ √ √ – –

EXTL-
STP-MTRL-14034x 0.8 0xx √ √ √ √ – –
STP-MTR-17040x 1.7 √ √ √ √ √ √
STP-MTR-17048x 2.0 √ √ √ √ √ √
STP-MTR-17060x 2.0 STP- √ √ √ √ √ √
EXTx-
STP-MTR-23055x 2.8 0xx √ √ √ √ √ √
STP-MTR-23079x 2.8 √ √ √ √ √ √
STP-MTR-34066x 2.8 √ √ √ √ √ √
STP-MTRH-23079x 5.6 √ √
STP-MTRH-34066x 6.3 STP- √ √
EXTHx- –
STP-MTRH-34097x 6.3 0xx √ √
STP-MTRH-34127x 6.3 √ √
1) The combinations above will perform according to the published speed/torque curves. However, any STP
motor can be used with any STP drive. Using a motor with a current rating higher than the drive’s output
rating will proportionally limit the motor torque.
2) MTR motors have connectors compatible with the EXT extension cables.
MTRH motors have connectors compatible with the EXTH extension cables.
MTRL motors have connectors compatible with the EXTL extension cables.
W-series motors have connectors compatible with the EXTW and EXTHW extension cables.
3) Not applicable to integrated motor/drives as drives and motors are already paired.

SureStep AC Motor/Drive Compatibility

STP-DRVAC-24025
Model Number
Series Wired Motor Parallel Wired Motor
STP-MTRAC-23044x Yes No
STP-MTRAC-23055x Yes No
STP-MTRAC-23078x Yes No
STP-MTRAC-34075x Yes No
STP-MTRAC-34115x Yes No
STP-MTRAC-34156x Yes No
Note: Always use series motor wiring with STP-DRVAC-24025. The drive has an internal voltage doubler
circuit, so it will output a very high bus voltage if fed with 120VAC or 240VAC.

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SureStep DC Drive / Motor Compatibility(3)

Motor Recommended Drive

(10.0 A max output)

(4.5 A max output)

(5.0 A max output)

(7.5 A max output)

Rated Amps (RMS)

Rated Amps (RMS)

Rated Amps (RMS)

STP-DRV-80100
Bipolar Parallel

Unipolar Series

STP-DRV-4845

STP-DRV-4850

STP-DRV-6575
Bipolar Series

Extension
wound

wound

wound

Cable
Model Number

STP-MTRAC-42100x 8.4 4.2 6 √(1) √(1) √(1) √

STP-
STP-MTRAC-42151x 12 6 9.4 EXT42-x √(1) √(1)
STP-MTRAC-42202x 12 6 9 √(1) √(1)
STP-MTRACH-42100x 12 6 8.5 √(1) √(1)
STP-
STP-MTRACH-42151x 16 8 11.3 √(1)
EXT42H-x
STP-MTRACH-42202x 16 8 11.5 √(1)
1) Series wound only
Note: The SureStep drives not listed on this table (STP-DRV-4035, STP-DRV-4830, STP-DRVAC-24025) do
not supply enough current for the NEMA42 motors and will NOT work.
Unlike the smaller MTR motors, all 8 motor leads are available on the NEMA 42 motors. These motors can
be wired in Bipolar Parallel, Bipolar Series, or Unipolar Series.

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Microstepping Drives Introduction

There are two different basic types of microstepping drives offered in
the SureStep™ series. DIP-switch configurable models with pulse inputs
are available, as well as two software configurable advanced models with
multiple operating modes. Descriptions of integrated motor/drives (a drive
integrally attached to the motor) follow the drive-only section.

Standard Microstepping Drives

STP-DRV-4830, -4845, -6575
These SureStep™ standard microstepping drives use pulse input signals,
and are configured with DIP switches on the drive. These are fully enclosed
drives, not open frame. To use these drives in a step motor control system,
you will need the following:
• A 24–48 VDC power supply for the STP-DRV-4830/4845 or a 24–75 VDC power
supply for the STP-DRV-6575. SureStep STP-PWR-x linear power supplies
or PSBx Rhino regulated power supplies from AutomationDirect are good
choices. If you decide not to use one of these recommended power
supplies, then please read the section entitled “Choosing a Power Supply” in
Chapter 8, “SureStep System Power Supplies.”
• A source of step pulses. Signal may be sinking (NPN), sourcing (PNP), or
differential.
• The step inputs can be CW/CCW or Step & Direction. CW and CCW are
viewed from the end opposite the drive end of the motor (looking out of the
shaft).
• A compatible step motor, such as an AutomationDirect SureStep STP-MTRx.
(Motor extension cables STP-EXTx are also available.)
• A small flat blade screwdriver for tightening the connectors.

STP-DRV-4830

STP-DRV-6575

STP-DRV-4845

Refer to the “SureStep STP-DRV-4830/4845/6575 Microstepping Drive”

chapter of this user manual for complete details on the installation,
configuration, and wiring of this drive.

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Standard Microstepping Drives (continued)

STP-DRV-4035
The SureStep™ STP-DRV-4035 standard microstepping drive uses pulse
input signals, and is configured with DIP switches on the drive. To use this
drive in a step motor control system, you will need the following:
• 12-42 volt DC power supply for the motor drive. The SureStep STP-PWR-
3204 linear power supply from AutomationDirect is the best choice. If
you decide not to use the STP-PWR-3204, please read the section entitled
“Choosing a Power Supply” in Chapter 7, “SureStep System Power
Supplies.”
• A source of step pulses. Signal may be sinking (NPN), sourcing (PNP), or
differential.
• The step inputs can be CW/CCW, step and direction, or quadrature.
• A compatible step motor, such as an AutomationDirect SureStep STP-MTRx.
(Motor extension cables STP-EXTx are also available.)
• A small flat blade or phillips screwdriver for tightening the connectors.
The STP-DRV-4035 standard microstepping drive is an open frame design.

STP-DRV-4035

Refer to the “SureStep STP-DRV-4035 Microstepping Drive” chapter of this

user manual for complete details on the installation, configuration, and
wiring of this drive.

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High Bus Voltage Microstepping Drives

STP-DRVAC-24025
These SureStep™ high bus voltage drives use pulse input signals, and are
configured with DIP switches on the drive. These are fully enclosed drives,
not open frame. To use these drives in a step motor control system, you
will need the following:
• A 90-240 VAC single phase power source (there is a 115/230V voltage selector
switch on the drive.
• A source of step pulses. Signal may be sinking (NPN), sourcing (PNP), or
differential.
• The step inputs can be CW/CCW or Step & Direction. CW and CCW are viewed
from the end opposite the drive end of the motor (looking out of the shaft).
• A compatible step motor, such as an AutomationDirect SureStep STP-MTRAC-
23x or STP-MTRAC-34x. The STP-MTRAC(H)-42x motors are not compatible
with the STP-DRVAC-24025 (the motors can accept the high voltage, but the
drive does not supply enough current).

NOTE: The drive always outputs a high bus voltage (~340V) that is compatible with
our STP-MTRAC-x motors. This drive is not to be used with low-voltage STP-MTR-x
motors. Always wire motors in series configuration with this drive. When supplied
115VAC, the drive has an internal voltage doubler, so the output voltage could be
near 340V peak (whether supplied 115VAC or 230VAC).

Refer to “Chapter 5: SureStep STP-DRVAC-24025 Microstepping Drive” of

this user manual for complete details on the installation, configuration, and
wiring of this drive.

STP-DRVAC-24025

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 Chapter 1: Getting Started

Advanced Microstepping Drive

The SureStep™ advanced microstepping drives (STP-DRV-4850 & -80100)
are capable of accepting several different forms of input signals for control:
pulse, analog, serial communication, or internal indexing. These drives are
configured by computer with software which is included with the drive. To
use one of these drives in a step motor control system, you will need the
following:
• A DC power supply for the motor drive. A compatible SureStep STP-PWR-
xxxx linear power supply from AutomationDirect is the best choice.
• A source of input control signals, such as a PLC from AutomationDirect.
• A compatible step motor, such as an AutomationDirect SureStep STP-MTRx.
(Motor extension cables STP-EXTx are also available.)
• A small flat blade screwdriver for tightening the connectors.
The SureStep advanced microstepping drives are enclosed with removable
wiring terminal blocks.

STP-DRV-80100

Refer to the “SureStep™ Advanced Microstepping Drives” chapter of this

user manual for complete details on the installation, configuration, and
wiring of this drive.

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Standard Integrated Motors/Drives

The SureStep™ STP-MTRD standard series integrated motors/drives
(STP-MTRD-17 and -23) use pulse input signals, and are configured with
DIP switches on the drive. To use this motor/drive in a step motor control
system, you will need the following:
• 12-48 volt (for 17 series) or 12-70 volt (for 23 series) DC power supply for the
motor/drive. The SureStep linear power supplies from AutomationDirect are
the best choice. If you decide not to use a STP-PWR-xxxx, please read the
section entitled “Choosing a Power Supply” in Chapter 7, “SureStep System
Power Supplies.”
• A source of step pulses. Signal may be sinking (NPN), sourcing (PNP), or
differential.
• The step inputs can be CW/CCW, step and direction, or quadrature.
• A small flat blade screwdriver (3/32”) for tightening the connectors.
The SureStep standard integrated motors/drives are enclosed with
removable wiring terminal blocks. Models with external encoders (for
position feedback to a PLC, motion controller, etc.) are available.

STP-MTRD-17038RE

Refer to Chapter 5: “SureStep Integrated Motors/Drives” for complete

details on the installation, configuration, and wiring of this motor/drive.

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Advanced Integrated Motors/Drives

The SureStep™ STP-MTRD advanced series integrated motors/drives (STP-
MTRD-17R, -23R, and -24R) are capable of accepting several different forms
of input signals for control: pulse, analog, serial communication, or internal
indexing (via serial communications). These motors/drives are configured
with software which is included with the drive. To use one of these motors/
drives in a step motor control system, you will need the following:
• A DC power supply for the motor drive (12-48 volt for 17 series, 12-70 volt
for 23 and 24 series). A compatible SureStep STP-PWR-xxxx linear power
supply from AutomationDirect is the best choice.
• A source of input control signals, such as a PLC from AutomationDirect.
• A small flat blade screwdriver for tightening the connectors.
The SureStep advanced integrated motors/drives are enclosed with
removable wiring terminal blocks. Models with internal encoders (for
position verification and stall prevention inside the motor/drive) are
available.

STP-MTRD-23042

Refer to Chapter 5: “SureStep Integrated Motors/Drives” for complete

details on the installation, configuration, and wiring of this motor/drive.

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 Chapter 1: Getting Started

Step Motor Introduction

AutomationDirect offers many different models of bipolar1 step motors
with mounting flanges in two different shaft configurations (single and
dual-shaft), and in five different NEMA frame sizes (14, 17, 23, 34, and
42). There are a variety of motor types available: low torque (STP-MTRL),
high torque (STP-MTR, STP-MTRAC), and higher torque (STP-MTRH,
STP-MTRACH). Models that have a “D”, “E”, or “W” variant represent a
dual shaft option (D), an encoder pre-mounted to the motor (E), or IP65
washdown rated (W) respectively. The “D” variants are encoder ready
with pre-drilled and tapped holes on the rear face for encoder mounting.
All low-voltage motors have a 12-inch connectorized cable, and optional
matching 6, 10, or 20-foot connectorized extension cables (STP-EXTx) are
also available. The IP65 motors (W models) have IP65 rated connectors. The
high bus voltage NEMA 23 and 34 MTRAC motors have integrated 8-lead
10-foot cables. The NEMA42 motors have 12-inch connectorized cables that
accept 8-lead extension cables in 6, 10, and 20 ft lengths (STP-EXT42x).
Refer to Chapter 6: “SureStep™ Stepping Motors” in this user manual for
complete details on the specifications, installation, mounting, dimensions,
and wiring of the SureStep step motors.
1: All SureStep motors are bipolar wound, but STP-MTRAC(H)-42x motors can be wired for
bipolar series, bipolar parallel, or unipolar use. Automation Direct does not have a drive that can
run a unipolar wired motor.
STP-MTRx
NEMA 14, 17, 23, 34, 42
Frame Sizes

STP-MTRx Motors available in Single-shaft, Dual-shaft (encoder ready), Encoder Mounted, and IP65
(washdown) Models. STP-MTRAC-x Motors available in Single-shaft or Dual-shaft (encoder ready)
models.

STP-MTRAC-42x

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Stepping System Power Supply Introduction

The SureStep stepping system power supplies are designed to work with
SureStep microstepping drives and motors. The different power supply
models can provide unregulated DC power at the applicable voltage and
current levels for various SureStep drives and motors. The power supplies
also provide a regulated 5VDC, 500 mA logic supply output for indexer
and PLC logic outputs to control the SureStep drives. Automation Direct
switching power supplies PSB12-xxxS, PSB24-xxxS, and PSB48-xxxS are
good non-linear supplies. A regen clamp may be needed if using these
supplies. For more information on using the power supplies please see
Chapter 8: “SureStep System Power Supplies”.

Linear Power Supplies

Switching Power Supplies

The stepping system power supplies can supply power for multiple
SureStep STP-DRV-xxxx microstepping motor drives, depending on step
motor size and application requirements.
Refer to the Power Supply chapter of this user manual for complete details
on the specifications, installation, mounting, dimensions, and wiring of the
SureStep stepping system power supplies.
Further information about braking accessories and regeneration clamping
can be found in Appendix A: “SureStep Accessories” and the STP-DRVA-
RC-050 or STP-DRVA-RC-50A REGENERATION CLAMP datasheet.

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Selecting the Stepping System

Refer to Appendix C: Selecting the SureStep™ Stepping System for detailed
information on how to calculate requirements for various applications
using stepping motors for motion control.

Use with AutomationDirect PLCs

Refer to Appendix B: Using SureStep™ with AutomationDirect PLCs for
detailed information on wiring the SureStep Stepping System components
to AutomationDirect PLCs and high-speed counter modules.
The following is a summary of the AutomationDirect PLCs and module part
numbers that are suitable to work with the SureStep Stepping Systems:

High-Speed Pulse Output Control (Standard Drives)

Any AutomationDirect PLC with high speed pulse output can control the
SureStep Standard and Advanced stepper drives and integrated motor/
drives. Certain high-speed PLC outputs are 24VDC and may require
dropping resistors to work with 5VDC stepper inputs. See Appendix B
in this manual and the appropriate PLC User Manual for more detailed
information.
AutomationDirect PLCs that can use pulse train outputs with SureStep
drives:
BRX Series (all models with DC outputs on the CPU module)
Productivity Series (all P2 and P3 CPUs - with the P2-HSO/P3-HSO modules)
Do-More Series (all models that can use the H2-CTRIO2)
DirectLogic Series
• All CPU models that can use the H2-CTRIO2 (and other CTRIO models)
• Models with built-in high speed outputs (DL05, DL06)

Serial Communication Control (Advanced Drives)

AutomationDirect PLCs with an RS-232 port can control an Advanced
stepper drive (STP-DRV-4850, STP-DRV-80100) with serial communication
(one drive per PLC communication port). A PLC with an RS-485 port can
control multiple Advanced integrated stepper motor/drives.
The Click Series, BRX Series, Productivity Series, and Do-More Series of
PLCs allow for simple ASCII control of the Advanced drives and motor/
drives. Of the DirectLogic Series of PLCs, we recommend only using the
DL06 and D2-260 CPUs due to their advanced ASCII instruction set which
includes PRINTV and VPRINT commands.
See Appendix B and the appropriate PLC User Manual for more detailed
information.

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 Chapter 1: Getting Started

BLANK
PAGE

1–18 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
SureStep™

2
STP-DRV-4830,
-4845, -6575 Chapter
Standard DC
Microstepping Drives

In This Chapter...
Features ������������������������������������������������������������������������������������������������������������������ 2–2
Specifications �������������������������������������������������������������������������������������������������������� 2–3
Typical Wiring Diagram���������������������������������������������������������������������������������������� 2–5
Wiring Connections and Configuration Switches ������������������������������������������ 2–5
STP-DRV-4830���������������������������������������������������������������������������������������������������������������������������������������2–5
STP-DRV-4845 and STP-DRV-6575���������������������������������������������������������������������������������������������������2–6
Connecting the Motor ������������������������������������������������������������������������������������������ 2–7
Connecting the Power Supply���������������������������������������������������������������������������� 2–8
SureStep™ Drive Digital Inputs and Outputs���������������������������������������������������������������������������������2–9
Connecting the Input Signals: STEP and DIR���������������������������������������������������������������������������������2–9
Connecting the Input Signals – EN Input�������������������������������������������������������������������������������������2–10
Connecting the Fault Output ���������������������������������������������������������������������������������������������������������2–11
Drive Configuration ��������������������������������������������������������������������������������������������2–12
Drive Configurations Settings���������������������������������������������������������������������������������������������������������2–12
DIP Switch Settings���������������������������������������������������������������������������������������������������������������������������2–13
Alarm Codes����������������������������������������������������������������������������������������������������������2–16
Mounting the Drive����������������������������������������������������������������������������������������������2–19
Drive Heating �������������������������������������������������������������������������������������������������������������������������������������2–19
Dimensions and Mounting Slot Locations ����������������������������������������������������2–19
STP-DRV-4830�������������������������������������������������������������������������������������������������������������������������������������2–19
STP-DRV-4845 and STP-DRV-6575�������������������������������������������������������������������������������������������������2–20
 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

STP-DRV-4830

STP-DRV-6575

STP-DRV-4845

Features
• Low cost, digital step motor driver in compact package
• Operates from Step & Direction signals, or Step CW & Step CCW. CW and
CCW rotation are viewed from the end opposite the drive end of the motor
(looking out of the shaft)
• Enable input & Fault output (STP-DRV-4830 does not have a fault output)
• Optically isolated I/O
• Digital filters prevent position error from electrical noise on command
signals; selectable: 150 kHz or 2MHz (-4845 and -6575 models), 150kHz or
500kHz (-4830 model)
• Rotary switch for selecting several SureStep motors or phase current
settings
• Electronic damping and anti-resonance (-4845 and -6575 only)
• 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); up to
20,000 (for -4845 and -6575) or up to 25600 (for the -4830) steps per
revolution
• Switch selectable step input signal smoothing (microstep emulation)
provides smoother, more reliable motion in full and half-step modes for the
-4845 and -6575, and all step resolutions for the -4830
• Automatic self test (switch selectable)
• Drives operate from 12 or 24 to 48 or 72 VDC power supplies
• Running current ranges from 0.35 to 7.5A depending on drive

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

Specifications
SureStep™ Microstepping Drive Specifications
Part Number STP-DRV-4830 STP-DRV-4845 STP-DRV-6575
12–48 VDC (53VDC max) 24–48 VDC (60VDC max) 24–75 VDC (85VDC max)
Input Power (external power supply (external power supply (external power supply
required; fuse at 3A fast- required; fuse at 4A fast- required; fuse at 7A fast-
acting) acting) acting)

Output Current 0.35–3.0 A/phase (peak 0.8–4.5 A/phase (peak 1.0–7.5 A/phase (peak
of sine) of sine) of sine)
Dual H-bridge digital
Current Controller Dual H-bridge digital MOSFET, 4-quadrant PWM at
MOSFET, 4-quadrant PWM
20kHz
at 16kHz
Step Function Step or Step CW pulse

5 –24 VDC nominal (range: 4–30 VDC); (5mA @ 4V; 15 mA @ 30V); Optically isolated,
differential.

Maximum pulse frequency

Step Electrical = 150 kHz or 500 kHz (user Maximum pulse frequency = 150 kHz or 2MHz (user
Specs selectable). selectable).
Minimum pulse width: Minimum pulse width:
3 usec at 150 kHz setting 3 usec at 150 kHz setting jumper 4
SW12, 1 usec at 500 kHz 1 usec at 2 MHz setting jumper 4
setting SW12

DIR Function Direction or Step CCW pulse

Input
Signals 5 –24 VDC nominal (range: 4–30 VDC); (5mA @ 4V; 15 mA @ 30V); Optically isolated,
differential.

Max pulse frequency:

DIR Electrical 500 kHz Maximum pulse frequency = 150 kHz or 2MHz (user
selectable).
Specs Minimum pulse width:
Minimum pulse width:
3 usec at 150 kHz setting
3 usec at 150 kHz setting jumper 4
SW12, 1 usec at 500 kHz
1 usec at 2 MHz setting jumper 4
setting SW12

EN Function Disable motor when closed

EN Electrical 5 –24 VDC nominal (range: 4–30 VDC); (5mA @ 4V; 15 mA @ 30V); Optically isolated,
differential. Max pulse frequency: 10 kHz
Specs
Minimum pulse width: 500 usec

Output 30 VDC / 80mA max, optically isolated photodarlington,

Fault n/a sinking or sourcing.
Signal
Function = closes on drive fault.
Rotary Switch Selectable Select motor based on part number, or by motor
n/a
Function current.

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

Specifications, continued
SureStep™ Microstepping Drive Specifications
Part Number STP-DRV-4830 STP-DRV-4845 STP-DRV-6575

Step Pulse Step and Direction: Step signal = step/pulse; Direction signal = direction.
Step CW & CCW: Step signal = CW step; Direction signal = CCW step (Internal
Type
jumper for -4845 and -6575; DIP switch for -4830)
Step Pulse 150kHz or 500kHz (switch
150 kHz or 2MHz (switch to 2MHz if pulsing faster than
to 500kHz if pulsing faster
Noise Filter 150kHz)(internal jumper)
than 150kHz (DIP switch)
Reduce power consumption and heat generation
by limiting motor running current to 100%, 90%, or
Current 80%, (70% possible for STP-DRV-4845 only and 120%
Reduction n/a possible for the -6575 only) of maximum. Current
(DIP switch) should be increased to the maximum current
reduction setting if microstepping. (Torque is reduced/
increased by the same %.)
Idle Current
Reduction Reduce power consumption and heat generation by limiting motor idle current to
Jumper
90% or 50% of running current. (Holding torque is reduced by the same %.)
and DIP (DIP switch)
Switch Load Inertia Anti-resonance and damping feature improves motor
Selectable (DIP switch) n/a performance. Set motor and load inertia range to 0–4x
Functions or 5–10x.

Step 200, 400, 800, 1000, 1600,

Resolution 2000, 3200, 4000, 5000, 200, 200 smooth, 400, 400 smooth, 2000, 5000, 12800,
6000, 6400, 8000, 10000, 20000
(DIP switch)
12800, 20000, 25600.
Self Test Automatically rotate the motor back and forth two turns in each direction in order
(DIP switch) to confirm that the motor is operational.
Softens the effect of
immediate changes in
Smoothing velocity and direction,
Filter making hte motion of the n/a
(DIP switch) motor less jerky. Can cause
a small delay in following
the control signal.
Drive Cooling Method Natural convection (mount drive to metal surface)
Mounting Use (2) #6 screws to mount to metal surface
DEGSON 15EDGK-5.08-
02P-14-00AH 2-pin power
connector
Motor & Power Supply: Screw term blocks Phoenix
DEGSON 15EDGK-3.1.04P-
Contact 1757051 (30–12AWG)
14-00A(H) 4-pin motor
Removable Connectors Signals: Screw terminal blocks Phoenix Contact
connector
1803633 (30–14 AWG)
DEGSON 15EDGK-3.5- AutomationDirect part number STP-CON-1 contains
06P-14-00A(H) 6-pin I/O these replacement connectors.
connector
Part number STP-CON-5
contains replacements
Weight 3.0 oz [85.9g] 10.8 oz [306g]
Operating Temperature 0 to 85 °C [32 to 185 °F] – (Interior of electronics section)
Ambient Temperature 0 to 40 °C [32 to 104 °F] 0 to 50 °C [32 to 122 °F]
Humidity Maximum 90% non-condensing
Agency Approvals CE CE, cURus

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

Typical Wiring Diagram

Step Motor
Power Supply SureStep Typical
Wiring Diagram
–
5VDC xx VDC
Power Power

VDC +
Logic Motor

+
VDC –
A+
A– STP-
B+ DRV-xxxx
STP-PWR-xxxx B– Stepper Drive

Cable Color Code Extension Cable 12" Motor Pigtail

with Connector with Connector Step Motor
Term Wire Pin # STP-MTRx
A+ Red 1 STP-EXTx
A– White 2
B+ Green 3
B– Black 4

Wiring Connections and Configuration Switches

STP-DRV-4830

Factory use
comm port

Terminal block part #s (shown) are

Phoenix Contact ([Link])
All three terminal blocks are included in
STP-CON-5 for replacement connectors
External wiring is connected using three separate pluggable screw terminal
connectors. The power connections are on the 2-position connector, the
motor connection is on the 4-position connector, and the digital inputs are
on the 6-position connector.

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

STP-DRV-4845 and STP-DRV-6575

Terminals, Switches, Indicators
Status LEDs
Rotary Switch
FAULT–

Removable Signal
FAULT+

Terminal Block
EN–

1757051
EN+
DIR–
DIR+
STEP–
STEP+
DIP Switches
B–
Terminal Block

B+
Removable

1803633
Power

A–
A+
V–
V+

Terminal block part #s (shown) are

Phoenix Contact ([Link])
Both terminal blocks are included in STP-CON-1
for replacement connectors

External wiring is connected using two separate pluggable screw terminal

connectors. The power connections share a six-position connector, and the
digital inputs and output share an eight-position connector.

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

Connecting the Motor

Warning: When connecting a step motor to a SureStep™ microstepping drive,
be sure that the motor power supply is switched off. When using a motor not
supplied by AutomationDirect, secure any unused motor leads so that they
can’t short out to anything. Never disconnect the motor while the drive is
powered up. Never connect motor leads to ground or to a power supply. (See
the Typical Wiring Diagram shown in this chapter for the step motor lead color
code of AutomationDirect supplied motors.)

CW and CCW are viewed from the end opposite the drive end of the motor (looking
out of the shaft).

Four Lead Motors

Four lead motors can only be connected one way, as shown below.

Red 4
A+
lead
motor
A–
White

Green Black
B+ B–

4 Leads

All AutomationDirect SureStep™ motors are four lead bipolar step motors except
STP-MTRAC-x motors.

Six Lead Motors

Six lead motors can be connected in series or center tap. Motors produce
more torque at low speeds in series configuration, but cannot run as fast
as in the center tap configuration. In series operation, the motor should be
operated at 30% less than rated current to prevent overheating.
Grn/Wht Grn/Wht
A– A–

6 6
White White
n/c lead A+ lead
motor motor
Green n/c
A+ Green

Red/ Red/
Red Black Wht Red Black Wht

B– n/c B+ B– B+ n/c

6 Leads Series Connected 6 Leads Center Tap Connected

Step motor wire lead colors vary from one manufacturer to another.

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Eight Lead Motors

Eight lead motors can also be connected in two ways: series or parallel.
Series operation gives you more torque at low speeds, but less torque at
high speeds. When using series connection, the motor should be operated
at 30% less than the rated current to prevent over heating. Parallel
operation allows greater torque at high speeds. When using parallel
connection, the current can be increased by 40% above rated current. Care
should be taken in either case to assure that the motor does not overheat.
Orange Orange
A+ A+
Blk/
Org/Wht 8 Wht 8
lead lead
Blk/Wht Org/ motor
motor Wht
A– A–
Black Black

Red Red/ Yel/ Yellow Red Yellow

Wht Wht Yel/ Red/
Wht Wht B–
B+ B– B+
8 Leads Series Connected 8 Leads Parallel Connected

Step motor wire lead colors vary from one manufacturer to another. The example
above only pertains to STP-MTRAC-34075(x) and 34115(x) SureStep Motors. For
NEMA 42 wire colors, see “Connecting a STP-MTRAC(H)-42 Motor” in Chapter 7.

Connecting the Power Supply

An STP-PWR-xxxx power supply from AutomationDirect is the best choice
to power the step motor drive. If you need information about choosing
a different power supply, refer to the section entitled “Choosing a Power
Supply” in Chapter 7 of this manual.
If your power supply does not have a fuse on the output or some kind of
short circuit current limiting feature, you need a fuse between the drive
and the power supply. Install the fuse on the + power supply lead.
• Connect the green ground screw to earth ground
• Use 18 or 20 AWG wire.

Fuse* EMI**
V+

Step + * External fuse not required when

Motor using an STP-PWR-xxxx P/S; fuse is internal.
Power VDC
Supply – ** CE use requires an EMI line filter.
V–

Further information about EMI line filters, braking accessories, and

regeneration clamping can be found in Appendix A: “SureStep Accessories”
and the STP-DRVA-RC-050A or STP-DRVA-RC-050 REGENERATION CLAMP
datasheet.

Do NOT use STP-PWR-70xx power supplies with an STP-DRV-6575 drive, because

those power supplies can exceed the voltage limit of this drive if supplied with
a higher than normal 120VAC supply. STP-DRV-6575 overvoltage fault is 85V.

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

Connecting the I/O

SureStep™ Drive Digital Inputs and Outputs
The SureStep STP-DRV-4830, -4845, and -6575 drives include two high-speed
5–24 VDC digital inputs (STEP & DIR), one standard-speed 5–24 VDC digital
input (EN), and one 30 VDC digital output (Fault). The -4830 does not have
an output.
Internal to the
STP-DRV-xxxx The digital inputs are optically isolated to
STEP+ reduce electrical noise problems. There is no
220pF electrical connection between the control and
STEP–
power circuits within the drive, and input signal
DIR+ communication between the two circuits is
220pF achieved by infrared light. Externally, the drive’s
DIR– motor power and control circuits should be
EN+ supplied from separate sources, such as from a
220pF step motor power supply with separate power
EN– and logic outputs.
FAULT+ For bidirectional rotation, supply a source of
Applies to -4845
step pulses to the drive at the STEP+ and STEP–
FAULT– and -6575 drives ONLY
terminals, and a directional signal at the DIR+
Drive Digital Input Circuit and DIR– terminals.
The ENABLE input allows the logic to turn off the current to the step motor
by providing a signal to the EN+ and EN– terminals. The EN+ and EN–
terminal can be left unconnected if the enable function is not required.
All logic inputs can be controlled by a DC output signal that is either sinking
(NPN), sourcing (PNP), or differential.

Connecting the Input Signals: STEP and DIR

Connecting Inputs to an Indexer with Sinking Outputs
+V OUT DIR+
STP-DRV-xxxx
Indexer DIR DIR– Drive
with
Sinking STEP+ EN+
Outputs N/C
STEP STEP– EN–
N/C

Connecting Inputs to an Indexer with Sourcing Outputs

COM DIR–
STP-DRV-xxxx
Indexer DIR DIR+ Drive
with
Sourcing STEP– EN+
Outputs N/C
STEP STEP+ EN–
N/C

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

Connecting the Input Signals – STEP and DIR (continued)

Connecting Inputs to an Indexer with Differential Line Driver Outputs
DIR+ DIR+
Indexer STP-DRV-xxxx
with
DIR– DIR– Drive
Differential
Outputs STEP+ STEP+ EN+
N/C
STEP– STEP– EN–
N/C

Connecting the Input Signals – EN Input

The ENABLE input allows the user to turn off the current to the motor by
providing a 5–24 VDC positive voltage between EN+ and EN-. The logic
circuitry continues to operate, so the drive “remembers” the step position
even when the amplifiers are disabled. However, the motor may move
slightly when the current is removed depending on the exact motor and
load characteristics.

Warning: 24VDC is the maximum voltage that can be applied directly to the
standard speed EN input. If using a higher voltage power source, install
resistors to reduce the voltage at the input. Do NOT apply an AC voltage to an
input terminal.

Connecting
Connecting ENABLESTP-DRV-6575
Input to RelayDrive EN to Switch or Relay
or Switch

+ EN+

5-24 VDC
Power STP-DRV-xxxx
switch or relay Drive
Supply (closed = logic low)
- EN–

Connecting
Connecting ENABLESTP-DRV-xxxx
Input to NPN Drive EN toSensor
Proximity NPN

+ EN+

5-24 VDC
+ output
EN–
Power NPN
Supply Proximity STP-DRV-xxxx
- - Sensor Drive

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

Connecting
Connecting ENABLESTP-DRV-xxxx Drive EN toSensor
Input to PNP Proximity PNP

+ + output EN+

5-24 VDC PNP

Power Proximity STP-DRV-xxxx
Supply Drive
- Sensor
EN–
-

Leave the ENABLE input unconnected if you do not need to disable the amplifiers.

Connecting the Fault Output

The SureStep STP-DRV-4845 and -6575 drives have one digital output that
has separate positive (+) and negative (-) terminals, and can be used to sink
or source current. There is no digital output on the STP-DRV-4830.
Connecting
Connecting STP-DRV-6575
FAULT Output Fault Output
to Inductive Relay to Inductive Relay
relay coil
(inductive load)
FAULT+ +
5-24 VDC
Drive Power
1N4935
suppression Supply
diode
FAULT– -
Connecting FAULT OutputFault
Connecting as Sinking
OutputOutput
as Sinking Output

FAULT+ Load +
5-24 VDC
Drive Power
Supply
FAULT– -
Connecting FAULT OutputFault
Connecting as Sourcing
Output asOutput
Sourcing Output

FAULT+ +
5-24 VDC
Drive Power
Supply
FAULT– Load -

Do not connect more than 30 VDC. Current must not exceed 80 mA.

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Drive Configuration
You need to configure your drive for your particular application before
using the drive for the first time. The SureStep STP-DRV-4830, -4845,
and -6575 microstepping drives offer several features and configuration
settings, including:

Drive Configurations Settings

Drive Configuration Settings
Configuration Method
Feature Description
STP-DRV-4830 STP-DRV-4845 STP-DRV-6575

Motor Phase Select motor based on part number, or set by Set current Select motor
Set current via
via DIP switch via rotary
Current motor current. rotary switch
1,2,3 switch
Mode of Step and Direction (default): Step signal = step/
Operation Jumper S3
pulse; Direction signal = direction.
DIP switch 11 (see details later in this
(Step Pulse Step CW & CCW: Step signal = CW step; Direction
section)
Type) signal = CCW step.

Step Pulse Select 150 kHz or 2MHz for -4845 and -6575 Jumper S4
or DIP switch 12 (see details later in this
Noise Filter
Select 150 kHz or 500 kHz for -4830 section)
Reduce power consumption and heat generation
by limiting motor running current to 100%, 90%,
Current or 80% of maximum.
N/A DIP switch 1,2
Reduction Current should be increased to 120% if
microstepping. (Torque is reduced/increased by
the same %.)
Reduce power consumption and heat generation DIP switch 4
Idle Current by limiting motor idle current to 90% or 50% of
Reduction running current. (Holding torque is reduced by
the same %.)
Anti-resonance and damping feature improve N/A DIP switch 3
Load Inertia motor performance.
Set motor and load inertia range to 0–4x or 5–10x.

Step For smoother motion and more precise speed, set DIP switch DIP switch 5,6,7
Resolution the pulse per revolution value as needed. 5,6,7,8

Automatically rotates the motor back and forth DIP switch 9 DIP switch 8
Self Test 1/2 a revolution in each direction in order to
confirm that the motor is operational.

Step Softens the effect of immediate changes in DIP switch N/A (step smoothing is
Smoothing velocity and direction, making the motion of 10 available using the “200
the motor less jerky. Can cause a small delay in smooth” or “400 smooth”
Filter
following the control signal. setting for DIP switch 5,6,7

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DIP Switch Settings

STP-DRV-4830
(Factory default = switches 1-4 ON, switches 5-12 OFF)
Current Setting

Step Resolution (steps/rev)

Idle Current
Smoothing Control Step
Reduction Self Test Filter Mode Filter

ON 4 4 ON 9 9 ON 10 10 ON 11 11 ON 12 12
50% 90% Enable Disable Enable Disable CW/CCW Step/Dir 150kHz 500kHz

STP-DRV-4845 and STP-DRV-6575

(Factory default = all switches OFF)
Step Resolution (steps/rev)

ON 5 6 7 5 6 7 5 6 7 5 6 7 5 6 7 5 6 7 5 6 7 5 6 7
20000 12800 5000 2000 400 400 200 200
SMOOTH SMOOTH

Current Reduction Load Inertia Idle Current Reduction Self Test

ON 1 2 1 2 1 2 1 2 ON 3 3 ON 4 4 ON 8 8
100% 90% 80% 120% 5-10x 0-4x 50% 90% ON OFF
(Use 120% when microstepping)

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Jumper Settings for STP-DRV-4845 and STP-DRV-6575

Jumpers S3 and S4 are located on the internal circuit board, and they can
be accessed by removing the drive’s front cover.
Remove connectors and cover to access Jumpers
S3 and S4. They are located on the upper
left corner of the circuit board.

Jumper S4:
Step Pulse Noise Filter

Jumper S3:
Step Pulse Type
Jumper S3 – Step Pulse Type
• Jumper in “1-2” position – Step & Direction (factory default)
• Jumper in “1-3” position – Step CW / Step CCW
Jumper S4 – Step Pulse Noise Filter
• Jumper in “1-2” position – 2MHz (factory default)
• Jumper in “1-3” position – 150 kHz
Rotary Switch Settings – Motor/Current Settings
STP-DRV-4845 Motor Selection Table
(A/Phase)(Peak of Sine A)
Rotary Switch SW1 & SW2 SW1 & SW2 SW1 & SW2 SW1 & SW2
Position @100% @90% @80% @70%
0 1.1 1.0 0.9 0.8
1 1.3 1.2 1.0 0.9
2 1.5 1.4 1.2 1.1
3 1.7 1.5 1.4 1.2
4 2.0 1.8 1.6 1.4
5 2.2 2.0 1.8 1.5
789 6 2.4 2.2 1.9 1.7
AB E
456

7 2.6 2.3 2.1 1.8

CD

8 2.8 2.5 2.2 2.0

23

F0 1
9 3.1 2.8 2.5 2.2
A 3.4 3.1 2.7 2.4
B 3.6 3.2 2.9 2.5
C 3.8 3.4 3.0 2.7
D 4.0 3.6 3.2 2.8
E 4.3 3.9 3.4 3.0
F 4.5 4.1 3.6 3.2

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

STP-DRV-6575 Motor Selection Table

Motor Data Drive Configuration Data

Motor Current

Torque (oz·in)

Drive Current
(Arms/phase)

(peak sine A)
Roter Inertia

Inductance

Resistance
Rotary Switch
STP-MTR
-xxxx(X)

Holding

(mN·m)

(g·cm2)
(oz·in2)

Torque

Inertia
Motor

(mH)
Position

(Ω)
n/a reserved 0–2
n/a 1.3 custom NEMA 17 3
n/a 4.0 custom NEMA 23 4
n/a 4.0 custom NEMA 34 5
-17040 1.7 61 0.28 3.03 1.60 434 51 2.04 6
-17048 2.0 83 0.37 2.65 1.40 586 82 2.40 7 789

AB E
456
-17060 2.0 125 0.56 3.30 2.00 883 37 2.40 8

CD
-23055 2.8 166 1.46 2.36 0.08 1172 271 3.36 9

23
F0 1
-23079 2.8 276 2.60 3.82 1.10 1949 475 3.36 A
-34066 2.8 434 7.66 7.70 1.11 3065 1402 3.36 B
H-23079 5.6 287 2.60 1.18 0.40 2025 371 6.72 C
H-34066 6.3 428 7.66 1.52 0.25 3021 1402 7.56 D
H-34097 6.3 803 14.80 2.07 0.03 5668 2708 7.56 E
H-34127 6.3 1292 21.90 4.14 0.49 9123 4008 7.56 F

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

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.
STP-DRV-xxxx Alarm Codes
Alarm
LED Sequence Alarm Description
Code
SG Solid green No alarm, motor disabled

FG Fast green Factory use

01 Flashing green No alarm, motor enabled

10 Flashing red Configuration or memory error1

11 1 red, 1 green Motor stall (optional encoder only)4

12 1 red, 2 green Move attempted while drive disabled

21 2 red, 1 green CCW limit

22 2 red, 2 green CW limit

31 3 red, 1 green Drive overheating

32 3 red, 2 green Internal voltage out of range2

33 3 red, 3 green Factory use

41 4 red, 1 green Power supply overvoltage2

42 4 red, 2 green Power supply undervoltage

43 4 red, 3 green Flash memory backup error

Over current /
51 5 red, 1 green short circuit2, 3
61 6 red, 1 green Open motor winding2
Bad encoder signal (optional encoder
62 6 red, 2 green only)4
71 7 red, 1 green Serial communication error5

72 7 red, 2 green Flash memory error

1-D
 oes not disable the motor.
The alarm will clear about 30 seconds after the fault is corrected.
2-D
 isables the motor. Cannot be cleared until power is cycled.
3-T
 he over-current/short-circuit alarm typically indicates that an electrical fault exists somewhere in the
system external to the drive. This alarm does not serve as motor overload protection.
4 - This alarm only occurs on STP-MTRD advanced integrated motor/drives
5 - This alarm only occurs on drives with serial communication.

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

Alarm Code Definitions

Alarm Code Error Description Corrective Action

SG No alarm, No faults active, Circuit is N/A
motor disabled closed between EN+ and EN-.

01 No alarm, No faults active, Circuit is N/A

motor enabled open between EN+ and EN-.

10 Configuration Memory error detected Restart device. No fix if restart doesn’t

or memory when trying to load config work. Return to manufacturer for
error from flash on powerup. correction.

11 Motor stall Motor torque demand Increase torque utilization if it’s not
(optional exceeded capability and the already maxed out, otherwise decrease
encoder only) motor skipped steps. This the torque demand by modifying the
is configured in SureMotion move profile, or put in a larger motor.
Pro.

12 Move Drive is disabled and move Reset alarm, enable motor, and move
attempted attempted. again.
while drive
disabled

21 CCW limit CCW limit is reached. The Unblock the CCW sensor (open the
digital input that has been circuit) or redifine the input with
assigned CCW limit has been SureMotion Pro.
activated.

22 CW limit CW limit is reached. The Unblock the CCW sensor (open the
digital input that has been circuit) or redefine the input with
assigned CW limit has been SureMotion Pro.
activated.

31 Drive The drive’s internal If the drive is operating within its

overheating temperature is too high. standard range (input voltage and
output current are OK), more heat
must be removed from the drive
during operation. For Advanced drives
(see “Mounting the Drive” on page
4-14), ensure the drive is mounted to
a metal surface that can dissipate the
drive’s heat. For Integrated motor/
drives, see “Mounting” on page
5-13. For both types of drives: If the
mounting surface cannot pull enough
heat away from the drive, forced
airflow (from a fan) may be required to
cool the drive.

32 Internal voltage Gate voltage, 5V rail, or 3V Ensure adequate supply voltage (in
out of range rail are out of spec. very rare cases, low input voltages
combined with fast accelerations can
draw down the gate voltage) and try
again. If persistant, RMA is required.

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

Alarm Code Error Description Corrective Action

41 Power supply The DC voltage feeding the Decrease the input voltage.
overvoltage drive is above the allowable Linear power supplies do not output
level. a fixed voltage: the lighter the output
current, the higher the output voltage
will float. If a linear supply’s voltage
floats above the drive’s max voltage,
you can install a small power resistor
across the linear power supply’s output
to provide some load that will help pull
down the floating voltage.
Consider using a switching power
supply such as the Rhino PSB power
supply series.
Overvoltage can also be fed back into
a system by regeneration (when an
overhauling load pushes energy back
into the motor). In an application with
regen problems, install an STP-DRVA-
RC-050 regen clamp to help dissipate
the extra energy. (The regen clamp will
not help with the floating linear power
supply that floats too high, but it will
help with excess voltage generated
from an overhauling load.)

42 Power supply The DC voltage feeding the Correct the power supply. If this error
undervoltage drive is below the allowable occurs during operation, the power
level. supply is most likely undersized. A
sudden high current demand can
cause an undersized power supply to
dip in output voltage.

43 Flash memory Memory error detected Restart device. No fix if restart doesn’t
backup error when trying to load config work. Return to manufacturer for
from flash on powerup. correction.

51 Over current / Motor leads shorted - only Check and fix motor wiring.
short circuit checked on powerup.

61 Open motor Motor leads not connected - Check and fix motor wiring.
winding only checked on powerup.

62 Bad encoder Noisy or otherwise Check encoder wiring, always use

signal (optional incorrectly formatted differential encoders (or use checkbox
encoder only) encoder signal (lack of A or in SureMotion Pro to disable this error
B, lack of differential signal). when using single ended).

71 Serial Catch-all error for If drive can communicate, CE can give

communication something wrong with serial a precise diagnosis. If not, refer to the
error communications. See CE Serial Communications part of the HCR
command in HCR for details. for troubleshooting.

72 Flash memory Memory error detected Restart device. No fix if restart doesn’t
error when trying to load config work. Return to manufacturer for
from flash on powerup. correction.

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

Mounting the Drive

You can mount your drive on the wide or the narrow side of the chassis
using (2) #6 screws. Since the drive amplifiers generate heat, 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.
• Never use your drive in a space where there is no air flow or where the
ambient temperature exceeds 50 °C (122 °F).
• When mouting multiple STP-DRV-xxxx drives near each other, maintain at
least one half inch of space between drives.
• Never put the drive where it can get wet.
• Never allow metal or other conductive particles near the drive.

Drive Heating
For information on drive heating, please see Chapter 8: SureStep System
Power Supplies.

Dimensions and Mounting Slot Locations

STP-DRV-4830

Dimensions = in [mm]

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 Chapter 2: SureStep™ STP-DRV-4830/4845/6575 DC Microstepping Drives

STP-DRV-4845 and STP-DRV-6575

4.66
Dimensions = in [mm] [118.4]
0.13 4.40
[3.2] [111.8]
4X Ø0.14
[Ø3.6]

2.98 0.89
[75.6] [22.7]

1.04
[26.5]
4.42
[112.3]
0.22 0.41
2 X R0.09
[5.6] [10.5]
[R2.2]
0.35 1.30
[8.9] [33.0]

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SureStepTM

3
STP-DRV-4035 Chapter
Basic DC
Microstepping Drive

In This Chapter...
Features ������������������������������������������������������������������������������������������������������������������ 3–2
Specifications �������������������������������������������������������������������������������������������������������� 3–3
Typical Wiring Diagram���������������������������������������������������������������������������������������� 3–4
Connection and Adjustment Locations������������������������������������������������������������ 3–4
Connecting the Motor�������������������������������������������������������������������������������������������������������������������������3–5
Connecting the Power Supply ���������������������������������������������������������������������������������������������������������3–6
Connecting the Logic �������������������������������������������������������������������������������������������������������������������������3–7
Using Logic That is Not 5 volt TTL Level�����������������������������������������������������������������������������������������3–9
The Enable Input���������������������������������������������������������������������������������������������������� 3–9
Setting Phase Current����������������������������������������������������������������������������������������3–10
Current Setting Formula �����������������������������������������������������������������������������������������������������������������3–10
Current Setting Table�����������������������������������������������������������������������������������������������������������������������3–11
Microstepping ������������������������������������������������������������������������������������������������������3–12
Idle Current Reduction ��������������������������������������������������������������������������������������3–13
Self Test������������������������������������������������������������������������������������������������������������������3–13
Dimensions������������������������������������������������������������������������������������������������������������3–15
 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Features
• Drives sizes 17 through 34 step motors
• Pulse width modulation, MOSFET 3 state switching amplifiers
• Phase current from 0.4 to 3.5 amps (switch selectable, 32 settings)
• Optically isolated step, direction and enable inputs
• Half, 1/5, 1/10, 1/50 step (switch selectable)
• Automatic 50% idle current reduction (can be switched off)

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Specifications
SureStep™ Microstepping Drives Specifications
Part Number STP-DRV-4035
Input Power
12-42 VDC (including ripple voltage)
(with red Power On LED)
Output current selectable from 0.4 to 3.5 Amps/phase motor current
Output Power
(maximum output power is 140 W)
Dual H-bridge Bipolar Chopper
Current Controller
(4-state 20 kHz PWM with MOSFET switches)

Input Signal Opto-coupler input with 440 Ohm resistance (5 to 15 mA input current),
Logic Low is input pulled to 0.8 VDC or less, Logic High is input 4VDC or
Circuit higher (see page 3-9 for using input voltages higher than 5VDC)

Motor steps on falling edge of pulse and minimum pulse width

Input Pulse Signal
is 0.5 microseconds
Signals
Direction Needs to change at least 2 microseconds before a step pulse is sent. CW
and CCW are viewed from the end opposite the drive end of the motor
Signal (looking out of the shaft).
Logic 1 will disable current to the motor
Enable Signal
(current is enabled with no hook-up or logic 0)
Off or On (uses half-step to rotate 1/2 revolution in each direction
Self Test
at 100 steps/second)
DIP Switch Microstepping 400 (200x2), 1,000 (200x5), 2,000 (200x10), or 10,000 (200x50) steps/rev
Selectable Idle Current 0% or 50% reduction (idle current setting is active if motor is at rest
Functions Reduction for 1 second or more)
Phase Current
0.4 to 3.5 Amps/phase with 32 selectable levels
Setting
Drive Cooling Method Natural convection (mount drive to metal surface if possible)
Dimensions 3 x 4 x 1.5 inches [76.2 x 101.6 x 38.1 mm]
Mounting Use #4 screws to mount on wide side (4 screws) or narrow side (2 screws)
Connectors Screw terminal blocks with AWG 18 maximum wire size
Weight 9.3 oz. [264g]
Storage Temperature -20–80 °C [-4–176 °F]
Chassis Operating 0–55 °C [32–131 °F] recommended; 70 °C [158 °F] maximum
Temperature (use fan cooling if necessary); 90% non-condensing maximum humidity
Agency Approvals CE

Note: The STP-DRV-4035 Microstepping Drive works with 4, 6, and 8 lead bipolar step
motors. All AutomationDirect SureStep™ motors are four-lead bipolar step motors.

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Typical Wiring Diagram

Step Motor
Power Supply STP- STP-DRV-4035
DRV-4035 Typical Wiring
– Diagram
5VDC 35 VDC
Power Power

VDC +
Logic Motor

+
VDC –
A+
A–
B+
STP-PWR-3204 B– Stepper Drive

Cable Color Code Extension Cable 12" Motor Pigtail

with Connector with Connector
Step Motor
Term Wire Pin # STP-MTRx
A+ Red 1 STP-EXTx
A– White 2
B+ Green 3
B– Black 4

Connection and Adjustment Locations

The diagram below shows where to find the important connection and adjustment
points.

Power
Connector

Motor
Connector

Mounting
Hole (1 of 6)

Switches for
Selecting Current,
Step Resolution,
Current Reduction
and Self Test Logic
Connector
Power On (STEP+/-, DIR+/-, EN+/-)
LED

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Connecting the Motor

Warning: When connecting a step motor to the SureStep™ STP-DRV-4035
microstepping drive, be sure that the motor power supply is switched off. When
using a motor not supplied by AutomationDirect, secure any unused motor leads so
that they can’t short out to anything. Never disconnect the motor while the drive
is powered up. Never connect motor leads to ground or to a power supply. (See
the Typical Wiring Diagram shown on page 2-4 of this chapter for the step motor
lead color code of AutomationDirect supplied motors.)

You must now decide how to connect

your stepping motor to the SureStepTM
STP-DRV-4035 microstepping drive. Red
A+ 4
lead
Four Lead Motors motor
A–
Four lead motors can only be connected White
one way. Please follow the wiring
diagram shown to the right.
Green Black
Note: All AutomationDirect SureStep™ B+ B–
motors are four lead bipolar step motors.
4 Leads
Six Lead Motors
Six lead motors can be connected in series or center tap. In series mode, motors
produce more torque at low speeds, but cannot run as fast as in the center tap
configuration. In series operation, the motor should be operated at 30% less
than rated current to prevent overheating. Wiring diagrams for both connection
methods are shown below. NC means not connected to anything.

Grn/Wht Grn/Wht
A– A–
6 6
White White
NC lead A+ lead
motor motor
Green
A+ NC
Green

Red/ Red/
Red Black Wht Red Black Wht

B– NC B+ B– B+ NC

6 Leads Series Connected 6 Leads Center Tap Connected

Note: Be aware that step motor wire lead colors vary from one manufacturer to
another.

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Eight Lead Motors

Eight lead motors can also be connected in two ways: series or parallel. Series
operation gives you more torque at low speeds and less torque at high speeds.
When using series connection, the motor should be operated at 30% less than the
rated current to prevent over heating. Parallel operation allows a greater torque
at high speed. When using parallel connection, the current can be increased by
30% above rated current. Care should be taken in either case to assure the motor
is not being overheated. The wiring diagrams for eight lead motors are shown
below.
Orange Orange
A+ A+
Blk/
Org/Wht Wht 8
8
lead lead
Org/ motor
Blk/Wht motor Wht
A– A–
Black Black
Red Yellow
Red Red/ Yel/ Yellow
Wht Wht Yel/ Red/
Wht Wht B–
B+ B– B+
8 Leads Series Connected 8 Leads Parallel Connected

Note: Be aware that step motor wire lead colors vary from one manufacturer to
another. The example above only pertains to STP-MTRAC-34075(x) and 34115(x)
SureStep Motors.

Connecting the Power Supply

The STP-PWR-3204 power supply from AutomationDirect is the best choice to power
the step motor drive. If you need information about choosing a different power
supply, please read the section titled “Choosing a Power Supply” in Chapter 7:
“SureStep System Power Supplies”.
If your power supply does not have a fuse on the output or some kind of short
circuit current limiting feature you need to put a 4 amp fast acting fuse between
the drive and power supply. Install the fuse on the + power supply lead.
Connect the motor power supply “+” terminal to the driver terminal labeled
“+ VDC”. Connect power supply “-” to the drive terminal labeled “VDC-”. Use
no smaller than 18 gauge wire. Be careful not to reverse the wires. Reverse
connection will destroy your drive and void the warranty.
+ Fuse *
+

Step Motor
Power Supply
VDC

12 - 42 VDC –
–

* External fuse not required when using an

STP-PWR-3204 P/S; fuse is internal.

Do NOT use STP-PWR-48xx or -70xx power supplies with an STP-DRV-4035 drive,

because those power supplies exceed the voltage limit of this drive.

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Further information about braking accessories and regeneration clamping can be

found in Appendix A and the STP-DRVA-RC-050 REGENERATION CLAMP datasheet.

Connecting the Logic

The SureStep drive contains optical isolation circuitry to prevent the electrical
noise inherent in switching amplifiers
from interfering with your circuits. Optical
isolation is accomplished by powering
the motor driver from a different supply
source than your control circuits. There Internal to the
220 ohms
is no electrical connection between the STEP+ STP-DRV-4035
two; signal communication is achieved
by infrared light. When your circuit turns
on or turns off, an infrared LED (built 220 ohms
into the drive), signals a logic state to the STEP–
phototransistors that are wired to the
Drive Input Circuit
brains of the drive. A schematic diagram
input circuit is shown to the right.
You will need to supply a source of step
pulses to the drive at the STEP+ and
STEP– terminals and a direction signal at
the DIR+ and DIR– terminals, if bidirectional rotation is required. You will also
need to determine if the ENABLE input terminals will be used in your application.
Operation, voltage levels and wiring on the ENABLE terminals is the same as
the STEP and DIRECTION terminals. The EN+ and EN– terminal can be left not
connected if the enable function is not required.
All logic inputs can be controlled by a DC output signal that is either sinking (NPN),
sourcing (PNP), or differential.
On the next couple of pages are examples for connecting various forms of outputs
from both indexers and PLCs.

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Connecting to an Indexer with Sinking Outputs

+5V OUT DIR+
STP-DRV-4035
Indexer DIR DIR– Drive
with
Sinking STEP+ EN+
Connecting to an Indexer with Sourcing
Outputs Outputs
N/C
STEP STEP– EN–
N/C

Connecting to an Indexer with Sourcing Outputs

COM DIR–
STP-DRV-4035
Indexer DIR DIR+ Drive
with
Sourcing
Connecting to an Indexer with Differential
STEP–Outputs EN+
Outputs N/C
STEP STEP+ EN–
N/C

Connecting to an Indexer with Differential Outputs

DIR+ DIR+
Indexer STP-DRV-4035
DIR– DIR– Drive
with
Differential
Outputs STEP+ STEP+ EN+
N/C
STEP– STEP– EN–
N/C

Note: Many high speed indexers have differential outputs.

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Using Logic That is Not 5 volt TTL Level

Some step and direction signals, especially those of PLCs, don’t use 5 volt logic.
You can connect signal levels as high as 24 volts to the SureStep drive if you add
external dropping resistors to the STEP, DIR and EN inputs, as shown below.
Connecting to Indexer• with
For1212 volt
- 24 VDClogic,
Sinking add 820
Outputs ohm,Connecting
- stretched 1/4 wattto resistors
Indexer with 12 - 24 VDC Sourcing Outputs - stretched

• For 24 volt logic, use 2200 ohm, 1/4 watt resistors

Connecting to an Indexer with Sink or Source 12-24 VDC Outputs

+12-24V DIR+ COM DIR–

Indexer STP-DRV-4035 Indexer STP-DRV-4035
with DIR DIR– Drive with DIR DIR+ Drive
Sinking Sourcing
R R
Outputs STEP+ EN+ Outputs STEP– EN–

ENABLE STEP R STEP– EN– ENABLE STEP R STEP+ EN+

R (If enable function is used) R (If enable function is used)

Connecting to PLC with 12 - 24 VDC Sinking Outputs - stretched Connecting to PLC with 12 - 24 VDC Sourcing Outputs - stretched

Connecting to a PLC with Sink or Source 12-24 VDC Outputs

– + + –
COM +12-24V 12-24 VDC DIR+ +12-24V COM 12-24 VDC DIR–
PLC STP-DRV-4035 PLC STP-DRV-4035
with DIR DIR– Drive with DIR DIR+ Drive
Sinking Sourcing
Outputs R R
STEP+ EN+ Outputs STEP– EN–

ENABLE STEP R STEP– EN– ENABLE STEP R STEP+ EN+

R (If enable function is used) R (If enable function is used)

Note: Most PLCs can use 24 VDC Logic.

The Enable Input

The ENABLE input allows the user to turn off the current to the motor by providing
a positive voltage between EN+ and EN-. The logic circuitry continues to operate,
so the drive “remembers” the step position even when the amplifiers are
disabled. However, the motor may move slightly when the current is removed
depending on the exact motor and load characteristics.

Note: If you have no need to disable the amplifiers, you don’t need to connect
anything to the ENABLE input.

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Step Table
(half stepping)
Step A+ A– B+ B–
0 open open + –
1 + – + –
2 + – open open
DIR=1 3 + – – + DIR=0
cw 4 open open – + ccw
5 – + – +
6 – + open open
7 – + + –
8 open open + –
Step 0 is the Power Up State

Setting Phase Current

Before you turn on the power supply the first time, you need to set the drive for
the proper motor phase current. The rated current is usually printed on the motor
label. The SureStep drive current is easy to set. If you wish, you can learn a simple
formula for setting current and never need the manual again. Or you can skip
to the table on the next page, find the current setting you want, and set the DIP
switches according to the picture.

Current Setting Formula

Locate the bank of tiny switches near the motor connector. Five of the switches,
DIP switch positions 5-9, have a value of current printed next to them, such as
0.1, 0.2, 0.4, 0.8 and 1.6. Each switch controls the amount of current, in amperes
(A), that its label indicates in addition to the minimum current value of 0.4 Amps.
There is always a base current of 0.4 Amps, even with all five DIP switches set to
the “off” position (away from their labels). To add to that, slide the appropriate
switches toward their labels on the PC board. You may need a small screwdriver
for this.

DIP switch current total settings =

step motor required phase current – 0.4 Amps always present base
current
Example 0.1
5 6 7 8 9

Suppose you want to set the drive for 2.2 Amps 0.2
per phase based on the step motor showing a
phase current of 2.2 Amps. You need the base 0.4
current of 0.4 Amps plus another 1.6 and 0.2 0.8
Amps.
2.2 = 0.4 + 1.6 + 0.2 1.6
Slide the 1.6 and 0.2 Amp DIP switches toward the
labels as shown in the figure to the right.

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 Current Setting Table Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Current Setting Table

0.1 0.1 0.1 0.1

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9
0.4 0.2 1.2 0.2 2.0 0.2 2.8 0.2 Factory
AMPS/ 0.4
0.8
AMPS/ 0.4
0.8
AMPS/ 0.4
0.8
AMPS/ 0.4
0.8
Default
PHASE PHASE PHASE PHASE
1.6 1.6 1.6 1.6

0.1 0.1 0.1 0.1

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9
0.5 0.2 1.3 0.2 2.1 0.2 2.9 0.2
AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4
PHASE 0.8 PHASE 0.8 PHASE 0.8 PHASE 0.8
1.6 1.6 1.6 1.6

0.1 0.1 0.1 0.1

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9
0.6 0.2 1.4 0.2 2.2 0.2 3.0 0.2
AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4
PHASE 0.8 PHASE 0.8 PHASE 0.8 PHASE 0.8
1.6 1.6 1.6 1.6

0.1 0.1 0.1 0.1

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9
0.7 0.2 1.5 0.2 2.3 0.2 3.1 0.2
AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4
PHASE 0.8 PHASE 0.8 PHASE 0.8 PHASE 0.8
1.6 1.6 1.6 1.6

0.1 0.1 0.1 0.1

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9
0.8 0.2 1.6 0.2 2.4 0.2 3.2 0.2
AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4
PHASE 0.8 PHASE 0.8 PHASE 0.8 PHASE 0.8
1.6 1.6 1.6 1.6

0.1 0.1 0.1 0.1

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9

0.9 0.2 1.7 0.2 2.5 0.2 3.3 0.2

AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4
PHASE 0.8 PHASE 0.8 PHASE 0.8 PHASE 0.8
1.6 1.6 1.6 1.6

0.1 0.1 0.1 0.1

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9

1.0 0.2 1.8 0.2 2.6 0.2 3.4 0.2

AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4
PHASE 0.8 PHASE 0.8 PHASE 0.8 PHASE 0.8
1.6 1.6 1.6 1.6

0.1 0.1 0.1 0.1

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9

5 6 7 8 9

1.1 0.2 1.9 0.2 2.7 0.2 3.5 0.2

AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4 AMPS/ 0.4
PHASE 0.8 PHASE 0.8 PHASE 0.8 PHASE 0.8
1.6 1.6 1.6 1.6

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Microstepping
Most step motor drives offer a choice between full step and half step resolutions.
In most full step drives, both motor phases are used all the time. Half stepping
divides each step into two smaller steps by alternating between both phases
on and one phase on. Microstepping drives like the SureStep drive precisely
control the amount of current in each phase at each step position as a means
of electronically subdividing the steps even further. The SureStep drive offers a
choice of half step and three microstep resolutions. The highest setting divides
each full step into 50 microsteps, providing 10,000 steps per revolution when
using a 1.8° motor.
In addition to providing precise positioning and smooth motion, microstep drives
can be used to provide motion in convenient units. When the drive is set to 2,000
steps/rev (1/10 step) and used with a 5 pitch lead screw, you get .0001 inches/
step.
Setting the step resolution is easy. Look at the dip switch on the SureStep drive.
Next to switches 2 and 3, there are labels on the printed circuit board. Each switch
has two markings on each end. Switch 2 is marked 1/5, 1/10 at one end and 1/5,
1/50 at the other. Switch 3 is labeled 1/2, 1/5 and 1/10, 1/50. To set the drive for
a resolution, push both switches toward the proper label. For example, if you
want 1/10 step, push switch 2 toward the 1/10 label (to the left) and push switch
3 toward 1/10 (on the right).
Please refer to the table below and set the switches for the resolution you want.

400 1/2 1/5

2,000 1/2 1/5
2 3

2 3
1/10 1/50 1/10 1/50
STEPS/REV 1/5
1/2
1/10
1/50 STEPS/REV 1/5
1/2
1/10
1/50
(HALF) (1/10)

Factory 1,000 1/2 1/5 10,000 1/2 1/5

2 3

2 3

1/10 1/50 1/10 1/50

Default STEPS/REV 1/5 1/10 STEPS/REV 1/5 1/10
1/2 1/50 1/2 1/50
(1/5) (1/50)

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Idle Current Reduction

Your drive is equipped with a feature that automatically reduces the motor current
by 50% anytime the motor is not moving. This reduces drive heating by about 50%
and lowers motor heating by 75%. This feature can be disabled if desired so that
full current is maintained at all times. This is useful when a high holding torque
is required. To minimize motor and drive heating we highly recommend that you
enable the idle current reduction feature unless your application strictly forbids it.
Idle current reduction is enabled by sliding switch #4 toward the 50% IDLE label,
as shown in the sketch below. Sliding the switch away from the 50% IDLE label
disables the reduction feature.

50% IDLE 4 50% IDLE

4
Idle Current Reduction No Current Reduction
Selected
(Factory Default)

Self Test
The SureStep drive includes a self test feature. This is used for trouble shooting.
If you are unsure about the motor or signal connections to the drive, or if the
SureStep drive isn’t responding to your step pulses, you can turn on the self test.
To activate the self test, slide switch #1 toward the TEST label. The drive will slowly
rotate the motor, 1/2 revolution forward, then 1/2 rev backward. The pattern
repeats until you slide the switch away from the TEST label. The SureStep drive
always uses half step mode during the self test, no matter how you set switches
2 and 3. The self test ignores the STEP and DIRECTION inputs while operating. The
ENABLE input continues to function normally.

TEST TEST
1

Self Test ON Self Test OFF

(Factory Default)

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Mounting the Drive

You can mount your drive on the wide or the narrow side of the chassis. If you
mount the drive on the wide side, use #4 screws through the four corner holes.
For narrow side mounting applications, you can use #4 screws in the two side
holes.

Wide Side Mount Narrow Side Mount

Smooth Flat Surface

#4 Screws

Unless you are running at 1 Amp/phase motor current or below,

you may need a heat sink. Often, the metal subpanel being
used for the control system will make an effective heat sink.

The amplifiers in the drive generate heat. Unless you are running at 1 amp or
below, you may need a heat sink. To operate the drive continuously at maximum
power you must properly mount it on a heat sinking surface with a thermal
constant of no more than 4°C/Watt. Often, the metal enclosure of your system will
make an effective heat sink.
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 70°C. Never put the drive where it can
get wet or where metal particles can get on it.

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

Dimensions
4x Ø0.125
1.50 0.125 2.50 [Ø3.2]
[38.1] [3.2] [63.5]

2x Ø0.125
[Ø3.2]

3.70 3.75 4.00

[94.0] [95.3] [101.6]

0.25
3.00 0.25
[6.4] 0.15
[76.2] [6.4]
0.875 [3.8]
[22.2]

Dimensions = in [mm]

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 Chapter 3: SureStepTM STP-DRV-4035 Microstepping Drive

BLANK
PAGE

3–16 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 4
SureStep™ Chapter
Advanced DC
MicrosteppingDrives

In This Chapter...
Features ������������������������������������������������������������������������������������������������������������������ 4–2
Specifications �������������������������������������������������������������������������������������������������������� 4–3
Typical Wiring Diagram���������������������������������������������������������������������������������������� 4–4
Connection Locations & Pin-out������������������������������������������������������������������������ 4–4
Connecting the Power Supply���������������������������������������������������������������������������� 4–6
Connecting the I/O������������������������������������������������������������������������������������������������ 4–7
SureStep™ Drive Digital Inputs���������������������������������������������������������������������������������������������������������4–7
Connecting STEP and DIR to 5V TTL Logic�������������������������������������������������������������������������������������4–7
Connecting STEP and DIR to Logic Other Than 5V TTL Level ���������������������������������������������������4–8
Connections to the EN Input�������������������������������������������������������������������������������������������������������������4–9
Connecting the Analog Input ���������������������������������������������������������������������������������������������������������4–10
Connecting the Digital Output�������������������������������������������������������������������������������������������������������4–10
LED Display Codes ����������������������������������������������������������������������������������������������4–12
Drive Configuration ��������������������������������������������������������������������������������������������4–15
Mounting the Drive����������������������������������������������������������������������������������������������4–17
Drive Heating �������������������������������������������������������������������������������������������������������������������������������������4–17
Dimensions and Mounting Slot Locations ����������������������������������������������������4–17
 Chapter 4: SureStep™ Advanced Microstepping Drives

Features
• Max 5A, 48V and max 10A, 80V models available
• Software configurable
• Programmable microsteps
• Internal indexer (via ASCII commands)
• Self test feature
• Idle current reduction
• Anti-resonance
• Torque ripple smoothing
• Step, analog, and serial communication inputs

4–2 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Chapter 4: SureStep™ Advanced Microstepping Drives

Specifications
SureStep™ Series Specifications – Microstepping Drives
Microstepping Drive STP-DRV-4850 STP-DRV-80100
Advanced microstepping drive with pulse or analog input, serial communication, &
Drive Type
indexing capability
Output Current 0.1–5.0 A/phase (in 0.01A increments) 0.1–10.0 A/phase (in 0.01A increments)
Input Voltage
24–48 VDC (nominal) (range: 18-53 VDC) 24–80 VDC (nominal) (range: 18-88 VDC)
(external p/s required)
Configuration Method SureMotion Pro software
Amplifier Type MOSFET, dual H-bridge, 4-quadrant
Current Control 4-state PWM @ 20 kHz
Over-voltage, under-voltage, over-temperature,
Protection
external output faults (phase-to-phase & phase-to-ground), inter-amplifier shorts
Fuse: 4A 3AG delay (ADC #MDL4) Fuse: 6.25A 3AG delay (ADC #MDL6-25)
Recommended Input Fusing
Fuse Holder: ADC #DN-F6L110 Fuse Holder: ADC #DN-F6L110
Opto-coupler input with 5 to 15 mA input current;
Input Circuit Logic Low is input pulled to 0.8 VDC or less; Logic High is input 4 VDC or higher (see pages
4-8 and 4-9 for how to use input voltages higher than 5VDC)
Optically isolated, differential, 5V, 330Ω; Min pulse width = 250 ns, Max pulse frequency
Step/Pulse = 2MHz
Input Adjustable bandwidth digital noise rejection feature
Signals Direction FUNCTIONS: s tep & direction, CW/CCW step, A/B quadrature, run/stop & direction, jog
CW/CCW, CW/CCW limits
Optically isolated, 5–12V, 680Ω; min pulse width = 25µs, max pulse frequency = 20kHz
Enable
FUNCTIONS: motor enable, alarm reset, speed select (oscillator mode)
Analog Range: 0–5 VDC; Resolution: 12 bit; FUNCTION: speed control
Output Signal Optically isolated, 24V, 100mA max; FUNCTIONS: fault, motion, tach (3kHz max)
Communication Interface RS-232; RJ11 (6P4C) receptacle
Non-volatile Memory Storage Configurations are saved in FLASH memory on-board the DSP
Idle Current Reduction Reduction range of 0–90% of running current after delay selectable in ms
Microstep Resolution Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Pulse (step) & direction, CW/CCW, A/B quadrature, velocity (oscillator), SCL serial
Modes of Operation
commands
Phase Current Setting 0.1–5.0 A/phase (in 0.01A increments) 0.1–10.0 A/phase (in 0.01A increments)
Features
Self Test Checks internal & external power supply voltages, diagnoses open motor phases
Anti-resonance (Electronic Damping)
Auto setup
Additional Features Serial Command Language (SCL) Host Control
Step input signal smoothing (microstep emulation)
Waveform (Torque Ripple) Smoothing
Communication Port RJ11 (6P4C)
Motor & Power Supply: Screw term blocks Phoenix Contact 1757051 (30–12AWG)
Removable Connectors Signals: Screw terminal blocks Phoenix Contact 1803633 (30–14 AWG)
AutomationDirect part number STP-CON-2 contains these replacement connectors.
Maximum Humidity 90% non-condensing
Storage Temperature -20–80 °C [-4–176 °F] (mount to suitable heat sink)
Operating Temperature 0–55 °C [32–158 °F] (mount to suitable heat sink)
Drive Cooling Method Natural convection (mount to suitable heat sink)
Mounting #6 mounting screws (mount to suitable heat sink)
Dimensions 3.0 x 3.65 x 1.125 inches [76.2 x 92.7 x 28.6 mm]
Weight 8 oz [227g] (approximate)
Agency Approvals CE

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Typical Wiring Diagram

Step Motor
Power Supply SureStep Typical
Wiring Diagram
–
5VDC xx VDC
Power Power

VDC +
Logic Motor

+
VDC –
A+
A– STP-
B+ DRV-xxxx
STP-PWR-xxxx B– Stepper Drive

Cable Color Code Extension Cable 12" Motor Pigtail

with Connector with Connector Step Motor
Term Wire Pin # STP-MTRx
A+ Red 1 STP-EXTx
A– White 2
B+ Green 3
B– Black 4

Connection Locations & Pin-out

Removable
Terminals:
 – V+ (Power)
ELFP06210

 – V- (GND) Ground Terminal

 – A+ (Motor) (not visible)
 – A- (Motor)
 – B+ (Motor)
 – B- (Motor)
 – GND
ELVP05100

 – AIN
 – +5V
 – Out-
 – Out+
 – EN-
 – EN+
ELVP06100

 – DIR-
 – DIR+
 – STEP- Removable
 – STEP+ Terminal Blocks RS-232
For Wiring Communication
Terminal block part #s (shown) are Status
Amphenol PCD ([Link]) Interface
LEDs
Replacement connector kit STP-CON-2 contains
all the above connectors

RS-232 Comm Port: External wiring is connected using three

(RJ11 6P4C) separate pluggable screw terminal connectors.
 – RX The power connections share a six position
 – no connection connector, the digital inputs share another six
 – TX position connector, and the analog input and
 – GND digital output share a five position connector.

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Connecting the Motor

Warning: When connecting a step motor to a SureStep™ advanced
microstepping drive, be sure that the motor power supply is switched off.
When using a motor not supplied by AutomationDirect, secure any unused
motor leads so that they can’t short out to anything. Never disconnect the
motor while the drive is powered up. Never connect motor leads to ground or
to a power supply. (See the Typical Wiring Diagram shown in this chapter for
the step motor lead color code of AutomationDirect supplied motors.)

Four lead motors

Four lead motors can only be connected one way, as shown below.

Red 4
A+
lead
motor
A–
White

Green Black
B+ B–

4 Leads

All AutomationDirect SureStep™ MTR and MTRL motors are four lead bipolar step
motors.

Six Lead Motors

Six lead motors can be connected in series or center tap. Motors produce more
torque at low speeds in series configuration, but cannot run as fast as in the
center tap configuration. In series operation, the motor should be operated at
30% less than rated current to prevent overheating.
Grn/Wht Grn/Wht
A– A–
6 6
White White
n/c lead A+ lead
motor motor
Green
A+ n/c
Green
Red/ Red/
Red Black Wht Red Black Wht
B– n/c B+ B– B+ n/c

6 Leads Series Connected 6 Leads Center Tap Connected

Step motor wire lead colors vary from one manufacturer to another.

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Eight Lead Motors

Eight lead motors can also be connected in two ways: series or parallel. Series
operation gives you more torque at low speeds, but less torque at high speeds.
When using series connection, the motor should be operated at 30% less than
the rated current to prevent over heating. Parallel operation allows greater
torque at high speeds. When using parallel connection, the current can be
increased by 30% above rated current. Care should be taken in either case to
assure the motor does not overheat.
Orange Orange
A+ A+
Blk/
Org/Wht Wht 8
8
lead
lead Org/
Blk/Wht motor
motor Wht
A–
A– Black
Black
Red Yellow
Red Red/ Yel/ Yellow Yel/
Wht Wht Red/
Wht Wht B–
B+ B– B+

8 Leads Series Connected 8 Leads Parallel Connected

Step motor wire lead colors vary from one manufacturer to another. The example
above only pertains to STP-MTRAC-34075(x) and 34115(x) SureStep Motors. For
NEMA 42 wire colors, see “Connecting a STP-MTRAC(H)-42 Motor” in Chapter 7.

Connecting the Power Supply

An STP-PWR-xxxx power supply from AutomationDirect is the best choice to
power the step motor drive. If you need information about choosing a different
power supply, refer to the section entitled “Choosing a Power Supply” in Chapter
7: “SureStep System Power Supplies.”
If your power supply does not have a fuse on the output or some kind of short
circuit current limiting feature, you need a fuse between the drive and the power
supply. Install the fuse on the + power supply lead.

+ Fuse *
VDC
+
VDC

Step Motor –
Power Supply
–

* External fuse not required when using an

STP-PWR-xxxx P/S; fuse is internal.
Further information about braking accessories and regeneration clamping can
be found in Appendix A: “SureStep Accessories” and the STP-DRVA-RC-050(A)
REGENERATION CLAMP datasheet.

Warning: Connect the motor power supply “+” terminal to the drive “+ VDC”
terminal, and connect the power supply “–” terminal to the drive “VDC–”
terminal.
Use wire no smaller than 18 gauge, and be careful not to reverse the wires.
Reverse connection will destroy your drive and void the warranty.

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Connecting the I/O

SureStep™ Drive Digital Inputs
The SureStep advanced drives include two high speed 5V digital inputs (STEP
and DIR), and one standard speed 5-12V input (EN).
Internal to the The digital inputs are optically isolated to
330h STP-DRV-xxxx reduce electrical noise problems. There is
STEP+ no electrical connection between the
220pF control and power circuits within the
drive, and input signal communication
STEP–
between the two circuits is achieved by
330h infrared light. Externally, the drive’s
DIR+
motor power and control circuits should
220pF be supplied from separate sources, such
DIR–
as from a step motor power supply with
separate power and logic outputs.
680h
EN+ For bidirectional rotation, supply a source
of step pulses to the drive at the STEP+
and STEP– terminals, and a directional
EN–
signal at the DIR+ and DIR– terminals.
Drive Digital Input Circuit
The ENABLE input allows the logic to
turn off the current to the step motor by
providing a signal to the EN+ and EN– terminals. The EN+ and EN– terminal can
be left unconnected if the enable function is not required.
All logic inputs can be controlled by a DC output signal that is either sinking
(NPN), sourcing (PNP), or differential.

Connecting STEP and DIR to 5V TTL Logic

Connecting to an Indexer with Sinking Outputs
+5V OUT DIR+
STP-DRV-xxxx
Indexer DIR DIR– Drive
with
Sinking STEP+ EN+
Outputs N/C
STEP STEP– EN–
N/C

Connecting to an Indexer with Sourcing Outputs

COM DIR–
STP-DRV-xxxx
Indexer DIR DIR+ Drive
with
Sourcing STEP– EN+
Outputs N/C
STEP STEP+ EN–
N/C

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Connecting to an Indexer with Differential Outputs

DIR+ DIR+
Indexer STP-DRV-xxxx
with
DIR– DIR– Drive
Differential
Outputs STEP+ STEP+ EN+
N/C
STEP– STEP– EN–
N/C

Many high speed indexers have differential outputs.

Wiring for Encoder Following

A+ X1/STEP+
Master STP-DRV-xxxx
Encoder
A– X1/STEP– Drive

B+ X2/DIR+ EN+
N/C
B– X2/DIR– EN–
N/C

Connecting STEP and DIR to Logic Other Than 5V TTL Level

Some step and direction signals, especially those of PLCs, don’t use 5 volt logic.
You can connect signal levels as high as 24 volts to a SureStep advanced drive if
you add external dropping resistors to the STEP, DIR and EN inputs.
• For 12V logic, use 820Ω, 1/4W resistors
• For 24V logic, use 2200Ω, 1/4W resistors

Most PLCs can use 24 VDC Logic.

Connecting to an Indexer with Sink or Source 12-24 VDC Outputs

Warning: 5VDC is the maximum voltage that can be applied directly to a high
speed input (STEP and DIR). If using a higher voltage power source, install
resistors to reduce the voltage at the inputs. Do NOT apply an AC voltage to
an input terminal.

+12-24V DIR+ COM DIR–

Indexer STP-DRV-xxxx Indexer STP-DRV-xxxx
with DIR DIR– Drive with DIR DIR+ Drive
Sinking Sourcing
Outputs R
STEP+ EN+ Outputs R
STEP– EN–

ENABLE STEP R STEP– EN– ENABLE STEP R STEP+ EN+

R R
(If enable function is used) (If enable function is used)

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Connecting to a PLC with Sink or Source 12-24 VDC Outputs

– + + –
COM +12-24V 12 - 24 VDC DIR+ +12-24V COM 12-24 VDC DIR–
PLC STP-DRV-xxxx PLC STP-DRV-xxxx
with DIR DIR– Drive with DIR DIR+ Drive
Sinking R
Sourcing R
Outputs STEP+ EN+ Outputs STEP– EN–

ENABLE STEP R STEP– EN– ENABLE STEP R STEP+ EN+

R R
(If enable function is used) (If enable function is used)

Connecting to Mechanical Switches at 24 VDC

DIR+ STP
+ direction switch -DRV
2200 DIR- -xxxx
+24VDC
Power Drive
run/stop switch STEP+
Supply (closed = run)
2200 STEP-
-

Connections to the EN Input

The ENABLE input allows the user to turn off the current to the motor by
providing a 5-12 VDC positive voltage between EN+ and EN-. The logic circuitry
continues to operate, so the drive “remembers” the step position even when the
amplifiers are disabled. However, the motor may move slightly when the current
is removed depending on the exact motor and load characteristics.

Warning: 12VDC is the maximum voltage that can be applied directly to the
standard speed EN input. If using a higher voltage power source, install
resistors to reduce the voltage at the input. Do NOT apply an AC voltage to an
input terminal.

Connecting ENABLE Input to Relay or Switch

+ EN+

5-12VDC
Power STP-DRV-xxxx
switch or relay Drive
Supply (closed = logic low)
- EN-

Connecting ENABLE Input to NPN Proximity Sensor

+ EN+
+ output
5-12VDC EN-
Power NPN
Supply Proximity STP-DRV-xxxx
Sensor
- - Drive

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Connecting ENABLE Input to PNP Proximity Sensor

+ + output EN+

5-12VDC PNP
Power Proximity STP-DRV-xxxx
Supply Sensor Drive
- EN-
-

Leave the ENABLE input unconnected if you do not need to disable the amplifiers.

Connecting the Analog Input

The SureStep advanced drives have one 0-5 VDC analog input.

Connecting AI to Analog Signal

0-5V signal AIN

Internal to the STP-DRV-xxxx

STP-DRV-xxxx Drive
+5V +5VDC, 10mA max
signal return GND
330h
AIN
220pF Connecting AI to Potentiometer
GND +5V
STP
-DRV
AIN
Drive Analog Input Circuit 1-10k -xxxx
potentiometer Drive
GND

Warning: The analog input is NOT optically isolated, and must be used with
care.
It may operate improperly and it can be damaged if the system grounds are
not compatible.

Connecting the Digital Output

The SureStep advanced drives have one digital output (DO) that has separate
positive (+) and negative (-) terminals, and can be used to sink or source current.
Connecting DO to Inductive Load
Internal to the relay coil
(inductive load)
STP-DRV-xxxx
OUT+ OUT+ +
5-24 VDC
STP-DRV- Power
xxxx Drive 1N4935
OUT– suppression Supply
diode
Drive Digital Output Circuit OUT- -

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Connecting DO as Sinking Output Connecting DO as Sourcing Output

OUT+ Load + OUT+ +
5-24 VDC 5-24 VDC
STP-DRV- Power STP-DRV- Power
xxxx Drive Supply xxxx Drive Supply
OUT- - OUT- Load -
Warning: Do NOT connect the digital output to a voltage greater than 30VDC.
The current through each DO terminal must not exceed 100mA.

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 Chapter 4: SureStep™ Advanced Microstepping Drives

LED Display Codes

The LEDs on the Surestep advanced drives flash in the sequences shown in the
table below to denote various alarm states.
STP-DRV-4850 and 80100 Alarm Codes
Alarm
LED Sequence Alarm Description
Code
SG Solid green No alarm, motor disabled

FG Fast green Factory use

01 Flashing green No alarm, motor enabled

10 Flashing red Configuration or memory error1

11 1 red, 1 green Motor stall (optional encoder only)4

12 1 red, 2 green Move attempted while drive disabled

21 2 red, 1 green CCW limit

22 2 red, 2 green CW limit

31 3 red, 1 green Drive overheating

32 3 red, 2 green Internal voltage out of range2

33 3 red, 3 green Factory use

41 4 red, 1 green Power supply overvoltage2

42 4 red, 2 green Power supply undervoltage

43 4 red, 3 green Flash memory backup error

Over current /
51 5 red, 1 green short circuit2, 3
61 6 red, 1 green Open motor winding2
Bad encoder signal (optional encoder
62 6 red, 2 green only)4
71 7 red, 1 green Serial communication error5

72 7 red, 2 green Flash memory error

1 - Does not disable the motor.
The alarm will clear about 30 seconds after the fault is corrected.
2-D
 isables the motor. Cannot be cleared until power is cycled.
3-T
 he over-current/short-circuit alarm typically indicates that an electrical fault exists somewhere in the
system external to the drive. This alarm does not serve as motor overload protection.
4 - This alarm only occurs on STP-MTRD advanced integrated motor/drives
5 - This alarm does not occur on STP-DRV-6575 or standard integrated motor/drives

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Alarm Code Definitions

Alarm Code Error Description Corrective Action

SG No alarm, No faults active, Circuit is N/A
motor disabled closed between EN+ and EN-.

01 No alarm, No faults active, Circuit is N/A

motor enabled open between EN+ and EN-.

10 Configuration Memory error detected Restart device. No fix if restart doesn’t

or memory when trying to load config work. Return to manufacturer for
error from flash on powerup. correction.

11 Motor stall Motor torque demand Increase torque utilization if it’s

(optional exceeded capability and the not already maxed out, otherwise
encoder only) motor skipped steps. This decrease the torque demand by
is configured in SureMotion modifying the move profile, or put in
Pro. a larger motor.

12 Move Drive is disabled and move Reset alarm, enable motor, and move
attempted while attempted. again.
drive disabled

21 CCW limit CCW limit is reached. The Unblock the CCW sensor (open the
digital input that has been circuit) or redifine the input with
assigned CCW limit has been SureMotion Pro.
activated.

22 CW limit CW limit is reached. The Unblock the CCW sensor (open the
digital input that has been circuit) or redefine the input with
assigned CW limit has been SureMotion Pro.
activated.

31 Drive The drive’s internal If the drive is operating within its

overheating temperature is too high. standard range (input voltage and
output current are OK), more heat
must be removed from the drive
during operation. For Advanced
drives (see “Mounting the Drive”
on page 4-14), ensure the drive is
mounted to a metal surface that
can dissipate the drive’s heat.
For Integrated motor/drives, see
“Mounting” on page 5-13. For both
types of drives: If the mounting
surface cannot pull enough heat away
from the drive, forced airflow (from a
fan) may be required to cool the drive.

32 Internal voltage Gate voltage, 5V rail, or 3V Ensure adequate supply voltage (in
out of range rail are out of spec. very rare cases, low input voltages
combined with fast accelerations can
draw down the gate voltage) and try
again. If persistant, RMA is required.

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Alarm Code Error Description Corrective Action

41 Power supply The DC voltage feeding the Decrease the input voltage.
overvoltage drive is above the allowable Linear power supplies do not output
level. a fixed voltage: the lighter the output
current, the higher the output voltage
will float. If a linear supply’s voltage
floats above the drive’s max voltage,
you can install a small power resistor
across the linear power supply’s
output to provide some load that will
help pull down the floating voltage.
Consider using a switching power
supply such as the Rhino PSB power
supply series.
Overvoltage can also be fed back into
a system by regeneration (when an
overhauling load pushes energy back
into the motor). In an application
with regen problems, install an STP-
DRVA-RC-050 regen clamp to help
dissipate the extra energy. (The
regen clamp will not help with the
floating linear power supply that
floats too high, but it will help with
excess voltage generated from an
overhauling load.)

42 Power supply The DC voltage feeding the Correct the power supply. If this error
undervoltage drive is below the allowable occurs during operation, the power
level. supply is most likely undersized. A
sudden high current demand can
cause an undersized power supply to
dip in output voltage.

43 Flash memory Memory error detected Restart device. No fix if restart doesn’t
backup error when trying to load config work. Return to manufacturer for
from flash on powerup. correction.

51 Over current / Motor leads shorted - only Check and fix motor wiring.
short circuit checked on powerup.

61 Open motor Motor leads not connected - Check and fix motor wiring.
winding only checked on powerup.

62 Bad encoder Noisy or otherwise Check encoder wiring, always use

signal (optional incorrectly formatted differential encoders (or use checkbox
encoder only) encoder signal (lack of A or in SureMotion Pro to disable this error
B, lack of differential signal). when using single ended).

71 Serial Catch-all error for If drive can communicate, CE can give

communication something wrong with serial a precise diagnosis. If not, refer to
error communications. See CE the Serial Communications part of the
command in HCR for details. HCR for troubleshooting.

72 Flash memory Memory error detected Restart device. No fix if restart doesn’t
error when trying to load config work. Return to manufacturer for
from flash on powerup. correction.

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Drive Configuration
You need to configure your drive for your particular application before using the
drive for the first time. The SureStep advanced microstepping drives require
SureMotion Pro (part number SM-PRO, free download at Automationdirect.
com) drive configuration software for this purpose. Please refer to “Chapter
10: SureMotion Pro Configuration Software” or the software’s help file for
more detailed information on configuring the drive. The software contains
instructions for installation on a PC, and instructions for configuring the drives.
Configuration settings include:
• drive model
• motor characteristics
• motion control mode
• I/O configuration

Anti-Resonance / Electronic Damping

Step motor systems have a tendency to resonate at certain speeds. SureStep
advanced drives automatically calculate the system’s natural resonate frequency,
and apply damping to the control algorithm. This greatly improves midrange
stability, allows higher speeds and greater torque utilization, and improves
settling times.
This feature is on by default, but it can be turned off using the “Motor...” icon of
the SureMotion Pro software.

Idle Current Reduction

This feature reduces current consumption while the system is idle, and
subsequently reduces drive and motor heating. However, reducing the idle
current also reduces the holding torque.
The percent and delay time of the idle current reduction can be adjusted using
the “Motor...” icon of the SureMotion Pro software.

Microstep Resolution
The microstep resolution (steps/rev) can be selected using the “Motion & I/O...”
icon of the SureMotion Pro software, and selecting “Pulse and Direction Mode”.

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Modes of Operation
Modes of operation are selectable via the SureMotion Pro software “Motion &
I/O...” icon.
• Pulse & Direction Mode
• Pulse & Direction
• CW & CCW Pulse
• A/B Quadrature
• Velocity (Oscillator) Mode
• Serial Command Language (SCL)

Phase Current Setting

Motor phase current settings are available through the SureMotion Pro software
“Motor...” icon and the “Running Current” settings.

Serial Command Language (SCL) Host Control

SureStep advanced drives can accept serial commands from a host PC or PLC.
This feature can be selected using the “Motion & I/O...” icon of the SureMotion
Pro software, and selecting Serial Command Language.

Step Smoothing Filter (Command Signal Smoothing & Microstep

Emulation)
The Step Smoothing Filter setting is effective only in the Step (Pulse) & Direction
mode. It includes command signal smoothing and microstep emulation to
soften the effect of immediate changes in velocity and direction, therefore
making the motion of the motor less jerky. An added advantage is that it can
reduce the wear on mechanical components.
This feature can be modified by using the “Motion & I/O...” icon of the
SureMotion Pro software, and selecting “Pulse and Direction Mode”.

Waveform (Torque Ripple) Smoothing

All step motors have an inherent low speed torque ripple that can affect the
motion of the motor. SureStep advanced drives can analyze this torque ripple
and apply a negative harmonic to negate this effect. This feature gives the
motor much smoother motion at low speeds.
This feature is on by default, and is factory preset for standard motors. It can
be turned off or on using the “Motor...” icon of the SureMotion Pro software. To
set Waveform Smoothing for custom motors, select “Define Custom Motor...”
and the “Waveform Smoothing” “Wizard...”.

CAUTION: Power down the SureStep drive before plugging a communication

cable into the comm port of the drive. Failure to do so may result in damage
to the drive comm port!

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 Chapter 4: SureStep™ Advanced Microstepping Drives

Mounting the Drive

You can mount your drive on the wide or the narrow side of the chassis using #6
screws. Since the drive amplifiers generate heat, 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.
• Never use your drive in a space where there is no air flow or where the ambient
temperature exceeds 40 °C (104 °F).
• When mouting multiple STP-DRV-xxxx drives near each other, maintain at least one half
inch of space between drives.
• Never put the drive where it can get wet.
• Never allow metal or other conductive particles near the drive.

Drive Heating
For information on drive heating, please see Chapter 8: SureStep System Power
Supplies.

Dimensions and Mounting Slot Locations

0.61
[15.5]

SureStep
Microstepping
1.98 Drive
- 3.0
[50.3]
STP-DRV-4850 [76.2]
STP-DRV-80100

3.39 [86.1] 1.125

[28.6]
3.65 [92.7]
6X slot 0.16 [4.1]
wide, full R

0.663 DIMENSIONS
[16.8] = in [mm]

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 Chapter 4: SureStep™ Advanced Microstepping Drives

BLANK
PAGE

4–18 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Chapter
5
SureStepTM
STP-DRVAC-24025
Microstepping Drive
In This Chapter...
Features ������������������������������������������������������������������������������������������������������������������ 5–2
Specifications �������������������������������������������������������������������������������������������������������� 5–3
Mounting the Drive������������������������������������������������������������������������������������������������ 5–4
Dimensions�������������������������������������������������������������������������������������������������������������������������������������������5–4
Wiring Connections and Configuration Switches ������������������������������������������ 5–5
STP-DRVAC-24025 �������������������������������������������������������������������������������������������������������������������������������5–5
Connecting the Power Supply���������������������������������������������������������������������������� 5–6
Connecting the Motor ������������������������������������������������������������������������������������������ 5–7
Selecting the Motor�����������������������������������������������������������������������������������������������������������������������������5–8
Torque-Speed Curves�������������������������������������������������������������������������������������������������������������������������5–8
Connecting the I/O������������������������������������������������������������������������������������������������ 5–9
Step/Direction Mode and CW/CCW Mode Jumper�����������������������������������������������������������������������5–9
Connecting the Input Signals - Step and Direction���������������������������������������������������������������������5–9
The Enable Input�������������������������������������������������������������������������������������������������������������������������������5–10
Connecting the Fault Output Setting �������������������������������������������������������������������������������������������5–11
Drive Configuration ��������������������������������������������������������������������������������������������5–12
Microstepping�������������������������������������������������������������������������������������������������������������������������������������5–13
Setting Running Current �����������������������������������������������������������������������������������������������������������������5–13
Idle Current Reduction���������������������������������������������������������������������������������������������������������������������5–14
Step Noise Filter���������������������������������������������������������������������������������������������������������������������������������5–14
Load Inertia�����������������������������������������������������������������������������������������������������������������������������������������5–14
Smoothing Filter �������������������������������������������������������������������������������������������������������������������������������5–14
Self Test�����������������������������������������������������������������������������������������������������������������������������������������������5–15
Alarm Codes����������������������������������������������������������������������������������������������������������5–16
 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Features
The STP-DRVAC-24025 AC input drive is based on advanced digital current
control technology and provides high torque, low noise, and low vibration. Many
of the operational parameters are switch selectable.
• Advanced digital current control provides excellent high speed torque
• Auto-setup probes the motor when power is applied and configures and fine
tunes motor current control and anti-resonance gain settings
• Uses universal AC input 90 to 240 VAC, AC input voltage must be selected by
switch
• Speed range - up to 50 rps
• Microstep resolution - switch selectable, 16 settings from 200 to 25600 steps/
rev
• Running current - peak setting, switch selectable, 8 settings from 0.6 to 2.5 A
• Idle current -automatic reduction of running current 1 second after the
motor stops, switch selectable, 2 settings, 50/90% of running current
• Anti resonance - raises the system-damping ratio to eleiminate midrange
instability and allow stable operation throughout the speed range of the
motor, switch selectable, 2 settings, low to high inertia loads
• Control modes - step/direction pulse input (default) or CW/CCW pulse input,
internal jumper switch selectable
• Input signal filter - filters out unwanted noise that can cause extra steps,
switch selectable, 150kHz or 2MHz
• Step smoothing filter (microstep emulation) - performs high resolution
stepping by synthesizing coarse steps into fine micro-steps, switch selectable,
ON or OFF
• Self test - performs a 2 rev 0.5 rps, forward and reverse move test, switch
selectable, ON or OFF
• Motor selection - a 16-bit rotary switch is used to select the desired motor
database which is pre-loaded at the factory

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 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Specifications
Sure Step™ Microstepping Drive Specifications
Part Number STP-DRVAC-24025
Input Power 90–240 VAC
Output Current 0.6–2.5 A
Current Controller MOSFET, dual H-bridge and 4-quadrant PWM at 20kHz
5 –24 VDC nominal (range: 4–28 VDC); optically isolated, differential. Maximum pulse
frequency = 150kHz or 2MHz (user selectable).
Minimum pulse width:
Step
3 usec at 150 kHz setting SW9
1 usec at 2 MHz setting SW9
Function = Step or Step CW pulse.
5 –24 VDC nominal (range: 4–28 VDC); optically isolated, differential. Maximum pulse
Input frequency = 150kHz or 2MHz (user selectable).
Minimum pulse width:
Signals Direction
3 usec at 150 kHz setting SW9
1 usec at 2 MHz setting SW9
Function = Direction or Step CCW pulse.
5 –24 VDC nominal (range: 4–30 VDC); (5mA @ 4V; 15 mA @ 30V); Optically isolated,
differential.
Enable Max pulse frequency: 10kHz
Minimum pulse width: 500usec
Function = disable motor when closed.
Output 30VDC max / 100mA max, optically isolated photodarlington, sinking or sourcing.
Fault
Signal Function = closes on drive fault.
Internal Step and Direction:
Jumper Step Pulse Step signal = step/pulse; Direction signal = direction.
Selectable Type Step CW & CCW:
Function Step signal = CW step; Direction signal = CCW step.
Step
Selectable from 200 steps/rev up to 25600 steps/rev using SW1-4.
Resolution
Running The output current drive to the motor is set by the SW5, SW6, and SW7 switches and
Current can be changed from 0.6 A to 2.5 A per phase.
Idle Current Reduce power consumption and heat generation by
DIP Switch Reduction limiting motor idle current to 90% or 50% of running current. (Holding torque is
reduced by the same %.)
Selectable Step Noise
Functions Filter Select 150kHz or 2MHz using SW9.

Load Inertia Set the load inertia to 0-4x or 5-10x using SW10 (also referred to as anti-resonance)
Smoothing Softens the effect of immediate changes in velocity and direction, making the motion
Filter of the motor less jerky. Can cause a small delay in following the control signal.
Automatically rotate the motor back and forth two turns in each direction in order to
Selt Test
confirm that the motor is operational.
Drive Cooling Method Natural cooling or fan-forced cooling
Mounting Use (2) M4 screws to mount to metal surface
DEGSON:
Removable Connectors* 2EDGK-7.62-02P-14-00A(H), 2 pin power connector
2EDGK-5.08-04P-14-00A(H), 4 pin motor connector
15EDGK-3.81-08P-14-00A(H), 8 pin I/O connector
Weight 0.88 kg [1lb 15oz]
Operating Temperature 0–85 °C [32–185 °F] (interior of electronics section)
Ambient Temperature 0–40 °C [32–104 °F]
Humidity Maximum 90% non-condensing
Agency Approvals CE, cURus
*Replacement connectors are available in connector kit STP-CON-6

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 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Mounting the Drive

The STP-DRVAC-24025 drive can be mounted only on the narrow side of the
chassis using (2) M4 screws in the holes at the back of the drive. Use forced air
cooling such as a fan to operate the drive continuously at maximum power.
WARNING:
• Never mount the drive in a space where there is no air flow, or where other
devices can heat the surrounding air to 40°C [104°F].
• Never put the drive where it can get wet, or where metal or other
electrically-conductive particles can get on the circuitry.
• Always provide air flow around the drive. Minimum allowable spacing
between multiple drives is 0.5 inches [13 mm].

Dimensions

Ø0.18
[Ø4.5]
0.18
[4.5]

0.41 0.24 0.18

[10.5] [6.0] [4.5]
5.15
[130.7]

4.32
Dimensions = in [mm]
109.8

1.87
47.5

5.56
141.2

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 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Wiring Connections and Configuration Switches

STP-DRVAC-24025
The following items are required to set up the STP-DRVAC-24025 drive:
• AC input of 90 to 240 VAC
• Pulse and direction signal
• A compatible step motor (STP-MTRAC-23 and -34 series recommended; the
STP-MTRAC(H)-42x series will not work with this drive. The motors can
accept the high voltage, but the drive does not supply enough current
for the NEMA 42 motors)
• AC input voltage must be selected by switch

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 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Connecting the Power Supply

DO NOT apply power until all connections to the drive have been made. Use a 4A
fuse on the line connection for drive protection.
1. Select power input voltage. AC input voltage must be selected by switch.
Check input voltage to avoid damage before powering on.

Set 115VAC Set 230VAC (default)

Supply voltage is 90 to Supply voltage is 135 to

135 VAC 240 VAC

2. Wire the drive to the AC power source. Use 16 AWG wire for Line (L) and
Neutral (N). Use 14 AWG for Earth Ground (G).

Neutral (White)

Line-hot (Black)

Earth Ground (Green)

The STP-DRVAC-24025 contains a non-replaceable internal 5A fast acting fuse.

Warning: When connecting a step motor to the SureStep™ STP-DRVAC-24025

microstepping drive, be sure that the motor power supply is switched off. When
using a motor not supplied by AutomationDirect, secure any unused motor leads
so that they cannot short out to anything. Never disconnect the motor while the
drive is powered up. Never connect motor leads to ground or to a power supply.

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 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Connecting the Motor

Warning: When connecting a step motor to the SureStep™ STP-DRVAC-24025
microstepping drive, be sure that the motor power supply is switched off. When
using a motor not supplied by AutomationDirect, secure any unused motor leads
so that they cannot short out to anything. Never disconnect the motor while the
drive is powered up. Never connect motor leads to ground or to a power supply.

Connect the drive to the motor. If using a non AutomationDirect motor, consult
the motor specs for wiring information. It is very important to only use high
bus voltage stepper motors with the STP-DRVAC-24025 as it outputs up to 340
volts to the motor. It is highly recommended that you use an AutomationDirect
recommended motor that is equipped with a shielded cable. The NEMA23 and
NEMA34 STP-MTRAC-x motors are specifically made to be used with the STP-
DRVAC-24025 drive.
Always connect the motor’s cable drain wire to the two screws next to the A+
terminal. The connecting of this drain wire not only grounds the motor frame
but also connects the cable shield to minimize electrical interference.
The recommended AutomationDirect step motors for the STP-DRVAC-24025
include shielded cables and should always be wired in the series configuration
as shown below. The STP-DRVAC-24025 has an internal voltage doubler when
connected to 115VAC so the series configuration is required in order to limit the
current output of the drive. If you are using a different manufacturer’s drive that
does not have a voltage doubler when connected to 110VAC then you should wire
the STP-MTRAC-x motors in parallel to achieve the same phase current.

STP-MTRAC-23044(x), 23055(x),
23078(x), 34156(x) STP-MTRAC-34075(x), 34115(x)
White
Orange WARNING: Orange
White A+ A+ A+
A+ Always wire
Brown STP-MTRAC
Black/
Orange 8 Orange/White 8 8 White
motors in
8
lead lead
lead series when
Orange/
lead
Brown motor Orange
Black/White motor
motor using the STP-
White motor
DRVAC-24025.
A– A– A–
A– Black Black
Green Green
Red Red
Red Red/ Black
Yellow/ Yellow
Red Blue Black White
Blue YellowWhite
B+ Yellow B– B+ B+ B– B+ Yellow/ Red/
B– White White
8 Leads Series Connected 8 Leads Parallel
8 Leads SeriesConnected
Connected 8 Leads Parallel Con
(for use with 340VDC max output drives) (for use
(for with
use 170VDC
with max
340VDC maxoutput
outputdrives)
drives) (for use with 170VDC max ou

7th Ed. Rev E – 04/08/2025 SureStepTM Stepping Systems User Manual 5–7
 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Selecting the Motor

Each position of the 16-bit rotary switch selects a different motor, automatically
setting the configuration parameters in the drive. The STP-DRVAC-24025 drive
comes programmed with up to 6 SureStep motors as factory defaults. The
remaining options are either reserved for future or factory use.

Warning: Do NOT use standard low-voltage stepper motors with the AC-input
drive. Only use stepper motors rated for AC-input systems (such as the STP-
MTRAC motors). The high bus voltage on the STP-DRVAC drive will overheat and
damage standard stepper motors that are wound for lower-voltage DC systems.

If the motor selection is changed, the drive power supply will need to be cycled.

NOTE: Motor current is limited by the lower value between rotary switch setting and the
Running Current dip switches. The default setting for the running current is 0.6 A for motor
protection. Be sure to adjust this setting when selecting a motor.

For a custom motor, please select the closest comparable motor via the rotary
switch, then use the DIP switches to configure motor current, anti-resonance,
and other settings.
STP-DRVAC-24025 Motor Selection
Rated
Rotary
Current
Switch Motor Wiring
(A/phase
Position
RMS)
0–6 Reserved
7 STP-MTRAC-23044(D) 0.71 Series
8 STP-MTRAC-23055(D) 0.71 Series
9 STP-MTRAC-23078(D) 0.71 Series
A STP-MTRAC-34075(D) 2.15 Series
B STP-MTRAC-34115(D) 2.05 Series
C STP-MTRAC-34156(D) 2.55 Series
D–F Reserved

5–8 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Connecting the I/O

The SureStep STP-DRVAC-24025 drive includes two high-speed 5–24 VDC digital
inputs (STEP & DIR, or CW/CCW) accepting single-ended or differential signals, up
to 2MHz depending on DIP SW9 selection , one 5–24 VDC digital input (EN), and
one digital output (Fault).
The digital inputs are optically isolated to reduce electrical noise problems. There
is no electrical connection between the control and power circuits within the drive,
and input signal communication between the two circuits is achieved by infrared
light.
For bidirectional rotation, supply a source of step pulses to the drive at the STEP+
and STEP– terminals, and a directional signal at the DIR+ and DIR– terminals.
The ENABLE input allows the logic to turn off the current to the step motor by
providing a signal to the EN+ and EN– terminals.
All logic inputs can be controlled by a DC output signal that is either sinking (NPN),
sourcing (PNP), or differential.
On the next couple of pages are examples for connecting various forms of
outputs from both indexers and PLCs.

Step/Direction Mode and CW/CCW Mode Jumper

To adjust the STP-DRVAC-24025 drive to accept STEP CW and STEP CCW signals,
remove the drive cover and move jumper J10 from the 1-2 position to the 2-3
position. Jumper J10 is located at the top of the main circuit board, just behind
the white 4-pin connector. The CW signal should be connected to the STEP input
and the CCW signal should be connected to the DIR input.

Connecting the Input Signals - Step and Direction

Connecting Drive to Indexer with Sourcing Outputs
COM DIR–
Drive
Indexer with DIR DIR+
Sourcing
Outputs STEP–
(5–24 VDC)
STEP STEP+

Connecting Drive to Indexer with Sinking Outputs

(5–24 VDC) +V OUT DIR+
Drive
DIR DIR–

Indexer
with STEP+
Sinking
STEP STEP–
Outputs
(5-24 VDC)

7th Ed. Rev E – 04/08/2025 SureStepTM Stepping Systems User Manual 5–9
 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Connecting Drive to Indexer with Differential Outputs

DIR+ DIR+
Indexer with
Differential Drive
DIR– DIR–
Outputs
STEP+ STEP+

STEP– STEP–

The Enable Input

The ENABLE input allows the user to turn off the current to the motor by
providing a positive voltage between EN+ and EN-. The logic circuitry continues
to operate, so the drive “remembers” the step position even when the amplifiers
are disabled. However, the motor may move slightly when the current is
removed depending on the exact motor and load characteristics.
Connecting Drive EN to Switch or Relay

+ EN+

5-24 VDC
Power Drive
switch or relay
Supply (closed = logic low)
- EN–

Connecting Drive EN to NPN

+ EN+

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

5–10 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Connecting the Fault Output Setting

The SureStep STP-DRVAC-24025 has one digital output that has separate positive
(+) and negative (-) terminals, and can be used to sink or source current. Do not
connect more than 30VDC. Current must not exceed 80mA.
Connecting Drive’s Fault Output to Inductive Relay
relay coil
(inductive load)
FAULT+ +
5-24 VDC
Drive Power
1N4935
suppression Supply
diode
FAULT– -
Connecting Fault Output as Sinking Output

FAULT+ Load +
5-24 VDC
Drive Power
Supply
FAULT– -
Connecting Fault Output as Sourcing Output

FAULT+ +
5-24 VDC
Drive Power
Supply
FAULT– Load -

7th Ed. Rev E – 04/08/2025 SureStepTM Stepping Systems User Manual 5–11
 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Drive Configuration
You need to configure your drive for your particular application before using the
drive for the first time. The SureStep STP-DRVAC-24025 microstepping drive
offers several features and configuration settings, including:
Drive Configuration Settings
Feature Description Configuration Method
Select motor based on part number.
Choose motor via rotary
Motor Phase Current Automatically sets drive to run the selected
motor as optimally as possible. switch

Step and Direction (default): Step signal = step/

Mode of Operation pulse; Direction signal = direction.
Jumper J10
(Step Pulse Type) Step CW & CCW: Step signal = CW step; Direction
signal = CCW step.

Step Pulse Noise

Select 150 kHz or 2MHz DIP switch SW9
Filter
The output current is set by the SW5, SW6 and
SW7 switches.
DIP switch SW5, SW6,
Running Current
NOTE: Drive’s running current will be limited by SW7
the lower value between motor selection rotary
switch or the dip current switch
Reduce power consumption and heat generation
Idle Current DIP switch SW8
by limiting motor idle current to 90% or 50% of
Reduction running current. (Holding torque is reduced by
the same %.)
Anti-resonance and damping feature improve
DIP switch SW10
motor performance.
Load Inertia
Set motor and load inertia range to 0–4x or
5–10x.

For smoother motion and more precise speed, DIP switch SW1, SW2,
Step Resolution set the pulse per revolution value as needed. SW3, SW4

Automatically rotates the motor back and forth

Self Test DIP switch SW12
1/2 a revolution in each direction in order to
confirm that the motor is operational.
Softens the effect of immediate changes in
DIP switch SW11
velocity and direction, making the motion of
Step Smoothing Filter the motor less jerky. Can cause a small delay in
following the control signal.

5–12 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Microstepping
The microstep resolution is set by the SW1, SW2, SW3, and SW4 switches. There
are 16 settings.
Please refer to the table below and set the switches for the resolution you want.
STP-DRVAC-24025 Microstep Table
MicroStep Switch 1 Switch 2 Switch 3 Switch 4
200 ON ON ON ON
400 OFF ON ON ON
800 ON OFF ON ON
1600 OFF OFF ON ON
3200 ON ON OFF ON
6400 OFF ON OFF ON
12800 ON OFF OFF ON
25600 OFF OFF OFF ON
1000 ON ON ON OFF
2000 OFF ON ON OFF
4000 ON OFF ON OFF
5000 OFF OFF ON OFF
6000 ON ON OFF OFF
8000 OFF ON OFF OFF
10000 ON OFF OFF OFF
20000 OFF OFF OFF OFF

Setting Running Current

Before you turn on the power supply the first time, you need to set the drive for
the proper motor running current. The rated current is usually printed on the
motor label. The SureStep drive current is easy to set using the table below:
STP-DRVAC-24025 Running Current Table
Peak A Switch 5 Switch 6 Switch 7
0.6 ON ON ON
0.8 OFF ON ON
1.0 ON OFF ON
1.2 OFF OFF ON
1.6 ON ON OFF
1.8 OFF ON OFF
2.0 ON OFF OFF
2.5 OFF OFF OFF

7th Ed. Rev E – 04/08/2025 SureStepTM Stepping Systems User Manual 5–13
 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Idle Current Reduction

Your drive is equipped with a feature that automatically Idle Current
reduces the motor current by 50% anytime the motor
is not moving. This reduces drive heating by about 50% Reduction
and lowers motor heating by 75%. This feature can be
disabled if desired so that full current is maintained at
all times. This is useful when a high holding torque is
required. To minimize motor and drive heating we highly ON 8 8
recommend that you enable the idle current reduction 50% 90%
feature unless your application strictly forbids it.
Idle current reduction is enabled by flipping switch SW8 toward the ON position,
as shown in the sketch at right. Flipping the switch to the OFF position disables
the reduction feature.

Step Noise Filter Step Noise

Filters out unwanted noise that can cause extra steps. Set Filter
the switch SW9 to the ON position to set filter frequeny to
150kHz. Set the switch to the OFF position to set the filter
frequency to 2MHz.
ON 9 9
150kHz 2MHz
Load Inertia
Step motor systems have a tendency to resonate at certain
speeds. The load inertia setting applies damping to
the control algorithm. This greatly improves midrange Load Inertia
stability, allows higher speeds and greater torque
utilization, and improves settling times.
Load inertia is set to the 0-4x setting by flipping switch
SW10 to the ON position, or 5-10x inertia by flipping the ON 10 10
switch to the OFF position. 0-4x 5-10x
Inertia Inertia
Smoothing Filter
The Step Smoothing Filter setting is effective only in the Step (Pulse) & Direction
mode. It includes command signal smoothing and microstep
emulation to soften the effect of immediate changes in Smoothing
velocity and direction, therefore making the motion of the Filter
motor less jerky. An added advantage is that it can reduce the
wear on mechanical components.
The smoothing filter is enabled when switch SW11 is in the ON ON 11 11
position, and disabled when the switch is in the OFF position. Enable Disable

NOTE: The power must be cycled each time the position of switch 9 or switch 11 is changed.

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 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Self Test
The SureStep drive includes a self test feature. This is used for trouble shooting.
If you are unsure about the motor or signal connections to
the drive, or if the SureStep drive isn’t responding to your Self
step pulses, you can turn on the self test. Test
To activate the self test, flip switch SW12 to the ON position.
The drive will slowly rotate the motor, 1/2 revolution
forward, then 1/2 rev backward. The pattern repeats until
you flip the switch to the OFF position. The SureStep drive ON
12 12
always uses half step mode during the self test. The self test Enable Disable
ignores the STEP and DIRECTION inputs while operating.
The ENABLE input continues to function normally.

7th Ed. Rev E – 04/08/2025 SureStepTM Stepping Systems User Manual 5–15
 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

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.
STP-DRVAC-xxxx Alarm Codes
Alarm
LED Sequence Alarm Description
Code
SG Solid green No alarm, motor disabled

FG Fast green Factory use

01 Flashing green No alarm, motor enabled

10 Flashing red Configuration or memory error1

11 1 red, 1 green Motor stall (optional encoder only)4

12 1 red, 2 green Move attempted while drive disabled

21 2 red, 1 green CCW limit

22 2 red, 2 green CW limit

31 3 red, 1 green Drive overheating

32 3 red, 2 green Internal voltage out of range2

33 3 red, 3 green Factory use

41 4 red, 1 green Power supply overvoltage2

42 4 red, 2 green Power supply undervoltage

43 4 red, 3 green Flash memory backup error

Over current /
51 5 red, 1 green short circuit2, 3
52 5 red, 2 green Excess regeneration

61 6 red, 1 green Open motor winding2

Bad encoder signal (optional encoder
62 6 red, 2 green only)4
71 7 red, 1 green Serial communication error5

72 7 red, 2 green Flash memory error

1 - Does not disable the motor.
The alarm will clear about 30 seconds after the fault is corrected.
2-D
 isables the motor. Cannot be cleared until power is cycled.
3-T
 he over-current/short-circuit alarm typically indicates that an electrical fault exists somewhere in the
system external to the drive. This alarm does not serve as motor overload protection.
4 - This alarm only occurs on STP-MTRD advanced integrated motor/drives
5 - This alarm only occurs on drives with serial communication.

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 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Alarm Code Definitions

Alarm Code Error Description Corrective Action

SG No alarm, motor No faults active, Circuit is closed N/A
disabled between EN+ and EN-.

01 No alarm, motor No faults active, Circuit is open N/A

enabled between EN+ and EN-.

10 Configuration or Memory error detected when Restart device. No fix if restart doesn’t
memory error trying to load config from flash work. Return to manufacturer for
on powerup. correction.

11 Motor stall Motor torque demand Increase torque utilization if it’s not
(optional exceeded capability and the already maxed out, otherwise decrease the
encoder only) motor skipped steps. This is torque demand by modifying the move
configured in SureMotion Pro. profile, or put in a larger motor.

12 Move attempted Drive is disabled and move Reset alarm, enable motor, and move
while drive attempted. again.
disabled

21 CCW limit CCW limit is reached. The Unblock the CCW sensor (open the circuit)
digital input that has been or redifine the input with SureMotion Pro.
assigned CCW limit has been
activated.

22 CW limit CW limit is reached. The digital Unblock the CCW sensor (open the circuit)
input that has been assigned or redefine the input with SureMotion Pro.
CW limit has been activated.

31 Drive The drive’s internal If the drive is operating within its standard
overheating temperature is too high. range (input voltage and output current
are OK), more heat must be removed from
the drive during operation. For Advanced
drives (see “Mounting the Drive” on
page 4-14), ensure the drive is mounted
to a metal surface that can dissipate the
drive’s heat. For Integrated motor/drives,
see “Mounting” on page 5-13. For both
types of drives: If the mounting surface
cannot pull enough heat away from the
drive, forced airflow (from a fan) may be
required to cool the drive.

32 Internal voltage Gate voltage, 5V rail, or 3V rail Ensure adequate supply voltage (in very
out of range are out of spec. rare cases, low input voltages combined
with fast accelerations can draw down the
gate voltage) and try again. If persistant,
RMA is required.

41 Power supply The AC voltage feeding the Limit the input voltage to the drive to
overvoltage drive is above the allowable 145VAC if the voltage switch is set for 115V.
level. If the voltage switch is set for 230V, limit
the input voltage to 295VAC.

42 Power supply The AC voltage feeding the Ensure the input voltage to the drive is at
undervoltage drive is below the allowable least 75VAC if the voltage switch is set for
level. 115V. If the voltage switch is set for 230V,
ensure the input voltage is at least 135VAC.

7th Ed. Rev E – 04/08/2025 SureStepTM Stepping Systems User Manual 5–17
 Chapter 5: SureStepTM STP-DRVAC-24025 Microstepping Drive

Alarm Code Error Description Corrective Action

43 Flash memory Memory error detected when Restart device. No fix if restart doesn’t
backup error trying to load config from flash work. Return to manufacturer for
on powerup. correction.

51 Over current / Motor leads shorted - only Check and fix motor wiring.
short circuit checked on powerup.

52 Excess regen Too much regenerative energy Excess Regen typically occurs when
is being fed from the motor a motor is being pushed by load
back into the drive. (overhauling load) or the motor is trying
to decelerate the load too quickly. Reduce
the backdriving force, lengthen the
deceleration ramp, or increase the size of
the motor.

61 Open motor Motor leads not connected - Check and fix motor wiring.
winding only checked on powerup.

62 Bad encoder Noisy or otherwise incorrectly Check encoder wiring, always use
signal (optional formatted encoder signal (lack differential encoders (or use checkbox in
encoder only) of A or B, lack of differential SureMotion Pro to disable this error when
signal). using single ended).

71 Serial Catch-all error for If drive can communicate, CE can give

communication something wrong with serial a precise diagnosis. If not, refer to the
error communications. See CE Serial Communications part of the HCR for
command in HCR for details. troubleshooting.

72 Flash memory Memory error detected when Restart device. No fix if restart doesn’t
error trying to load config from flash work. Return to manufacturer for
on powerup. correction.

5–18 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 6
SureStep™ Chapter
Integrated
Motors/Drives

In This Chapter...
Features ����������������������������������������������������������������������������������������������������� 6–3
General Features:���������������������������������������������������������������������������������������������� 6–3
Standard Drive Features���������������������������������������������������������������������������������� 6–3
Advanced Drive Features �������������������������������������������������������������������������������� 6–3
Features Comparison���������������������������������������������������������������������������������������� 6–4
Specifications ������������������������������������������������������������������������������������������� 6–5
Getting Started ��������������������������������������������������������������������������������������� 6–11
Installing Software��������������������������������������������������������������������������������� 6–11
Mounting��������������������������������������������������������������������������������������������������� 6–11
Additional Reading��������������������������������������������������������������������������������� 6–12
Mating Connectors and Accessories��������������������������������������������������� 6–12
Using a Regulated Power Supply ����������������������������������������������������������������6–17
LED Error Codes ������������������������������������������������������������������������������������� 6–18
STP-MTRD Inputs and Outputs ����������������������������������������������������������� 6–22
Input/Output Functions ��������������������������������������������������������������������������������6–25
The Step (STEP) and Direction (DIR) Inputs����������������������������������������������6–26
The Enable (EN/IN3) Digital Input����������������������������������������������������������������6–28
The Analog (AIN) Input������������������������������������������������������������������������������������6–29
The Digital Output ������������������������������������������������������������������������������������������6–30
Using the Optional Encoder����������������������������������������������������������������� 6–31
Configuring the Standard STP-MTRD������������������������������������������������� 6–32
Drive/Motor Heating������������������������������������������������������������������������������� 6–37
Torque Speed Graphs ��������������������������������������������������������������������������� 6–40
 Chapter 6: SureStep™ Integrated Motors/Drives

Dimensions and Mounting Slot Locations ������������������������������������6–43

6–2 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Chapter 6: SureStep™ Integrated Motors/Drives

Features
General Features:
• NEMA 17, NEMA 23, and NEMA 24 frame
sizes available
• DC power supply required: 12-48 VDC or
12-70 VDC
• Pulse/Direction or CW Pulse/CCW Pulse
• Digital input filtering
• Three optically isolated digital inputs, 5 to
24 volts
• One isolated digital input, 30V 100mA
• Step input signal smoothing (microstep
emulation), performs high resolution
stepping by synthesizing coarse steps into
fine microsteps
• Dynamic smoothing, software
configurable filtering for use in removing spectral components from command sequence,
reduces jerk, limiting excitation of system resonance
• Anti-resonance (electronic damping): raises the system-damping ratio to eliminate
midrange instability and allow stable operation throughout the speed range of the motor
• Idle current reduction range of 0-90% of running current after a delay selectable in
milliseconds
• Configurable hardware digital noise filter, software noise filter
• Non-volatile storage, configurations are saved in FLASH memory on-board the DSP
• Dynamic current control, software configurable for running current, accel current, idle
current, to make motion smoother and the motor run cooler

Standard Drive Features

• Optional, external encoder feedback
Note: Please see Appendix A for more encoder output options
•C  onfigurable via DIP switches
• Available torque from 60 oz-in to 210 oz-in

Advanced Drive Features

•  B Quadrature/Encoder Following
A
• Velocity (Oscillator) and position mode
• Streaming SCL commands
• RS-485 communications
• Optional, internal encoder feedback. Internal only (not customer accessible)
• Four “Variable I/O” points, 5 to 24 volts (available on NEMA 24 only)
• 12-bit analog input for speed and position, 0 to 5 VDC
• Configurable via SureMotion Pro software
• Available torque from 68 oz-in to 340 oz-in

7th Ed. Rev E – 04/08/2025 SureStepTM Stepping Systems User Manual

6–3
 Chapter 6: SureStep™ Integrated Motors/Drives

Features Comparison
Features Comparison – Integrated Motor/Drives

STP-MTRD- STP-MTRD- STP-MTRD- STP-MTRD- STP-MTRD-

Motor/Drive Series
17xxxxR(E) 23xxxxR(E) 24xxxxRV(E) 17xxxx(E) 23xxxx(E)

Standard (Pulse/Direction
Motor/Drive Type Advanced (w/RS-485 Serial/ASCII)
only)
DC Power Supply 12-48 VDC 12-70 VDC 12-70 VDC 12-48 VDC 12-70 VDC

Pulse/Direction or CW
Pulse/CCW Pulse     
AB Quadrature/Encoder
Following    - -

Velocity (Oscillator) and

Position Mode    - -

Serial ASCII (SCL)

Commands    - -

RS-485 ASCII
Communications    - -

Optional, Internal
Encoder Feedback    - -
(Position Verification)
Optional, External
Encoder Feedback - - -  
(Open Loop)
Available Torque Up to 68 oz-in Up to 210 oz-in Up to 340 oz-in Up to 68 oz-in Up to 210 oz-in

Digital Input Filtering     

Three Optically Isolated
Digital Inputs, 5-24   -  
Volts
One Optically Isolated
Digital Output, 30V   -  
100mA
Four, 5-24 Volt digital
“Variable I/O” points - -  - -

12-bit Analog Input    - -

Step Input Signal

Smoothing (Microstep     
Emulation)
Anti-resonance     
Electronic Damping     
Idle Current Reduction     
Configuration Method SureMotion Pro software Dip Switch

6–4 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Chapter 6: SureStep™ Integrated Motors/Drives

Specifications
General Specifications – All Integrated Motor/Drives
Drive Cooling Method Natural convection (mount to suitable heat sink)

Step Resolution Full, Half, Microstepping, Microstep Emulation

Step Angle 1.8 degrees

NEMA 17: 0.03 mm

Shaft Runout
NEMA 23/24 : 0.05 mm
Max Shaft Radial Play @ 1lb
0.02 mm
load
Perpendicularity 0.08 mm

Concentricity 0.05 mm

NEMA 17: 6.7 lb.

Maximum Radial Load
NEMA 23/24: 13.9 lb.
NEMA 17: 34 lb.
Maximum Axial (Thrust) Load
NEMA 23/24: 63 lb.
+4.8 - 5 volts @ 50mA maximum
Supply Output (Note: Not applicable to Pulse and Direction MTRD drives, only for
advanced MTRD drives)
Circuit Protection Short circuit, over-voltage, under-voltage, over-temp

0-85°C (32-185°F)
Operating Temperature
0-70°C (0-158°F) for NEMA 24 systems

Ambient Temperature 0-40°C (32-104°F)

Over-temp Shutdown 85°C (185°F)

Humidity 90% max, non-condensing

Insulation Class Class B (130°C)

Environmental Rating IP40

Product Material Aluminum/steel/plastic case, stainless steel shaft

Agency Approvals CE*

*For NEMA 24 motors, an EMI filter (RES10F06) is needed on the power supply for CE compliance.

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 Chapter 6: SureStep™ Integrated Motors/Drives

SureStep™ Standard Integrated Motor/Drive Specifications

STP-MTRD-17038 / STP-MTRD-23042 / STP-MTRD-23065 /
Integrated Motor/Drive
STP-MTRD-17038E STP-MTRD-23042E STP-MTRD-23065E
Frame Size NEMA 17 NEMA 23
12-48 VDC (nominal) 12-70 VDC (nominal)
Input Power (Range: 11-52 VDC) (Range: 11-74 VDC)
(fuse at V+) (fuse at V+)
Current Controller Digital MOSFET, PWM at 16kHz
Encoder Feedback “E” models only. External encoder must be wired to external feedback device.
Configuration Method Dip Switches
5-24 VDC nominal (range 4-30VDC); (5mA @ 4V; 15 mA @ 30V);
Optically isolated. Minimum pulse width = 3µs (at 2 MHz), 0.25µs (at 150kHZ)
Step
Maximum pulse frequency = 150kHz or 2MHz (switch selectable)
Function = Step Input, Limit CW
5-24 VDC nominal (range 4-30VDC); (5mA @ 4V; 15 mA @ 30V);
Input Optically isolated. Minimum pulse width = 3µs (at 2 MHz), 0.25µs (at 150kHZ)
Signals Direction
Maximum pulse frequency = 150kHz or 2MHz (switch selectable)
Function = Direction Input, Limit CCW
5-24 VDC nominal (range 4-30VDC); (5mA @ 4V; 15 mA @ 30V);
Optically isolated. Minimum pulse width = 3µs (at 2 MHz), 0.25µs (at 150kHZ)
Enable
Maximum pulse frequency = 150kHz or 2MHz (switch selectable)
Function = Enable Input
Output 30 VDC / 100mA max, photodarlington, voltage drop = 1.2V max at 100mA
Output
Signal Function = Alarm Output
Step Pulse Step and Direction: Step signal = step/pulse; Direction signal = direction.
Type Step CW & CCW: Step signal = CW step; Direction signal = CCW step.
Step Pulse Selectable 150 kHz or 2MHz
Noise Filter
Current This is the percentage of full current that the motor will use when the shaft is
DIP Switch Reduction rotating. 100%, 90%, 70%, and 50% current selections.
Selectable Idle Current Reduce power consumption and heat generation by limiting motor idle current to
Functions Reduction 90% or 50% of running current. (Holding torque is reduced by the same %.)
Anti-resonance and damping feature improves motor
Load Inertia performance. Set motor and load inertia range to 0–4x or 5–10x.
Step 200-25600 (dip switch selectable)
Resolution
Automatically rotate the motor back and forth two turns in each direction in order
Self Test to confirm that the motor is operational.
4.25 lb·in / 68 oz·in / 7.8125 lb·in / 125 oz·in / 13.125 lb·in / 210 oz·in /
Max Holding Torque 0.480189 N·m 0.8827 N·m 1.482936 N·m
Mounting Four M3 screws Four #6 screws
Control Housing: Tyco 4-643498-1 Connector part number: Weidmuller 1610200000,
Removable Cover: Tyco 1-643075-1 included in STP-CON-3
Connector
Encoder Two 5 pin inserts (Molex# 14-60-0058), one housing Molex# 15-04-5104
2.515 oz-in2 (0.460
Rotor Inertia 0.448 oz-in2 (0.082 kg-cm2) 1.420 oz-in2 (0.260 kg-cm2)
kg-cm2)
Status LEDs 1 red/green
Weight 14.7 oz 30 oz (850g) 42 oz (1200g)

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 Chapter 6: SureStep™ Integrated Motors/Drives

SureStep™ Advanced Integrated Motor/Drive Specifications

STP-MTRD-17030R / STP-MTRD-17038R /
Integrated Motor/Drive
STP-MTRD-17030RE STP-MTRD-17038RE
Frame Size NEMA 17
Input Power 12-48 VDC (nominal) (Range: 11-52 VDC) (fuse at V+)
Current Controller Dual H-Bridge, 4 Quadrant, 4 state PWM @ 16kHz
“E” models only. Encoder is internal and provides position verification and stall
Encoder Feedback prevention control by default. Internal only (not customer accessible).
Configuration Method SureMotion Pro software (SM-PRO: Free download)
5-24 VDC nominal. Optically isolated. Minimum pulse width = 250ns (at 3 MHz).
Step/Pulse Maximum pulse frequency = 3MHz, max current draw = 12mA
Function = Step Input, Jog CW, Limit CW, Start/Stop, General Purpose
5-24 VDC nominal. Optically isolated. Minimum pulse width = 250ns (at 3 MHz).
Direction Maximum pulse frequency = 3MHz, max current draw = 12mA
Function = Direction Input, Jog CCW, Limit CCW, General Purpose
Input
5-24 VDC nominal. Optically isolated. Minimum pulse width = 50µs, maximum
Signals
Enable pulse frequency = 10kHz, max current draw = 12mA
Function = Enable Input, Reset Input, Change Speed, General Purpose
0-5 VDC nominal (AIN referenced to GND). Input impedance: 30K ohms
minimum, resolution = 12 bits
Analog
Function = analog control modes and general purpose analog usage;
programmable for signal range, offset, dead band, and filtering
30VDC, 40mA maximum. Optically isoalted, open collector. Maximum pulse
frequency 10kHz.
Output Signal
Functions = Brake Output, Alarm Output, Motion Output, Tach Output, General
Purpose
RS-485 ASCII/SCL (2- or 4-wire network for PLC control; SureMotion Pro
Communication Interface software requires 4-wire)
Non-volatile Memory Storage Configurations are saved in FLASH memory on-board the DSP
Current Reduction Selectable in SureMotion Pro software
Idle Current Reduction range of 0–90% of running current after delay selectable in ms
Reduction
Microstep Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Features Resolution
Modes of Pulse (step) & direction, CW/CCW, A/B quadrature, velocity (oscillator), SCL
Operation streaming commands via RS-485 ASCII/SCL (2- or 4-wire)
Checks internal and external power supply voltages, diagnoses open motor
Self Test phases
Max Holding Torque 3.375 lb·in / 54 oz·in / 0.381326 N·m 4.25 lb·in / 68 oz·in / 0.480189 N·m
Mounting Four M3 screws

Removable DC Power 2-position screw terminal: Dinkle 0225-1602L (new models) or Weidmuller
1615780000 (old models)
Connector
(included in I/O 11-position spring cage: Phoenix 1881419
STP-CON-3) Comm 5-position spring cage: Phoenix 1881354
Rotor Inertia 0.310 oz-in2 (0.057 kg-cm2) 0.448 oz-in2 (0.082 kg-cm2)
Status LEDs 1 red, 1 green
Weight 12.7 oz (360g) 15.6 oz (441g)

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 Chapter 6: SureStep™ Integrated Motors/Drives

SureStep™ Advanced Integrated Motor/Drive Specifications

STP-MTRD-23042R / STP-MTRD-23065R /
Integrated Motor/Drive
STP-MTRD-23042RE STP-MTRD-23065RE
Frame Size NEMA 23
Input Power 12-70 VDC (nominal) (Range: 11-74 VDC) (fuse at V+)
Current Controller Dual H-Bridge, 4 Quadrant, 4 state PWM @ 20kHz
“E” models only. Encoder is internal and provides closed loop control by
Encoder Feedback default. Internal only (not customer accessible).
Configuration Method SureMotion Pro software (SM-PRO: Free download)
5-24 VDC nominal. Optically isolated. Minimum pulse width = 250ns (at 2 MHz).
Step/Pulse Maximum pulse frequency = 2MHz, max current draw = 12mA
Function = Step Input, Jog CW, Limit CW, Start/Stop, General Purpose
5-24 VDC nominal. Optically isolated. Minimum pulse width = 250ns (at 2 MHz).
Direction Maximum pulse frequency = 2MHz, max current draw = 12mA
Function = Direction Input, Jog CCW, Limit CCW, General Purpose
Input
5-24 VDC nominal. Optically isolated. Minimum pulse width = 50µs, maximum
Signals
Enable pulse frequency = 10kHz, max current draw = 12mA
Function = Enable Input, Reset Input, Change Speed, General Purpose
0-5 VDC nominal (AIN referenced to GND). Input impedance: 30K ohms
minimum, resolution = 12 bits
Analog
Function = analog control modes and general purpose analog usage;
programmable for signal range, offset, dead band, and filtering
30VDC, 40mA maximum. Optically isolated, open collector. Maximum pulse
frequency 10kHz.
Output Signal
Functions = Brake Output, Alarm Output, Motion Output, Tach Output, General
Purpose
RS-485 ASCII/SCL (2- or 4-wire network for PLC control; SureMotion Pro
Communication Interface software requires 4-wire)
Non-volatile Memory Storage Configurations are saved in FLASH memory on-board the DSP
Current Reduction Selectable in SureMotion Pro software
Idle Current Reduction range of 0–90% of running current after delay selectable in ms
Reduction
Microstep Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Features Resolution
Pulse (step) & direction, CW/CCW, A/B quadrature, velocity (oscillator), SCL
Modes of Operation streaming commands
Checks internal and external power supply voltages. Diagnoses open motor
Self Test phases and motor resistance changes > 40%
13.125 lb·in / 210 oz·in / 1.482936
Max Holding Torque 7.8125 lb·in / 125 oz·in / 0.8827 N·m
N·m
Mounting Four #6 screws

Removable DC Power 2-position screw terminal: Weidmuller 1615780000

Connector
I/O 11-position spring cage: Phoenix 1881419
(included in
STP-CON-3) Comm 5-position spring cage: Phoenix 1881354
Rotor Inertia 1.420 oz-in2 (0.260 kg-cm2) 2.515 oz-in2 (0.460 kg-cm2)

Status LEDs 1 red, 1 green

Weight 30 oz (850g) 42 oz (1191g)

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 Chapter 6: SureStep™ Integrated Motors/Drives

SureStep™ Advanced Integrated Motor/Drive Specifications

Integrated Motor/Drive STP-MTRD-24075RV / STP-MTRD-24075RVE
Frame Size NEMA 24
Input Power 12-70* VDC (nominal) (Range: 11-74 VDC) (fuse at V+)
Current Controller Dual H-Bridge, 4 Quadrant, 4 state PWM @ 20kHz
“E” models only. Encoder is internal and provides position verification and stall
Encoder Feedback prevention control by default. Internal only (not customer accessible).
Configuration Method SureMotion Pro software (SM-PRO: free download)
INPUT: 5-24 VDC nominal. Optically isolated. Minimum pulse width = 250ns (at 3MHz).
Maximum pulse frequency = 3MHz, max current draw = 12mA, Function = Step Input,
Jog CW, Enable Input, Start/Stop, General Purpose
I/O 1(Step/Pulse) OUTPUT: 30VDC, 40mA maximum. Optically isolated, open collector. Maximum pulse
frequency 10kHz. Functions = Brake Output, Fault Output, Motion Output, Tach
Output, General Purpose
INPUT: 5-24 VDC nominal. Optically isolated. Minimum pulse width = 250ns (at 3MHz).
Maximum pulse frequency = 3MHz, max current draw = 12mA, Function = Direction
Input, Jog CCW, Alarm Reset Input, General Purpose
I/O 2 (Direction) OUTPUT: 30VDC, 40mA maximum. Optically isolated, open collector. Maximum pulse
Variable I/O

frequency 10kHz. Functions = Brake Output, Fault Output, Motion Output, Tach
Output, General Purpose
INPUT: 5-24 VDC nominal. Optically isolated. Minimum pulse width = 250ns (at 3MHz).
Maximum pulse frequency = 3MHz, max current draw = 12mA, Function = Limit CW
Input, Enable Input, Change Speed Input, General Purpose
I/O 3 OUTPUT: 30VDC, 40mA maximum. Optically isolated, open collector. Maximum pulse
frequency 10kHz. Functions = Brake Output, Fault Output, Motion Output, Tach
Output, General Purpose
INPUT: 5-24 VDC nominal. Optically isolated. Minimum pulse width = 250ns (at 2 MHz).
Maximum pulse frequency = 2MHz, max current draw = 12mA, Function = Limit CCW
Input, Alarm Reset Input, General Purpose
I/O 4 OUTPUT: 30VDC, 40mA maximum. Optically isolated, open collector. Maximum pulse
frequency 10kHz. Functions = Brake Output, Fault Output, Motion Output, Tach
Output, General Purpose
0-5 VDC nominal (AIN referenced to GND). Input impedance: 30K ohms minimum,
Analog resolution = 12 bits, Function = analog control modes and general purpose analog usage;
programmable for signal range, offset, dead band, and filtering
Communication RS-485 ASCII/SCL (2- or 4-wire network for PLC control; SureMotion Pro software
Interface requires 4-wire)
Current Reduction Selectable in SureMotion Pro software
Idle Current Reduction range of 0–90% of running current after delay selectable in ms
Reduction
Features

Microstep Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev

Resolution
Pulse (step) & direction, CW/CCW, A/B quadrature, velocity (oscillator), SCL
Modes of Operation streaming commands
Checks internal and external power supply voltages. Diagnoses open motor phases
Self Test and motor resistance changes > 40%.
* If using the STP-PWR-7005, the power supply (when unloaded) may float above the drive’s maximum
alowable DC voltage if the power supply is fed with greater than 120VAC input. Either ensure that the
incoming AC voltage is less than 120V or supply a burden resistor to pull the unloaded DC voltage level
down.

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 Chapter 6: SureStep™ Integrated Motors/Drives

SureStep™ Advanced Integrated Motor/Drive Specifications (continued)

Integrated Motor/Drive STP-MTRD-24075RV / STP-MTRD-24075RVE
Max Holding Torque 21.25 lb·in / 340 oz·in / 2.400944 N·m
Mounting Four #6 screws
DC Power 2-position screw terminal: Dinkle 0225-1602L (new models) or Weidmuller
(included in STP-

1615780000 (old models)

Removable
Connector

I/O 11-position spring cage: Phoenix 1881419

CON-3)

Comm 5-position spring cage: Phoenix 1881354

Rotor Inertia 4.900 oz-in2 (0.897 kg-cm2)
Status LEDs 1 red, 1 green
Weight 56 oz (1580g)

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 Chapter 6: SureStep™ Integrated Motors/Drives

Getting Started
The following items are needed for the Standard and Advanced integrated
motors/drives (STP-MTRD):
• DC power supply (see the Chapter 8, “Choosing a Power Supply”) for help in choosing one.
• A small, flat blade screwdriver for inserting wires into the connector.
• A source of step signals, such as a PLC or motion controller.
Additional items needed for Advanced integrated motors/drives (STP-MTRD-xxxxR):
• A PC running Microsoft Windows software.
• A configuration cable and suitable USB to four wire RS-485 converter. ADC part numbers
STP-USB485-4W and STP-485DB9-CLB-2 are recommended.
•

Installing Software
Before using the STP-MTRD-xxxxR Advanced integrated motor and SureMotion Pro
software in an application, the following steps are necessary:
• Install the SureMotion Pro software.
• Launch the software by clicking Programs -> AutomationDirect -> SureMotion Pro
• Connect the drive to the PC using the programming cable. STP-USB485-4W in 4-wire
configuration is recommended (see “Chapter 9: Communications” for detailed info).
• Connect the drive to the power supply.
• Apply power to the drive. (When first powered-up, the drive sends out a “power-up packet”
to identify itself. See the SCL Manual for more details.)
• The software will recognize the drive and display the model and firmware version. At this
point, it is ready for use.

Mounting
As with any step motor, the STP-MTRD must be mounted so as to provide maximum
heat sinking and airflow. Keep enough space around the unit 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 STP-MTRD.
Use the following to mount the motors:
• STP-MTRD-17 series: four M3 screws
• STP-MTRD-23 and -24 series: four #6 or #8 screws

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 Chapter 6: SureStep™ Integrated Motors/Drives

Additional Reading
To learn more about SureMotion Pro™, please refer to the software’s built-in help.
To learn more about the SCL language, please read the Serial Command Language
User Manual.

Mating Connectors and Accessories

Advanced Drive Mating Connectors & Accessories
Terminal Tightening Acceptable Wire
Mating Connector (Type) Part Number
Torque AWG
DC Power (new models) (2-position, 16-20 AWG, no ferrules
Dinkle 0225-1602L N/A
spring cage) allowed
DC Power (old models) (2-position, 16-20 AWG, ferrules
Weidmuller 1615780000 0.25 Nm
screw terminal) allowed
I/O (11-position, spring cage) Phoenix 1881419
20-22 AWG, no ferrules
N/A
allowed
Comm (5-position, spring cage) Phoenix 1881354

Note: ADC’s STP-CON-3 connector kit contains all three above parts.

Standard Drive Mating Connectors & Accessories

Terminal Acceptable Wire
Mating Connector (Type) Part Number
Tightening Torque AWG
NEMA 17: 11-pin insulation Housing: Tyco 4-643498-1
N/A 22 AWG
displacement style connector Cover: Tyco 1643075-1
NEMA 23: 11-pin screw terminal Weidmuller 1610200000 18-20 AWG, ferrules
0.25 Nm
connector allowed

Note: See STP-CON-3 connector kit and STP-CBL-CAxx for replacement options.

General Accessories
Part Part Number
USB to RS485 Adapter STP-USB485-4W
Regeneration Clamp and/or breaking resistor for STP-DRVA-RC-050
applications with high inertial loads STP-DRVA-BR-100
SureStep communication cable, 9-pin STP-485DB9-CBL-2
Replacement SureStep incremental (quadrature)
STP-MTRA-ENC1
encoder for standard models
Note: Multiple replacement encoder options are available in Appendix A.

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 Chapter 6: SureStep™ Integrated Motors/Drives

Installation and Connections

STP-MTRD-17 Standard Series
orange
STEP+
brown
STEP-
yellow
DIR+ Steps/Rev DIP Switches
DIR- green
blue
EN+
purple
EN-
OUT+ grey

OUT- white
Setup DIP Switches

1 2 3 4
white/green
N.C.

65
black Includes a 12 inch control
V-
V+ red cable for accessing the

1 2 3 4 5 6 7 8
terminals. STP-CBL-CAxx
1 ft cable included with motor

6(783
cable can be purchased
separately if longer cable
orange*
STEP+ lengths are needed.
brown
STEP-
yellow
DIR+
DIR- green
blue
EN+
tan**
EN-
OUT+ grey
white
OUT-
pink
N.C.
black
V-
V+ red
Status LED Factory Use Only
* grey/pink for Rev A
STP-CBL-CAxx ** red/blue for Rev A

STP-MTRD-23 Standard Series

Steps/Rev DIP Switches

Setup DIP Switches

1 2 3 4
65

STEP+
1 2 3 4 5 6 7 8

STEP-
6(783

DIR+
DIR-
EN+
EN-
OUT+
OUT-
V-
V+

Status LED
Factory Use Only

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 Chapter 6: SureStep™ Integrated Motors/Drives

STP-MTRD-17 / STP-MTRD-23 Advanced Series

Ground
RS-485 TX-
Connection TX+
RX-
RX+
STEP+
STEP-
DIRECTION+
DIRECTION-
ENABLE+
ENABLE-
OUT+
OUT-
+5V
Analog Input
Ground

V- Note: Can be wired for 2-wire

V+ or 4-wire networks
V+ V- (see Appendix B for RS-485
Status LEDs External Power wiring details)

STP-MTRD-24 Advanced Series

Ground
RS-485 TX-
Connection TX+
RX-
RX+
Variable I/O 1+
Variable I/O 1-
Variable I/O 2+
Variable I/O 2-
Variable I/O 3+
Variable I/O 3-
Variable I/O 4+
Variable I/O 4-
+5V
Analog Input
Ground

V- Note: Can be wired for 2-wire

V+
or 4-wire networks
V+ V- (see Appendix B for RS-485
Status LEDs External Power* wiring details)
* an EMI filter (RES10F03) is needed
on the power supply for CE compliance

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 Chapter 6: SureStep™ Integrated Motors/Drives

Connecting a Power Supply to the Standard STP-MTRD-17

For information on choosing a
power supply, please see the
“Choosing a Power Supply” section
of Chapter 7, “SureStep System
Power Supplies.”

1 2 3 4
65
Connect the power supply “+”
terminal to connector terminal V+,

1 2 3 4 5 6 7 8
then connect power supply “-” to

6(783
connector terminal V-. Use 22 gauge
stranded wire if supplying your own
connector and cable.
The STP-MTRD-17 contains an V-
internal fuse that connects to the V+

power supply + terminal. This fuse is V+ V-

not user replaceable. If you want to External Power
install a user serviceable fuse in your
system, install a fast acting 2 amp fuse in line with the + power supply lead.

Be careful not to reverse the wires. Reverse connection will open the internal fuse on
your drive and void your warranty. Fuse is not user-replaceable.

Connecting a Power Supply to the Standard STP-MTRD-23

For information on choosing a power
supply, please see the “Choosing a Power
Supply” section of Chapter 7, “SureStep
System Power Supplies.”
Connect the power supply “+” terminal
1 2 3 4
65

to the connector terminal labeled “V+”,

then connect the power supply “-” to the
1 2 3 4 5 6 7 8

connector terminal labeled “V-”. Use 14-20

6(783

gauge stranded wire.

The STP-MTRD-23 contains an internal
fuse that connects to the power supply +
terminal. This fuse is not user replaceable. V-
If you want to install a user serviceable V+

fuse in your system, install a fast acting 4 V+ V-

amp fuse in line with the + power supply External Power
lead.

Be careful not to reverse the wires. Reverse connection will open the internal fuse on
your drive and void your warranty. Fuse is not user-replaceable.

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 Chapter 6: SureStep™ Integrated Motors/Drives

Connecting a Power Supply to the Advanced STP-MTRD-xxxxxR

For information on choosing a power
supply, please see the “Choosing a Power
Supply” section of Chapter 7, “SureStep
System Power Supplies.”
Connect the power supply “+” terminal
to the drive “+” terminal and the power
supply “-” terminal to the drive “-”
terminal using 16 to 22 gauge wire. The
STP-MTRD contains an internal fuse
connected to the “+” terminal. This fuse is
not user replaceable. If a user serviceable
fuse is desired, install a fast acting fuse in
line with the “+” power supply lead.
Suitable fuses are:
• STP-MTRD-17 series: 2 amp
• STP-MTRD-23 series: 4 amp
• STP-MTRD-24 series: 5 amp V-
It is important that the motor frame be V+
electrically connected to ground. When
the motor is mounted on an insulated V+ V-
surface, a ground wire is required. Also, External Power
in applications where multiple integrated
motors are used on a machine, individual ground wires may reduce the overall
electrical noise level.

Be careful not to reverse the wires. Reverse connection will open the internal fuse on
your drive and void your warranty. Fuse is not user-replaceable.

To maintain CE compliance with the STP-MTRD-24, EMI filter RES10F06 must be wired in
series with the V+ power supply to the motor/drive.

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 Chapter 6: SureStep™ Integrated Motors/Drives

Using a Regulated Power Supply

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 an STP-DRVA-RC-050 regeneration clamp. It is recommended
that an STP-DRVA-RC-050 initially be installed in an application. If the “regen” LED on
the STP-DRVA-RC-050 never flashes, the clamp is not necessary. For additional regen
clamping capacity, STP-DRVA-BR-100 resistor can be added to the regen clamp. See
Appendix A: “SureStep Accessories.”

STP-DRVA-RC-050 Regen Clamp

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 Chapter 6: SureStep™ Integrated Motors/Drives

LED Error Codes

STP-MTRD Alarm Codes
Alarm
LED Sequence Alarm Description
Code
SG Solid green No alarm, motor disabled

FG Fast green Factory use

01 Flashing green No alarm, motor enabled

10 Flashing red Configuration or memory error1

11 1 red, 1 green Motor stall (optional encoder only)4

12 1 red, 2 green Move attempted while drive disabled

21 2 red, 1 green CCW limit

22 2 red, 2 green CW limit

31 3 red, 1 green Drive overheating

32 3 red, 2 green Internal voltage out of range2

33 3 red, 3 green Factory use

41 4 red, 1 green Power supply overvoltage2

42 4 red, 2 green Power supply undervoltage

43 4 red, 3 green Flash memory backup error

Over current /
51 5 red, 1 green short circuit2, 3
61 6 red, 1 green Open motor winding2
Bad encoder signal (optional encoder
62 6 red, 2 green only)4
71 7 red, 1 green Serial communication error5

72 7 red, 2 green Flash memory error

1 - Does not disable the motor.
The alarm will clear about 30 seconds after the fault is corrected.
2 - Disables the motor. Cannot be cleared until power is cycled.
3-T
 he over-current/short-circuit alarm typically indicates that an electrical fault exists somewhere in the
system external to the drive. This alarm does not serve as motor overload protection.
4 - This alarm only occurs on STP-MTRD advanced integrated motor/drives
5 - This alarm does not occur on STP-DRV-6575 or standard integrated motor/drives

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Alarm Code Definitions

Alarm Error Description Corrective Action

Code
SG No alarm, motor No faults active, Circuit is N/A
disabled closed between EN+ and EN-.

01 No alarm, motor No faults active, Circuit is open N/A

enabled between EN+ and EN-.

10 Configuration or Memory error detected when Restart device. No fix if restart doesn’t
memory error trying to load config from flash work.
on powerup.

11 Motor stall Motor torque demand Increase torque utilization if it’s not
(optional exceeded capability and the already maxed out, otherwise decrease
encoder only) motor skipped steps. This is the torque demand by modifying the
configured in SureMotion Pro. move profile, or put in a larger motor.

12 Move attempted Drive is disabled and move Reset alarm, enable motor, and move
while drive attempted. again.
disabled

21 CCW limit CCW limit is reached. The Unblock the CCW sensor (open the circuit)
digital input that has been or redifine the input with SureMotion Pro.
assigned CCW limit has been
activated.

22 CW limit CW limit is reached. The digital Unblock the CCW sensor (open the circuit)
input that has been assigned or redefine the input with SureMotion Pro.
CW limit has been activated.

31 Drive The drive’s internal If the drive is operating within its standard
overheating temperature is too high. range (input voltage and output current
are OK), more heat must be removed from
the drive during operation. For Advanced
drives (see “Mounting the Drive” on page
4-14), ensure the drive is mounted to
a metal surface that can dissipate the
drive’s heat. For Integrated motor/drives,
see “Mounting” on page 5-13. For both
types of drives: If the mounting surface
cannot pull enough heat away from the
drive, forced airflow (from a fan) may be
required to cool the drive.

32 Internal voltage Gate voltage, 5V rail, or 3V rail Ensure adequate supply voltage (in very
out of range are out of spec. rare cases, low input voltages combined
with fast accelerations can draw down the
gate voltage) and try again. If persistant,
RMA is required.

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 Chapter 6: SureStep™ Integrated Motors/Drives

Alarm Error Description Corrective Action

Code
41 Power supply The DC voltage feeding the Decrease the input voltage.
overvoltage drive is above the allowable Linear power supplies do not output
level. a fixed voltage: the lighter the output
current, the higher the output voltage will
float. If a linear supply’s voltage floats
above the drive’s max voltage, you can
install a small power resistor across the
linear power supply’s output to provide
some load that will help pull down the
floating voltage.
Consider using a switching power supply
such as the Rhino PSB power supply
series.
Overvoltage can also be fed back into
a system by regeneration (when an
overhauling load pushes energy back into
the motor). In an application with regen
problems, install an STP-DRVA-RC-050
regen clamp to help dissipate the extra
energy. (The regen clamp will not help
with the floating linear power supply that
floats too high, but it will help with excess
voltage generated from an overhauling
load.)

42 Power supply The DC voltage feeding the Correct the power supply. If this error
undervoltage drive is below the allowable occurs during operation, the power supply
level. is most likely undersized. A sudden high
current demand can cause an undersized
power supply to dip in output voltage.

43 Flash memory Memory error detected when Restart device. No fix if restart doesn’t
backup error trying to load config from flash work.
on powerup.

51 Over current / Motor leads shorted - only Check and fix motor wiring.
short circuit checked on powerup.

61 Open motor Motor leads not connected - Check and fix motor wiring.
winding only checked on powerup.

62 Bad encoder Noisy or otherwise incorrectly Check encoder wiring, always use
signal (optional formatted encoder signal (lack differential encoders (or use checkbox in
encoder only) of A or B, lack of differential SureMotion Pro to disable this error when
signal). using single ended).

71 Serial Catch-all error for If drive can communicate, CE can give

communication something wrong with serial a precise diagnosis. If not, refer to the
error communications. See CE Serial Communications part of the HCR for
command in HCR for details. troubleshooting.

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 Chapter 6: SureStep™ Integrated Motors/Drives

Alarm Error Description Corrective Action

Code
72 Flash memory Memory error detected when Restart device. No fix if restart doesn’t
error trying to load config from flash work.
on powerup.

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 Chapter 6: SureStep™ Integrated Motors/Drives

STP-MTRD Inputs and Outputs

The standard drives (STP-MTRD-xxxx) 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 5-24 volt input for commanding the removal of power from the motor

NOTE: STEP and DIR inputs can be converted to STEP CW and STEP CCW by moving switch
#8 to the ON position.

The standard drives have a single digital output labeled OUT. This output closes to
signal a fault condition. The 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 are available at the connector - this allows you to configure the output for
current sourcing or sinking. STP-MTRD-17038(E) includes a 12 inch control cable for
accessing the terminals. STP-CBL-CAxx cable can be purchased separately if longer
cable lengths are needed.
Connector Pin Diagrams Internal Circuit Diagram

1 inside drive
STEP+ STEP+
STEP- STEP-
STEP+
DIR+ DIR+ 2 220 pF

DIR- DIR- STEP-

EN+ EN+ 3
EN- EN-
DIR+
OUT+ OUT+
OUT- 4 220 pF
OUT-
N.C. V- DIR-
V- V+ 5
V+ EN+
STP-MTRD-23 series
STP-MTRD-17 series 6 220 pF
EN-
Control Cable STP-CBL-CAxx 7
(for STP-MTRD-17038/17038E) OUT+
(1)STEP+ ORANGE (Rev A - GRY/PINK) 8
(2)STEP- BROWN OUT-
(3)DIR+ YELLOW
(4)DIR- GREEN
(5)EN+ BLUE
(6)EN- TAN (Rev A - RED/BLUE)
(7)OUT+ GREY
(8)OUT- WHITE
(9)N.C. PINK
(10)V- BLACK
(11)V+ RED

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The advanced STP-MTRD-17xxxxxR and -23xxxxxR drives include 3 digital inputs and 1
analog input:
• Two high speed digital inputs, 5-24 volt logic, labeled STEP (or IN1) and DIR (or IN2), for
commanding position. Pulse & direction, CW/CCW pulse, and A/B quadrature encoder
signals can be used as position commands with these inputs. The STEP/IN1 and DIR/IN2
inputs can also be connected to sensors, switches and other devices for use with streaming
SCL commands such as Wait Input (WI), Seek Home (SH), Feed to Sensor (FS), etc. When
not being used for commanding position, these inputs can also be used for CW/CCW end-
of-travel limits, CW/CCW jog inputs, or Run/stop & direction velocity-mode inputs.

NOTE: the available functionality of these inputs is determined by the STP-MTRD control
option (R) as well as the motion control mode selected in SureMotion Pro.

• One digital input, 5-24 volt logic, labeled EN (or IN3), which can be used for motor enable/
disable and/or alarm reset. It can also be connected to a sensor, switch or other device for
use with streaming SCL commands such as Wait Input, Seek Home, Feed to Sensor, etc.
• One analog input, 0-5 volt logic, labeled AIN, which can be used as an analog velocity or
position command. It can also be used with streaming SCL commands such as Wait Input,
Seek Home, Feed to Sensor, etc.

NOTE: On the advanced drives, the green 5 and 11 position spring clip terminal blocks do
not accept ferrules, either use bare stranded copper or tinned leads.

• Connector Pin Diagram I/O Connector

STEP+
inside drive
STEP- STEP/IN1+
DIR+ STEP/IN1-
DIR-
EN+ DIR/IN2+
EN- DIR/IN2-
OUT+
OUT- EN/IN3+
+5V
EN/IN3-
AIN
GND OUT/IN4+ RES
STP-MTRD-xxxxR series OUT/IN4-
100ma Limit
+5V
Signal
AIN
Conditioning
GND

STP-MTRD-xxxxR series

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 Chapter 6: SureStep™ Integrated Motors/Drives

The STP-MTRD-24 models have four “Variable I/O” points. Each can be configured as
a digital input or a digital output. In addition, pre-defined functions such as motor
enable or fault output can be assigned, providing the flexibility to handle a diverse
range of applications.
SureMotion Pro™ is used to set each Variable I/O point as an input or output.
SureMotion Pro™ can also be used to assign functions to each I/O point, or functions
can be assigned “on the fly” from SCL streaming commands.

Connector Pin Diagram

I/O Connector
inside drive
I/O 1+
I/O+
I/O 1-
I/O 2+ I/O-
I/O 2-
I/O 3+
I/O 3- Equivalent Circuit: Variable I/O Point Set as Input
I/O 4+
I/O 4-
+5V
I/O Connector

inside drive
AIN
GND I/O+

I/O-
STP-MTRD-24xxR series

Equivalent Circuit: Variable I/O Point Set as Output

inside drive
I/O Conne ctor

50 mA max
+5V

Signal
AIN
Conditioning

GND

Equivalent Circuit: Analog Input

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 Chapter 6: SureStep™ Integrated Motors/Drives

Input/Output Functions
Basic STP-MTRD-x I/O Functions (configure with dip switches)
Terminal STEP (5-24 Volts) DIR (5-24 Volts) EN (5-24 Volts) OUT (30V, 80mA)
Step Input Dir Input Enable Input Alarm Output
Function
Limit CW Limit CCW - -

Advanced STP-MTRD-17xR (23xR) I/O Functions (configure in software)

Terminal STEP (5-24 Volts) DIR (5-24 Volts) EN (5-24 Volts) OUT (30V, 80mA)
Step Input Dir Input Enable Input Brake Output

Jog CW Jog CCW Reset Input Alarm Output

Function Limit CW Limit CCW Change Speed Motion Output

Start/Stop General Purpose General Purpose Tach Output

General Purpose - - General Purpose

Advanced STP-MTRD-24xR I/O Functions (configure in software)

Terminal I/O 1 I/O 2 I/O 3 I/O 4

Step/CW Pulse/AB Quad DIR/CCW Pulse/AB Quad Limit CW Input Limit CCW Input
Input Input
Jog CW Input Jog CCW Input Enable Input Alarm Reset Input
Enable Input Change Speed Input General Purpose
Input Alarm Reset Input
Function Input
Start/Stop Input General Purpose
General Purpose Input -
Input
General Purpose Input - - -
Brake Output Brake Output Brake Output Brake Output
Fault Output Fault Output Fault Output Fault Output

Output Motion Output Motion Output Motion Output Motion Output

Function
Tach Output Tach Output Tach Output Tach Output
General Purpose General Purpose
General Purpose Output -
Output Output

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 Chapter 6: SureStep™ Integrated Motors/Drives

The Step (STEP) and Direction (DIR) Inputs

The STP-MTRD motor/drives include two high-speed inputs called STEP (or IN1) and
DIR (or IN2). They accept 5 to 24 volt single-ended or differential signals, up to 2
MHz. Typically these inputs connect to an external controller that provides step and
direction command signals. With the Advanced models you can also connect a master
encoder to the high-speed inputs for “encoder following” applications. Or you can
use these inputs with Wait Input, If Input, Feed to Sensor, Seek Home, and other SCL
commands.

If the current is flowing into or out of an input, the logic state of that input is low or
closed. If no current is flowing, or the input is not connected, the logic state is high or
open.

Example connection diagrams:

5-24 VDC DIR+

Indexer
or PLC DIR DIR- All
with Sinking STP-MTRD
STEP+
Outputs
STEP STEP-

Connecting to indexer with Sinking Outputs

0 VDC DIR-
Indexer
or PLC DIR DIR+ All
with Sourcing STP-MTRD
STEP-
Outputs
STEP STEP+

Connecting to indexer with Sourcing Outputs

Indexer DIR+ DIR+

or PLC DIR- DIR- All
with STP-MTRD
Differential STEP+ STEP+
Outputs STEP- STEP-

Connecting to indexer with Differential Outputs

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 Chapter 6: SureStep™ Integrated Motors/Drives

+ DIR+
5 to 24 direction switch

VDC DIR- All

Power run/stop switch
STP-MTRD
Supply (closed=run)
STEP+
- STEP-

Using Mechanical Switches

(The switches can also be placed on the + line)

A+ STEP+

Master A- STEP- Advanced

Encoder STP-MTRD
B+ DIR+ Only
B- DIR-

Wiring for Encoder Following

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 Chapter 6: SureStep™ Integrated Motors/Drives

The Enable (EN/IN3) Digital Input

As mentioned in the previous section, the high-speed STEP and DIR inputs are
designed for high speed operation. The Enable digital input is designed for low speed
digital input operation between 5 and 24 volts DC.

If the current is flowing into or out of an input, the logic state of that input is low or closed
(active). If no current is flowing, or the input is not connected, the logic state is high or
open. Using a switch (see the first image below) to activate the “Enable” circuit will actually
disable the drive. The switch in the image below could be considered a “Disable” switch.

Example connection diagrams:

EN+
5-24 +
VDC All
Power Switch or Relay STP-MTRD
(closed = logic Low)
Supply
- EN-

Connecting the Input to a Switch or Relay

5-24 + EN+ All

VDC +
output
STP-MTRD
NPN
Power Proximity EN-
Sensor
Supply - –

Connecting an NPN Type Proximity Sensor to an input

(When proximity sensor activates, input goes low).

5-24 + +
output
PNP
VDC Proximity EN+ All
Sensor
Power – STP-MTRD
Supply - EN-

Connecting an PNP Type Proximity Sensor to an input

(When prox sensor activates, input goes low).

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 Chapter 6: SureStep™ Integrated Motors/Drives

The Analog (AIN) Input

The Advanced STP-MTRD drives feature an analog input. The input can accept a signal
range of 0 to 5 VDC. The drive can be configured to operate at a speed or position that
is proportional to the analog signal. Use the SureMotion Pro software to set the signal
range, offset, dead-band and filter frequency. For some SCL commands the analog
input can be used as an emulated digital input by just using the full analog scale as
the on/off condition. The Advanced STP-MTRD also provides a +5VDC 50mA output
that can be used to power external devices such as potentiometers. It is not the most
accurate supply for reference; for more precise readings use an external supply that
can provide the desired accuracy.

Example connection diagram:

inside drive
I/O Conne ctor

50mA Limit
+5V

Signal
AIN
Conditioning

GND

Connecting a Potentiometer to the Analog Input

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 Chapter 6: SureStep™ Integrated Motors/Drives

The Digital Output

The STP-MTRD drives feature one configurable optically isolated digital output. In the
units with RS-485 communication this output can be set to automatically control a
motor brake, to signal a fault condition, to indicate when the motor is moving, or to
provide an output frequency proportional to motor speed (tach signal). The output
can also be turned on and off by program instructions like Set Output. The output
can be used to drive LEDs, relays, and the inputs of other electronic devices like PLCs
and counters. The “OUT+” (collector) and “OUT-” (emitter) terminals of the transistor
are available at the connector. This allows you to configure the output for current
sourcing or sinking. The STP-MTRD-24 has four variable I/O points. Each one can be
either an output or an input.

If current is flowing into or out of an output, the logic state of that output is low or closed
(active). If no current is flowing, or the output is not connected, the logic state is high or
open.

Do not connect the output to more than 30VDC.

The current through the output terminal must not exceed 40mA.

Example connection diagrams:

5-24 VDC 5-24 VDC
Power Supply Power Supply
+ –
+ –

OUT+ Load OUT+

STP-MTRD STP-MTRD
OUT- OUT- Load

Connecting as a Sinking Output Connecting as a Sourcing Output

5-24 VDC
relay Power Supply
+ –

OUT+

STP-MTRD
1N4935 (or equivalent)
suppression diode
OUT-

Driving a Relay

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 Chapter 6: SureStep™ Integrated Motors/Drives

Using the Optional Encoder

(STP-MTRD-17038E, 23042E, 23065E)
The optional encoder that is included with the standard E models is a differential line
driver 1000 ppr incremental encoder assembled to the rear shaft of the unit. This is
replacement part number STP-MTRA-ENC1. The A, B, and Index (Z) channel signals of
this encoder can be connected back to the external controller for position verification
and enhanced performance, depending on the features of the controller. To facilitate
connecting the encoder signals to your external controller you should purchase cable
part number STP-CBL-EAx.
For more information on the encoder, please see the Accessories appendix.
Replacement encoder part number is STP-MTRA-ENC1.
Incremental encoder specifications:
• 10-pin connector provides the following signals (pin assignments): Ground (1,2), Index- (3),
Index+ (4), A- (5), A+ (6), +5VDC power (7,8), B- (9) and B+ (10).
• Power supply requirements: 5 VDC at 56mA typical, 59 mA max.
• The encoder’s internal differential line driver can source and sink 20mA at TTL levels.
• Maximum noise immunity is achieved when the differential receiver is terminated with a
110-ohm resistor in series with a .0047 microfarad capacitor placed across each differential
pair. The capacitor simply conserves power; otherwise power consumption would increase
by approximately 20mA per pair, or 60mA for three pairs.
• If making your own cable to connect the encoder signals to your controller, we recommend
using a shielded cable with four or five twisted pairs for improved noise immunity.
• Max encoder frequency is 100,000 pulses per second.
Other encoder configurations are available. Please see Appendix A for the full line of
encoders compatible with the standard E series STP-MTRD integrated motor/drives.

PIN 1

Connection Table for STP-EA-EAx

PIN 2
Note: Pin 1 and Pin 2 are internally connected. Pin 7 and Pin 8
are internally connected inside the encoder.

Configuring the Standard STP-MTRD

Step 1: Setting the Current
To achieve maximum torque, you should set the current to 100%. But under some
conditions you may want to reduce the current to save power or lower motor

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 Chapter 6: SureStep™ Integrated Motors/Drives

temperature. 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, you’ll 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 switches on the front of the STP-MTRD are used to set the percent
of rated 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% 70% 50%

Step 2: Setting Idle Current
Motor heating and power consumption can also be reduced by lowering the motor
current when it is not moving. The STP-MTRD 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.

3 3

50% 90%

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Step 3: Load Inertia

The Standard STP-MTRD includes 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 the motor and drive are assembled at the factory.
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. Please divide
your load inertia by the STP-MTRD rotor inertia (82 g-cm2) to determine the ratio,
then set switch 7 accordingly, as shown.

7 7

5-10X 0-4X
Step 4: Step Size
The Standard STP-MTRD 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
is 1/25,600th of a motor turn. To command a motor speed of 50 revolutions per
second (3000 rpm) the step pulses frequency must be 50 x 25,600 = 1.28 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. Sixteen different
settings are provided, as shown in the diagrams on the next page.
Please choose the one that best matches the capability of your system.

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 Chapter 6: SureStep™ Integrated Motors/Drives

1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

200 400 800 1600

1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

3200 6400 12800 25600

1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

1000 2000 4000 5000

1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

8000 10000 20000 25000

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 Chapter 6: SureStep™ Integrated Motors/Drives

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. The STP-MTRD includes
a feature called “microstep emulation”, also called “step
smoothing”, that can provide smooth motion from coarse
command signals. If you set switch 6 to the ON position, this
6 6
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. The ON OFF
graph below shows an example of the delay that can occur from
using the step smoothing filter. SMOOTHING

Step 5: 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). The
Standard STP-MTRD can accept this type of signal if you adjust switch 8 as shown in
the diagram on the next page.

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 Chapter 6: SureStep™ Integrated Motors/Drives

In STEP CW/STEP CCW mode, the CW signal should be connected to the STEP input
and the CCW signal to the DIR input.

8 8

STEP CW/ STEP/

STEP CCW DIR
Step 6: Step Pulse Noise Filter
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 Standard STP-MTRD includes a digital noise filter on the
STEP and DIR inputs. The default factory setting of this filter is
150 kHz, which works well for most applications. This is set by
moving switch 5 to the ON position.
However, as discussed in Step 4, if you are operating the STP-
5 5
MTRD 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 set switch 5 to the OFF position as
shown. 150 2.0
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 KHZ MHZ
40 x 20,000 = 800 kHz. Please consider this when deciding if you
must increase the filter frequency.

Self Test
If you are having trouble getting your motor to turn, you may want to try the built-in
self-test. Any time switch 4 is moved to the ON position, the drive will automatically
rotate the motor back and forth, two and a half turns each direction. This feature
can be used to confirm that the motor is correctly wired and
otherwise operational.

4 4

ON OFF
SELF TEST

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Drive/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 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 continously
operated without damage.
Provided below are curves showing the maximum duty cycle versus speed for each
size at commonly used power supply voltages. Please refer to these curves when
planning your application.
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 a 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.
The actual temperature of the motor depends on how much heat is conducted,
convected, or radiated out of it. The measurements below were made in a 40°C
(104°F) 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.
Please use the motor body temperature curves below to determine the maximum
duty cycle of the drive/motor under various conditions.

STP-MTRD-17030 Max Duty Cycle vs Speed 12V Duty Cycle

1.8 Amps @ Ambient of 40°C 24V Duty Cycle
80 x 80x 6(mm) Aluminum Plate 48V Duty Cycle

100

80
% Duty Cycle

60

40 Note: This graph does not

represent maximum speed
of the motor. Refer to the
20 Speed/Torque curves for
nominal speed limitations.

0
0 10 20 30 40 50
Speed (RPS)

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 Chapter 6: SureStep™ Integrated Motors/Drives

STP-MTRD-17038 Max Duty Cycle vs Speed 12V Duty Cycle

1.8 Amps @ Ambient of 40°C 24V Duty Cycle
80 x 80x 6(mm) Aluminum Plate 48V Duty Cycle

100

80
% Duty Cycle

60
Note: This graph does not
40 represent maximum speed
of the motor. Refer to the
Speed/Torque curves for
nominal speed limitations.
20

0
0 10 20 30 40 50
Speed (RPS)

12V D uty C y c le
STP-MTRD-23042 Max Duty cycle vs Speed
24V D uty C y c le
5 Amps @Ambient of 40°C
48V D uty C y c le
Mounted to a 6.4" x 6.4" x .25" Aluminum Plate
65V D uty C y c le
100

80
% Duty Cycle

60

40
Note: This graph does not
20 represent maximum speed
of the motor. Refer to the
Speed/Torque curves for
0 nominal speed limitations.
0 10 20 30 40 50
Speed (RPS)

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 Chapter 6: SureStep™ Integrated Motors/Drives

12V D uty C y c le
STP-MTRD-23065 Max Duty cycle vs Speed
24V D uty C y c le
5 Amps @Ambient of 40°C
48V D uty C y c le
Mounted to a 6.4" x 6.4" x .25" Aluminum Plate
65V D uty C y c le
100

80
% Duty Cycle

60 Note: This graph does not

represent maximum speed
of the motor. Refer to the
40 Speed/Torque curves for
nominal speed limitations.

20

0
0 10 20 30 40 50
Speed (RPS)

STP-MTRD-24075 Max Duty Cycle vs Speed 12V D uty C y c l

6A/phase, 40°C Ambient 24V D uty C y c l
Mounted on a 162 x 162 x 6 (mm) 48V D uty C y c l
Aluminum Plate 65V D uty C y c l
100

80
% Duty Cycle

60 Note: This graph does not

represent maximum speed
of the motor. Refer to the
40 Speed/Torque curves for
nominal speed limitations.
20

0
0 10 20 30 40 50
Speed (RPS)

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 Chapter 6: SureStep™ Integrated Motors/Drives

Torque Speed Graphs

STP-MTRD-17030 Torque vs Speed (1.8° step motor; 1/2 stepping)

12V Power Supply 24V Power Supply 48V Power Supply

Speed (rpm)
0 600 1200 1800 2400 3000
100

80
Torque (oz·in)

60

40

20

0
0 4000 8000 12000 16000 20000
Speed (pps) [1 pulse = 0.9°]

STP-MTRD-17038 Torque vs Speed (1.8° step motor; 1/2 stepping)

12V Power Supply 24V Power Supply 48V Power Supply

Speed (rpm)
0 600 1200 1800 2400 3000
100

80
Torque (oz·in)

60

40

20

0
0 4000 8000 12000 16000 20000
Speed (pps) [1 pulse = 0.9°]

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 Chapter 6: SureStep™ Integrated Motors/Drives

STP-MTRD-23042 Torque vs Speed (1.8° step motor; 1/2 stepping)

12V Power Supply 24V Power Supply 48V Power Supply 70V Power Supply
Speed (rpm)
0 600 1200 1800 2400 3000
150

120
Torque (oz·in)

90

60

30

0
0 4000 8000 12000 16000 20000
Speed (pps) [1 pulse = 0.9°]

STP-MTRD-23065 Torque vs Speed (1.8° step motor; 1/2 stepping)

12V Power Supply 24V Power Supply 48V Power Supply 70V Power Supply
Speed (rpm)
0 600 1200 1800 2400 3000
250

200
Torque (oz·in)

150

100

50

0
0 4000 8000 12000 16000 20000
Speed (pps) [1 pulse = 0.9°]

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 Chapter 6: SureStep™ Integrated Motors/Drives

STP-MTRD-24075 Torque vs Speed (1.8° step motor; 1/2 stepping)

12V Power Supply 24V Power Supply 48V Power Supply 70V Power Supply
Speed (rpm)
0 600 1200 1800 2400 3000
375

300
Torque (oz·in)

225

150

75

0
0 4000 8000 12000 16000 20000
Speed (pps) [1 pulse = 0.9°]

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 Chapter 6: SureStep™ Integrated Motors/Drives

Dimensions and Mounting Slot Locations

Dimensions = inches [mm]

STP-MTRD-17030R / STP-MTRD-17030RE

STP-MTRD-17038

For complete drawings, please visit

[Link]

7th Ed. Rev E – 04/08/2025 SureStepTM Stepping Systems User Manual

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 Chapter 6: SureStep™ Integrated Motors/Drives

STP-MTRD-17038E

STP-MTRD-17038R / STP-MTRD-17038RE

For complete drawings, please visit

[Link]

6–44 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Chapter 6: SureStep™ Integrated Motors/Drives

STP-MTRD-23042

STP-MTRD-23042E

For complete drawings, please visit

[Link]

7th Ed. Rev E – 04/08/2025 SureStepTM Stepping Systems User Manual

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 Chapter 6: SureStep™ Integrated Motors/Drives

STP-MTRD-23042R / STP-MTRD-23042RE

STP-MTRD-23065

For complete drawings, please visit

[Link]

6–46 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Chapter 6: SureStep™ Integrated Motors/Drives

STP-MTRD-23065E

STP-MTRD-23065R / STP-MTRD-23065RE

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 Chapter 6: SureStep™ Integrated Motors/Drives

STP-MTRD-24075RV / STP-MTRD-24075RVE

For complete drawings, please visit

[Link]

6–48 SureStepTM Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 7
SureStepTM
Chapter
Stepping Motors

In This Chapter...
Features ������������������������������������������������������������������������������������������������������������������ 7–2
Design and Installation Tips�������������������������������������������������������������������������������� 7–3
Specifications �������������������������������������������������������������������������������������������������������� 7–4
Power Supply and Step Motor Drive ���������������������������������������������������������������� 7–7
Mounting the Motor���������������������������������������������������������������������������������������������� 7–7
Connecting the Motor ������������������������������������������������������������������������������������������ 7–7
Extension Cable Wiring Diagrams ���������������������������������������������������������������������������������������������������7–8
Connecting a STP-MTRAC Motor �����������������������������������������������������������������������������������������������������7–8
Motor Dimensions and Cabling������������������������������������������������������������������������7–10
Typical Dimension & Cable Diagrams�������������������������������������������������������������������������������������������7–10
Typical Dimension & Cable Diagram for STP-MTRH �����������������������������������������������������������������7–13
Typical Dimension & Cable Diagram for STP-MTRAC ���������������������������������������������������������������7–16
Torque vs. Speed Charts������������������������������������������������������������������������������������7–18
 Chapter 7: SureStepTM Stepping Motors

Features
•  tep motors available in NEMA 14, NEMA 17, NEMA 23, NEMA 34, and NEMA 42 frame sizes.
S
• Square frame style produces high torque and achieves best torque to volume ratio.
• Holding torque ranges from 8 to 4532 oz·in.
• Available in single-shaft, dual-shaft (encoder ready), encoder mounted, IP65 (wash-down),
and high bus voltage configurations.
• 12-inch long connectorized cables attached to motors, with extension cables available in 6,
10, and 20 foot lengths. NEMA 23 and NEMA 34 high-bus voltage models (MTRAC-23 and
MTRAC-34) have 10’ long non-connectorized 8-lead cables.
• All NEMA 14, NEMA 17, NEMA 23, NEMA 34, and NEMA 42 dual-shaft motors come with
pretapped holes ready for a modular encoder to be mounted.
• All “E” models include a premounted line driver encoder AMT112Q-V (replaces STP-MTRA-
ENC9). The AMT112Q-V is a configurable encoder that comes preconfigured with 400ppr
when shipped attached to a motor. Other ppr and output types are available for purchase.
See Appendix A for more information on encoder options and configuration utility.
• All “W” model motors and extension cables include an IP65 connector attached to the
cable.
NEMA 14 NEMA 17

•
NEMA 23 NEMA 34

•
NEMA 42 Dual-shaft Versions Available

•
Encoder Versions Available IP65 Versions Available

•
Note: Small holes are often drilled into the end of the rotor shaft. This is for manufacturing tooling
purposes. These holes do not have a dimensional tolerance and cannot be guaranteed to be
present on subsequent orders.

7–2 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors

Design and Installation Tips

Allow sufficient time to accelerate the load and size the step motor with a 100%
torque safety factor (i.e. design the system using a maximum of 50% of the motor’s
torque). DO NOT disassemble step motors, as motor performance will be reduced
and the warranty will be voided. DO NOT connect or disconnect the step motor during
operation.
The motor can be mounted in any orientation (horizontal or vertical). Mount it to
a surface with good thermal conductivity, such as steel or aluminum, to allow heat
dissipation. Use a flexible coupling with “clamp-on” connections to both the motor
shaft and the load shaft to prevent thrust and radial loading on bearings from minor
misalignment.
In general, the higher the current into a step motor the higher the torque, especially
at lower speeds. The higher the voltage to the step motor, the higher the torque at
higher speeds. Losses come in to play here, too. The higher you run the current on
the motors, the higher your losses are going to be, and the hotter your motors are
going to get. For this reason, AutomationDirect specs current for motors at the RMS
value. This is the value on the motor’s label and specification table. This guarantees
a very long life for the motor. Multiplying the motor’s RMS phase current by 1.2 gives
a good balance of torque vs loss. This value should then be used to set the drive’s
peak phase current. Note that the whole speed torque curve won’t be shifted up,
only the low speed flat part before the torque starts dropping. The curve can drop for
many reasons, but typically it’s due to not having enough voltage to push the desired
current into the windings, so increasing the voltage is what gives you a boost there,
not making more current available.
For STP-MTRAC(H)-x motors or other high bus voltage motors ensure the drain
wire or ground wire from the motor is properly grounded to the motor and drive’s
grounding lug. Also ensure the drive’s grounding point is properly grounded to the
panel ground.

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–3
 Chapter 7: SureStepTM Stepping Motors

Specifications
SureStep™ Series Specifications – Connectorized Bipolar Stepping Motors
Low Torque Motors High Torque Motors
Bipolar
Stepping Motors STP-MTRL- STP-MTRL- STP-MTR- STP-MTR- STP-MTR- STP-MTR-
14026x 14034x 17040x 17048x 17060x 23055x
NEMA Frame Size 14 14 17 17 17 23
Optional Encoder Y Y Y Y Y Y
* Max (lb·in) 0.5 1.25 3.81 5.19 7.19 10.37
Holding (oz·in) 8 20 61 83 115 166
Torque (N·m) 0.06 0.14 0.43 0.59 0.81 1.17
Rotor (oz·in2) 0.06 0.08 0.28 0.37 0.56 1.46
Inertia (kg·cm2) 0.0003 0.00035 0.05 0.07 0.10 0.27
Rated RMS Current
0.35 0.8 1.7 2.0 2.0 2.8
(A/phase)
Resistance
8.5 7.66 1.6 1.4 2.0 0.75
(Ω/phase)
Inductance
5.77 6.92 3.0 2.7 3.3 2.4
(mH/phase)
Insulation Class 130°C [266°F] Class B; 300V rms
Basic Step Angle 1.8°
Shaft Runout 0.002 in [0.051 mm]
Max Shaft Radial
0.001 in [0.025 mm]
Play @ 1lb load
Perpendicularity 0.003 in [0.076 mm]
Concentricity 0.003 in [0.076 mm]
*Max Radial Load 6.0 15.0
(lb [kg]) [2.7] [6.8]
*Max Axial (Thrust) 6.0 13.0
Load (lb [kg]) [2.7] [5.9]

Storage Temperature -20°C to 100°C [-4°F to 212°F]

Operating -20°C to 50°C [-4°F to 122°F]

Temperature (motor case temperature should be kept below 80°C [176°F])

Operating Humidity 55% to 85% non-condensing

Product Material steel motor case; stainless steel (SUS 303) shaft(s)

Environ. Rating IP40 IP40, IP65 (W motors only)

Weight (lb [kg]) 0.25 [0.11] 0.35 [0.15] 0.6 [0.3] 0.7 [0.3] 0.9 [0.4] 1.5 [0.7]
(E models) (0.3 [0.1]) (0.4 [0.2]) (0.7 [0.3]) (0.8 [0.4]) (0.9 [0.4]) (1.5 [0.7])
Agency Approval CE
Accessory Extension STP-EXT-006, 010, 020
STP-EXTL-006, 010, 020
Cable STP-EXTW-006, 010, 020 (W motors only)
* For dual-shaft motors (STP-MTR-xxxxxD): The sum of the front and rear Torque Loads, Radial Loads, and Thrust
Loads must not exceed the applicable Torque, Radial, and Thrust load ratings of the motor.

7–4 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors

Specifications (continued)
Table continued from previous page
SureStep™ Series Specifications – Connectorized Bipolar Stepping Motors
High Torque Motors Higher Torque Motors
Bipolar
Stepping Motors STP-MTR- STP-MTR- STP-MTRH- STP-MTRH- STP-MTRH- STP-MTRH-
23079x 34066x 23079x 34066x 34097x 34127x
NEMA Frame Size 23 34 23 34 34 34
Optional Encoder Yes

Max (lb·in) 17.25 27.12 17.87 27.12 50.00 80.50

Holding (oz·in) 276 434 286 434 800 1288
Torque (N·m) 1.95 3.06 2.02 3.06 5.65 9.10
Rotor (oz·in2) 2.60 7.66 2.60 7.66 14.80 21.90
Inertia (kg·cm2) 0.48 1.40 0.48 1.40 2.71 4.01
Rated RMS Current
2.8 2.8 5.6 6.3 6.3 6.3
(A/phase)
Resistance
1.1 1.11 0.4 0.25 0.3 0.49
(Ω/phase)
Inductance
3.8 6.6 1.2 1.5 2.1 4.1
(mH/phase)
Insulation Class 130°C [266°F] Class B; 300V rms
Basic Step Angle 1.8°
Shaft Runout 0.002 in [0.051 mm]
Max Shaft Radial
0.001 in [0.025 mm]
Play @ 1lb load
Perpendicularity 0.003 in [0.076 mm]
Concentricity 0.003 in [0.076 mm]
Maximum Radial 15.0 39.0
15.0 [6.8] 39.0 [17.7]
Load (lb [kg]) [6.8] [17.7]
Max Axial (Thrust) 13.0 25.0
13.0 [5.9] 25.0 [11.3]
Load (lb [kg]) [5.9] [11.3]
Storage Temp. -20°C to 100°C [-4°F to 212°F]
Operating -20°C to 50°C [-4°F to 122°F]
Temperature (motor case temperature should be kept below 80°C [176°F])
Operating Humidity 55% to 85% non-condensing
Product Material steel motor case; stainless steel (SUS 303) shaft(s)
Environmental IP40
Rating IP65 (W motors only)
Weight (lb [kg]) 2.2 [1.0] 2.4 [1.1]
3.9 [1.7] 3.9 [1.7] 5.9 [2.7] 8.4 [3.8]
(E models) (2.4 [1.1]) (2.4 [1.1])
Agency Approval CE
Accessory Extension STP-EXT-006, 010, 020
STP-EXTH-006, 010, 020
STP-EXTW-006, 010, 020
Cable (W motors only)
STP-EXTWH-006, 010, 020 (W motors only)

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 Chapter 7: SureStepTM Stepping Motors

Specifications (continued)
Table continued from previous page
SureStep™ Series Specifications – Non-connectorized Bipolar Stepping Motors
High Bus Voltage Motors
Bipolar STP- STP- STP- STP- STP- STP-
Stepping Motors MTRAC- MTRAC- MTRAC- MTRAC- MTRAC- MTRAC-
23044(x) 23055(x) 23078(x) 34075(x) 34115(x) 34156(x)
NEMA Frame Size 23 23 23 34 34 34
Optional Encoder1 Y Y Y Y Y Y

Max (lb·in) 4.69 9.31 14.19 51.31 69.38 115.06

Holding (oz·in) 75 149 227 821 1110 1841
Torque (N·m) 0.53 1.05 1.6 5.8 7.84 13
Rotor (oz·in2) 0.66 1.64 2.62 7.38 14.74 24.06
Inertia (g·cm2) 120 300 480 1350 2700 4400
Rated RMS Series 0.71 0.71 0.71 2.15 2.05 2.55
Current
(A/phase) Parallel 1.41 1.41 1.41 4.3 4.1 5.1

Resistance Series 12.4 14.4 18 4 4.8 4.8

(Ω/phase) Parallel 3.1 3.6 4.5 1.0 1.2 1.375

Inductance Series 30.4 51.2 60.8 32 43.2 44.8

(mH/phase) Parallel 7.6 12.8 15.2 8.0 10.8 11.2
Insulation Class B
Steps per Revolution 200
Basic Step Angle 1.8°
Shaft Runout 0.05 mm
Max Shaft Radial Play @
0.02 in 0.025 in 0.02 in
1lb load
Max End Play @ 2.2-lb
0.08 in 0.075 in 0.08 in
Axial Load
Connectors 8 leads, 24AWG 8 leads, 22AWG
Temperature Rise 80°C max
Storage Temp. -40°C to 70°C [-40°F to 158°F]

Operating Temperature -20°C to 50°C [-4°F to 122°F]

Operating Humidity 5% to 95% non-condensing

Product Material Steel motor case, stainless steel shaft(s)
Environmental Rating IP40
Weight (lb [kg]) 1.03 [0.47] 1.54 [0.7] 2.2 [1.0] 4.2 [1.9] 8.4 [3.8] 11.464 [5.2]
Agency Approval None cURus
1 - Only Dual-shaft motors (suffix = “D”) are encoder ready.

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 Chapter 7: SureStepTM Stepping Motors

Specifications (continued)
SureStep™ Series Specifications – Connectorized Stepping Motors
Higher Bus Voltage Motors
Stepping Motors STP- STP- STP- STP- STP- STP-
MTRAC- MTRAC- MTRAC- MTRACH- MTRACH- MTRACH-
42100x 42151x 42202x 42100x 42151x 42202x
NEMA Frame Size 42 42 42 42 42 42
Optional Encoder1 Y Y Y Y Y Y
Unipolar Series 9.7 19.0 26.0 9.7 17.5 26.0
Max Holding Bipolar Series 12.2 22.0 31.0 12.3 22.0 32.0
Torque (N·m)
Bipolar Parallel 12.2 22.0 31.0 12.3 22.0 32.0
Rotor Inertia (g·cm2) 5500 10900 16200 5500 10900 16200
Rated RMS Unipolar Series 6 9.4 9 8.5 11.3 11.5
Current Bipolar Series 4.2 6 6 6 8 8
(A/phase) Bipolar Parallel 8.4 12 12 12 16 16
Unipolar Series 0.6 0.34 0.46 0.32 0.215 0.29
Resistance Bipolar Series 1.19 0.68 0.91 0.64 0.43 0.58
(Ω/phase)
Bipolar Parallel 0.3 0.17 0.23 0.159 0.108 0.144
Unipolar Series 5 3.6 5.5 2.5 1.9 3.2
Inductance Bipolar Series 19.8 14.5 22 10.1 7.6 13
(mH/phase)
Bipolar Parallel 5 3.6 5.5 2.5 1.9 3.2
Insulation Class B
Steps per Revolution 200
Basic Step Angle 1.8°
Shaft Runout 0.05 mm
Max Shaft Radial Play @
1.1 in
1lb load
Connectors 8 leads, 18AWG
Temperature Rise 80°C max
Storage Temp. -30°C to 70°C [-22°F to 158°F]

Operating Temperature -20°C to 40°C [-4°F to 104°F]

Operating Humidity 5% to 95% non-condensing

Product Material Steel motor case, stainless steel shaft(s)
Environmental Rating IP40
Weight (lb [kg]) 10.6 [4.8] 17.6 [8] 25.6 [11.6] 10.6 [4.8] 17.6 [8] 25.6 [11.6]
Agency Approval cURus

1 - Only Dual Shaft motors (suffix = “D”) are Encoder Ready. NEMA 42 motors require an STP-MTRA-42ENC adapter
plate for encoder mounting (holes pre-drilled and tapped for Same Sky AMT31/AMT33 or US Digital E6).

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 Chapter 7: SureStepTM Stepping Motors

Power Supply and Step Motor Drive

An STP-PWR-xxxx linear power supply from AutomationDirect is the best choice to
power AutomationDirect and other DC-input stepper drives. These power supplies
were designed to work with the AutomationDirect SureStep™ STP-DRV-xxxx series
bipolar DC microstepping motor drives. PSBxx switching power supplies are also
available from AutomationDirect.

SureStep STP-MTRAC series motors (NEMA23 and NEMA34 only) and STP-DRVAC drives
are designed for high bus voltages (120VAC, 240VAC drive input). Higher DC power supply
voltages and AC-input stepper drives generate very high bus voltages and will result in
excessive losses (heat) in the motors unless they are designed for it (see STP-MTRAC motors
and STP-DRVAC drives). Do not use low-voltage motors in a high bus voltage system.

Always check the motor specs and speed-torque curves to determine allowable drive
input voltage. To minimize heat loss in the motor, always choose the lowest input
voltage that satisfies the application’s speed-torque requirements.

Mounting the Motor

We recommend mounting the motor to a metallic surface to help dissipate heat
generated by the motor.

Connecting the Motor

Warning: When connecting a step motor to a drive or indexer, be sure that the motor
power supply is switched off. Never disconnect the motor while the drive is powered up.
Never connect the motor leads to ground or directly to the power supply.

All SureStep STP-MTR series motors have connectorized cables which connect directly
to available SureStep extension cables. Due to the different current ranges of the
three motor torque classes, three different ampacity rated cables are available in
three different lengths. The MTRL motors use EXTL cables, the MTR motors use EXT
cables, and the MTRH motors use EXTH cables. The extension cables have the same
wire color coding as the motor pigtail cables, as shown in the extension cable wiring
diagram and in the motor dimension and cabling diagram. The NEMA 23 and NEMA
34 high bus voltage MTRAC motors have 8-lead, 10-foot cables (no in-line connectors
or extension cables). NEMA 42 STP-MTRAC(H)-42x motors have a connectorized cable
that will mate with the STP-EXT42(H) extension cables.

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 Chapter 7: SureStepTM Stepping Motors

Extension Cable Wiring Diagrams

STP-EXTx-xxx Cables
EXT & EXTH CABLES
PIN# COLOR PHASE 2.00"
1 RED A+ L 1.00"
2 WHITE A- 1.0" ref
3 GREEN B+
4 BLACK B-

PIN #4
PIN #3
PIN #2 PIN #1
EXTL CABLES
CONNECTORS: HEAT SHRINK UNSHIELDED CABLE:
PIN# COLOR PHASE
EXT: Molex #43020-0401 24AWG = EXTL cables
1 RED A+
EXTH: Molex #39-01-2041 20AWG = EXT cables
2 WHITE A- 18AWG = EXTH cables
EXTL: TE #103653-3
3 GREEN B+
4 BLACK B- PIN #1

STP-EXTxW-xxx Cables
( )
1.8
[46.35]
L ±0.50
[L ±12.70]

( ) 0.50
[12.70]
1.00±0.25
[25.40±6.35]

(
Ø0.77
[Ø19.60] ) 18AWG SHIELDED CABLE:
LABEL: BELDEN # 9418
PIN # 1 (OR EQUIVALENT)
PIN # 5 STP-EXTW-0XX
PIN # 2
PIN OUT CONNECTION or
PIN # COLOR PHASE
1 RED A+ PIN # 6 STP-EXTHW-0XX
2 WHITE A-
3 GREEN B+ PIN # 4 PIN # 3
4 BLACK B- TABLE INFORMATION
5 GROUND GROUND VIEW FROM CABLE NUMBER
PIN CONNECTION CABLE LENGTH L
6 N/A N/A
STP-EXT42-006
Connector: Bulgin # PXP4011/06P/6065 6 Feet
STP-EXT42-010 10 Feet
STP-EXT42-020 20 Feet

STP-EXT42(H)-xxx Cables
HEAT SHRINK

LABEL UL2517 18AWG 8C HEAT SHRINK

STP-EXT42- XXX
Automation Direct
YYDDD

26±2 75±3

80±3
L

Pin Wire Description

1 A - White
2 A - Orange
3 C - Green For stepper drive connections (A+, A-, B+, B-), see
4 C - Brown wiring diagrams on page 7–11.
5 B - Red
6 B - Yellow
7 D - Black
8 D - Blue
9 GND - Drain wire

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–9
 Chapter 7: SureStepTM Stepping Motors

Connecting a STP-MTRAC-23x or STP-MTRAC-34x Motor

The NEMA 23 and NEMA 34 STP-MTRAC series high bus voltage motors have eight
leads and should be wired using the diagrams below:

STP-MTRAC-230xx(x), 34156(x)
White White
A+ A+
Brown
Orange 8 8
lead lead
Brown motor Orange motor
A– A–
Green Green
Red Black
Red Blue Black
Blue Yellow
B+ Yellow B– B+
B–
8 Leads Series Connected 8 Leads Parallel Connected
(for use with 340VDC max output drives) (for use with 170VDC max output drives)

Use the series winding diagram with STP- Warning!! Do NOT use this parallel winding
DRVAC-24025 drives (115 or 230 VAC) diagram with STP-DRVAC-24025 drives

STP-MTRAC-34075(x), 34115(x)

Orange Orange
A+ A+
Black/
Orange/White 8 White 8
lead Orange/
lead
Black/White motor White motor
A– A–
Black Black
Red Yellow
Red Red/ Yellow/ Yellow
White White
B+ B– B+ Yellow/ Red/
B–
White White

8 Leads Series Connected 8 Leads Parallel Connected

(for use with 340VDC max output drives) (for use with 170VDC max output drives)

Use the series winding diagram with STP- Warning!! Do NOT use this parallel winding
DRVAC-24025 drives (115 or 230 VAC) diagram with STP-DRVAC-24025 drives

7–10 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors

Connecting a STP-MTRAC(H)-42 Motor

The STP-MTRAC(H)-42 series higher bus voltage motors have eight leads and should
be wired using the diagrams below:

Uni-polar Bi-polar series

WHT

WHT
ORG

ORG
GRN

GRN
YEL
BLU

YEL
BLK

BLU
BLK
RED

RED
BRN

BRN
A+ O A- B+ M B- A+ A- B+ B-

Bi-polar parallel
WHT
ORG

GRN

YEL
BLU
BLK
RED
BRN

A+ A- B+ B-

NOTE: Bipolar Series will be the most common application. The larger Bipolar Parallel
motors require 12A and 16A current from a stepper drive.

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–11
 Chapter 7: SureStepTM Stepping Motors

Motor Dimensions and Cabling

Typical Dimension & Cable Diagrams
STP-MTR-xxxxx

NOTE: MTRH and MTRAC

information is on later pages

STP-MTR-xxxxxW

7–12 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors

STP-MTR-34xxx
3.39 1.46 B 1.13 [28.7]*** 1.812
[86.1] [37.1] [46.0]
2.74 1.22
[69.6] [31.0]
2.88 [73.0]
D**
2X M3 x 0.5 thread
A** on 1.73 in.
bolt circle
1.22
[31.0]
C**

4X 0.26 [6.6] through

UNSHIELDED CABLE:
4 CONDUCTORS
12 [305]

CONNECTOR:
MOLEX #

EXTL MOTORS EXT & EXTH MOTORS

PIN # COLOR PHASE PIN # COLOR PHASE
PIN # 1 PIN # 1
1 RED A+ PIN # 2 1 RED A+
2 YELLOW A- PIN # 3 2 WHITE A-
3 GREEN B+ PIN # 4 3 GREEN B+
4 BLACK B- 4 BLACK B-
CONNECTOR: CONNECTOR:
VIEW FROM WIRE ENTRANCE VIEW FROM WIRE ENTRANCE

C** D**

NEMA # 34 (front shaft): TWO FLATS 90° APART

** Dimension A is the same for both front and rear shafts of dual-shaft motors.
** Dimensions C & D do NOT apply to rear shafts of dual-shaft motors (all rear shafts are round style).
*** Dimension applies only to dual-shaft (D) motors.

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–13
 Chapter 7: SureStepTM Stepping Motors

SureStep™ Series Dimensions & Cabling – STP-MTR-x*** Step Motors

Dimensions Low Torque Motors High Torque Motors STP-MTR-x
STP-MTRL STP-MTRL STP-MTR STP-MTR STP-MTR STP-MTR STP-MTR STP-MTR
(in [mm])*
-14026x -14034x -17040x -17048x -17060x -23055x -23079x -34066x
A 1.39 [35.3] 1.67 [42.3] 2.25 [57.2] 3.39 [86.1]
B 1.02 [25.9] 1.22 [31.0] 1.86 [47.2] 2.74 [69.6]
C Ø 0.87 [22.1] Ø 1.50 [38.1] Ø 2.88 [73.0]
D** Ø 0.20 [5.0] Ø 0.25 [6.4] Ø 0.50 [12.7]
4-40 thread M3 x 0.5 thread Ø 0.20 [5.1] Ø 0.26 [6.6]
E
0.15 [3.8] min depth 0.15 [3.8] min depth through through

M2
M2.5 x 0.45
E2 M2.5 X 0.45 thread x 0.4 4-40
thread
thread
M3 x 0.5
thread on a
E3 n/a
1.73 in. bolt
circle
F1** 1.02 [25.9] 1.34 [34.0] 1.58 [40.1] 1.89 [48.0] 2.34 [59.5] 2.22 [56.4] 3.10 [78.7] 2.64 [67.1]
F2** n/a 1.90 [48.3] 2.24 [56.9] 2.67 [67.8] 2.33 [59.1] 3.19 [81.0] 2.64 [67.1]
0.411
G1 0.375 [9.5] 0.906 [23] n/a
[10.4]
G2 0.75 [19.1] n/a 1.812 [46]
G3 n/a 1.22 [31]
H1 0.60 [15.2] 0.94 [24.0] 0.81 [20.6] 1.46 [37.1]
H2** 0.51 [13.0] 0.51 [13] 0.51 [13] 1.13 [28.7]
H3** 0.40 [10.1] n/a
J** n/a 0.59 [15.0] 0.98 [25.0]
K** n/a 0.23 [5.8] 0.45 [11.4]
L 12 [305]
(4) #20 AWG
Conductor (4) #26 AWG
(5) #18 AWG (for W motors)
Molex # 43025-0400
Connector TE # 103653-3
PXP4010/06S/6065 (for W motors)
TE # 1-104505-3 Molex # 43030-0007
Pin
(LOOSE) Socket: SA3347 (for W motors)
* mm dimensions are for reference purposes only.
** D
 imension D (shaft diameter) is the same for both front and rear shafts of dual-shaft and encoder motors.
Dimension H2 applies only to dual-shaft (D) and encoder (E) motors. Dimensions J & K do NOT apply to rear shafts
of dual-shaft or encoder motors (all rear shafts are round style). Dimension H3 applies only to “E” models with the
encoder pre-mounted. Dimension F2 applies to “W” models only.
*** Higher Torque STP-MTRH and high bus voltage STP-MTRAC motors are shown in a separate table.

7–14 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors

Typical Dimension & Cable Diagram for STP-MTRH

STP-MTRH-23079x

NOTE: NEMA 34 motor on the

next page.

STP-MTRH-xxxxxW
NOTE: STP-MTRAC information is
on later pages

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–15
 Chapter 7: SureStepTM Stepping Motors

STP-MTRH-34xxx
3.39 1.46 B 1.13 [28.7]*** 1.812
[86.1] [37.1] [46.0]
2.74 1.22
[69.6] [31.0]
2.88 [73.0]
D**
2X M3 x 0.5 thread
A** on 1.73 in.
bolt circle
1.22
[31.0]
C**

4X 0.26 [6.6] through

UNSHIELDED CABLE:
4 CONDUCTORS
12 [305]

CONNECTOR:
MOLEX #

EXTL MOTORS EXT & EXTH MOTORS

PIN # COLOR PHASE PIN # COLOR PHASE
PIN # 1 PIN # 1
1 RED A+ PIN # 2 1 RED A+
2 YELLOW A- PIN # 3 2 WHITE A-
3 GREEN B+ PIN # 4 3 GREEN B+
4 BLACK B- 4 BLACK B-
CONNECTOR: CONNECTOR:
VIEW FROM WIRE ENTRANCE VIEW FROM WIRE ENTRANCE

C** D**

NEMA # 34 (front shaft): TWO FLATS 90° APART

** Dimension A is the same for both front and rear shafts of dual-shaft motors.
** Dimensions C & D do NOT apply to rear shafts of dual-shaft motors (all rear shafts are round style).
*** Dimension applies only to dual-shaft (D) motors.

7–16 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors

SureStep™ Series Dimensions & Cabling – STP-MTRH-x*** Step Motors

Dimensions Higher Torque Motors STP-MTRH-x
STP-MTRH-
(in [mm])* STP-MTRH-34066x STP-MTRH-34097x STP-MTRH-34127x
23079x
A 2.25 [57.2] 3.39 [86.1]
B 1.86 [47.2] 2.74 [69.6]
C Ø 1.50 [38.1] Ø 2.88 [73.0]
D** Ø 0.25 [6.4] Ø 0.50 [12.7]
E Ø 0.20 [5.1] through Ø 0.26 [6.6] through
E2 4-40 M2.5 x 0.45 thread
E3 n/a M3 x 0.5 thread on a 1.73 in. bolt circle
F1** 3.10 [78.7] 2.64 [67.1] 3.82 [97.1] 5.00 [127.0]
F2** 3.19 [81.0] 2.74 [67.1] 3.82 [97.1] 5.00 [127.0]
G1 0.906 [23] n/a
G2 1.812 [46]
G3 n/a 1.22 [31]
H1 0.81 [20.6] 1.46 [37.1]
H2** 0.51 [13] 1.13 [28.7]
H3** 0.40 [10.2] n/a
J** 0.59 [15.0] 0.98 [25.0]
K** 0.23 [5.8] 0.45 [11.4]
L 12 [305]
(4) #18 AWG
Conductor (5) #18 AWG (for W motors)
Molex # 39-01-3042
Connector PXP4010/06S/6065 (for W motors)
Molex # 39-00-0039
Pin Socket: SA3347 (for W motors)
* mm dimensions are for reference purposes only.
** Dimension D (shaft diameter) is the same for both front and rear shafts of dual-shaft and encoder motors.
Dimension H2 applies only to dual-shaft (D) and encoder (E) motors. Dimensions J & K do NOT apply to rear shafts
of dual-shaft and encoder motors (all rear shafts are round style). Dimension H3 applies only to “E” models with
the encoder pre-mounted. Dimension F2 applies to “W” models only.
*** High bus voltage STP-MTRAC motors are shown in a separate table.

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–17
 Chapter 7: SureStepTM Stepping Motors

Typical Dimension & Cable Diagram for STP-MTRAC

STP-MTRAC-23xxx
H1
A
F H2
B
J** J**
øC

øD**

4X øE

SHIELDED CABLE:
8 CONDUCTORS L

STRIPPED
0.60-0.80"

Rear of Motor

2X E 2 * on ø1.28 BC

D**
2X E 3 * on ø1.81 BC

2X E 4 * on ø0.75 BC

NEMA # 23: ONE FLAT of DIMENSION J LENGTH

** Dimension H2 applies only to dual-shaft (D).

** Dimension D is the same for both front and rear shafts of dual-shaft.

STP-MTRAC-34xxx
A
H1 F H2
B DIMENSIONS IN INCHES
J**

MODEL # A B ĂC ĂD** ĂE E2 øC E3 E4 F G1 G2 H1 H2 J L
MTRAC-23044 2.25 1.86 1.50 0.25 0.2 N/A N/A N/A 1.71 N/A N/A 0.81 N/A 0.60 120
MTRAC-23055 2.25 1.86 1.50 0.25 0.2 N/A N/A N/A 2.16 N/A N/A 0.81 N/A 0.60 120
MTRAC-23078 2.25 1.86 1.50 0.25 0.2 N/A øD** N/A N/A 3.05 N/A N/A 0.81 N/A 0.60 120
MTRAC-23044D 2.25 1.86 1.50 0.25 0.2 56-UNC 0.2 DEEP 56-UNC TAP THRU 4-40 UNC TAP 0.2 DEEP 1.71 0.375 0.64 0.81 0.63 0.60 120
MTRAC-23055D 2.25 1.86 1.50 0.25 0.2 56-UNC 0.2 DEEP 56-UNC TAP THRU 4-40 UNC TAP 0.2 DEEP 2.16 0.375 0.64 0.81 0.63 0.60 120
MTRAC-23078D 2.25 1.86 1.50 0.25 0.2 56-UNC 0.2 DEEP 56-UNC TAP THRU 4-40 UNC TAP 0.2 DEEP 3.05 0.375 0.64 0.81 0.63 0.60 120

K**

4X øE

STRIPPED SHIELDED CABLE:

0.60-0.80" L 8 CONDUCTORS

Rear of Motor Rear Shaft ø0.375

D** K**
2X E2 * on ø1.28 BC

NEMA # -34075x and -34155x (front shaft): KEYED,

Key Dimensions 0.125 X 0.125 X 0.875
NEMA # -34156x (front shaft): KEYED,
2X E3 * on ø1.81BC Key Dimensions 0.1875 X 0.1875 X 0.875

** Dimension H2 applies only to dual-shaft (D) motors.

** Dimensions J & K do NOT apply to rear shafts of dual-shaft
motors (all rear shafts are round style).

7–18 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025

DIMENSIONS IN INCHES
 Chapter 7: SureStepTM Stepping Motors

SureStep™ Series Dimensions & Cabling – STP-MTRAC-x Step Motors

Dimensions High Bus Voltage Motors
STP-MTRAC STP-MTRAC STP-MTRAC STP-MTRAC STP-MTRAC STP-MTRAC
(in [mm])*
-23044x -23055x -23078x -34075x -34115x -34156x
A 2.25 [57.15] 2.25 [57.15] 2.25 [57.15] 3.39 [86.1] 3.39 [86.1] 3.39 [86.1]

B 1.86 [47.24] 1.86 [47.24] 1.86 [47.24] 2.74 [69.6] 2.74 [69.6] 2.74 [69.6]

C 1.50 [38.1] 1.50 [38.1] 1.50 [38.1] 2.87 [72.9] 2.87 [72.9] 2.87 [72.9]

D** 0.25 [6.35] 0.25 [6.35] 0.25 [6.35] 0.5 [12.7] 0.5 [12.7] 0.625 [15.9]

E 0.2 [5.08] 0.2 [5.08] 0.2 [5.08] 0.22 [5.59] 0.26 [6.6] 0.22 [5.59]

2-56 UNC Tap 2-56 UNC Tap 2-56 UNC Tap 0.2
E2*** 2-56 thru 2-56 thru 2-56 thru
0.2 Deep 0.2 Deep Deep
4-40 UNC x 0.2 4-40 UNC x 0.2 4-40 UNC x 0.2 4-40 UNC Tap 0.2 4-40 UNC Tap 0.2 4-40 UNC Tap 0.2
E3***
Deep Deep Deep Deep Deep Deep
2-56 UNC Tap 0.2 2-56 UNC Tap 0.2 2-56 UNC Tap 0.2
E4*** – – –
Deep Deep Deep
F 1.71 [43.43] 2.16 [54.86] 3.05 [77.47] 2.95 [74.93] 4.52 [114.81] 6.14 [155.96]
H1 0.81 [20.57] 0.81 [20.57] 0.81 [20.57] 1.25 [31.75] 1.25 [31.75] 1.25 [31.75]

H2*** 0.63 [16.0] 0.63 [16.0] 0.63 [16.0] 1.12 [28.45] 1.12 [28.45] 1.12 [28.45]

J 0.60 [15.24] 0.60 [15.24] 0.60 [15.24] 0.87 [22.1] 0.87 [22.1] 0.87 [22.1]

L 120 [3048] 120 [3048] 120 [3048] 120 [3048] 120 [3048] 120 [3048]

* mm dimensions are for reference purposes only.

** Dimension D (shaft diameter) is the same for both front and rear shafts of NEMA 23 dual-shaft motors. See
diagrams for NEMA 34.
*** Dimension applies only to dual-shaft (D) motors.

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–19
 Chapter 7: SureStepTM Stepping Motors

Typical Dimension & Cable Diagram for STP-MTRAC(H)-42x

oA
H1 F H2 **
oB
Rear Shaft Ø0.50
J***
ØC

ĂD*

4X E 2 * on Ø3.00 BC

K***

4X ØE

SHIELDED CABLE:
Housing: MOLEX 39-01-2100
8 CONDUCTORS
Terminal: MOLEX 39-00-0038 L

D* K***

NEMA # 42 (front shaft): KEYED, Key Dimensions 0.188 X 0.188 X 1.377

* Dimension D applies only to the front shaft.

** Dimension H2 applies only to dual-shaft (D) motors.
*** Dimensions J & Key do NOT apply to rear shafts of dual-shaft motors (all rear shafts are round style).

SureStep™ Series Dimensions & Cabling – STP-MTRAC(H)-42x Step Motors

DIMENSIONS IN INCHES Higher Bus Voltage Motors
Dimensions
STP-MTRAC(H)- STP-MTRAC(H)- STP-MTRAC(H)- STP-MTRAC(H)- G STP-MTRAC(H)- STP-MTRAC(H)-
(in [mm])*
MODEL # A B ĂC ĂD** ĂE E E 2 F G H H 3J L 1 2 1 2
STP-MTRAC-42100
STP-MTRAC-42151
4.33
4.33
3.50
3.50
2.19
2.19 421000.327
0.75
0.75
0.327
42151
N/A
N/A
42202
N/A
N/A
42100D
3.88
5.94
N/A
N/A
N/A
N/A
42151D
2.19
2.19
N/A
N/A
1.37
1.37 42202D
120
120
STP-MTRAC-42202 4.33 3.50 2.19 0.75 0.327 N/A N/A 7.91 N/A N/A 2.19 N/A 1.37 120
STP-MTRACH-42100 4.33 3.50 2.19 0.75 0.327 N/A 3.88 N/A N/A 2.19 N/A 1.37 120
A
N/A
STP-MTRACH-42151 4.33 3.50 2.19 4.33 [110]
0.75 0.327 4.33 [110]
N/A 4.33 [110]
N/A 4.33 [110]
5.94 N/A N/A 4.33 [110]
2.19 N/A 1.37 4.33
120 [110]
STP-MTRACH-42202 4.33 3.50 2.19 0.75 0.327 N/A N/A 7.91 N/A N/A 2.19 N/A 1.37 120
STP-MTRAC-42100D 4.33 3.50 2.19 0.75 0.327 4-40 UNC TAP 0.2 DEEP N/A 3.88 N/A N/A 2.19 1.12 1.37 120
STP-MTRAC-42151D
STP-MTRAC-42202D
B
4.33
4.33
3.50
3.50
2.19
2.19
3.50 [88.9]
0.75
0.75
0.327
0.327
3.50 [88.9]
4-40 UNC TAP 0.2 DEEP
4-40 UNC TAP 0.2 DEEP
3.50 [88.9]
N/A
N/A
3.50 [88.9]
5.94
7.91
N/A
N/A
N/A
N/A
3.50 [88.9]
2.19
2.19
1.12
1.12
1.37
1.37
3.50
120 [88.9]
120
STP-MTRACH-42100D 4.33 3.50 2.19 0.75 0.327 4-40 UNC TAP 0.2 DEEP N/A 3.88 N/A N/A 2.19 1.12 1.37 120
STP-MTRACH-42151D
STP-MTRACH-42202D
C
4.33
4.33
3.50
3.50
2.19
2.19
2.19 [55.6]
0.75
0.75
0.327
0.327
2.19 [55.6]
4-40 UNC TAP 0.2 DEEP
4-40 UNC TAP 0.2 DEEP
2.19 [55.6]
N/A
N/A
2.19 [55.6]
5.94
7.91
N/A
N/A
N/A
N/A
2.19 [55.6]
2.19
2.19
1.12
1.12
1.37
1.37
2.19 [55.6]
120
120

D** 0.75 [19.05] 0.75 [19.05] 0.75 [19.05] 0.75 [19.05] 0.75 [19.05] 0.75 [19.05]

E 0.327 [8.31] 0.327 [8.31] 0.327 [8.31] 0.327 [8.31] 0.327 [8.31] 0.327 [8.31]

4-40 UNC Tap 4-40 UNC Tap 4-40 UNC

E2 n/a n/a n/a
0.2 Deep 0.2 Deep Tap 0.2 Deep
F 3.88 5.94 7.91 3.88*** 5.94*** 7.91***
H1 2.19 [55.6] 2.19 [55.6] 2.19 [55.6] 2.19 [55.6] 2.19 [55.6] 2.19 [55.6]

H2 n/a n/a n/a 1.12 [28.4] 1.12 [28.4] 1.12 [28.4]

J** 1.37 [34.8] 1.37 [34.8] 1.37 [34.8] 1.37 [34.8] 1.37 [34.8] 1.37 [34.8]
L 12 [305]
* mm dimensions are for reference purposes only.
** Dimension D (shaft diameter), J, and Key do not apply to rear shafts of dual-shaft motors.
*** For encoder mounting the required STP-MTRA-42ENC will add 0.13 inches [3.2 mm] to the length of the motor.

7–20 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors

Torque vs. Speed Charts

STP-MTR-14xxx(D) NEMA 14 Step Motors
STP-MTR-14026(x) Torque vs Speed (1.8° step motor; 1/2 stepping, RMS phase current)

48V Power Supply 24V Power Supply

Speed (rpm)

0 300 600 900 1200 1500 1800 2100

8

6
Torque (oz·in)

0
0 2000 4000 6000 8000 10000 12000 14000
Speed (pps) [1 pulse = 0.9°]

STP-MTR-14034(x) Torque vs Speed (1.8° step motor; 1/2 stepping, RMS phase current)

48V Power Supply 24V Power Supply

Speed (rpm)

0 300 600 900 1200 1500 1800 2100

16

12
Torque (oz·in)

0
0 2000 4000 6000 8000 10000 12000 14000
Speed (pps) [1 pulse = 0.9°]

STP-MTR-17xxx(D) NEMA 17 Step Motors

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–21
 Chapter 7: SureStepTM Stepping Motors

Note: “W” series motors have 5% less running torque than other models.
STP-MTR-17040x Torque vs Speed (1.8° step motor; 1/2 stepping, RMS phase current)

70V Power Supply 48V Power Supply 32V Power Supply

Speed (rpm)

0 300 600 900 1200 1500 1800 2100 2400 2700

90
80
70
60
Torque (oz·in)

50
40
30
20
10
0
0 2000 4000 6000 8000 10000 12000 14000 16000 18000
Speed (pps) [1 pulse = 0.9 degree]

STP-MTR-17048x Torque vs Speed (1.8° step motor; 1/2 stepping, RMS phase current)

70V Power Supply 48V Power Supply 32V Power Supply

Speed (rpm)

0 300 600 900 1200 1500 1800 2100 2400 2700

90
80
70
60
Torque (oz·in)

50
40
30
20
10
0
0 2000 4000 6000 8000 10000 12000 14000 16000 18000
Speed (pps) [1 pulse = 0.9 degree]

7–22 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors

Torque vs. Speed Charts (continued)

Note: “W” series motors have 5% less running torque than other models.

STP-MTR-17xxx(D) NEMA 17 Step Motors (continued)

STP-MTR-17060x Torque vs Speed (1.8° step motor; 1/2 stepping, RMS phase current)

70V Power Supply 48V Power Supply 32V Power Supply

Speed (rpm)

0 300 600 900 1200 1500 1800 2100 2400 2700

90
80
70
60
50
Torque (oz·in)

40
30
20
10
0
0 2000 4000 6000 8000 10000 12000 14000 16000 18000
Speed (pps) [1 pulse = 0.9 degree]

STP-MTR(H)-23xxx(D) NEMA 23 Step Motors

STP-MTR-23055x Torque vs Speed (1.8° step motor; 1/2 stepping, RMS phase current)

70V Power Supply 48V Power Supply 32V Power Supply

Speed (rpm)

0 450 900 1350 1800 2250

200

150
Torque (oz·in)

100

50

0
0 2000 4000 6000 8000 10000 12000 14000
Speed (pps) [1 pulse = 0.9°]

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–23
 Chapter 7: SureStepTM Stepping Motors

Torque vs. Speed Charts (continued)

Note: “W” series motors have 5% less running torque than other models.

STP-MTR(H)-23xxx(D) NEMA 23 Step Motors (continued)

STP-MTR-23079x Torque vs Speed (1.8° step motor; 1/2 stepping, RMS phase current)

70V Power Supply 48V Power Supply 32V Power Supply

Speed (rpm)

0 450 900 1350 1800 2250

200

150
Torque (oz·in)

100

50

0
0 2000 4000 6000 8000 10000 12000 14000
Speed (pps) [1 pulse = 0.9°]
STP-MTRH-23079x Torque vs Speed (1.8° step motor; 1/2 stepping, RMS phase current)

70V Power Supply 48V Power Supply 32V Power Supply

Speed (rpm)

0 450 900 1350 1800 2250

200

150
Torque (oz·in)

100

50

0
0 2000 4000 6000 8000 10000 12000 14000
Speed (pps) [1 pulse = 0.9°]

7–24 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors

Torque vs. Speed Charts (continued)

Note: “W” series motors have 5% less running torque than other models.

STP-MTR(H)-34xxx(D) NEMA 34 Step Motors

STP-MTR-34066x Torque vs Speed (1.8° step motor; 1/2 stepping, RMS phase current)

70V Power Supply 48V Power Supply 32V Power Supply

Speed (rpm)
0 450 900 1350 1800 2250
1000

800
Torque (oz·in)

600

400

200

0
0 2000 4000 6000 8000 10000 12000 14000
Speed (pps) [1 pulse = 0.9°]
STP-MTRH-34066x Torque vs Speed (1.8° motor; 1/2 stepping, RMS phase current)

70V Power Supply 48V Power Supply 32V Power Supply

Speed (rpm)
0 450 900 1350 1800 2250
1000

800
Torque (oz·in)

600

400

200

0
0 2000 4000 6000 8000 10000 12000 14000
Speed (pps) [1 pulse = 0.9°]

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–25
 Chapter 7: SureStepTM Stepping Motors

Torque vs. Speed Charts (continued)

Note: “W” series motors have 5% less running torque than other models.

STP-MTR(H)-34xxx(D) NEMA 34 Step Motors (continued)

STP-MTRH-34097x Torque vs Speed (1.8° step motor; 1/2 stepping, RMS phase current)

70V Power Supply 48V Power Supply 32V Power Supply

Speed (rpm)
0 450 900 1350 1800 2250
1000

800
Torque (oz·in)

600

400

200

0
0 2000 4000 6000 8000 10000 12000 14000
Speed (pps) [1 pulse = 0.9°]

STP-MTRH-34127x Torque vs Speed (1.8° step motor; 1/2 stepping, RMS phase current)

70V Power Supply 48V Power Supply 32V Power Supply

Speed (rpm)
0 450 900 1350 1800 2250
1000

800
Torque (oz·in)

600

400

200

0
0 2000 4000 6000 8000 10000 12000 14000
Speed (pps) [1 pulse = 0.9°]

7–26 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors

Torque vs. Speed Charts (continued)

STP-MTRAC-23xxxx Torque vs Speed @ 340VDC bus
(1.8° step motor; 1/2 stepping)
250

200
(oz·in)

150
(oz-in)
Torque

100

50

0
0 10 20 30 40 50 60 70
(rps)

STP-MTRAC-23044 STP-MTRAC-23055 STP-MTRAC-23078

STP-MTRAC-34xxxx Torque vs Speed @ 340VDC bus

(1.8° step motor; 1/2 stepping)
1600

1400

1200

1000
(oz·in)
(oz-in)

800
Torque

600

400

200

0
0 10 20 30 40 50 60 70
Revoluons per second (rps)

STP-MTRAC-34075 STP-MTRAC-34115 STP-MTRAC-34156

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–27
 Chapter 7: SureStepTM Stepping Motors
For NEMA 42 charts:
“S” = Bipolar Series
Torque vs. Speed Charts (continued) “P” = Bipolar Parallel
STP-MTRAC-42100x 24/48 VDC
S 4.2 A, 24vDC P 8.4 A, 24vDC S 4.2 A, 48vDC P 8.4 A, 48vDC

Speed (RPM)
0 250 500 750 1000 1250 1500 1750 2000
1600

1400

1200

1000
Torque (oz-in)

800

600

400

200

0
0 1667 3333 5000 6667 8333 10000 11667 13333

Speed (pps) [1 pulse = 0.9 degree]

STP-MTRAC-42100x 72/160VDC

S 4.2 A, 72vDC P 8.4 A, 72vDC S 4.2 A, 160vDC P 8.4 A, 160vDC

Speed (RPM)
0 500 1000 1500 2000 2500 3000 3500
1600

1400

1200

1000
Torque (oz-in)

800

600

400

200

0
0 3333 6667 10000 13333 16667 20000 23333

Speed (pps) [1 pulse = 0.9 degree]

7–28 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors
For NEMA 42 charts:
“S” = Bipolar Series
Torque vs. Speed Charts (continued) “P” = Bipolar Parallel
STP-MTRAC-42151x 24/48 VDC

S 6.0 A, 24vDC P 12.0 A, 24vDC S 6.0 A, 48vDC P 12.0 A, 48vDC

Speed (RPM)
0 250 500 750 1000 1250 1500 1750 2000
3000

2500

2000
Torque (oz-in)

1500

1000

500

0
0 1667 3333 5000 6667 8333 10000 11667 13333

Speed (pps) [1 pulse = 0.9 degree]

STP-MTRAC-42151x 72/160VDC

S 6.0 A, 72vDC P 12.0 A, 72vDC S 6.0 A, 160vDC P 12.0 A, 160vDC

Speed (RPM)
0 500 1000 1500 2000 2500 3000 3500
3000

2500

2000
Torque (oz-in)

1500

1000

500

0
0 3333 6667 10000 13333 16667 20000 23333

Speed (pps) [1 pulse = 0.9 degree]

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–29
 Chapter 7: SureStepTM Stepping Motors
For NEMA 42 charts:
“S” = Bipolar Series
Torque vs. Speed Charts (continued) “P” = Bipolar Parallel
STP-MTRAC-42202x 24/48 VDC
S 6.0 A, 24vDC P 12.0 A, 24vDC S 6.0 A, 48vDC P 12.0 A, 48vDC

Speed (RPM)
0 250 500 750 1000 1250 1500 1750 2000
4000

3500

3000

2500
Torque (oz-in)

2000

1500

1000

500

0
0 1667 3333 5000 6667 8333 10000 11667 13333

Speed (pps) [1 pulse = 0.9 degree]

STP-MTRAC-42202x 72/160VDC
S 6.0 A, 72vDC P 12.0 A, 72vDC S 6.0 A, 160vDC P 12.0 A, 160vDC

Speed (RPM)
0 500 1000 1500 2000 2500 3000 3500
4000

3500

3000

2500
Torque (oz-in)

2000

1500

1000

500

0
0 3333 6667 10000 13333 16667 20000 23333

Speed (pps) [1 pulse = 0.9 degree]

7–30 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors
For NEMA 42 charts:
“S” = Bipolar Series
Torque vs. Speed Charts (continued) “P” = Bipolar Parallel
STP-MTRACH-42100x 24/48 VDC
S 6.0 A, 24vDC P 12.0 A, 24vDC S 6.0 A, 48vDC P 12.0 A, 48vDC

Speed (RPM)
0 250 500 750 1000 1250 1500 1750 2000
1600

1400

1200

1000
Torque (oz-in)

800

600

400

200

0
0 1667 3333 5000 6667 8333 10000 11667 13333

Speed (pps) [1 pulse = 0.9 degree]

STP-MTRACH-42100x 72/160VDC
S 6.0 A, 72vDC P 12.0 A, 72vDC S 6.0 A, 160vDC P 12.0 A, 160vDC

Speed (RPM)
0 500 1000 1500 2000 2500 3000 3500
1600

1400

1200

1000
Torque (oz-in)

800

600

400

200

0
0 3333 6667 10000 13333 16667 20000 23333

Speed (pps) [1 pulse = 0.9 degree]

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–31
 Chapter 7: SureStepTM Stepping Motors
For NEMA 42 charts:
“S” = Bipolar Series
Torque vs. Speed Charts (continued) “P” = Bipolar Parallel
STP-MTRACH-42151x 24/48 VDC

S 8.0 A, 24vDC P 16.0 A , 24vDC S 8.0 A, 48vDC P 16.0 A , 48vDC

Speed (RPM)
0 250 500 750 1000 1250 1500 1750 2000
3000

2500

2000
Torque (oz-in)

1500

1000

500

0
0 1667 3333 5000 6667 8333 10000 11667 13333

Speed (pps) [1 pulse = 0.9 degree]

STP-MTRACH-42151x 72/160VDC

S 8.0 A, 72vDC P 16.0 A , 72vDC S 8.0 A, 160vDC P 16.0 A , 160vDC

Speed (RPM)
0 500 1000 1500 2000 2500 3000 3500
3000

2500

2000
Torque (oz-in)

1500

1000

500

0
0 3333 6667 10000 13333 16667 20000 23333

Speed (pps) [1 pulse = 0.9 degree]

7–32 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 7: SureStepTM Stepping Motors
For NEMA 42 charts:
“S” = Bipolar Series
Torque vs. Speed Charts (continued) “P” = Bipolar Parallel
STP-MTRACH-42202x 24/48 VDC
S 8.0 A, 24vDC P 16.0 A, 24vDC S 8.0 A, 48vDC P 16.0 A, 48vDC

Speed (RPM)
0 250 500 750 1000 1250 1500 1750 2000
4000

3500

3000

2500
Torque (oz-in)

2000

1500

1000

500

0
0 1667 3333 5000 6667 8333 10000 11667 13333

Speed (pps) [1 pulse = 0.9 degree]

STP-MTRACH-42202x 72/160VDC

S 8.0 A, 72vDC P 16.0 A, 72vDC S 8.0 A, 160vDC P 16.0 A, 160vDC

Speed (RPM)
0 500 1000 1500 2000 2500 3000 3500
4000

3500

3000

2500
Torque (oz-in)

2000

1500

1000

500

0
0 3333 6667 10000 13333 16667 20000 23333

Speed (pps) [1 pulse = 0.9 degree]

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 7–33
 Chapter 7: SureStepTM Stepping Motors

BLANK
PAGE

7–34 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 8
SureStepTM
Chapter
Linear Actuators

In This Chapter...
Features ������������������������������������������������������������������������������������������������������������������ 8–2
Design and Installation Tips�������������������������������������������������������������������������������� 8–3
Model Number Explanation�������������������������������������������������������������������������������� 8–3
Specifications �������������������������������������������������������������������������������������������������������� 8–4
Power Supply and Step Motor Drive ���������������������������������������������������������������� 8–8
Mounting the Motor���������������������������������������������������������������������������������������������� 8–8
Journal Mounting �������������������������������������������������������������������������������������������������������������������������������8–8
Connecting the Motor ����������������������������������������������������������������������������������������8–10
Extension Cable Wiring Diagrams �������������������������������������������������������������������������������������������������8–10
Motor Dimensions and Cabling������������������������������������������������������������������������8–12
Thrust vs. Speed Charts��������������������������������������������������������������������������������������8–16
 Chapter 8: SureStepTM Linear Actuators

Features
•  tepper Linear Actuators available in NEMA 17 and NEMA 23 motor frame sizes.
S
• Square frame style produces high torque and achieves best torque to volume ratio.
• Linear forces up to 193lbs
• Linear speeds up to 19 in/sec
• Available in single-shaft and dual-shaft configurations.
• Lead Screws are cold-finished stainless steel (SUS303Cu).
• Nuts are PTFE-infused polymer (TECFORM AD AF) and require no lubrication.
• Dual shaft models are encoder ready (pretapped holes ready for modular encoder
mounting).
• Dual shaft models have machined journals and grooves for bearing and retaining ring
mounting.
• Three lead screw lengths of 6, 9, and 12 inches
• Nine different lead pitches from 1.25 mm/rev to 1 inch/rev
• Optional 6, 10, or 20 foot extension cable with locking connector available.
• Replacement triangular nuts and round nuts available.

NEMA 17

NEMA 23

8–2 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 8: SureStepTM Linear Actuators

Design and Installation Tips

Allow sufficient time to accelerate the load and size the step motor with a 100%
torque safety factor (i.e.: design the system using a maximum of 50% of the motor’s
torque). DO NOT disassemble lead screw step motors, as motor performance will
be reduced and the warranty will be voided. DO NOT connect or disconnect the step
motor during operation.
The motor can be mounted in any orientation (horizontal or vertical). There can be
slight backlash when mounting in a horizontal application. Most vertical applications
will not be subjected to any noticeable backlash. In horizontal applications do not
apply any appreciable overhung load to the screw. If the load causes more than
0.0025” of deflection per inch of lead screw, support the end of the screw with a
sleeve, bushing or bearing. In vertical applications securing the end of the screw may
not be needed. Mount it to a surface with good thermal conductivity, such as steel or
aluminum, to allow heat dissipation.
In general, the higher the current into a step motor the higher the torque, especially
at lower speeds. The higher the voltage to the step motor, the higher the torque at
higher speeds. Losses come in to play here, too. The higher you run the current on
the motors, the higher your losses are going to be, and the hotter your motors are
going to get. For this reason, Automation Direct specs current for motors at the RMS
value. This is the value on the motor’s label and specification table. This guarantees
a very long life for the motor. Multiplying the motor’s RMS phase current by 1.2 gives
a good balance of rotary torque (linear thrust of the actuator) vs loss. This value
should then be used to set the drive’s peak phase current. Note that the whole speed
thrust curve won’t be shifted up, only the low speed flat part before the torque starts
dropping. The curve can drop for many reasons, but typically it’s due to not having
enough voltage to push the desired current into the windings, so increasing the
voltage is what gives you a boost there, not making more current available.

Model Number Explanation

STP- L E x x - x x xx xxx
Screw Configuration
ANN: Triangular nut, no encoder, no machining
ADJ: Triangular nut, dual shaft, encoder ready,
journal w/groove
Screw Length
06: 6 inches
09: 9 inches
12: 12 inches
Screw Code
A, B, C, D, E, F, G, H, or K.
Motor Stacks
1: Single stack
2: Double stack
3: Triple stack
Component Type
LE17: NEMA 17 linear actuator
LE23: NEMA 23 linear actuator
SureStep Series Designation: STP

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 8–3
 Chapter 8: SureStepTM Linear Actuators

Specifications
The tables below reference the specifications for all the SureStep Linear Actuators
sold by AutomationDirect. Click the location link to go directly to the spec table.

Lead Nominal Thrust Motor Weight Specifications

Model Number
(per rev) (@150RPM) (lbs) Location
STP-LE17-2A06ANN 0.7

STP-LE17-2A09ANN 0.8

STP-LE17-2A12ANN 0.9
0.25” 45lbs Table 1, STP-LE17-2Axxyyy
STP-LE17-2A06ADJ 0.7

STP-LE17-2A09ADJ 0.8

STP-LE17-2A12ADJ 0.9

STP-LE17-3A06ANN 0.9

STP-LE17-3A09ANN 1.1

STP-LE17-3A12ANN 1.3
0.25” 69lbs Table 1, STP-LE17-3Axxyyy
STP-LE17-3A06ADJ 0.9

STP-LE17-3A09ADJ 1.1

STP-LE17-3A12ADJ 1.3

STP-LE17-3B06ANN 0.9

STP-LE17-3B09ANN 1.1

STP-LE17-3B12ANN 1.3
0.5” 38lbs Table 1, STP-LE17-3Bxxyyy
STP-LE17-3B06ADJ 0.9

STP-LE17-3B09ADJ 1.1

STP-LE17-3B12ADJ 1.3

STP-LE17-2C06ANN 0.7

STP-LE17-2C09ANN 0.8

STP-LE17-2C12ANN 0.9
3mm 73lbs Table 1, STP-LE17-2Cxxyyy
STP-LE17-2C06ADJ 0.7

STP-LE17-2C09ADJ 0.8

STP-LE17-2C12ADJ 0.9

8–4 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 8: SureStepTM Linear Actuators

Lead Nominal Thrust Motor Weight Specifications

Model Number
(per rev) (@150RPM) (lbs) Location
STP-LE17-2D06ANN 0.8

STP-LE17-2D09ANN 0.9

STP-LE17-2D12ANN 1.0
1.25 mm 87lbs Table 1, STP-LE17-2Dxxyyy
STP-LE17-2D06ADJ 0.8

STP-LE17-2D09ADJ 0.9

STP-LE17-2D12ADJ 1.0

STP-LE17-3E06ANN 1.0

STP-LE17-3E09ANN 1.2

STP-LE17-3E12ANN 1.4
8mm 55lbs Table 1, STP-LE17-3Exxyyy
STP-LE17-3E06ADJ 1.0

STP-LE17-3E09ADJ 1.2

STP-LE17-3E12ADJ 1.4

STP-LE23-1F06ANN 1.4

STP-LE23-1F09ANN 1.6

STP-LE23-1F12ANN 1.8
10.5 mm 63lbs Table 2, STP-LE23-1Fxxyyy
STP-LE23-1F06ADJ 1.4

STP-LE23-1F09ADJ 1.6

STP-LE23-1F12ADJ 1.8

STP-LE23-1G06ANN 1.4

STP-LE23-1G09ANN 1.7

STP-LE23-1G12ANN 2.0
2mm 137lbs Table 2. STP-LE23-1Gxxyyy
STP-LE23-1G06ADJ 1.4

STP-LE23-1G09ADJ 1.7

STP-LE23-1G12ADJ 2.0

STP-LE23-1H06ANN 1.4

STP-LE23-1H09ANN 1.7

STP-LE23-1H12ANN 2.0
6mm 87lbs Table 2, STP-LE23-1Hxxyyy
STP-LE23-1H06ADJ 1.4

STP-LE23-1H09ADJ 1.7

STP-LE23-1H12ADJ 2.0

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 8–5
 Chapter 8: SureStepTM Linear Actuators

Lead Nominal Thrust Motor Weight Specifications

Model Number
(per rev) (@150RPM) (lbs) Location
STP-LE23-3H06ANN 2.7

STP-LE23-3H09ANN 3.0

STP-LE23-3H12ANN 3.3
6mm 193lbs Table 2, STP-LE23-3Hxxyyy
STP-LE23-3H06ADJ 2.7

STP-LE23-3H09ADJ 3.0

STP-LE23-3H12ADJ 3.3

STP-LE23-3K06ANN 2.7

STP-LE23-3K09ANN 3.0

STP-LE23-3K12ANN 3.3
1” 62lbs Table 2, STP-LE23-3KxxAyy
STP-LE23-3K06ADJ 2.7

STP-LE23-3K09ADJ 3.0

STP-LE23-3K12ADJ 3.3

8–6 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 8: SureStepTM Linear Actuators

Table 1: NEMA 17 Linear Actuator Specifications

SureStep™ Series Specifications – Linear Actuator Stepping Motors

Linear Actuator STP-LE17- STP-LE17- STP-LE17- STP-LE17- STP-LE17- STP-LE17-
Motors 2Axxyyy 2Cxxyyy 2Dxxyyy 3Axxyyy 3Bxxyyy 3Exxyyy
NEMA 17
Phases 2
Rated Current 2A
Phase Resistance 1.04 Ω ± 10% (@20°C) 1.25 Ω ± 15% (@20°C)
2.5 mH ± 20% 2.8 mH ± 20%
Phase Inductance
(1kHz 1V rms) (1kHz 1V rms)
Rotor Inertia 57 g·cm2 82 g·cm2
Rotational Shaft
0.46 N·m (65.14 oz-in) 0.63 N·m (89.21 oz-in)
Holding Torque
No. of Motor Stacks 2 3
Motor Length 39.8 mm 48.3 mm
Screw Material SUS303Cu (cold-finished stainless steel)
Nut Material TECAFORM AD AF (PTFE-infused polymer)

1.25 mm/
Lead 0.25”/rev 3mm/rev 0.25”/rev 0.5”/rev 8mm/rev
rev
Linear Travel/Step 0.00125 0.015 mm/ 0.00625 0.00125 0.0025 in/ 0.04 mm/
(1.8°) in/step step mm/step in/step step step
Linear Speed1 3.125
0.6250 in/sec 7.5 mm/sec 0.625 in/sec 1.25 in/sec 20 mm/sec
(@150rpm) mm/sec
Thrust
45lbs 73lbs 87lbs 69lbs 38lbs 55lbs
(@150rpm)
Load Limit (lbs)2 75 75 80 75 75 80
6” lead screw: 0.015”
Radial Deflection
9” lead screw: 0.0225”
(Max)3
12” lead screw: 0.03”
Ambient Operating
-20-50°C
Temperature
Insulation Class B (130°C)

Screw Diameter 0.25” 6.5 mm 8mm 0.25” 0.25” 8mm

Agency Approvals CE
1 To determine your linear speed as it relates to RPM use the following formula:
Linear Speed = RPM x (Lead/60 sec)
2 The load limit indicates max load before the nut lifespan is negatively impacted, not what the linear actuator can
move.
3 Calculated deflection is the deflection value measured at the end of the lead screw.
Note: For dual-shaft motors (STP-LExx-xxxxADJ series) the sum of the front and rear torque loads, radial loads, and
thrust loads must not exceed the applicable torque, radial and thrust load ratings of the motor.

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 8–7
 Chapter 8: SureStepTM Linear Actuators

Table 2: NEMA 23 Linear Actuator Specifications

SureStep™ Series Specifications – Connectorized Bipolar Stepping Motors

Linear Actuator STP-LE23- STP-LE23- STP-LE23- STP-LE23- STP-LE23-
Motors 1Fxxyyy 1Hxxyyy 1Gxxyyy 3Kxxyyy 3Hxxyyy
NEMA 23
Phases 2
Rated Current 2.1 A 3A
Phase Resistance 1.6 Ω ± 10% (@20°C) 1.1 Ω ± 10% (@20°C)
3.9 mH ± 20% 5.0 mH ± 20%
Phase Inductance
(1kHz 1V rms) (1kHz 1V rms)
Rotor Inertia 180 g·cm2 460 g·cm2
Rotational Shaft
0.9 N·m (127.45 oz-in) 2.3 N·m (325.70 oz-in)
Holding Torque
No. of Motor Stacks 1 3
Motor Length 45mm 79mm
Screw Material SUS303Cu (cold-finished stainless steel)
Nut Material TECAFORM AD AF (PTFE-infused polymer)
Lead 10.5 mm/rev 6mm/rev 2mm/rev 1”/rev 6mm/rev
Linear Travel/Step
0.0525 mm/step 0.03 mm/step 0.01 mm/step 0.005 in/step 0.03 mm/step
(1.8°)
Linear Speed1
26.25 mm/sec 15 mm/sec 5 mm/sec 2.5 in/sec 15 mm/sec
(@150rpm)2
Thrust
63lbs 87lbs 137lbs 62lbs 193lbs
(@150rpm)2
Load Limit (lbs)3 100 175 175 175 175
6” lead screw: 0.015”
Radial Deflection
9” lead screw: 0.0225”
(Max)4
12” lead screw: 0.03”
Ambient Operating
-20-50°C
Temperature
Insulation Class B (130°C)
Screw Diameter 10mm 12mm 12mm 0.5” 12mm
Agency Approvals CE
1 To determine your linear speed as it relates to RPM use the following formula:
Linear Speed = RPM x (Lead/60 sec)
2 For STP-LE23-3KxxAyy and STP-LE23-3HxxAyy series motors, nominal speed and thrust values are provided for
operation at 120rpm rather than 150rpm.
3 The load limit indicates max load before the nut lifespan is negatively impacted, not what the linear actuator can
move.
4 Calculated deflection is the deflection value measured at the end of the lead screw.
Note: For dual-shaft motors (STP-LExx-xxxxADJ series) the sum of the front and rear torque loads, radial loads, and
thrust loads must not exceed the applicable torque, radial and thrust load ratings of the motor.

8–8 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 8: SureStepTM Linear Actuators

Power Supply and Step Motor Drive

An STP-PWR-xxxx linear power supply from AutomationDirect is the best choice to
power AutomationDirect and other DC-input stepper drives. These power supplies
were designed to work with the AutomationDirect SureStep™ STP-DRV-xxxx series
bipolar DC microstepping motor drives. PSBxx switching power supplies are also
available from AutomationDirect.
Always check the motor specs and speed-torque curves to determine allowable drive
input voltage. To minimize heat loss in the motor, always choose the lowest input
voltage that satisfies the application’s speed-torque requirements.

Mounting the Motor

We recommend mounting the motor to a metallic surface to help dissipate heat
generated by the motor.

Journal Mounting
Below is a list of mounting components that are compatible with the NEMA17 and
NEMA23 journal machined end (ADJ) motors. These are not sold by Automaton
Direct but McMasterCarr part numbers have been given as an example. This list is
not a suggested solution for your application as it may not be suitable. These are
for securing the end of the lead screw so it does not move in the radial plane and
to provide radial support of the lead screw and load. The bearings in the motor are
designed to handle the axial loads not the bearing securing the journal end. The axial
load forces should not exceed the force determined by the Speed Force curve for each
model.

NOTE: Some of the smaller NEMA 17 lead screws have journals and rear shafts with
threads still visible in the machined area. This occurs on screw codes A, B, and C. This
is done to maintain minimum shaft diameter. Bearings, bushings, and motor-mounted
encoders will still work correctly on the grooved journals. The journal ends do still have a
groove for a retaining clip, but may be hard to see.

Journal end with visible threads Standard journal end

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 8–9
 Chapter 8: SureStepTM Linear Actuators

NEMA Rating Part Number Description Quantity

98541A113 Retainer for 5mm shaft 1

6153K69 5mm ID bearing 1

17
92161A025 5mm ID wave washer 2

98089A331 5mm ID x 0.5 mm thick shim 1

90967A120 Retainer for 8mm shaft 1

6661K820 8mm ID bearing 1

23
90134A030 5/16” ID wave washer 1

98089A136 8mm ID x 0.5 mm thick shim 1

STP-LE17-xxxxADJ Journal Mounting

98541A113 98089A331
EXTERNAL 6153K690 ROUND
RETAINING BEARING SHIM
RING
92161A025 92161A025 NEMA 17
WAVE WASHER WAVE WASHER SHAFT JOURNAL ASSEMBLED

STP-LE23-xxxxADJ Journal Mounting

90967A120 98089A136
EXTERNAL 6661K820 ROUND
RETAINING BEARING SHIM
RING
90134A030 NEMA 23
WAVE WASHER SHAFT JOURNAL ASSEMBLED

8–10 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 8: SureStepTM Linear Actuators

Connecting the Motor

Warning: When connecting a step motor to a drive or indexer, be sure that the motor
power supply is switched off. Never disconnect the motor while the drive is powered up.
Never connect the motor leads to ground or directly to the power supply.

All SureStep step STP-MTR series motors have connectorized cables which connect
directly to available SureStep extension cables. STP-LA-EXT17-x cables fit the NEMA17
lead screw motors and the STP-LA-EXT23-x cables fit the NEMA 23 lead screw motors.

Extension Cable Wiring Diagrams ECN REV DATE

REVISION HISTORY
DESCRIPTION INIT.
46416 A0 7/1/19 ORIGINAL BJR

STP-LA-EXT17-0xx Dimensions (mm [in])

L (IN)13
[L (mm)0.5]

( 12.7
)
[0.50] ([2.00]
50.8
)

AUTOMATION DIRECT CABLE

CONNECTOR STP-LA-EXT17-XXX ALHPAWIRE # 1604
JST # (24AWG/4C)
PHR-6 OR EQUIVALENT
PIN
JST #
SPH-002T-P0.5

PIN 1
PINOUT CHART CABLES
PIN # COLOR WIRE CABLE PART # LENGTH L (IN) LENGTH L (mm)
1 RED A+ STP-LA-EXT17-006 72 1828
2 N/A STP-LA-EXT17-010 120 3048
3 YELLOW A- STP-LA-EXT17-020 240 6096
4 GREEN B+
5 N/A
6 BLACK B-
VIEW FROM
WIRE ENTRANCE REVISION HISTORY
ECN REV DATE DESCRIPTION INIT.
46416 A0 7/1/19 ORIGINAL BJR

STP-LA-EXT23-0xx Dimensions (mm [in])

L (IN) 13
[L (mm)0.5]

([0.50]
12.7
) ([2.00]
50.8
)

AUTOMATION DIRECT CABLE

STP-LA-EXT23-XXX BELDEN # 8444
CONNECTOR (22AWG/4C)
JST # OR EQUIVALENT
XHP-6
PIN
JST #
SXH-001T-P0.6

PINOUT CHART CABLES

PIN # COLOR WIRE CABLE PART # LENGTH L (IN) LENGTH L (mm)
PIN 1
1 RED A+ STP-LA-EXT23-006 72 1828
2 N/A STP-LA-EXT23-010 120 3048
3 WHITE A- STP-LA-EXT23-020 240 6096
4 GREEN B+
5 N/A
6 BLACK B-
VIEW FROM
WIRE ENTRANCE

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 8–11
 Chapter 8: SureStepTM Linear Actuators

Motor Dimensions and Cabling

STP-LE17-xxANN
Ø 19.1 L3
0.75
BC
S1 3X L1 L2
Ø 3.5
7.7
0.14
0.30

Ø 22.0
0.87 Ø 25.4
4X M3 1.00
4.5mm DEPTH 31.0
1.22
19.1 2.0
42.2 2X M2.5
2.5mm 0.75 0.08
1.66 DEPTH

STP-LE17-xxANN Dimensions (mm [in])

Part # L1 L2 L3 S1
STP-LE17-2A06ANN 152.4 [6.00] 39.3 [1.55] 191.7 [7.55] 6.4 [0.25] 0.25” Lead

STP-LE17-2A09ANN 228.6 [9.00] 39.3 [1.55] 267.9 [10.55] 6.4 [0.25] 0.25” Lead

STP-LE17-2A12ANN 304.8 [12.00] 39.3 [1.55] 344.1 [13.55] 6.4 [0.25] 0.25” Lead

STP-LE17-2C06ANN 152.4 [6.00] 39.3 [1.55] 191.7 [7.55] 6.5 [0.47] 3.0 mm Lead

STP-LE17-2C09ANN 228.6 [9.00] 39.3 [1.55] 267.9 [10.55] 6.5 [0.47] 3.0 mm Lead

STP-LE17-2C12ANN 304.8 [12.00] 39.3 [1.55] 344.1 [13.55] 6.5 [0.47] 3.0 mm Lead

STP-LE17-2D06ANN 152.4 [6.00] 39.3 [1.55] 191.7 [7.55] 8.0 [0.31] 1.25 mm Lead

STP-LE17-2D09ANN 228.6 [9.00] 39.3 [1.55] 267.9 [10.55] 8.0 [0.31] 1.25 mm Lead

STP-LE17-2D12ANN 304.8 [12.00] 39.3 [1.55] 344.1 [13.55] 8.0 [0.31] 1.25 mm Lead

STP-LE17-3A06ANN 152.4 [6.00] 47.8 [1.88] 200.2 [7.88] 6.4 [0.25] 0.25” Lead

STP-LE17-3A09ANN 228.6 [9.00] 47.8 [1.88] 276.4 [10.88] 6.4 [0.25] 0.25” Lead

STP-LE17-3A12ANN 304.8 [12.00] 47.8 [1.88] 352.6 [13.88] 6.4 [0.25] 0.25” Lead

STP-LE17-3B06ANN 152.4 [6.00] 47.8 [1.88] 200.2 [7.88] 6.4 [0.25] 0.5” Lead

STP-LE17-3B09ANN 228.6 [9.00] 47.8 [1.88] 276.4 [10.88] 6.4 [0.25] 0.5” Lead

STP-LE17-3B12ANN 304.8 [12.00] 47.8 [1.88] 352.6 [13.88] 6.4 [0.25] 0.5” Lead

STP-LE17-3E06ANN 152.4 [6.00] 47.8 [1.88] 200.2 [7.88] 8.0 [0.31] 8.0 mm Lead

STP-LE17-3E09ANN 228.6 [9.00] 47.8 [1.88] 276.4 [10.88] 8.0 [0.31] 8.0 mm Lead

STP-LE17-3E12ANN 304.8 [12.00] 47.8 [1.88] 352.6 [13.88] 8.0 [0.31] 8.0 mm Lead

8–12 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 8: SureStepTM Linear Actuators

STP-LE17-xxADJ
Ø 19.1
0.75
L3
BC
S1 9.7
3X L1 L2
Ø 3.5 0.38
0.14 7.7 11.9
0.30 0.47

Ø 4.9
Ø 22.0 0.19
0.87 Ø 25.4
1.00
4X M3 31.0
4.5mm DEPTH 1.22 0.7
0.03
42.2 6.3 2.0
1.66 0.25 0.08

2X M2.5 19.1
2.5mm 0.75
DEPTH

REAR SHAFT
Ø4.8
[Ø0.19]

STP-LE17-xxADJ Dimensions (mm [in])

Part # L1 L2 L3 NA NB S1
STP-LE17-2A06ADJ 152.4 [6.00] 39.3 [1.55] 203.6 [8.02] 19.0 [0.75] 10.0 [0.39] 6.4 [0.25] 0.25” Lead

STP-LE17-2A09ADJ 228.6 [9.00] 39.3 [1.55] 279.8 [11.02] 19.0 [0.75] 10.0 [0.39] 6.4 [0.25] 0.25” Lead

STP-LE17-2A12ADJ 304.8 [12.00] 39.3 [1.55] 356.0 [14.02] 19.0 [0.75] 10.0 [0.39] 6.4 [0.25] 0.25” Lead

STP-LE17-2C06ADJ 152.4 [6.00] 39.3 [1.55] 203.6 [8.02] 19.0 [0.75] 10.0 [0.39] 6.5 [0.47] 3.0 mm Lead

STP-LE17-2C09ADJ 228.6 [9.00] 39.3 [1.55] 279.8 [11.02] 19.0 [0.75] 10.0 [0.39] 6.5 [0.47] 3.0 mm Lead

STP-LE17-2C12ADJ 304.8 [12.00] 39.3 [1.55] 356.0 [14.02] 19.0 [0.75] 10.0 [0.39] 6.5 [0.47] 3.0 mm Lead

STP-LE17-2D06ADJ 152.4 [6.00] 39.3 [1.55] 203.6 [8.02] 19.0 [0.75] 12.7 [0.50] 8.0 [0.31] 1.25 mm Lead

STP-LE17-2D09ADJ 228.6 [9.00] 39.3 [1.55] 279.8 [11.02] 19.0 [0.75] 12.7 [0.50] 8.0 [0.31] 1.25 mm Lead

STP-LE17-2D12ADJ 304.8 [12.00] 39.3 [1.55] 356.0 [14.02] 19.0 [0.75] 12.7 [0.50] 8.0 [0.31] 1.25 mm Lead

STP-LE17-3A06ADJ 152.4 [6.00] 47.8 [1.88] 212.1 [8.35] 19.0 [0.75] 10.0 [0.39] 6.4 [0.25] 0.25” Lead

STP-LE17-3A09ADJ 228.6 [9.00] 47.8 [1.88] 288.3 [11.35] 19.0 [0.75] 10.0 [0.39] 6.4 [0.25] 0.25” Lead

STP-LE17-3A12ADJ 304.8 [12.00] 47.8 [1.88] 364.5 [15.35] 19.0 [0.75] 10.0 [0.39] 6.4 [0.25] 0.25” Lead

STP-LE17-3B06ADJ 152.4 [6.00] 47.8 [1.88] 212.1 [8.35] 19.0 [0.75] 10.0 [0.39] 6.4 [0.25] 0.5” Lead

STP-LE17-3B09ADJ 228.6 [9.00] 47.8 [1.88] 288.3 [11.35] 19.0 [0.75] 10.0 [0.39] 6.4 [0.25] 0.5” Lead

STP-LE17-3B12ADJ 304.8 [12.00] 47.8 [1.88] 364.5 [15.35] 19.0 [0.75] 10.0 [0.39] 6.4 [0.25] 0.5” Lead

STP-LE17-3E06ADJ 152.4 [6.00] 47.8 [1.88] 212.1 [8.35] 19.0 [0.75] 12.7 [0.50] 8.0 [0.31] 8.0 mm Lead

STP-LE17-3E09ADJ 228.6 [9.00] 47.8 [1.88] 288.3 [11.35] 19.0 [0.75] 12.7 [0.50] 8.0 [0.31] 8.0 mm Lead

STP-LE17-3E12ADJ 304.8 [12.00] 47.8 [1.88] 364.5 [15.35] 19.0 [0.75] 12.7 [0.50] 8.0 [0.31] 8.0 mm Lead

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 8–13
 Chapter 8: SureStepTM Linear Actuators

STP-LE23-xxANN
L3

S1 D1 L1 L2

4.8
D2 0.19

D3
Ø 38.1
1.50

4X 47.1 1.6
Ø 5.1
1.86 0.06
0.20 19.1
o 56.2 0.75
[2.21] 2X M2.5
2.5mm
DEPTH

STP-LE23-xxANN Dimensions (mm [in])

Part # L1 L2 L3 D1 D2 D3 S1
152.4 44.5 196.9 Ø22.2 3x Ø3.56 Ø29.5 10.0 [0.39]
STP-LE23-1F06ANN
[6.00] [1.75] [7.75] [0.87] BC [0.14] [1.16] 10.5 mm Lead
228.6 44.5 273.1 Ø22.2 3x Ø3.56 Ø29.5 10.0 [0.39]
STP-LE23-1F09ANN
[9.00] [1.75] [10.75] [0.87] BC [0.14] [1.16] 10.5 mm Lead
304.8 44.5 349.3 Ø22.2 3x Ø3.56 Ø29.5 10.0 [0.39]
STP-LE23-1F12ANN
[12.00] [1.75] [13.75] [0.87] BC [0.14] [1.16] 10.5 mm Lead
152.4 44.5 196.9 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1G06ANN
[6.00] [1.75] [7.75] [1.13] BC [0.20] [1.50] 2.0 mm Lead
228.6 44.5 273.1 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1G09ANN
[9.00] [1.75] [10.75] [1.13] BC [0.20] [1.50] 2.0 mm Lead
304.8 44.5 349.3 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1G12ANN
[12.00] [1.75] [13.75] [1.13] BC [0.20] [1.50] 2.0 mm Lead
152.4 44.5 196.9 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1H06ANN
[6.00] [1.75] [7.75] [1.13] BC [0.20] [1.50] 6.0 mm Lead
228.6 44.5 273.1 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1H09ANN
[9.00] [1.75] [10.75] [1.13] BC [0.20] [1.50] 6.0 mm Lead
304.8 44.5 349.3 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1H12ANN
[12.00] [1.75] [13.75] [1.13] BC [0.20] [1.50] 6.0 mm Lead
152.4 78.5 230.9 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-3H06ANN
[6.00] [3.09] [9.09] [1.13] BC [0.20] [1.50] 6.0 mm Lead
228.6 78.5 307.1 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-3H09ANN
[9.00] [3.09] [12.09] [1.13] BC [0.20] [1.50] 6.0 mm Lead
304.8 78.5 383.3 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-3H12ANN
[12.00] [3.09] [15.09] [1.13] BC [0.20] [1.50] 6.0 mm Lead
152.4 78.5 230.9 Ø28.58 3x Ø5.2 Ø38.1 12.5 [0.50]
STP-LE23-3K06ANN
[6.00] [3.09] [9.09] [1.13] BC [0.20] [1.50] 1in Lead
228.6 78.5 307.1 Ø28.58 3x Ø5.2 Ø38.1 12.5 [0.50]
STP-LE23-3K09ANN
[9.00] [3.09] [12.09] [1.13] BC [0.20] [1.50] 1in Lead
304.8 78.5 383.3 Ø28.58 3x Ø5.2 Ø38.1 12.5 [0.50]
STP-LE23-3K12ANN
[12.00] [3.09] [15.09] [1.13] BC [0.20] [1.50] 1in Lead

8–14 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 8: SureStepTM Linear Actuators

STP-LE23-xxADJ
D1 L3

S1 D2 11.5
0.45 L1 L2

4.8 12.0
0.19 0.47

Ø 8.0
0.31
Ø 38.1
1.50 D3
0.9
4X 47.1 0.04
Ø 5.1 1.86 7.9 1.6
0.20 56.2 0.31 0.06
2.21
19.1
2X M2.5 0.75
2.5mm
DEPTH

REAR SHAFT
Ø6.4
[Ø0.25]

STP-LE23-xxADJ Dimensions (mm [in])

Part # L1 L2 L3 D1 D2 D3 S1
152.4 44.5 208.9 Ø22.2 3x Ø3.56 Ø29.5 10.0 [0.39]
STP-LE23-1F06ADJ
[6.00] [1.75] [8.22] [0.87] BC [0.14] [1.16] 10.5 mm Lead
228.6 44.5 285.1 Ø22.2 3x Ø3.56 Ø29.5 10.0 [0.39]
STP-LE23-1F09ADJ
[9.00] [1.75] [11.22] [0.87] BC [0.14] [1.16] 10.5 mm Lead
304.8 44.5 361.3 Ø22.2 3x Ø3.56 Ø29.5 10.0 [0.39]
STP-LE23-1F12ADJ
[12.00] [1.75] [14.22] [0.87] BC [0.14] [1.16] 10.5 mm Lead
152.4 44.5 208.9 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1G06ADJ
[6.00] [1.75] [8.22] [1.13] BC [0.20] [1.50] 2.0 mm Lead
228.6 44.5 285.1 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1G09ADJ
[9.00] [1.75] [11.22] [1.13] BC [0.20] [1.50] 2.0 mm Lead
304.8 44.5 361.3 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1G12ADJ
[12.00] [1.75] [14.22] [1.13] BC [0.20] [1.50] 2.0 mm Lead
152.4 44.5 208.9 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1H06ADJ
[6.00] [1.75] [8.22] [1.13] BC [0.20] [1.50] 6.0 mm Lead
228.6 44.5 285.1 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1H09ADJ
[9.00] [1.75] [11.22] [1.13] BC [0.20] [1.50] 6.0 mm Lead
304.8 44.5 361.3 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-1H12ADJ
[12.00] [1.75] [14.22] [1.13] BC [0.20] [1.50] 6.0 mm Lead
152.4 78.5 242.9 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-3H06ADJ
[6.00] [3.09] [9.06] [1.13] BC [0.20] [1.50] 6.0 mm Lead
228.6 78.5 319.1 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-3H09ADJ
[9.00] [3.09] [12.56] [1.13] BC [0.20] [1.50] 6.0 mm Lead
304.8 78.5 395.3 Ø28.58 3x Ø5.2 Ø38.1 12.0 [0.47]
STP-LE23-3H12ADJ
[12.00] [3.09] [15.56] [1.13] BC [0.20] [1.50] 6.0 mm Lead
152.4 78.5 242.9 Ø28.58 3x Ø5.2 Ø38.1 12.5 [0.50]
STP-LE23-3K06ADJ
[6.00] [3.09] [9.06] [1.13] BC [0.20] [1.50] 1in Lead
228.6 78.5 319.1 Ø28.58 3x Ø5.2 Ø38.1 12.5 [0.50]
STP-LE23-3K09ADJ
[9.00] [3.09] [12.56] [1.13] BC [0.20] [1.50] 1in Lead
304.8 78.5 395.3 Ø28.58 3x Ø5.2 Ø38.1 12.5 [0.50]
STP-LE23-3K12ADJ
[12.00] [3.09] [15.56] [1.13] BC [0.20] [1.50] 1in Lead

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 8–15
 Chapter 8: SureStepTM Linear Actuators

Thrust vs. Speed Charts

The dashed horizontal lines indicate the maximum thrust allowed by the nut. Note
that some motors and leads can result in thrust above the nut’s limit. Ensure that the
system does not apply too much force to the nut (example: limit the motor current, or
monitor position feedback to determine a stall). Allow sufficient time to accelerate the
load and size the step motor with a 100% thrust safety factor (i.e.: design the system
using a maximum of 50% of the motor’s thrust).

STP-LE17-2xxxx (Double-stack motors)

STP-LE17-2xxx Thrust vs Speed Curve
100

Power Supply: 24V

90 Rated Current: 2.0 A/Phase

80

70 Ø1/4” x 1/4” (2Axxx)

Ø1/4” x 1/4” Nut Load Limit

60
Thrust (lbs)

Ø6.5 mm x 3mm (2Cxxx)

50
Ø6.5 mm x 3mm Nut Load Limit

40 Ø8mm x 1.25 mm (2Dxxx)

Ø8mm x 1.25 mm Nut Load Limit

30

20

10

2 4 6 8 10 12
Linear Speed (in/sec)

8–16 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 8: SureStepTM Linear Actuators

STP-LE17-3xxxx (Triple-stack motors)

STP-LE17-3xxx Thrust vs Speed Curve
100

Power Supply: 24V

90 Rated Current: 2.0 A/Phase

80

70 Ø8mm x 8mm (3Exxx)

Ø8mm x 8mm Nut Load Limit

60
Thrust (lbs)

Ø1/4” x 1/4” (3Axxx)

50
Ø1/4” x 1/4” Nut Load Limit

40 Ø1/4” x 1/2” (3Bxxx)

Ø1/4” x 1/2” Nut Load Limit

30

20

10

2 4 6 8 10 12 14 16 18
Linear Speed (in/sec)

STP-LE23-1xxxx STP-LE23-2xxx
(Single-stack Thrust motors)
vs Speed Curve
250

Ø10mm x 10.5 mm (1Fxxx)

Ø10mm x 10.5 mm Nut Load Limit

200
Ø12mm x 6mm (1Hxxx)

Ø12mm x 6mm Nut Load Limit

Thrust (lbs)

150 Ø12mm x 2mm (1Gxxx)

Ø12mm x 2mm Nut Load Limit

100

Power Supply: 24V

Rated Current: 2.1 A/Phase
50

1 2 3 4 5 6
Linear Speed (in/sec)

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual 8–17
 Chapter 8: SureStepTM Linear Actuators

STP-LE23-3xxxx (Triple-stack motors)

STP-LE23-3xxx Thrust vs Speed Curve

250

Power Supply: 24V

200 Rated Current: 3.0 A/Phase

150 Ø1/2” x 1” (3Kxxx)

Thrust (lbs)

Ø1/2” x 1” Nut Load Limit

Ø12mm x 6mm (3Hxxx)

Ø12mm x 6mm Nut Load Limit

100

50

2 4 6 8 10
Linear Speed (in/sec)

8–18 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 9
SureStepTM Chapter
System Power
Supplies

In This Chapter...
Features ������������������������������������������������������������������������������������������������������������������ 9–2
Specifications �������������������������������������������������������������������������������������������������������� 9–3
Drive Heating���������������������������������������������������������������������������������������������������������� 9–4
Choosing a Power Supply������������������������������������������������������������������������������������ 9–5
Power Supply Terminal & Component Layout����������������������������������������������� 9–7
Mounting the Power Supply�������������������������������������������������������������������������������� 9–8
Dimensions�������������������������������������������������������������������������������������������������������������� 9–9
Dimensions (continued)�������������������������������������������������������������������������������������������������������������������9–10
 Chapter 9: SureStepTM System Power Supplies

Features
•L  inear models available with 32V@4A, 48V@5A, 48V@10A, & 70V@5A DC unregulated step
motor power
• 5VDC ±5% at 500 mA regulated logic power (electronic overload)
• Screw terminal AC input and DC output connectors
• 120 or 240 VAC, 50/60 Hz power input, switch selectable
• Power ON LEDs
• Integrated input and output fusing
• Matched to SureStep drives for maximum voltage
• Switching models also available. Series PSBxx-xxxS is recommended.

Linear Power Supplies

Switching Power Supplies

The stepping system power supplies can supply power for multiple SureStep
STP-DRV-xxxx microstepping motor drives, depending on step motor size and
application requirements. To select a power supply for multiple drives, use the
following formula:
I(ps) ≥ 0.66 x (I_motor1 + I_motor2 + I_motor3 + . . . )

Further information about braking accessories and regeneration clamping can be

found in Appendix A and the STP-DRVA-RC-050 REGENERATION CLAMP datasheet.

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 Chapter 9: SureStepTM System Power Supplies

Specifications
SureStep™ Linear Power Supply Specifications
Part Number STP-PWR-3204 STP-PWR-4805 STP-PWR-4810 STP-PWR-7005
1-phase, 1-phase, 1-phase, 1-phase,
Input Power 120/240 VAC, 120/240 VAC, 120/240 VAC, 120/240 VAC,
(fuse protected)1) 50/60 Hz, 150 VA 50/60 Hz, 350 VA 50/60 Hz, 650 VA 50/60 Hz, 500 VA
Fuse1): 3A Fuse1): 5A Fuse1): 8A Fuse1): 7A
120/240 VAC ±10% (3)
Input Voltage
(switch selectable; voltage range switch is set to 240 VAC from factory)
120 VAC < 12A 120 VAC < 20A 120 VAC < 40A
Inrush Current
240 VAC < 14A 240 VAC < 24A 240 VAC < 50A

Motor Supply 70 VDC @ 5A

Output 32 VDC @ 4A 46.5 VDC @ 5A 46.5 VDC @ 10A
(full load)
(full load) (full load) (full load)
(linear unregulated, 35 VDC @ 1A load 52 VDC @ 1A load 50 VDC @ 1A load
79 VDC @ 1A load
fuse protected1), 41 VDC @ no load 57.5 VDC @ no load 57.5 VDC @ no load
86.5 VDC @ no
power on LED load (3)
Fuse1): 6A Fuse1): 8A Fuse1): 15A
indicator) Fuse1): 8A

SureStep Drive STP-DRV-4035

STP-DRV-4850
(STP-DRV-4850) STP-DRV-80100
Compatibility 2) (STP-DRV-80100)
(STP-DRV-80100)

Logic Supply 5VDC ±5% @ 500 mA

Output (regulated, electronically overload protected, power on LED indicator)
Watt Loss 13W 25W 51W 42W
Storage -55 to 85 °C
Temperature -67 to 185 °F
Operating 0 to 50 °C (32 to 122 °F) full rated; 70 °C (158 °F) maximum
Temperature Derate current 1.1% per degree above 50 °C
Humidity 95% (non-condensing) relative humidity maximum
Cooling Method Natural convection (mount power supply to metal surface if possible)
Dimensions 4.00 x 7.00 x 3.25 5.00 x 8.10 x 3.88 5.62 x 9.00 x 4.62
(in [mm]) [101.6x177.8x82.6] [127.0x205.7x98.6] [142.7 x 228.6 x 117.3]

Mounting Use four (4) #10 screws to mount on either wide or narrow side.
Weight (lb [kg]) 6.5 [2.9] 11 [4.9] 18 [8.3] 16 [7.2]
Connections Screw Terminals, tightening torque of 4.5 in·lbs
Agency Approvals UL (file # E181899), CSA, CE
1) Fuses to be replaced by qualified service personnel only. Use (1-1/4 x 1/4 in) ceramic fast-acting fuses (Edison type
ABC from AutomationDirect, or equivalent).
2) Caution: Do not use a power supply that exceeds the input voltage range of the drive. Using a lower voltage
power supply with a higher voltage drive is acceptable, but will not provide full system performance.
3) An unloaded STP-PWR-7005 can float above the allowable input voltages of some drives if it is fed with a high
AC input voltage (greater than 120VAC). Either ensure that the incoming AC supply is less than 120V, or supply a
burden resistor to pull the unloaded linear DC voltage level down.
4) For switching power supply specifications, please refer to that part number's data sheet or manual.

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 Chapter 9: SureStepTM System Power Supplies

Drive Heating
Note: The following information applies to STP-DRV-6575, STP-DRV-4850, and STP-
DRV-80100 models only.
While STP drives 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 information 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 70°C 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, 0.70" thick:
RQ=1.0°C/W
• Narrow side of drive mounted on a non-heat conducting surface: RQ=2.1°C/W

Drive Watt Loss

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 Chapter 9: SureStepTM System Power Supplies

Choosing a Power Supply

Voltage
Chopper drives work by switching the voltage to the motor terminals on and off
while monitoring current to achieve a precise level of phase current. Due to the
inductances in the windings which rely on current to produce torque, the voltage
should be much greater to allow fast changes in winding current (stepping). To do
this efficiently and silently, you’ll want to have a power supply with a voltage rating
at least five times that of the motor. SureStep Drives are designed to work well with
SureStep motors so choosing the proper voltage of the supply is made easy when
using all AutomationDirect products. A compatibility chart for AutomationDirect
power supplies and drives is located below.
SureStep™ Power Supply Compatibility
Linear Power Supply
Drive STP-
STP-PWR-3024 STP-PWR-4805 STP-PWR-4810
PWR-7005*
STP-DRV-4035  No No No
STP-DRV-4830    No
STP-DRV-4845    No
STP-DRV-4850    No
STP-DRV-6575    No
STP-DRV-80100    
STP-MTRD-17    No
STP-MTRD-23,-24    
Switching Power Supply
Drive
PSB12-xxxS PSB24-xxxS PSB48-xxxS
STP-DRV-4035   No
STP-DRV-4830   
STP-DRV-4845   
STP-DRV-4850 No  
STP-DRV-6575 No  
STP-DRV-80100 No  
STP-MTRD-17   
STP-MTRD-23,-24   
*An unloaded STP-PWR-7005 can float above the allowable input voltages of some drives if it is fed with
a high AC input voltage (greater than 120VAC). Either ensure that the incoming AC supply is less than
120V, or supply a burden resistor to pull the unloaded liner DC voltage level down.

Depending on how fast you want to run the motor, you may need even more voltage.
Generally, more is better; the upper limit being the maximum voltage rating of the
drive itself. With voltage, there is a trade-off between higher voltage and increased
heating.
Voltage determines max speed. A higher voltage power supply equals higher
top-end motor speed. But higher voltages also mean higher temperatures (drive and
motor), so the lowest voltage that will satisfy your required speed should be used.

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 Chapter 9: SureStepTM System Power Supplies

Linear (Unregulated) vs Switching (Regulated) Power Supplies

If you choose an unregulated power supply, do not allow the “no load” voltage to
exceed the maximum voltage rating of the drive. Unregulated supplies are rated at
full load current. At lesser loads, such as when the motor is not moving, the actual
voltage can be up to 25% greater than the voltage listed on the power supply label.
Some applications may have regeneration (the motor tries to decelerate a large load
quickly and becomes a generator). The motor tries to dump the excess energy back
into the drive (and supply). This can sometimes boost the DC voltage up higher
than the regulated supply would normally output which can turn into an overvoltage
situation, causing the power supply to shut down. Regeneration clamp STP-DRVA-
RC-050 can help in these situations. It is installed between the power supply and
drive, where it monitors incoming power supply voltage and the voltage on the drive
side. If the drive side goes higher than the incoming (the motor is regenerating
power), the clamp “dumps” energy out to its resistor. Linear supplies don’t care (they
will just float higher), but regulated supplies might trip. STP-DRVA-BR-100 allows the
regeneration clamp to "dump" even more energy from the system.

Current
The maximum supply current you will need is the sum of the two phase currents.
However, you will generally need a lot less than that, depending on the motor type,
voltage, speed and load conditions. That’s because the SureStep drives use switching
amplifiers, 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.
We recommend the following selection procedure:
1. I f you plan to use only a small number of drives, choose a power supply using the
following formula:
I(ps) ≥ 0.66 x (I_motor1 + I_motor2 + I_motor3 + . . . )
2. I f 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 test will tell you how much current you really
need so you can design in a lower cost power supply.
If you plan to use a regulated or switching power supply, you may encounter a
problem with current foldback. When you first power up your drive, the full current
of both motor phases will be drawn for a few milliseconds while the stator field is
being established. After that, the amplifiers start chopping and much less current is
drawn from the power supply. If your power supply thinks this initial surge is a short
circuit it may “foldback” to a lower voltage. With many foldback schemes the voltage
returns to normal only after the first motor step and is fine thereafter. In that sense,
unregulated power supplies are better.

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 Chapter 9: SureStepTM System Power Supplies

Power Supply Terminal & Component Layout

STP-PWR-3204
Voltage Selection * Voltage range switch is factory set to 240 VAC.
Switch * AC input fuse **

STP-PWR-3204
F1
GND

120/240 VAC
L2
L1
240V 120V

35 VDC
Transformer +
F2 Linear DC
Power LED
5 VDC
– Power LED

5 VDC
+

Circuit Board DC output fuse **

** Fuses are listed in power supply specifications table.
** Fuses to be replaced by qualified service personnel only.

STP-PWR-4805, STP-PWR-4810, STP-PWR-7005

** Fuses to be replaced by qualified service personnel only.
DC output fuse ** ** Fuses are listed in power supply specifications table.

Circuit Board
STP-PWR-48xx
+ STP-PWR-70xx
5 VDC

–
5 VDC
Power LED
Linear DC
Power LED + F2
xx VDC

– Transformer
120/240 VAC

L1 120V 240V
L2
GND
F1
AC input fuse **
Voltage Selection Switch *
* Voltage range switch is factory set to 240 VAC.

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 Chapter 9: SureStepTM System Power Supplies

Mounting the Power Supply

STP-PWR-xxxx power supplies can be mounted on either the bottom (wide) side, or
the back (narrow) side of the chassis. Either orientation contains mounting holes for
machine screws. Use #10 screws for STP-PWR-3204 and -4805, or 1/4” screws for STP-
PWR-4810 and -7005.
Since power supplies generate heat, they should be mounted in a location that allows
air flow. They also should be securely fastened to a smooth, flat metal surface that
will dissipate heat.
Wide Side Mount Narrow Side Mount

sheet metal mounting screws

smooth, flat, sheet-metal surface

Warning: Never use the power supply in a space where there is no air flow, or
where the surrounding air temperature is greater than 70 °C.

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 Chapter 9: SureStepTM System Power Supplies

Dimensions
STP-PWR-3204
Dimensions = [in] mm

3.25
82.6

101.6
4.00
0.25
6.4

3.30
83.8
0.25

15.2
6.4

2.40

0.60

0.70
17.8

2.53
64.3

0.77
19.6
61

177.8

165.1
7.00

6.50
165.1
6.50
0.25

0.25
6.4
6.4

5.4
0.21
8X

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 STP-PWR-4805
Chapter 9: SureStepTM System Power Supplies

Dimensions (continued)
STP-PWR-4805, -4810, -7005
Dimensions = [in] mm

3.89
98.7

126.8
4.99

0.32
8.2
0.35
8.9

0.95
24.1

3.80
96.5

0.87
22.1

0.35
8.9
2.66
67.6

0.88
22.3
0.35
8.9
205.7
8.10

205.7
8.10
5.4
0.21
8X

0.25
6.4
0.25
6.4

SureStep™ Series – 48V & 70V Power Supplies

STP-PWR-4805 STP-PWR-4810 STP-PWR-7005
Mtg Screw #10 1/4

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 10
SureMotion Pro Chapter
Configuration
Software

In This Chapter...
SureMotion™ Pro Software ����������������������������������������������������������������������������10–2
Communication���������������������������������������������������������������������������������������������������������������������������������10–2
Motor Configuration�������������������������������������������������������������������������������������������������������������������������10–2
Motion and I/O�����������������������������������������������������������������������������������������������������������������������������������10–3
Drive Pull-down Menu�����������������������������������������������������������������������������������������������������������������������10–4
 Chapter 10: SureMotion Pro Configuration Software

SureMotion™ Pro Software

The SureStep advanced drives STP-DRV-4850 & -80100 and advanced integrated
motor/drives (STP-MTRD-17R, -23R, and -24R) are configured using SureMotion Pro™
configuration software, which is available for download from the Automationdirect.
com website.

Note: SureMotion Pro is the successor to SureStep Pro. Anything that could be done with
SureStep Pro can still be done with SureMotion Pro.

The software is divided into two major sections, “Motion and I/O” and “Motor”
configuration. There are also communication settings, drive selection, and drive
status features.

Complete software instructions are included in the “Help” files within the software.

Communication
Upload and Download from/to the drive. When you connect to a drive, the Motor,
Motion Mode, and Dedicated I/O settings that are currently in the drive will appear
on the right of the screen (as will the Drive and Revision at the top of the screen).
“Upload from Drive” to get all the configuration settings from the drive or “Download
to Drive” to apply all the settings on the PC to the drive.

Motor Configuration
Clicking on the “Motor..” icon will bring up the motor configuration screen. You can
choose a motor from the pull-down menu or enter a custom motor (you will need to
enter that motor’s specific information). If you know the inertia mismatch of the load,
you should enter it. If the inertia mismatch is unknown, this entry can be left at 1.
The idle current is default at 50%. Idle current should be used unless the application

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 Chapter 10: SureMotion Pro Configuration Software

will require a constant high holding torque

Motion and I/O

Selecting this tab will allow you to set the drive’s mode of operation.
• Pulse and Direction:
Used with high-speed pulse inputs (CW/CCW, Pulse/
Direction, Quadrature) generated from a PLC, encoder,
etc.
• Velocity (Oscillator):
Allows the drive to be speed controlled by an analog
signal. The input is 0 – 5V and can be scaled to the
desired maximum speed. Bidirectional motion can be
attained by changing the Offset (under “Advanced Analog
Settings”) to a non-zero value. EX: Setting this value to
2500mV will command the drive to be at zero speed when
2.5V are present.
• Serial Command Language (SCL):
Causes the drive to respond to serial commands. A PLC
or PC can issue a variety of commands to enable simple
motion, gearing/following, turn on the output, wait for an
input, etc. See the “SCL Manual” under the SureMotion
Pro Help menu. Serial commands can be tested by
selecting the “Drive” pull-down menu from the menu bar,
and then selecting “SCL Terminal”.

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 Chapter 10: SureMotion Pro Configuration Software

Drive Pull-down Menu

This software menu gives you several features to monitor and test the drive.
• Self-Test – Rotates the motor clockwise and counterclockwise.
(Tests motor and cabling)
• Status Monitor – Shows the current Drive and I/O status.
• SCL Terminal – Allows SCL commands to be tested by typing them in.
(HyperTerminal is NOT a good tool for serial commands, because the drive will
“time-out” if you use HyperTerminal to enter strings. SCL Terminal will send the
entire string at once.)
• Alarm History – Will read back the most recent drive faults
• Clear Alarm – Will clear the current drive fault.
• Restore Factory Defaults – resets the drive to “out of the box” status.
• Set Quick Decel Rate – Used when the drive encounters faults or overtravel limits.

If using SCL mode, and if testing is done with SCL terminal, make sure to disconnect
software and turn power off to the drive for at least 10 seconds to clear the drive’s
communication buffer.

SCL terminal can be used to test SCL strings before programming your PLC. However, PLC
communications will fail after using SCL Terminal unless the drive is powered down for at
least 10 seconds before attempting PLC-to-drive communication.

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 11
SureStep TM
Chapter
Communications

In This Chapter...
Connecting to a Host Using RS-485 ����������������������������������������������������������������11–2
Four-Wire Configuration�������������������������������������������������������������������������������������������������������������������11–2
Two-Wire Configuration�������������������������������������������������������������������������������������������������������������������11–3
Assigning RS-485 Addresses �����������������������������������������������������������������������������������������������������������11–3
Connecting to an STP-MTRD-xxxxR using the STP-USB485-4W Adapter �����������������������������11–4
Connecting to a drive using RJ12���������������������������������������������������������������������������������������������������11–5
 Chapter 11: SureStepTM Communications

Connecting to a Host Using RS-485

The Advanced integrated motor/drives (STP-MTRD-xxxxxR) support RS-485 ASCII/
SCL serial communication. RS-485 communication allows connection of more
than one drive to a single host PC, PLC, HMI or other computer. It also allows the
communication cable to be long (more than 300 meters or 1000 feet).
For electrically noisy environments we
recommend twisted pair cable with an GND (circuit ground)
overall shield and drain wire. Connect
the drain wire at one end of the cable to TX-
earth ground. TX+
RS-485 can be used with either four-wire
RX-
or two-wire configurations. Both types
of configurations can be used for point- RX+
to-point (i.e. one drive and one host) or
multi-drop networks (one host and up to 32 drives). RS-485 Connector Diagram
RS-485 Connection
To use the STP-MTRD-xxxxxR RS-485 with SureMotion Pro, the STP-MTRD-xxxxxR must be
connected to the PC in the four-wire “point-to-point” configuration and configured one
axis at a time. The DA command is useful in setting up multiple drives.

Four-Wire Configuration
Four-wire systems utilitize separate transmit and receive wires. One pair of wires
must connect the host’s transmit signals to each drives RX+ and RX- terminals. The
other pair connects the drive’s TX+ and TX- terminals to the host’s receive signals. A
logic ground terminal is provided on each drive and can be used to keep all drives at
the same ground potential. This terminal connects internally to the DC power supply
return (V-), so if all the drives on the RS-485 network are powered from the same
supply it is not necessary to connect the logic grounds. One drive’s GND terminal
should still be connected to the host computer ground.
to PLC Port GND
to PLC Port Rx-
120
to PLC Port Rx+
to PLC Port Tx-
120
to PLC Port Tx+

+Rx- +Tx- GND +Rx- +Tx- GND +Rx- +Tx- GND

Drive 1 Drive 2 Drive n

A 120 ohm terminating resistor is required at the end of a four-wire network.

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 Chapter 11: SureStepTM Communications

If the PC does not have an RS-485 serial port, a converter will be required. ADC part
number STP-USB485-4W is recommended.

Two-Wire Configuration
Two-wire systems use the same pair of wires to transmit and receive. This can lead
to trouble as the host must not only disable its transmitter before it can receive data,
it must do so quickly before a drive begins to answer a query. The STP-MTRD-xxxxR
includes a “transmit delay” parameter that can be adjusted to compensate for a host
that is slow to disable its transmitter. This adjustment can be made over the network
using the TD command, or it can be set using the SureMotion Pro software. It is not
necessary to set the transmit delay in a four-wire system.

2-wire communication is not recommended for STP-MTRD-xxxxxR systems when connected

to SureMotion Pro configuration software. Some SureMotion Pro features (firmware
upgrade, etc.) may not work correctly. Use a 4-wire configuration for best results.

to PLC Port GND

to PLC Port Tx- (A)
120 120
to PLC Port Tx+ (B)

+Rx- +Tx- GND +Rx- +Tx- GND +Rx- +Tx- GND

Drive 1 Drive 2 Drive n
RS-485 2-wire System

A 120 ohm terminating resistor is required at both ends of a 2-wire network.

Assigning RS-485 Addresses

Before wiring the entire system, you’ll need to connect each drive individually to
the host computer so that a unique address can be assigned to each drive using
SureMotion Pro if you want to assign addresses to the drives. This is required if
you plan to talk to multiple drives that are on the same network. See the “DA” SCL
command. Use the programming cable and the SureMotion Pro software that came
with your drive for this purpose.
Connect the drive to your PC and then launch the SureMotion Pro software. Select the
com port that is connected to the drive. Finally, apply power to your drive. If you have
already configured your drive, then you should click the Upload button so that the
SureMotion Pro settings match those of your drive. Click on the Motion & I/O button,
then select the “SCL” operating mode. The RS-485 Address panel should appear.
If you would like to assign the drive a unique address, just click on the address
character of your choice. You can use the numerals 0-9, or any of the following special

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 Chapter 11: SureStepTM Communications

characters: ! “ # $ % & ‘ () * + , - . / : ; < = > ? @. Just make sure that each drive on your
network has a unique address. If you are using a 2-wire network, you may need to set
the Transmit Delay too. 10 milliseconds works on most adapters. Once you’ve made
your configuration choices, click Download to save the settings to your drive.
If a drive is assigned an address (1) then it will respond to commands prefixed by
that address (for example: 1FL2000) but it will also respond to the same command
without the address (for example: FL2000). Commands without an address are
known as global commands. The only difference is that the drive will not send an
acknowledgement back to the host when given a global command. If you have four
addressed drives on a network and you send FL2000, then all drives will respond to
the command but none will send an acknowledgement.

Connecting to an STP-MTRD-xxxxR using the STP-USB485-4W Adapter

The STP-USB485-4W is an excellent chocie for USB to serial conversion. It can be used
for all RS-232 and RS-485 applications.
For RS-485 two-wire systems, set the switches and make the connections to the STP-
MTRD-xxxxR according to the diagrams below:

Note: 2-wire is used by some AutomationDirect PLCs.

RS-485 Two-wire Settings

STP-USB485-4W
6-pin screw terminal
STP-MTRD-xxxxR ON 1 2 3 4
5-pin connector
connector
1 RX-, TX-
2 RX+, TX+
6 GND RS-485 2-wire Switch Settings

For RS-485 four-wire systems, set the switches and make the connections to the STP-
MTRD-xxxxR according to the diagrams below:
RS-485 Four-wire Settings
STP-USB485-4W
STP-MTRD-xxxxR
6-pin screw terminal
connector
5-pin connector ON 1 2 3 4
1 RX-
2 RX+
3 TX+
4 TX- RS-485 4-wire Switch Settings
6 GND

Note: 4-wire is needed for communications to SureMotion Pro.

11–4 SureStepTM Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Chapter 11: SureStepTM Communications

Connecting to a drive using RJ12

Multiple drives can easily be configured by connecting them using the ZL-CDM-RJ12X4
or ZL-CDM-RJ12X10 RJ12 feedthrough modules. Use SureMotion Pro to assign unique
addresses to each drive, then use the feedthrough module to network them together.
The diagram on the next page shows a very convenient way to configure (PC) and
control (PLC) multiple RS-485 integrated stepper motor/drives. This diagram uses
a 2-wire RS-485 connection (CLICK and several other AutomationDirect PLCs only
support 2-wire RS-485).

Drive configuration using SureMotion Pro:

The drives must be configured one at a time using SureMotion Pro (they all have
the same network address out-of-the-box). Disconnect all but one drive from the
ZL-CDM-RJ12X4 or ZL-CDM-RJ12X10 breakout board. That drive can now be configured
by the PC. Plug the cable with the DB9 connector into the USB/RS-485 converter (the
“Configure” option in the diagram on the next page). Configure each drive (connect
only one at a time to the network) with SureMotion Pro. Remember that the PLC
cannot be connected to the network while the PC is configuring drives, as there can
only be one master on the network at a time.

Controlling the network of drives from a PLC using SCL

commands:
Once all the drives are uniquely addressed, plug all the RJ12 cables back into the
ZL-CDM-RJ12X4 or ZL-CDM-RJ12X10 feedthrough module. Unplug the USB/RS-485
converter from the RS-485 network and plug the DB9 connector into the ZL-RTB-DB09
feedthrough module (the “Control” option in the diagram). Pins 1 & 4 need to be tied
together and pins 2 and 3 need to be tied together for 2-wire RS-485 communications
(Most AutomationDirect PLCs only support 2-wire RS-485. Only the 06 and 260 CPU
support 4-wire RS-485). See “Two-Wire Configuration” on page 9-3 for an example
diagram.

7th Ed. Rev E –04/08/2025 SureStepTM Stepping Systems User Manual

11–5
11–6
BLU
GND
GRN
TX-
RED
TX+
WHT
RX-
BLK
RX+

6 5 4 3 2 1
ZL-CDM-RJ12X4

6 5 4 3 2 1

GRN
GR
NC
OR
ORG
RED
BRN
BLK
STP-MTRD-xxxR

ZL-RJ-CBL-2P
Chapter 11: SureStepTM Communications

LNK/ACT
ETHER
NET
100MBIT

Motor/Drives
ZL-DB9F-CBL-2P TX2
RX2

SureStepTM Stepping Systems User Manual

RS-232

R
RS-485

+
_
LG

RJ12 Connection Methods with Integrated

_
+
LG

Configure Control
OR
5
4
3
2
1

9
8
7
6
SH

USB A-B Cable STP-USB485-4W ZL-RTB-DB09

7th Ed. Rev E –04/08/2025

 A
SureStep™ Appendix
Accessories

In This Appendix...
Braking Accessories����������������������������������������������������������������������������������������������A–2
Regeneration Clamp Features ���������������������������������������������������������������������������������������������������������A–2
Cables and Accessories����������������������������������������������������������������������������������������A–5
Encoder Options����������������������������������������������������������������������������������������������������A–8
Encoder Specifications�������������������������������������������������������������������������������������������������������������������� A–13
Differential Electrical Specifications�������������������������������������������������������������������������������������������� A–15
Wiring Examples��������������������������������������������������������������������������������������������������A–16
Line Filters ������������������������������������������������������������������������������������������������������������A–21
 Appendix A: SureStep™ Accessories

Braking Accessories
If you plan to use a regulated or switching power supply, you might encounter
problems from power regeneration. As a load rapidly decelerates from a high speed,
much of the kinetic energy of that load is transferred back to the motor. This energy
is then pushed back to the drive and power supply, resulting in increased system
voltage. The larger the motor the more common this becomes. If there is enough
overhauling load on the motor, the DC Regeneration Clamp Features
voltage will go above the drive and/or • Built-in 50W power resistor
power supply limits.
•M  ounted on a heat sink
This can trip the overvoltage protection • Voltage range: 24–80 VDC; no user
of a switching power supply or a drive, adjustments required
and cause it to shut down. • Power: 50W continuous; 800W peak
To solve this problem, AutomationDirect • Indicators (LED):
offers a regeneration clamp STP-DRVA- Green = power supply voltage is present
RC-050A. The regeneration clamp has a Red = clamp is operating (usually when
built-in 50W braking resistor. The STP- stepper is decelerating)
DRVA-RC-050A does not have an external • Protection: The external power supply is
resistor. internally connected to an “Input Diode”
STP-DRVA-RC-050 and the optional 100W in the regen clamp that protects the power
braking resistor are no longer available, but supply from high regeneration voltages.
are included here for reference purposes. This diode protects the system from
connecting the power supply in reverse.
You can test whether regen is needed
If the clamp circuit fails, the diode will
by installing a single unit in the first
continue to protect the power supply from
installation. If the regen LED (red) never over-voltage.
flashes, then you may not need the
clamp. STP-DRVA-RC-050 Features:
• External 100W resistor available
Further information about braking
• Multiple drives in parallel up to 20A total
accessories and regeneration clamping output current
can be found in the REGENERATION
• Non-removable terminal blocks
CLAMP datasheet.
• Uses 12-18 AWG wire for connections
STP-DRVA-RC-050A Features:
•T  hree drive connections, 7A max per
channel, 15A total output current
• Removable terminal blocks (replacement
kit STP-CON-4)
• Uses 18-20 AWG wire for connections

SureStep™ Stepping Systems – Braking Accessories

Part Number Description
STP-DRVA-RC-050* Regeneration Clamp: use with DC-powered stepper & servo drives; 50W, 24–80 VDC
STP-DRVA-RC050A* Regeneration Clamp: 50W, for DC input stepper and servo drives
STP-DRVA-BR-100 Braking Resistor: use with STP-DRVA-RC-050 regen clamp; 100W, 10 ohms
* Do not use the regeneration clamp in an atmosphere containing corrosive gases.

A–2 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Appendix A: SureStep™ Accessories

Block Diagram – STP-DRV-xxxx

STP-DRVA-RC-050 & STP-DRVA-BR-100 STP-DRVA-RC-050
xx VDC + Regen
Vin+
Power Clamp
Supply – Vin- STP-DRVA
(match power -RC-050
supply V to drive) Vout-
Vout+

Resistor (optional) R1
STP-DRVA-BR-100
10Ω 100W R2

STP-DRV-xxxx STP-DRV
Drive #2 V+ V+ -xxxx
(optional) V– V– Drive #1

Dimensions – STP-DRVA-BR-100
Dimensions – STP-DRVA-RC-050 Dimensions = in [mm]
5.87
Dimensions = in [mm] [149.1]
2.50 4X Ø0.12 2X R0.16 5.46
[63.5] [Ø3.0] [R4.0] [138.7]

1.50
[38.1] 0.75
[19.1]

4.00 22.00
3.75 0.13 [558.8]
[101.6] [95.3] [3.3]
0.75
[19.0]

3.00 0.16 3.69

[76.2] [4.0] [93.7]
0.24 4-40 UNC
3X Ø0.12
[6.1]
[Ø3.0]
2.21
[56.2]
1.50 1.25 1.17
[38.1] [31.8] [29.7]

1.24 1.20 0.87

[31.5] [30.6] [22.1]

STP-DRVA-BR-100

7th Ed. Rev E – 04/08/2025 SureStep™ Stepping Systems User Manual

A–3
 Appendix A: SureStep™ Accessories

STP-DRVA-RC-050A

Dimensions – STP-DRVA-RC-050A
Dimensions = in [mm]
3.70
[94.0]
0.64
[16.2] 0.20
[5.0]

3.01 1.77
[76.4] [45.0]

3.35
[85.0]
0.20
[5.0]

1.13
0.67 [28.6]
6X
[17.0]
R0.08
[R2.1] 0.20
[5.0]

A–4 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Appendix A: SureStep™ Accessories

Cables and Accessories

Replacement cables and connector kits are available for use with SureStep motors,
drives, and integrated motors/drives. See the table below for available accessories
and the parts they are compatible with. Encoder cables are located in the Encoder
Options section.

SureStep Cables & Accessories

Part Number Description Use With
STP-CON-1 SureStep replacement connector kit. STP-DRV-4845 & -6575
STP-DRV-4850
STP-CON-2 SureStep replacement connector kit.
STP-DRV-80100
All STP-MTRD except STP-
STP-CON-3 SureStep replacement connector kit.
MTRD-17038 and 17048E
STP-CON-4 SureStep replacement connector kit. STP-DRVA-RC-050A

STP-CON-5 SureStep replacement connector kit. STP-DRV-4830

STP-CON-6 SureStep replacement connector kit. STP-DRVAC-24025

STP-485DB9-CBL-2 Integrated motor/drive programming cable STP-MTRD-xxxxxR(E)

STP-USB485-4W USB to RS-485 adapter, 4-wire STP-MTRD-xxxxxR(E)

STP-EXT-0xx Motor to drive extension cable, xx = length in feet STP-MTR-xxxxx(x)

STP-EXTL-0xx Motor to drive extension cable, xx = length in feet STP-MTRL-xxxxx(x)

STP-EXTH-0xx Motor to drive extension cable, xx = length in feet STP-MTRH-xxxxx(x)

STP-EXTW-0xx IP65 rated motor to drive extension cable, xx = length in feet STP-MTR-xxxxxW

STP-EXTHW-0xx IP65 rated motor to drive extension cable, xx = length in feet STP-MTRH-xxxxxW
SureStep extension cable, 6-pin connector to pigtail (4 wires
STP-LA-EXT17-0xx used), 6, 10, or 20ft cable length.
STP-LE17-xxxxxx
SureStep extension cable, 6-pin connector to pigtail (4 wires
STP-LA-EXT23-0xx used), 6, 10, or 20ft cable length.
STP-LE23-xxxxxx
Control cable for 17038 series integrated motor/drives, xx =
STP-CBL-CAxx length in feet
STP-MTRD-17038/17038E
Metal body SureStep damper. For use with NEMA 17 stepper
STP-MTRA-17DMP motors with 5mm shafts.
STP-MTR-17xxx(x)
Metal body SureStep damper. For use with NEMA 23 stepper STP-MTR-23xxx(x)
STP-MTRA-23DMP motors with 1/4 in. shafts. STP-MTRAC-23xxxD
STP-MTRA-SCRWKT-1 SureStep encoder mounting screw kit. All stepper encoders1
NEMA 42 Encoder adapter plate for Same Sky AMT31/AMT33
STP-MTRA-42ENC STP-MTRAC(H)-42xxxD
encoders
Same Sky encoder accessory kit, replacement. Includes (1)
CUI-KIT-1 Same Sky AMT102
AMT102 base, (1) AMT102 wide base, and (1) AMT10 sleeve kit
encoders
(9 sleeves sized 2-8mm).
Same Sky encoder accessory kit, replacement. Includes
CUI-KIT-2 Same Sky AMT103
(1) AMT standard base, (1) AMT standard wide base, and (1)
encoders
AMT10 sleeve kit (9 sleeves sized 2-8mm).
1 - For NEMA42 motors, screws are not included in this kit. Screws are included with the STP-MTRA-42ENC adapter
plate.
Continued on next page

7th Ed. Rev E – 04/08/2025 SureStep™ Stepping Systems User Manual

A–5
 Appendix A: SureStep™ Accessories

SureStep Cables & Accessories (continued)

Part Number Description Use With
Same Sky encoder accessory kit, replacement. Includes (1)
CUI-KIT-3 Same Sky AMT11 and
AMT standard base, (1) AMT standard wide base, and (1)
AMT31 encoders
AMT standard sleeve kit (9 sleeves sized from 2-8mm).

CUI-KIT-4 Same Sky encoder sleeve kit, replacement. Includes (8) Same Sky AMT13 and
sleeves sized from 9-14mm. AMT33 encoders
SureStep lead screw flange nut, replacement, triangular, SureStep STP-LE series screw
STP-LA-NTFA 0.25in/rev, 0.25in lead screw diameter. code A
SureStep lead screw flange nut, replacement, triangular, SureStep STP-LE series screw
STP-LA-NTFB 0.5in/rev, 0.25in lead screw diameter. code B
SureStep lead screw flange nut, replacement, triangular, SureStep STP-LE series screw
STP-LA-NTFC 3mm/rev, 6.5mm lead screw diameter. code C
SureStep lead screw flange nut, replacement, triangular, SureStep STP-LE series screw
STP-LA-NTFD 1.25mm/rev, 8mm lead screw diameter. code D
SureStep lead screw flange nut, replacement, triangular, SureStep STP-LE series screw
STP-LA-NTFE 8mm/rev, 8mm lead screw diameter. code E
SureStep lead screw flange nut, replacement, triangular, SureStep STP-LE series screw
STP-LA-NTFF 10.5mm/rev, 10mm lead screw diameter. code F
SureStep lead screw flange nut, replacement, triangular, SureStep STP-LE series screw
STP-LA-NTFG 2mm/rev, 12mm lead screw diameter. code G
SureStep lead screw flange nut, replacement, triangular, SureStep STP-LE series screw
STP-LA-NTFH 6mm/rev, 12mm lead screw diameter. code H
SureStep lead screw flange nut, replacement, triangular, 1in/ SureStep STP-LE series screw
STP-LA-NTFK rev, 0.5in lead screw diameter. code K
SureStep lead screw flange nut, round, 0.25in/rev, 0.25in SureStep STP-LE series screw
STP-LA-NRFA lead screw diameter. code A
SureStep lead screw flange nut, round, 0.5in/rev, 0.25in lead SureStep STP-LE series screw
STP-LA-NRFB screw diameter. code B
SureStep lead screw flange nut, round, 3mm/rev, 6.5mm SureStep STP-LE series screw
STP-LA-NRFC lead screw diameter. code C
SureStep lead screw flange nut, round, 1.25mm/rev, 8mm ureStep STP-LE series screw
STP-LA-NRFD lead screw diameter. code D
SureStep lead screw flange nut, round, 8mm/rev, 8mm lead SureStep STP-LE series screw
STP-LA-NRFE screw diameter. code E
SureStep lead screw flange nut, round, 10.5mm/rev, 10mm SureStep STP-LE series screw
STP-LA-NRFF lead screw diameter. code F
SureStep lead screw flange nut, round, 2mm/rev, 12mm SureStep STP-LE series screw
STP-LA-NRFG lead screw diameter. code G
SureStep lead screw flange nut, round, 6mm/rev, 12mm SureStep STP-LE series screw
STP-LA-NRFH lead screw diameter. code H
SureStep lead screw flange nut, round, 1in/rev, 0.5in lead SureStep STP-LE series screw
STP-LA-NRFK screw diameter. code K

A–6 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Appendix A: SureStep™ Accessories

STP-EXTx-0xx Extension Cable Wiring Diagram

STP-EXTW-0xx and STP-EXTHW-0xx Extension Cable Wiring

Diagram

( )
1.8
[46.35]
L ±0.50
[L ±12.70]

( ) 0.50
[12.70]
1.00±0.25
[25.40±6.35]

(
Ø0.77
[Ø19.60] ) 18AWG SHIELDED CABLE:
LABEL: BELDEN # 9418
PIN # 1 (OR EQUIVALENT)
PIN # 5 STP-EXTW-0XX
PIN # 2
PIN OUT CONNECTION or
PIN # COLOR PHASE
1 RED A+ PIN # 6 STP-EXTHW-0XX
2 WHITE A-
3 GREEN B+ PIN # 4 PIN # 3
4 BLACK B-
5 GROUND GROUND VIEW FROM PIN CONNECTION
6 N/A N/A Connector: Bulgin # PXP4011/06P/6065

STP-485DB9-CBL-2 Wiring Diagram

7th Ed. Rev E – 04/08/2025 SureStep™ Stepping Systems User Manual

A–7
 Appendix A: SureStep™ Accessories

STP-CBL-CAxx Control Cable Wiring Diagram

*
* Refer to STP-CBL-CAxx part number
for cable length information

Note: For Rev A of this cable, STEP+ is Grey/

Pink and EN- is Red/Blue

REVISION HISTORY
ECN REV DATE DESCRIPTION INIT.
46416 A0 7/1/19 ORIGINAL BJR
STP-LE17-xxxxxx Cable Wiring Diagram
L (IN)13
[L (mm)0.5]

( 12.7
)
[0.50] ([2.00]
50.8
)

AUTOMATION DIRECT CABLE

CONNECTOR STP-LA-EXT17-XXX ALHPAWIRE # 1604
JST # (24AWG/4C)
PHR-6 OR EQUIVALENT
PIN
JST #
SPH-002T-P0.5

PIN 1
PINOUT CHART CABLES
PIN # COLOR WIRE CABLE PART # LENGTH L (IN) LENGTH L (mm)
1 RED A+ STP-LA-EXT17-006 72 1828
2 N/A STP-LA-EXT17-010 120 3048
3 YELLOW A- STP-LA-EXT17-020 240 6096
4 GREEN B+
5 N/A
6 BLACK B-
VIEW FROM
WIRE ENTRANCE REVISION HISTORY
ECN REV DATE DESCRIPTION INIT.
46416 A0 7/1/19 ORIGINAL BJR

STP-LE23-xxxxxx Cable Wiring Diagram

L (IN) 13
[L (mm)0.5]

([0.50]
12.7
) ([2.00]
50.8
)

AUTOMATION DIRECT CABLE

STP-LA-EXT23-XXX BELDEN # 8444
CONNECTOR (22AWG/4C)
JST # OR EQUIVALENT
XHP-6
PIN
JST #
SXH-001T-P0.6

PINOUT CHART CABLES

PIN # COLOR WIRE CABLE PART # LENGTH L (IN) LENGTH L (mm)
PIN 1
1 RED A+ STP-LA-EXT23-006 72 1828
2 N/A STP-LA-EXT23-010 120 3048
3 WHITE A- STP-LA-EXT23-020 240 6096
4 GREEN B+
5 N/A
6 BLACK B-
VIEW FROM
WIRE ENTRANCE

A–8 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Appendix A: SureStep™ Accessories
TABLE INFORMATION
CABLE NUMBER CABLE LENGTH L
STP-EXT42-006 6 Feet
STP-EXT42-010 10 Feet
STP-EXT42-020 20 Feet
STP-EXT42(H)-xxx Cable Wiring Diagram
HEAT SHRINK

LABEL UL2517 18AWG 8C HEAT SHRINK

STP-EXT42- XXX
Automation Direct
YYDDD

26±2 75±3

80±3
L

Pin Wire Description

1 A - White
2 A - Orange
3 C - Green
4 C - Brown
5 B - Red
6 B - Yellow
7 D - Black
8 D - Blue
9 GND - Drain wire

7th Ed. Rev E – 04/08/2025 SureStep™ Stepping Systems User Manual

A–9
 Appendix A: SureStep™ Accessories

Encoder Options
The standard integrated motors and dual-shaft stepper motors have options for
mounting an external encoder. The NEMA 14, 17, 23/24, and 34 dual-shaft motors
come with pre-tapped holes on the rear end cap for mounting the STP-MTRA-ENCx
encoders. The NEMA 42 dual-shaft motors require an STP-MTRA-42ENC adapter plate
for encoder moutning. All high bus voltage dual-shaft motors also come with pre-
tapped holes. The “E” stepper motors and integrated models come with an encoder
installed. This encoder can be replaced with other options. All STP-MTRA-ENCx
encoders are incremental A/B quadrature type. Please see the compatibility table
below. For these encoders, the hardware in STP-MTRA-SCRWKT-1 is used to attach the
encoder to the compatible motor.

NOTE: Using the CLICK or BRX PLC requires the use of an FC-ISO-C signal conditioner.

SureStep Brand Encoder Compatibility

Encoder Part Bore Output PLC Motor Matching
PPR
Number Diameter Type Compatibility Compatiblity Cable
STP-MTRA-ENC1 1000 P2-HSI, P3-HSI, STP-MTRx-14xxxD
Line Driver BRX2, CLICK STP-MTRx-14xxxE STP-CBL-EAxx
STP-MTRA-ENC3 400 C0-1xDxE-D2 STP-MTRx-17xxxD
5mm
STP-MTRx-17xxxE
STP-MTRA-ENC2 1000
Push-pull BRX2, CLICK Standard STP-MTRD- STP-CBL-EDxx
(totem) C0-1xDxE-D2 xxxxxE
STP-MTRA-ENC4 400

STP-MTRA-ENC5 1000 P2-HSI, P3-HSI,

Line Driver BRX2, CLICK STP-CBL-EAxx
STP-MTRA-ENC7 400 C0-1xDxE-D2 STP-MTRx-23xxxD
0.25 inch STP-MTRx-23xxxE
STP-MTRA-ENC6 1000
Push-pull BRX2, CLICK STP-MTRAC-23xxxD
STP-CBL-EDxx
(totem) C0-1xDxE-D2
STP-MTRA-ENC8 400
STP-MTRx-14xxxD
P2-HSI, P3-HSI, STP-MTRx-14xxxE
STP-MTRA-ENC9 Line Driver BRX2, CLICK
(AMT-112Q-V) STP-MTRx-17xxxD
C0-1xDxE-D2 STP-MTRx-17xxxE
48 to STP-MTRx-23xxxD STP-CBL-EBxx
2mm - 8mm
40961 STP-MTRx-23xxxE AMT-PGRM-17C
STP-MTRA-ENC10 Push-pull BRX2, CLICK STP-MTRAC-23xxxD
(AMT-112S-V) (totem) C0-1xDxE-D2 Std STP-MTRD-xxxxE
STP-LE17-xxxADJ
STP-LE23-xxxADJ
STP-MTRA-ENC11 1000 P2-HSI, P3-HSI,
Line Driver BRX2, CLICK STP-CBL-EAxx
STP-MTRA-ENC13 400 C0-1xDxE-D
0.375 inch STP-MTRAC-34xxxD
STP-MTRA-ENC12 1000 Push-pull BRX2, CLICK
STP-CBL-EDxx
STP-MTRA-ENC14 400 (totem) C0-1xDxE-D2

1 - Configurable (default=400). Requires configuration cable AMT-PGRM-17C.

2 - Requires FC-ISO-C (see wiring diagrams below for DIP switch settings).

A–10 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Appendix A: SureStep™ Accessories

For all encoders listed below, please use the hardware contained in STP-MTRA-
SCRWKT-1 to attach the encoder to the compatible motor.
Same Sky Brand Encoder Compatibility
Encoder Part Bore Output PLC Motor Matching
PPR
Number Diameter Type Compatibility Compatiblity Cable

AMT102-V CUI-313x-xxx
48 to
20481 STP-MTRx-14xxxD
push-pull BRX2, CLICK CUI-435-xxx or
AMT103-V3 (totem) C0-1xDxE-D2 STP-MTRx-14xxxE CUI-3934-6FT
STP-MTRx-17xxxD
STP-MTRx-17xxxE
AMT112S-V STP-MTRx-23xxxD
48 to
2mm - 8mm STP-MTRx-23xxxE AMT-17C-1-xxx
40961 line driver P2-HSI, P3-HSI,
STP-MTRAC-23xxxD
AMT112Q-V BRX2, CLICK
(differential) Standard STP-MTRD-
C0-1xDxE-D2
xxxxxE
line driver P2-HSI, P3-HSI,
AMT312D-V BRX2, CLICK STP-LE17-xxxADJ
(differential)
C0-1xDxE-D2 STP-LE23-xxxADJ
AMT-17C-1-xxx
AMT312S-V
push-pull BRX2, CLICK
(totem) C0-1xDxE-D2
AMT132S-V
48 to
40961 line driver P2-HSI, P3-HSI, STP-MTRx-34xxxD
AMT132Q-V BRX2, CLICK
(differential) STP-MTRAC(H)-
C0-1xDxE-D2
9mm - 5/8" 42xxxD4 AMT-18C-3-xx
push-pull BRX2, CLICK (Does not fit STP-
AMT332S-V
(totem) C0-1xDxE-D2 MTRAC-34 motors)

line driver P2-HSI, P3-HSI,

AMT332D-V BRX2, CLICK
(differential)
C0-1xDxE-D2
1 - Configurable (default=400). AMT103-V is dip switch configurable. All others require configuration cable, see below.
2 - Requires FC-ISO-C (see wiring diagrams below for DIP switch settings).
3 - For AMT103-V to maintain NEMA23 compatibility, CUI-KIT-2 must be purchased to use the standard wide base for
mounting.
4 - STP-MTRA-42ENC adapter plate required for STP-MTRAC(H)-42xxxD compatibility.
AMT102 and AMT103 encoders can be configured with on-board DIP switches.
All other Same Sky encoders come preset at 400ppr as factory default. For other
resolutions, a USB configuration cable is required (separate from the signal cables
above).
• AMT11 and AMT31 encoders are configured with AMT-PGRM-17C.
• AMT13 and AMT33 encoders are configured with AMT-PGRM-18C.

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A–11
 Appendix A: SureStep™ Accessories

STP-USBENC-CBL-1 Wiring Diagram

STP-CBL-EAxx Encoder Cable Wiring Diagram

Z
Z

STP-CBL-EBxx Encoder Cable Wiring Diagram

TABLE INFORMATION
NOTE:
CABLE NUMBER CABLE LENGTH L
1. Case_GND is connected internally to GND (BLACK/RED) STP-CBL-EB3 3 Feet
2. Ground connected internally to cable shielding-customer ref. only STP-CBL-EB6 6 Feet
3. Tolerance: ± 0.2” [5] unless otherwise specified STP-CBL-EB10 10 Feet
4. All materials must be ROHS compliant
STP-CBL-EB20 20 Feet

L ±0.5
1.50 ±0.05 [38.100 ±1.270] 6.0 [152.400]
2 0.25±0.05 [6.350±1.270]
A 3
round dual
1 shielding jacket

Leads Stripped
and Tinned
heat shrink tube
Case_GND A with glue 2X (1 [25])
Note 1 Special Label
Ground
#8 Insulated Terminal 3.0 [76.20] PANDUIT # LJSL5-Y3-2.5
Ring or Equivalent 0.5 [13] AUTOMATION DIRECT 3.0 [76.20]
STP-CBL-EBxx

#8 Insulated Terminal Note 2

Ring or Equivalent
Connector Pinout 17 15 13 11 9 7 5 3 1
Color
# Function Primary Stripe
4 GND Black Red
6 +5V Red Black
8 B+ Green Black 16 14 12 10 8 6 4 2
9 B- Black Green
10 A+ White Black SECTION A-A
11 A- Black White SCALE 3:1
12 Z+ Blue Black (Back of Connector Housing)
13 Z- Black Blue
PARTS LIST
# PART DESCRIPTION QTY
1 CABLE 3M # 3600B/14 1
2 CONNECTOR JAE # FI-W175 1
3 CRIMP PINS JAE #FI-C3-A1-15000 8

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 Appendix A: SureStep™ Accessories

STP-CBL-EDxx Encoder Cable Wiring Diagram

Color
Black
Green
White
Red
Brown

Connector part number:

• US Digital Part Number: CON-FC5
• Molex Part Number: 14600052

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 Appendix A: SureStep™ Accessories

NOTE: Stepper motors can vibrate and resonate more than most motors. If this is an issue
for your application use thread locking adhesive on the mounting screws.

Required Encoder Mounting Screws1 2

Screw
Step Motor Qty Part Number Image
Description
M2.5 X 0.45 mm
thread, 4mm long
McMaster Carr
STP-LE17-xxxADJ 2 SS Slotted Screws,
PN#: 91613A060
Narrow Cheese
Head

STP-MTRL-14xxxD or E
M2.5 X 0.45 mm,
STP-MTR-17040D or E 5mm long, 8-18 SS McMaster Carr
2
STP-MTR-17048D or E Button Head Hex PN#: 92095A457
Drive Screw
STP-LE23-xxxADJ

M2 X 0.4 mm,
5mm long 18-8 SS McMaster Carr
STP-MTR-17060D or E 3
Pan Head Phillips PN#: 92000A012
Screws

STP-MTR-23xxxD or E 4-40, 0.25 in long,

18-8 SS Pan Head [Link]
STP-MTRH-23xxxD or E 2
Phillips Screw with PN#: 4C25PPIS
STP-MTRAC-34xxxD captive washer

M3 X 0.5 mm,
STP-MTR-34xxxD McMaster Carr
15mm long 18-8 SS
2 PN#:
STP-MTRH-34xxxD Button Head Hex
992095A119
Drive Screws

2-56, 0.25 in long,

Zinc plated Steel
McMaster Carr
STP-MTRAC-23xxxD 2 Pan Head Phillips
PN#: 90403A079
Screw with captive
washer

M3 X 0.5 mm, 8mm

McMaster Carr
STP-MTRD-xxxxxE 2 long 18-8 SS Pan
PN#: 94102A103
Head Phillips Screws

1 - STP-MTRA-SCRWKT-1 contains all these screws.

2 - Encoder mounting screws for STP-MTRAC(H)-42xxxD motors are included in STP-MTRA-42ENC, not STP-MTRA-
SCRWKT-1.

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 Appendix A: SureStep™ Accessories

Encoder Mounting Accessories

STP-MTRA-42ENC
The STP-MTRA-42ENC mounting kit is required to mount an AMT13 or AMT33 encoder
on the STP-MTRAC(H)-42xxxD series step motors.

2.50
63.5

2.12
53.9
0.91
23.0 4X
0.61 0.14 0.13
15.6 3.5 3.2

1.18
30.0
0.61 4X
4-40 UNC-2B THRU
1.22 15.6 2.50
31.1 1.81 63.5
46.0
B.C.
1.73
44.0
0.61 B.C.
15.6
4X
R0.19
1.81
4.8
46.0

CAN BE CHANGED BY MANUFACTURER WITHOUT NOTICE.

DO NOT IMPLY TOLERANCE.

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 Appendix A: SureStep™ Accessories

Encoder Specifications
Encoder General Specifications
STP-MTRA-ENC1, 3, STP-MTRA-ENC2, STP-MTRA- STP-MTRA-
Encoder
5, 7, 11, 13 4, 6, 8, 12, 14 ENC9 ENC10
Operating Temperature,
-40 to 100°C (-40 to 212°F)
CPR < 2000
Operating Temperature,
-25 to 100°C (-13 to 212°F)
CPR ≥ 2000
Vibration 20G (5Hz to 20kHz)

Electrostatic Discharge ±2kV ±4kV

Max. Shaft Axial Play ±0.010 inches [0.254 mm]

Max Shaft Eccentricity See

0.004 inches See AMT112S-V
plus Radial Play AMT112Q-V
datasheet
datasheet
Max Acceleration 250000 rad/sec2

Typical Product Weight 0.91 oz. [25.8 g] 0.82 oz [23.2 g]

Hub Set Screw #4-48

Hex Wrench Size 0.050 inches

A leads B for clockwise shaft rotation, and
Phase Relationship B leads A for counterclockwise rotation as
viewed from the cover side of the encoder.
For Same Sky encoder specifications, please refer to the specific datasheet found on
the encoder Item Page on [Link].
SureStep Brand Bolt Circle Mounting Specifications
(mm [inches])
Bolt Hole
Circle Two Holes Three Holes Four Holes
Encoder
STP-MTRA-ENC1
STP-MTRA-ENC3
STP-MTRA-ENC2
STP-MTRA-ENC4
19.05 [0.75] 20.9 [0.823] –
STP-MTRA-ENC5
STP-MTRA-ENC7
STP-MTRA-ENC6
STP-MTRA-ENC8
STP-MTRA-ENC9 16 [0.63]
(AMT-112Q-V) 20.9 [0.823]
19.05 [0.75]
21.55 [0.85] 25.4 [1])
STP-MTRA-ENC10 32.44 [1.28]
22 [0.87]
(AMT-112S-V) 46.02 [1.81]
STP-MTRA-ENC11
STP-MTRA-ENC13 19.05 [0.75]
20.9 [0.823] –
STP-MTRA-ENC12 46.02 [1.812]
STP-MTRA-ENC14

A–16 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Appendix A: SureStep™ Accessories

Same Sky Brand Bolt Circle Mounting Specifications

(mm [inches])
Bolt Hole
Circle Two Holes Three Holes Four Holes
Encoder
AMT102-V
22.00 [0.866]
AMT103-V 16.00 [0.630]
AMT112S-V 19.05 [0.750]
22.00 [0.866] 25.40 [1.000]
AMT112Q-V 32.430 [1.277]
46.025 [1.812] 21.55 [0.848]
AMT312D-V
20.90 [0.823]
AMT312S-V
AMT132S-V
AMT132Q-V
43.84 [1.726] – –
AMT332S-V
AMT332D-V

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 Appendix A: SureStep™ Accessories

Differential Electrical Specifications

The following specifications apply over the entire operating temperature range.
Typical values are specified at Vcc = 5.0VDC and 25°C.

Encoder Electrical Specifications

STP-MTRA- STP-MTRA-
STP-MTRA- STP-MTRA-
Encoder ENC1, 3, 5, 7, ENC2, 4, 6, 8,
ENC9 ENC10
11, 13 12, 14
Min. 4.5
Supply Voltage
Typical 5
(V)
Max 5.5

29 (CPR < 500) 27 (CPR < 500)

Typical
Supply Current 56 (CPR ≥ 500) 54 (CPR ≥ 500)
(mA)1 36 (CPR < 500) 33 (CPR < 500)
Max
65 (CPR ≥ 500) 62 (CPR ≥ 500) See AMT112Q-V See AMT112S-V
datasheet datasheet
Typical 0.2 n/a
Low-level
Output2 (V)
Max 0.4 0.5

Min 2.4 2.0

High-level
Output3 (V)
Typical 3.4 n/a

Rise/Fall Time (nS) 15 110/100

1: No load
2: IOL (Amps at Output Low) = 20mA max. (for all -ENC1 through -ENC14, except -ENC9 and 10)
3: IOH (Amps at Output High) = 20mA max. (for all -ENC1 through -ENC14, except -ENC9 and 10)

A–18 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Appendix A: SureStep™ Accessories

Wiring Examples
Please see the pages below for wiring examples:

For STP-MTRA-ENC1, -ENC3, -ENC5, -ENC7, -ENC11, -ENC13

STP-MTRA-ENC1 STP-CBL-EAx
Pin
7 +5V
+5V

2 GND
GND

A+ 6 BLU
A+
D A− 5 BLU/WHT
A−

B+ 10 BRN
B+
D B− 9 BRN/WHT
B−

Z+ 4 ORG
Z+
D Z− 3 ORG/WHT
Z−

Optical Encoder Line Driver Wiring Diagram

For STP-MTRA-ENC2, -ENC4, -ENC6, -ENC8, -ENC12, -ENC14

STP-MTRA-ENC2, 4, 6, 8 STP-CBL-EDx
Pin RED

4
+5V

1 BLACK
GND A−

A 3 WHITE
A+
B−
5 BROWN
B B+
Z−
2 GREEN
Z Z+
(Index)

Optical Encoder Single Ended (Push-pull/Totem) Wiring Diagram

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 Appendix A: SureStep™ Accessories

For STP-MTRA-ENC9 and Same Sky Encoders

Encoder Cable

+5V

GND

A+
A+
D A−
A−

B+
B+
D B−
B−

Z+
Z+
D Z−
Z−

Configurable Encoder Line Driver Wiring Diagram

Line Driver Encoder Wiring Colors

AMT112Q-V
AMT132Q-V
Encoder AMT312D-V
AMT332D-V
STP-MTRA-ENC9
STP-CBL-EBx
AMT-18C-3-xxx
Pin Function Pin # AMT-17C-1-xxx Pin #
Wire Color
Wire Color
+5V 6 RED/BLK 6 RED/GRN
GND 4 BLK/RED 4 GRN/RED
A+ 10 WHT/BLK 8 BRN/WHT
A- 11 BLK/WHT 9 WHT/BRN
B+ 8 GRN/BLK 10 GRN/WHT
B- 9 BLK/GRN 11 WHT/GRN
Z+ 12 BLU/BLK 12 BLU/WHT
Z- 13 BLK/BLU 13 WHT/BLU

A–20 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Appendix A: SureStep™ Accessories

For STP-MTRA-ENC10 and Same Sky Encoders

Encoder Cable

+5V

GND

A+ A+
N/A

B+ B+
N/A

Z+ Z+
N/A

Configurable Encoder Single Ended (Push-pull/Totem) Wiring Diagram

Single Ended (Push-pull/Totem) Encoder Wiring Colors

AMT112S-V
AMT132S-V
Encoder AMT312S-V AMT102-V AMT103-V
AMT332S-V
STP-MTRA-ENC10
STP-CBL-EBx
Pin Pin Pin AMT-18C-3-xxx Pin CUI-3131-xxx CUI-3132-1FT Pin CUI-435-xxx CUI-3934-6FT
AMT-17C-1-xxx
Function # # Wire Color # Wire Color Wire Color # Wire Color Wire Color
Wire Color
+5V 6 RED/BLK 6 RED/GRN 5V RED ORG 5V ORG RED
GND 4 BLK/RED 4 GRN/RED G BLACK BRN G BRN BLACK
A+ 10 WHT/BLK 8 BRN/WHT A WHT BLU A BLU WHT
N/A 11 BLK/WHT 9 WHT/BRN – – – – – –
B+ 8 GRN/BLK 10 GRN/WHT B BRN YEL B YEL BRN
N/A 9 BLK/GRN 11 WHT/GRN – – – – – –
Z+ 12 BLU/BLK 12 BLU/WHT X GRN PUR X PUR GRN
N/A 13 BLK/BLU 13 WHT/BLU – – – – – –

Single Ended (Push-pull/Totem) Commutation Wiring Colors

Encoder AMT312S-V AMT332S-V
AMT-17C-1-xxx AMT-18C-3-xxx
Pin Function Pin # Pin #
Wire Color Wire Color
+5V 6 RED/BLK 6 RED/GRN
GND 4 BLK/RED 4 GRN/RED
U+ 3 BRN/BLK 3 BRN/RED
W+ 5 ORG/BLK 5 ORG/RED
V+ 7 RED/WHT 7 BLU/RED

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 Appendix A: SureStep™ Accessories

Productivity PLCs
P2-HSI or P3-HSI

SureStep Advanced Stepper Drives

1A 169Ω
A+
Internal to the
1A 330Ω STP-DRV-xxxx
A− A+
STEP+

1B 169Ω
B+ 220pF
A−
STEP-

1B
B− 330Ω
B+
DIR+
1Z 169Ω
Z+
220pF
DIR-
1Z B−
Z−

Productivity PLC Wiring SureStep Advanced Stepper Drive

Diagram Wiring Diagram

SureServo SVA-2xxx
Terminal Block & Cable
ZL-RTB50 &
ZL-SVC-CBL50 Servo Drive

24VDC
Max. input pulse
frequence is
500kpps

/SIGN
A+
270Ω
5V

A−
SIGN

COM−

/PULSE
B+
270Ω
5V
B−
PULSE

COM−
VDD GND

SureServo Wiring Diagram

A–22 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Appendix A: SureStep™ Accessories

BRX High Speed Inputs

Line Driver (Differential) BRX MPU Input

A+
FC-ISO-C
A− nC 0 1 2 3 4
+Ai
-Ai
B+ +Bi
-Bi
B− +Zi
-Zi Open Collector
Z+ COM (single ended)
COM
Z−
V+
12-24 VDC
0V

Ao
Ao
ISOLATION Bo
BOUNDARY Bo
Zo
Zo
0V
0V

FC-ISO-C

BRX PLC Wiring Diagram

CLICK High Speed Inputs

Line Driver (Differential)

A+
FC-ISO-C
A−
+Ai
-Ai
B+ +Bi
-Bi
B− +Zi
-Zi
Z+ COM C1
COM
Z−
V+
12-24 VDC
0V

Ao X1
Ao
ISOLATION Bo X2
BOUNDARY Bo
Zo X3
Zo
0V
0V

FC-ISO-C
CLICK PLC Wiring Diagram

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 Appendix A: SureStep™ Accessories

Line Filters
Line Filters
Drive Line Filter
STP-DRV-4035 RES10F06

STP-DRV-4830 RES10F03

STP-DRV-4845 RES10F06

STP-DRV-6575 RES10F10

STP-DRV-4850 RES10F06

STP-DRV-80100 RES10F10

STP-MTRD-17x RES10F03

STP-MTRD-23x RES10F06

STP-MTRD-24x RES10F06

STP-DRVAC-24025 RES10F03

A–24 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
Using

B
SureStep™ with Appendix
AutomationDirect
PLCs

In This Appendix...
Compatible AutomationDirect PLCs and Modules����������������������������������������B–2
Typical Connections to a Productivity PLC������������������������������������������������������B–6
Typical Connections to a DL05 PLC ������������������������������������������������������������������B–7
Typical Connections to an H0-CTRIO����������������������������������������������������������������B–8
Typical Connections – Multiple Drives/Motors ����������������������������������������������B–9
Typical DirectLOGIC PLC RS-232
Serial Connections to an Advanced SureStep Drive����������������������������������� B–10
Typical CLICK, P-Series, & BRX PLC RS-232
Serial Connections to an Advanced SureStep Drive����������������������������������� B–11
Typical RS-485 Connections to
Integrated Motor/Drives����������������������������������������������������������������������������������� B–12
 Appendix B: Using SureStep™ with AutomationDirect PLCs

Compatible AutomationDirect PLCs and Modules

The following tables show which high-speed pulse-output PLCs and modules can be
used with the SureStep Microstepping Motor Drives.

Productivity PLCs/Modules for Use with SureStep Drives

Productivity Series High Speed Counter I/O Modules
Productivity3000 high-speed pulse output module, 1MHz maximum switching frequency,
P3-HSO 2-channel, 4 general purpose output points, 5-24 VDC, sinking/sourcing, 6 general purpose input
points, external 24 VDC required.
Productivity2000 high-speed pulse output module, 1MHz maximum switching frequency,
P2-HSO 2-channel, 4 general purpose output points, 5-24 VDC, sinking/sourcing, 6 general purpose input
points, external 24 VDC required.

BRX Series PLCs/Modules for Use with SureStep Drives

BRX Series High Speed Counter I/O Modules
BX-DM1- BRX Do-more PLC, 12-24 VDC required, serial port, microSD card slot, Discrete Input: 6-point, AC/
10ED1-D DC, Discrete Output: 4-point, sinking.

BX-DM1- BRX Do-more PLC, 12-24 VDC required, serial port, microSD card slot, Discrete Input: 6-point, AC/
10ED2-D DC, Discrete Output: 4-point, sourcing.
BRX Do-more PLC, 12-24 VDC required, Ethernet and serial ports, microSD card slot, Discrete
BX-DM1E- Input: 6-point, AC/DC, Analog Input: 1-channel, current/voltage, Discrete Output: 4-point,
10ED13-D
sinking, Analog Output: 1-channel, current/voltage.
BRX Do-more PLC, 12-24 VDC required, Ethernet and serial ports, microSD card slot, Discrete
BX-DM1E- Input: 6-point, AC/DC, Analog Input: 1-channel, current/voltage, Discrete Output: 4-point,
10ED23-D
sourcing, Analog Output: 1-channel, current/voltage.
BX-DM1- BRX Do-more PLC, 12-24 VDC required, serial port, microSD card slot, Discrete Input: 10-point,
18ED2-D AC/DC, Discrete Output: 8-point, sourcing.

BX-DM1- BRX Do-more PLC, 12-24 VDC required, serial port, microSD card slot, Discrete Input: 10-point,
18ED1-D AC/DC, Discrete Output: 8-point, sinking.
BRX Do-more PLC, 12-24 VDC required, Ethernet and serial ports, microSD card slot, Discrete
BX-DM1E- Input: 10-point, AC/DC, Analog Input: 1-channel, current/voltage, Discrete Output: 8-point,
18ED23-D
sourcing, Analog Output: 1-channel, current/voltage.
BRX Do-more PLC, 12-24 VDC required, Ethernet and serial ports, microSD card slot, Discrete
BX-DM1E- Input: 10-point, AC/DC, Analog Input: 1-channel, current/voltage, Discrete Output: 8-point,
18ED13-D
sinking, Analog Output: 1-channel, current/voltage.
BX-DM1- BRX Do-more PLC, 120-240 VAC required, serial port, microSD card slot, Discrete Input: 10-point,
18ED2 AC/DC, Discrete Output: 8-point, sourcing.
BX-DM1- BRX Do-more PLC, 120-240 VAC required, serial port, microSD card slot, Discrete Input:
18ED1 10-point, AC/DC, Discrete Output: 8-point, sinking.
Table continued next page.

B–2 SureStep™ Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Appendix B: Using SureStep™ with AutomationDirect PLCs

BRX Series PLCs/Modules for Use with SureStep Drives

BRX Do-more PLC, 120-240 VAC required, Ethernet and serial ports, microSD card slot, Discrete
BX-DM1E-
Input: 10-point, AC/DC, Analog Input: 1-channel, current/voltage, Discrete Output: 8-point,
18ED23 sourcing, Analog Output: 1-channel, current/voltage.
BRX Do-more PLC, 120-240 VAC required, Ethernet and serial ports, microSD card slot, Discrete
BX-DM1E-
Input: 10-point, AC/DC, Analog Input: 1-channel, current/voltage, Discrete Output: 8-point,
18ED13 sinking, Analog Output: 1-channel, current/voltage.
BX-DM1- BRX Do-more PLC, 12-24 VDC required, serial port, microSD card slot, Discrete Input: 20-point,
36ED2-D AC/DC, Discrete Output: 16-point, sourcing.

BX-DM1- BRX Do-more PLC, 12-24 VDC required, serial port, microSD card slot, Discrete Input: 20-point,
36ED1-D AC/DC, Discrete Output: 16-point, sinking.
BRX Do-more PLC, 12-24 VDC required, Ethernet and serial ports, microSD card slot, Discrete
BX-DM1E-
Input: 20-point, AC/DC, Analog Input: 4-channel, current/voltage, Discrete Output: 16-point,
36ED23-D sourcing, Analog Output: 2-channel, current/voltage.
BRX Do-more PLC, 12-24 VDC required, Ethernet and serial ports, microSD card slot, Discrete
BX-DM1E-
Input: 20-point, AC/DC, Analog Input: 4-channel, current/voltage, Discrete Output: 16-point,
36ED13-D sinking, Analog Output: 2-channel, current/voltage.

BX-DM1- BRX Do-more PLC, 120-240 VAC required, serial port, microSD card slot, Discrete Input: 20-point,
36ED2 AC/DC, Discrete Output: 16-point, sourcing.

BX-DM1- BRX Do-more PLC, 120-240 VAC required, serial port, microSD card slot, Discrete Input: 20-point,
36ED1 AC/DC, Discrete Output: 16-point, sinking.
BRX Do-more PLC, 120-240 VAC required, Ethernet and serial ports, microSD card slot, Discrete
BX-DM1E-
Input: 20-point, AC/DC, Analog Input: 4-channel, current/voltage, Discrete Output: 16-point,
36ED23 sourcing, Analog Output: 2-channel, current/voltage.
BRX Do-more PLC, 120-240 VAC required, Ethernet and serial ports, microSD card slot,
BX-DM1E-
Discrete Input: 20-point, AC/DC, Analog Input: 4-channel, current/voltage, Discrete
36ED13 Output: 16-point, sinking, Analog Output: 2-channel, current/voltage.
Table continued next page.

7th Ed. Rev E –04/08/2025 SureStep™ Stepping Systems User Manual

B–3
 Appendix B: Using SureStep™ with AutomationDirect PLCs

DirectLOGIC PLCs/Modules for Use with SureStep Drives (1)

DL05 PLCs
DL05 CPU, 8 AC in / 6 DC out, 110/220 VAC power supply. Inputs: 8 AC inputs, 90-120 VAC, 2
isolated commons. Outputs: 6 DC outputs, 6-27 VDC current sinking, 1.0 A/pt max,
D0-05AD 1 common. Two outputs are configurable for independent CW/CCW pulse train output or step
and direction pulse output up to 7kHz (0.5 A/pt.).
DL05 CPU, 8 DC in / 6 DC out, 110/220 VAC power supply. Inputs: 8 DC inputs, 12-24 VDC current
sinking/sourcing, 2 isolated commons. Outputs: 6 DC outputs, 6-27 VDC current sinking, 1.0 A/
D0-05DD pt max, 1 common. Two outputs are configurable for independent CW/CCW pulse train output
or step and direction pulse output up to 7kHz (0.5 A/pt) (not available when using high-speed
inputs).
DL05 CPU, 8 DC in / 6 DC out, 12/24 VDC power supply. Inputs: 8 DC inputs, 12-24 VDC current
sinking/sourcing, 2 isolated commons. Outputs: 6 DC outputs, 6-27 VDC current sinking, 1.0 A/
D0-05DD-D pt max, 1 common. Two outputs are configurable for independent CW/CCW pulse train output
or step and direction pulse output up to 7kHz (0.5 A/pt.) (not available when using high-speed
inputs).
DL06 PLCs
DL06 CPU, 20 DC in / 16 DC out, 110/220 VAC power supply, with 0.3A 24 VDC auxiliary device
power supply. Inputs: 20 DC inputs, 12-24 VDC current sinking/sourcing, 5 isolated commons
(4 inputs per common). Outputs: 16 DC outputs, 12-24 VDC current sinking, 1.0A/pt max, 4
D0-06DD1 commons non-isolated (4 points per common). Two outputs are configurable for independent
CW/CCW pulse train output or step and direction pulse output up to 10 kHz (0.5 A/pt) (not
available when using high-speed inputs).
DL06 CPU, 20 DC in / 16 DC out, 110/220 VAC power supply, with 0.3A 24 VDC auxiliary device
power supply. Inputs: 20 DC inputs, 12-24 VDC current sinking/sourcing, 5 isolated commons
(4 inputs per common). Outputs: 16 DC outputs, 12-24 VDC current sourcing 1.0A/pt max, 4
D0-06DD2 commons non-isolated (4 points per common). Two outputs are configurable for independent
CW/CCW pulse train output or step and direction pulse output up to 10 kHz (0.5 A/pt) (not
available when using high-speed inputs).
DL06 CPU, 20 DC in / 16 DC out, 12/24 VDC power supply. Inputs: 20 DC inputs, 12-24 VDC current
sinking/sourcing, 5 isolated commons (4 inputs per common). Outputs: 16 DC outputs, 12-24
D0-06DD1-D VDC current sinking, 1.0 A/pt max, 4 commons non-isolated (4 pts/common). Two outputs are
configurable for independent CW/CCW pulse train output or step and direction pulse output up
to 10 kHz (0.5 A/pt) (not available when using high-speed inputs).
DL06 CPU, 20 DC in / 16 DC out, 12/24 VDC power supply. Inputs: 20 DC inputs, 12-24 VDC
current sinking/sourcing, 5 isolated commons (4 inputs per common). Outputs: 16 DC outputs,
D0-06DD2-D 12-24VDC current sourcing, 1.0A/pt max, 4 commons non-isolated (4 pts/common). Two
outputs are configurable for independent CW/CCW pulse train output or step and direction
pulse output up to 10 kHz (0.5 A/pt) (not available when using high-speed inputs).
DL05/DL06 High Speed Counter I/O Module
DL05/06 High Speed Counter I/O Interface Module, 4 DC sink/source inputs 9-30 VDC, 2 isolated
sink/source DC outputs, 5-30 VDC, 1A per point. Inputs supported: 1 quadrature encoder
counters up to 100 kHz, or 2 single channel counters up to 100 kHz, and 2 high speed discrete
H0-CTRIO inputs for Reset, Inhibit, or Capture. Outputs supported: 2 independently configurable high
speed discrete outputs or 1 channel pulse output control, 20Hz-25kHz per channel, pulse and
direction or CW/CCW pulses.
Table continued next page.

B–4 SureStep™ Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Appendix B: Using SureStep™ with AutomationDirect PLCs

DirectLOGIC PLCs/Modules for Use with SureStep Drives (1) (continued)

DL105 PLCs
DL130 CPU, 10 AC in / 8 DC out, 110/220 VAC power supply. Inputs: 10 AC inputs, 80-132 VAC, 3
isolated commons. Outputs: 8 DC outputs, 5-30 VDC current sinking, 0.5A/pt max, 3 internally
F1-130AD connected commons. Two outputs are configurable for independent CW/CCW pulse train
output or step and direction pulse output up to 7kHz (@ 0.25 A/pt max).
DL130 CPU, 10 DC in / 8 DC out, 110/220 VAC power supply. Inputs: 10 DC inputs, 12-24 VDC
current sinking/sourcing, 3 isolated commons. Outputs: 8 DC outputs, 5-30 VDC current sinking,
F1-130DD 0.5 A/pt max, 3 internally connected commons. Two outputs are configurable for independent
CW/CCW pulse train output or step and direction pulse output up to 7kHz (@ 0.25 A/pt max) (not
available when using high-speed inputs).
DL130 CPU, 10 DC in / 8 DC out, 12/24 VDC power supply. Inputs: 10 DC inputs, 12-24 VDC current
sinking/sourcing, 3 isolated commons. Outputs: 8 DC outputs, 5-30 VDC current sinking, 0.5 A/pt
F1-130DD-D max, 3 internally connected commons. Two outputs are configurable for independent CW/CCW
pulse train output or step and direction pulse output up to 7kHz (@ 0.25 A/pt max) (not available
when using high-speed inputs).
DL205 and Do-More High Speed Counter I/O Modules
DL205 High Speed Counter I/O Interface Module, 8 DC sink/source inputs 9-30 VDC, 4 isolated
sink/source DC outputs, 5-30 VDC, 1A per point. Inputs supported: 2 quadrature encoder
counters up to 100 kHz, or 4 single channel counters up to 100 kHz, and 4 high speed discrete
H2-CTRIO2 inputs for Reset, Inhibit, or Capture. Outputs supported: 4 independently configurable high
speed discrete outputs or 2 channels pulse output control, 20 Hz - 25 kHz per channel, pulse and
direction or CW/CCW pulses.
Counter Interface Module, 4 isolated DC inputs, 1 pulse train output (CW) or 2 pulse train
outputs (CW/CCW) with DC input restrictions, accepts two up-counters when used with D2-240
D2-CTRINT or D2-250(-1) (one only with D2-230), or one up/down counter. (not available when using high-
speed inputs).
Terminator I/O High Speed Counter I/O Module
Terminator I/O High Speed Counter I/O Interface Module, 8 DC sink/source inputs 9-30 VDC,
4 isolated sink/source DC outputs, 5-30 VDC, 1A per point. Inputs supported: 2 quadrature
encoder counters up to 100 kHz, or 4 single channel counters up to 100 kHz, and 4 high speed
T1H-CTRIO discrete inputs for Reset, Inhibit, or Capture. Outputs supported: 4 independently configurable
high speed discrete outputs or 2 channels pulse output control, 20 Hz - 25 kHz per channel,
pulse and direction or CW/CCW pulses. (Use with T1K-16B or T1K-16B-1 terminal base.)

DL405 High Speed Counter I/O Module

DL405 High Speed Counter I/O Interface Module, 8 DC sink/source inputs 9-30 VDC, 4 isolated
sink/source DC outputs, 5-30 VDC, 1A per point. Inputs supported: 2 quadrature encoder
counters up to 100 kHz, or 4 single channel counters up to 100 kHz, and 4 high speed discrete
H4-CTRIO inputs for Reset, Inhibit, or Capture. Outputs supported: 4 independently configurable high
speed discrete outputs or 2 channels pulse output control, 20 Hz - 25 kHz per channel, pulse and
direction or CW/CCW pulses.

(1)  Any DirectLOGIC PLC capable of RS-232 ASCII communication can write serial commands to the SureStep
Advanced Microstepping Drives (STP-DRV-4850 & -80100). These PLCs include DL 05, 06, 250-1, 260, 350, and
450/454. However, we strongly recommend using DL06 or DL260 PLCs for serial commands due to their more
advanced ASCII instruction set which includes PRINTV and VPRINT commands.

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B–5
 Appendix B: Using SureStep™ with AutomationDirect PLCs

Typical Connections to a Productivity PLC

The following wiring diagrams show typical connections between any SureStep Drive
or Integrated motor/drive and a Productivity P3-HSO or P2-HSO (wiring is identical).
All SureStep drives can be wired for Line Driver signals (preferred for noise immunity)
or Open Collector. Refer to the Productivity User Manual for detailed programming
instructions when using the HSO module.

Line Driver/Differential Wiring (preferred)

Any SureStep Drive
P3-HSO or Motor/Drive
Step+
1A
D 1A Step- R

COM

Shielded/Twisted Pair

1B Dir+

D 1B Dir- R

SHLD
PWR+ Tie shield to panel
24VDC ground this end only.
PWR-

Open Collector/Single-ended wiring

P3-HSO SureStep Driver #1
1A SNK STEP -
COM STEP +
1B SNK DIR +
COM DIR -
SHLD
Shielded/Twisted Pair

SureStep Driver #2
2A SNK STEP -
COM STEP +
2B SNK DIR +
COM DIR -
PWR+
+

24VDC Pick Resistor:

PWR- Tie shield to panel V1 V1, use 1/4W resistor
ground this end only. 24V, use 2.2K ohm
12V, use 820 ohm
5V, none required

A voltage dropping resistor is only needed if the PLC cannot generate 5VDC high speed
pulses and the drive can only accept 5VDC pulses. These resistor values result in a 10mA
signal [Amps = Volts/(internal drive R + external R)]. Other values can be used, but
ensure that [5mA < signal current < 15mA]. See the individual drive chapters for more
information.

B–6 SureStep™ Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Appendix B: Using SureStep™ with AutomationDirect PLCs

Typical Connections to a DL05 PLC

The following wiring diagram shows typical connections between the SureStep
Stepping System components and a DirectLOGIC DL05 PLC. Refer to the DL05 Micro
PLC User Manual, p/n D0-USER-M, High-Speed Input and Pulse Output Features
chapter, for detailed programming instructions when using the PLC for the Mode 30:
Pulse Output function.
D0-05DD PLC DL05 PLC programmed for
Mode 30: Pulse Output
AC(L) AC(N) C0 X1 X3 X4 X6 C2 Y1 Y3 Y5
G LG X0 X2 C1 X5 X7 Y0 Y2 Y4 +V

24 VDC
L1 L2 GND Power Supply
AC Power +

24 VDC
Step Motor
Power Supply –

PSP24-024S
STP-PWR-xxxx
GND GND
AC Power

AC Power
120/240

120/240
VAC

L2 L2

VAC
L1 L1

–
5 VDC xx VDC

+
Y1
– 0 VDC
+ +5 VDC

Step Motor Drive

STP-DRV-xxxx EN– N/C

EN+ N/C
VDC+ DIR–
VDC– DIR+
A+ STEP–
Y0
A– STEP+
B+
B–

Cable Color Code 4 3 Step Motor

Term Wire Pin # STP-MTR(H)-xxxxx
A+ Red 1 2 1
A– White 2 Front View Connector
B+ Green 3
B– Black 4
Extension Cable
with Connector 12" Motor Pigtail
STP-EXT(H)-020 with Connector

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B–7
 Appendix B: Using SureStep™ with AutomationDirect PLCs

Typical Connections to an H0-CTRIO

The following wiring diagram shows typical connections between the SureStep
Stepping System components and a DirectLOGIC H0-CTRIO High Speed Counter
I/O Interface Module installed in either a DL05 or DL06 PLC option slot. Refer to
the CTRIO High-Speed Counter Module User Manual, p/n Hx-CTRIO-M, for detailed
programming instructions when using the H0-CTRIO module.

G LG 0V Y0 Y2 C1 Y5 Y7 Y10 Y12 C3 Y15 Y17

PWR
AC(L) AC(N) 24V C0 Y1 Y3 Y4 Y6 C2 Y11 Y13 Y14 Y16 N.C. RUN
OUTPUT: 6-240V 50 - 60Hz 2.0A, 6 - 27V 2.0A PWR: 100-240V 50-60Hz 40VA CPU

Y D0-06DR TX1
RX1 ERR
X
0 1 2 3 4 5 6 7 10 11 12 13 14 15 16 17 20 21 22 23
TX2
RX2
OK
INPUT: 12 - 24V 3 - 15mA
Y0
A
Y1
B
LOGIC 06
K oyo CTR/TMR IN
9–30V 5–12mA
C0 X1 X3 X4 X6 C2 X11 X13 X14 X16 C4 X21 X23 N.C.
X0 X2 C1 X5 X7 X10 X12 C3 X15 X17 X20 X22 N.C.
TERM DC/Pulse Out
5–36V 1A
IN
PORT1 PORT2 RUN STOP
A
B
C

Step Motor D

Power Supply M
YC

STP-PWR-xxxx Y0

GND Y1
AC Power
120/240

OUT
VAC

L2 H0–CTRIO
L1

–
5 VDC xx VDC

+
Y1
– 0 VDC
+ +5 VDC

Step Motor Drive

STP-DRV-xxxx EN– N/C

EN+ N/C
VDC+ DIR–
VDC– DIR+
A+ STEP–
Y0
A– STEP+
B+
B–

Cable Color Code 4 3

Step Motor
Term Wire Pin # STP-MTR(H)-xxxxx
A+ Red 1 2 1
A– White 2 Front View Connector
B+ Green 3
B– Black 4
Extension Cable
with Connector 12" Motor Pigtail
STP-EXT(H)-020 with Connector

B–8 SureStep™ Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Appendix B: Using SureStep™ with AutomationDirect PLCs

Typical Connections – Multiple Drives/Motors

The following wiring diagram shows typical connections between the SureStep
Stepping System components and a DirectLOGIC H2-CTRIO(2) High Speed Counter I/O
Interface Module installed in a DL205 PLC. Refer to the CTRIO High-Speed Counter
Module User Manual, p/n Hx-CTRIO-M, for detailed programming instructions when
using the H2-CTRIO module.
CTR +24VDC
IN OUT PUTS
OK 0
ER 1
C1 2
C TR 2 3

Step Motor H2--CTRI O

IN 9-30VDC 5-12mA

Power Supply OUT 5-36VDC

1.0A max
per point

1A
STP-PWR-xxxx
2A
1B
2B
1C
GND 2C
AC Power

1D
120/240

2D
1M
VAC

L2 2M
NC
C2
C0
L1 Y2
Y0
C3
Y3
C1 1A
–
5 VDC xx VDC

Y1
2A
+ 1B

– 0 VDC 2B
1C
+ +5 VDC
2C
Step Motor Drive 1D

STP-DRV-xxxx 2D
EN– N/C
1M
EN+ N/C
2M
VDC+ DIR–
NC
VDC– DIR+
C2
A+ STEP– C0
A– STEP+
Y2
B+ Y0
B–
C3
Step Motor C1
STP-MTR(H)-xxxxx Y3
Y1

Step Motor Drive

STP-DRV-xxxx EN– N/C

EN+ N/C
VDC+ DIR–
VDC– DIR+
A+ STEP–
4 3 A– STEP+

2 1 B+
Front View B–
Cable Color Code Step Motor
Term Wire Pin # STP-MTR(H)-xxxxx
A+ Red 1
A– White 2
B+ Green 3
B– Black 4 Extension Cable
with Connector 12" Motor Pigtail
STP-EXT(H)-020 with Connector

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B–9
 Appendix B: Using SureStep™ with AutomationDirect PLCs

Typical DirectLOGIC PLC RS-232

Serial Connections to an Advanced SureStep Drive
The following wiring diagrams show typical serial connections between a SureStep
Advanced Microstepping Drive and a DirectLOGIC PLC capable of RS-232 ASCII
communication. Refer to the particular PLC user manual for instructions for writing
ASCII serial commands.

Serial Connection Using Automation Direct Cables

PLC - DL05 ADVANCED STEPPER DRIVE

DL05 PLC STP-DRV-4850

STP-DRV-80100
RS-232 Port 2
6P6C RJ12 Modular
Receptacle RJ12 RJ12 6P4C RJ11
 plug STP-232RJ12-CBL-2 plug  Receptacle
4 Red Red 5
TXD 4 5 RX
3 Green Green 3
RXD 3 3 TX
GND 1 1 Blue Blue 2
2 GND




PLC ADVANCED STEPPER DRIVE

DL06 STP-DRV-4850
DL250-1 STP-DRV-80100
DL260
Modular
Port 2 HD15 RJ12 6P4C RJ11
15 pin HD plug STP-232HD15-CBL-2 plug  Receptacle
6 Yellow 3
3 RX 3 3 TX
1 2 TX Blue 5
2 5 RX
7 GND Black 2 2 GND
7
5 4 RTS 4
5 CTS 5 
15

Serial Connection Using Custom Cables

Use Belden 9841 or equivalent cable, and wire according to the Automation Direct
cable diagrams shown above (including RTS/CTS jumper for DL06, DL250-1, and
DL260).

B–10 SureStep™ Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 Appendix B: Using SureStep™ with AutomationDirect PLCs

Typical CLICK, P-Series, & BRX PLC RS-232

Serial Connections to an Advanced SureStep Drive
The following wiring diagrams show typical serial connections between a SureStep
Advanced Microstepping Drive and a CLICK, BRX, or P1/P2/P3 PLC capable of RS-232
ASCII communication. Refer to the particular PLC user manual for instructions for
writing ASCII serial commands.

Serial Connection Using Automation Direct Cables

ADVANCED
PLC STEPPER DRIVE

CLICK PLC STP-DRV-4850

P-Series PLC STP-DRV-80100
BRX PLC

Port 2 (CLICK)
Modular
RS232 Port (P-Series)
RJ12 RJ12 6P4C RJ11
RJ12 Receptacle  STP-232RJ12-CBL-2 
plug plug Receptacle
TXD 4 4 Red Red 5
5 RX
RXD 3 3 Green Green 3
3 TX
GND 1 1 Blue Blue 2 2 GND


For BRX RS-232 connectivity:

CPU has a field wireable
connector for serial port
TXD = TX/D+
RXD = RX/D-
GND = GND
BX-P-SER2-RJ12 is an optional POM
accessory that adds a 2nd serial port (RJ12)

Serial Connection Using Custom Cables

Use Belden 9841 or equivalent cable, and wire according to the Automation Direct
STP-232RJ12-CBL-2 diagram shown above.

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B–11
 Appendix B: Using SureStep™ with AutomationDirect PLCs

Typical RS-485 Connections to

Integrated Motor/Drives
Most AutomationDirect PLCs support 2-wire RS-485 serial communication (3 wires on
the connector: Transmit (+), Receive (-), and Ground). For 2-wire communication,
the integrated motor/drive must have its Tx+ and Rx+ connected; and Tx- and Rx-
connected.
• The drive’s Tx+/Rx+ signal should be connected to the “+” connection of the PLC’s RS-485
port.
• The drive’s Tx-/Rx- signal should be connected to the “-” connection of the PLC’s RS-485
port.
• The drive’s RS-485 ground terminal should be connected to the PLC’s serial port ground
terminal.
to PLC Port GND
to PLC Port Tx- (A)
120 120
to PLC Port Tx+ (B)

+Rx- +Tx- GND +Rx- +Tx- GND +Rx- +Tx- GND

Drive 1 Drive 2 Drive n
RS-485 2-wire System

Terminal Connections per PLC

Drive
CLICK P-Series BRX
Connection
Tx+, Rx+ + + TX/D+

Tx-, Rx- – – RX/D-

GND LG G GND

B–12 SureStep™ Stepping Systems User Manual 7th Ed. Rev E –04/08/2025
 C
Selecting the Appendix
SureStep™
Stepping System

In This Appendix...
Selecting the SureStep™ Stepping System������������������������������������������������������C–2
The Selection Procedure������������������������������������������������������������������������������������������������������������������ C–2
How many pulses from the PLC to make the move?������������������������������������������������������������������ C–2
What is the positioning resolution of the load? �������������������������������������������������������������������������� C–3
What is the indexing speed to accomplish the move time?������������������������������������������������������ C–3
Calculating the Required Torque���������������������������������������������������������������������������������������������������� C–4
Leadscrew – Example Calculations ������������������������������������������������������������������C–8
Step 1 – Define the Actuator and Motion Requirements ���������������������������������������������������������� C–8
Step 2 – Determine the Positioning Resolution of the Load ���������������������������������������������������� C–9
Step 3 – Determine the Motion Profile������������������������������������������������������������������������������������������ C–9
Step 4 – Determine the Required Motor Torque�������������������������������������������������������������������������� C–9
Step 5 – Select & Confirm the Stepping Motor & Driver System�������������������������������������������� C–10
Belt Drive – Example Calculations ������������������������������������������������������������������C–15
Step 1 – Define the Actuator and Motion Requirements �������������������������������������������������������� C–15
Step 2 – Determine the Positioning Resolution of the Load �������������������������������������������������� C–16
Step 3 – Determine the Motion Profile���������������������������������������������������������������������������������������� C–16
Step 4 – Determine the Required Motor Torque������������������������������������������������������������������������ C–16
Step 5 – Select & Confirm the Stepping Motor & Driver System�������������������������������������������� C–17
Index Table – Example Calculations����������������������������������������������������������������C–19
Step 1 – Define the Actuator and Motion Requirements �������������������������������������������������������� C–19
Step 2 – Determine the Positioning Resolution of the Load �������������������������������������������������� C–19
Step 3 – Determine the Motion Profile���������������������������������������������������������������������������������������� C–20
Step 4 – Determine the Required Motor Torque������������������������������������������������������������������������ C–20
Step 5 – Select & Confirm the Stepping Motor & Driver System�������������������������������������������� C–21
Engineering Unit Conversion Tables,
Formulae, & Definitions:������������������������������������������������������������������������������������C–22
 Appendix C: Selecting the SureStep™ Stepping System

Selecting the SureStep™ Stepping System

The selection of your SureStep™ stepping system follows a defined process. Let’s go
through the process and define some useful relationships and equations. We will use
this information to work some typical examples along the way.

The Selection Procedure

The motor provides for the required motion of the load through the actuator
(mechanics that are between the motor shaft and the load or workpiece). Key
information to accomplish the required motion is:

• t otal number of pulses from the Indexing

PLC Speed

• positioning resolution of the load

• indexing speed (or PLC pulse
frequency) to achieve the move
time
• required motor torque (including Acceleration Deceleration
the 100% safety factor)
Move Time
• load to motor inertia ratio

In the final analysis, we need to achieve the required motion with acceptable
positioning accuracy.

How many pulses from the PLC to make the move?

The total number of pulses to make the entire move is expressed with the equation:

Equation ❶: Ptotal = total pulses = (Dtotal ÷ (dload ÷ i)) x θstep

Dtotal = total move distance
dload = lead or distance the load moves per revolution of the actuator’s drive shaft
(P = pitch = 1/dload)
θstep = driver step resolution (steps/revmotor)
i = gear reduction ratio (revmotor/revgearshaft)

Example 1: The motor is directly attached to a disk, the stepping driver is set at 400
steps per revolution and we need to move the disk 5.5 revolutions. How many pulses
does the PLC need to send the driver?
Ptotal = (5.5 revdisk ÷ (1 revdisk/revdriveshaft ÷ 1 revmotor/revdriveshaft))
x 400 steps/revmotor
= 2200 pulses

C–2 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Appendix C: Selecting the SureStep™ Stepping System

Example 2: The motor is directly attached to a ballscrew where one turn of the
ballscrew results in 10 mm of linear motion, the stepping driver is set for 1000 steps
per revolution, and we need to move 45 mm. How many pulses do we need to send
the driver?
Ptotal = (45 mm ÷ (10 mm/revscrew ÷ 1 revmotor/revscrew)) x 1000 steps/revmotor
= 4500 pulses

Example 3: Let’s add a 2:1 belt reduction between the motor and ballscrew in
example 2. Now how many pulses do we need to make the 45 mm move?
Ptotal = (45 mm ÷ (10mm/revscrew ÷ 2 revmotor/revscrew)) x 1000 steps/revmotor
= 9000 pulses

What is the positioning resolution of the load?

We want to know how far the load will move for one pulse or step of the motor shaft.
The equation to determine the positioning resolution is:

Equation ❷: Lθ = load positioning resolution = (dload ÷ i) ÷ θstep

Example 4: What is the positioning resolution for the system in example 3?

Lθ = (dload ÷ i) ÷ θstep
= (10 mm/revscrew ÷ 2 revmotor/revscrew) ÷ 1000 steps/revmotor
= 0.005mm/step
≈ 0.0002in/step

What is the indexing speed to accomplish the move time?

The most basic type of motion profile is

a “start-stop” profile where there is no Start - Stop Profile
acceleration or deceleration period. This Indexing
type of motion profile is only used for low Speed
speed applications because the load is
“jerked” from one speed to another and the
stepping motor will stall or drop pulses if
excessive speed changes are attempted. The
equation to find indexing speed for “start- Move Time
stop” motion is:

Equation ❸: fSS = indexing speed for start-stop profiles = Ptotal ÷ ttotal

ttotal = move time

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C–3
 Appendix C: Selecting the SureStep™ Stepping System

Example 5: What is the indexing speed to make a “start-stop” move with 10,000
pulses in 800 ms?
fSS = indexing speed = Ptotal ÷ ttotal = 10,000 pulses ÷ 0.8 seconds
= 12,500 Hz

Trapezoidal Profile
For higher speed operation, the
“trapezoidal” motion profile Indexing
Speed
includes controlled acceleration &
deceleration and an initial non-zero
starting speed. With the acceleration Start
Speed
and deceleration periods equally set,
the indexing speed can be found Acceleration Deceleration

using the equation: Move Time

Equation ❹: fTRAP = (Ptotal - (fstart x tramp)) ÷ (ttotal - tramp)

for trapezoidal motion profiles
fstart = starting speed
tramp = acceleration or deceleration time

Example 6: What is the required indexing speed to make a “trapezoidal” move

in 800ms, accel/decel time of 200 ms each, 10,000 total pulses, and a starting
speed of 40 Hz?
fTRAP = (10,000 pulses - (40 pulses/sec x 0.2 sec)) ÷ (0.8 sec - 0.2 sec)
≈ 16,653 Hz

Calculating the Required Torque

Pullout torque is the maximum torque that the
The required torque from the stepping stepping system can provide at any speed. The
typical safety factor is to keep the required torque
system is the sum of acceleration Torque
under 50% of the ideal available torque to avoid
pullout or stalling.
torque and the running torque. The
equation for required motor torque is:
Equation ❺: Tmotor = Taccel + Trun
Taccel = m
 otor torque required to
accelerate and decelerate the Required Motor Torque
Versus Speed
total system inertia (including
motor inertia) Speed

Trun = c onstant motor torque requirement to run the mechanism due to friction,
external load forces, etc.

In Table 1 we show how to calculate torque required to accelerate or decelerate

an inertia from one speed to another and the calculation of running torque for
common mechanical actuators.

C–4 SureStep™ Stepping Systems User Manual 7th Ed. Rev E – 04/08/2025
 Appendix C: Selecting the SureStep™ Stepping System

Table 1 – Calculate the Torque for “Acceleration” and “Running”

The torque required to accelerate or decelerate an inertia with a linear change in
velocity is:
Equation ❻: Taccel = Jtotal x (∆speed ÷ ∆time) x (2π ÷ 60)
Jtotal is the motor inertia, plus load Indexing Velocity
Velocity Accel Decel
inertia (“reflected” to the motor Period Period

shaft). The (2π ÷ 60) is a factor

used to convert “change in speed” time

expressed in RPM into angular

T1
speed (radians/second). Refer to Torque
information in this table to calculate T2
time
“reflected” load inertia for several
common shapes and mechanical T3

mechanisms.

Example 7: What is the required torque to accelerate an inertia of 0.002 lb·in·sec2

(motor inertia is 0.0004 lb·in·sec2 and “reflected” load inertia is 0.0016 lb·in·sec2)
from zero to 600 RPM in 50 ms?
Taccel = 0.002 lb·in·sec2 x (600Leadscrew
RPM ÷ 0.05 seconds) x (2π ÷ 60)
≈ 2.5 lb·in

Leadscrew Equations
W Fgravity
JW
Fext
J coupling
J gear J screw
J motor


Description: Equations:
Motor RPM nmotor = (vload x P) x i, nmotor (RPM), vload (in/min)
Torque required to accelerate
and decelerate the load Taccel  Jtotal x (∆speed ÷ ∆time) x 0.1

Motor total inertia Jtotal = Jmotor + Jgear + ((Jcoupling + Jscrew + JW) ÷ i2)
Inertia of the load JW = (W ÷ (g x e)) x (1 ÷ 2 π P)2
Pitch and Efficiency P = pitch = revs/inch of travel, e = efficiency
Running torque Trun = ((Ftotal ÷ (2 π P)) + Tpreload) ÷ i
Torque due to preload Tpreload = ballscrew nut preload to minimize
on the ballscrew backlash
Force total Ftotal = Fext + Ffriction + Fgravity
Force of gravity and Force of friction Fgravity = Wsinθ, Ffriction = µWcosθ
Incline angle and
θ = incline angle, µ = coefficient of friction
Coefficient of friction

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Table 1 (cont’d)
Typical Leadscrew Data
e= µ=
Material: Material:
efficiency coef. of friction
ball nut 0.90 steel on steel 0.580
acme with plastic nut 0.65 steel on steel (lubricated) 0.150
acme with metal nut 0.40 teflon on steel 0.040
ball bushing 0.003
Conveyor Rack & Pinion

Belt Drive (or Rack & Pinion) Equations

J gear
Fgravity J motor
W
 W1
J motor JW
Fext
JW
J pinion
J gear Fext 
J pinion
Fgravity W2

Description: Equations:
Motor RPM nmotor = (vload x 2 π r) x i
Torque required to accelerate
Taccel  Jtotal x (∆speed ÷ ∆time) x 0.1
and decelerate the load
Inertia of the load Jtotal = Jmotor + Jgear + ((Jpinion + JW) ÷ i2)
Inertia of the load JW = (W ÷ (g x e)) x r2 ; JW = ((W1 + W2) ÷ (g x e)) x r2
Radius of pulleys r = radius of pinion or pulleys (inch)
Running torque Trun = (Ftotal x r) ÷ i
Force total Ftotal = Fext + Ffriction + Fgravity
Force of gravity and Force of friction Fgravity = Wsinθ; Ffriction = µWcosθ
Timing Belt Gearing

Belt (or Gear) Reducer Equations

J motorpulley J motorpulley

J motor J Load J motor J Load

J loadpulley J loadpulley

Description: Equations:
Motor RPM nmotor = nload x i
Torque required to accelerate
Taccel  Jtotal x (∆speed÷∆time) x 0.1
and decelerate the load
Inertia of the load Jtotal = Jmotor + Jmotorpulley + ((Jloadpulley + JLoad) ÷ i2)
Motor torque Tmotor x i = TLoad

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Hollow
Cylinder
Table 1 (cont’d)
Inertia of Hollow Cylinder Equations
L Do = 2ro

Di = 2ri

Description: Equations:
Inertia J = (W x (ro2 + ri2)) ÷ (2g)
Inertia J = (π x L x p x (ro4 – ri4)) ÷ (2g)
Solid
Volume volume = π/4 x (D 2 2
o - Di ) x L
Cylinder

Inertia of Solid Cylinder Equations

L D = 2r

Description: Equations:
Inertia J = (W x r2) ÷ (2g)
Inertia J = (π x L x p x r4Recttangular
) ÷ (2g)
Block
Volume volume = π x r2 x L

Inertia of Rectangular Block Equations

l

h
w

Description: Equations:
Inertia J = (W ÷ 12g) x (h2 + w2)
Volume volume = l x h x w

Symbol Definitions
J = inertia p = density
L = Length p = 0.098 lb/in3 (aluminum)
h = height p = 0.28 lb/in3 (steel)
w = width p = 0.04 lb/in3 (plastic)
W = weight p = 0.31 lb/in3 (brass)
D = diameter p = 0.322 lb/in3 (copper)
r = radius
g = gravity = 386 in/sec2 π ≈ 3.14

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Leadscrew
Leadscrew – Example Calculations
Step 1 – Define the Actuator and Motion Requirements
W Fgravity
JW
Fext
J coupling
J gear J screw
J motor


Weight of table and workpiece = 200 lb, where W = 200 lb

Angle of inclination = 0°
Friction coefficient of sliding surfaces = 0.05, where µ = 0.05
External load force = 0
Ball screw shaft diameter = 0.6 inch
Ball screw length = 23.6 inch
Ball screw material = steel
Ball screw lead = 0.6 inch/rev, where P = 1/0.6 = 1.67 rev/in
Desired Resolution = 0.001 inch/step
Gear reducer = 2:1, where i = 2, preliminary (for the 3:1 example, i = 3)
Stroke = 4.5 inch
Move time = 1.7 seconds
Acceleration time = Deceleration time = 0.425 sec / 2 = 212.5 ms
Lead screw efficiency = 0.9, where e = 0.9
Coupling and gear reducer inertias are negligible, which are considered to be 0

Definitions
dload = lead or distance the load moves per revolution of the actuator’s drive shaft (P = pitch =
1/dload)

Dtotal = total move distance

θstep = driver step resolution (steps/revmotor)

i = gear reduction ratio (revmotor/revgearshaft)
Taccel = motor torque required to accelerate and decelerate the total system inertia (including
motor inertia)
Trun = constant motor torque requirement to run the mechanism due to friction, external load
forces, etc.
ttotal = move time
Start frequency = 20 Hz (as defined with a Module H0-CTRIO

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Step 2 – Determine the Positioning Resolution of the Load

One revolution of the lead screw shaft advances 0.6 inches. We are looking for a
0.001 inch per step precision.
Check to see if 400 pulses/rev will achieve the desired precision:
• With a reduction of 2:1, there will be two motor shaft revolutions to get a displacement of
0.6 inches.
• (2 rev) x (400 pulses/rev) = 800 pulses for every 0.6 inches of displacement.
• Therefore, (0.6 in) / (800 pulses) = 0.00075 in/pulse.
• This is within the desired 0.001 in/step.
How many pulses are needed for the displacement?
• With the 2:1 gear reduction, the stepping system can be set at 400 steps/rev to exceed the
required load positioning resolution.
• Since the lead screw advances 0.6 inches / rev, in the required stroke of 4.5 inches we will
need:
(4.5 in) / (0.6 rev/in) = 7.5 revolutions on the lead screw
• Since we have a reduction of 2:1, the motor shaft shall rotate 15 revolutions.

Step 3 – Determine the Motion Profile

Since we know that 400 pulses gets one revolution on the motor and we need 15
revolutions, then 400 x 15 = 6,000 pulses to move 4.5 inches.
From Equation ❹, the indexing frequency for a trapezoidal move is:
• fTRAP = (Ptotal - (fstart x tramp)) ÷ (ttotal - tramp)
= (6,000 - (20 x 0.425s)) ÷ (1.7 - 0.425) = 4,699 Hz,
where the starting speed is 20 Hz
• (4,699 Hz) / (400 steps/rev) = 11.7475 rev/s
• To get it in rpm, (11.7475 rev/s) x (60 s/min) = 704.85 rpm.

Step 4 – Determine the Required Motor Torque

Using the equations in Table 1:
(Total inertia seen by the motor is the sum of all inertias)
Jtotal = Jmotor + Jgear + ((Jcoupling + Jscrew + JW) ÷ i2)
For this example, we assume the gearbox and coupling inertias are zero.
Load inertia:
JW = (W ÷ (g x e)) x (1 ÷ 2πP)2
= (200 ÷ (386 x 0.9)) x (1 ÷ 2 x 3.1416 x 1.67)2
= 0.00523 lb·in·sec2
Lead screw inertia:
Jscrew = (π x L x r x r4) ÷ (2g)
= (3.1416 x 23.6 x 0.28 x 0.34) ÷ (2 x 386)
= 0.0002178 lb·in·sec2
The inertia of the load and screw reflected to the motor is the sum of both
values divided by the square of the reduction ratio
J(screw + load) referred to motor = ((Jscrew + JW) ÷ i2)
Jtotal less the motor inertia = ((0.0002178 + 0.00523) ÷ 22) = 0.001362 lb·in·sec2

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The dynamic torque required to accelerate the inertia (without the motor rotor
inertia) is:
Taccel = Jtotal x ((∆rpm ÷ ∆time) x (2π÷60))
= 0.001362 x ((704.85 ÷ 0.2125) x (2 x 3.1416 ÷ 60))
= 0.474309 lb·in
Determine the running torque, or in this case the friction torque:
The forces are:
Ftotal = Fext + Ffriction + Fgravity [External forces and gravity are zero in this
case.]
= 0 + (μ x W x cosu) + 0
= 0.05 x 200 = 10 Ib
And the formula to be used is:
Trun = ((Ftotal ÷ (2πP)) + Tpreload) ÷ i
= (10 ÷ (2 x 3.1416 x 1.67)) ÷ 2 [related to the motor side]
= 0.4765 Ib·in [where, we have assumed the preload torque to be zero]
From Equation ❺, the minimum required motor torque @ 704.85 rpm is:
Tmotor = Taccel + Trun
= (0.474309 lb·in) + (0.4765 lb·in)
= 0.9508 Ib·in, or 15.21 oz·in
However, this is the required motor torque before we have picked a motor and
included the motor inertia.

Step 5 – Select & Confirm the Stepping Motor & Driver System
There are two commonly used criteria to select a motor and drive:
• Take into account the calcluated torque. From step 4, we find we need 15.21 oz·in.
• Per a rule of thumb, the load to motor inertia ratio should be kept below 10.
• In step 4 we calculated that the J(screw + load) = 0.001362 lb·in·sec2. To find the ratio, we
use the formula: J(screw + load) ÷ Jmotor The inertia of the motor is found in the motor
specifications sheet.

16

14
Speed rev/s
12

Torque oz-in
8

-2
0 0.5 1 1.5 2 2.5 3 3.5

Seconds

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We will check the criteria with 2 motors:

Figure 2 shows the Torque vs. Speed curves for STP-MTR-17040 and figure 3
shows STP-MTR-17048. We use this as an example to observe how different
power supply voltages affect the torque output of a motor.
Consider STP-MTR-17040:

Figure 2: Torque for STP-MTR-17040 at 4.7 kHz

According to the torque/speed curves for this motor, the torque at 4.7 kHz is
approximately 39 oz·in at 48VDC and 34 oz·in at 70VDC. Based on the torque, this
motor meets the desired 15.21 oz·in with any power supply.
The rotor intertia, per the motor specification is 0.28 oz·in2 or 0.0000454
lb·in·sec2.
Load/Motor inertia ratio:
J(screw + load) ÷ Jmotor = 0.001362 lb·in·sec2 ÷ 0.0000454 lb·in·sec2
= 30
The ratio of 30 is well above the desired ratio of 10, so the STP-MTR-17040 motor is
not suitable.

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Consider STP-MTR-17048:

Figure 3: Torque for STP-MTR-17048 at 4.7 kHz

For the purpose of this example, the torque vs. speed curves for this motor at 4.7 kHz
will be approximately 48 oz·in at 48VDC, and 46 oz·in at 70VDC. This motor also
meets the desired 15.21 oz·in requirement.
The rotor intertia, per the motor specification is 0.45 oz·in2 or 0.000024 lb·in·sec2.
Load/Motor inertia ratio:
J(screw + load) ÷ Jmotor = 0.001362 lb·in·sec2 ÷ 0.000024 lb·in·sec2
= 18.683
The ratio of 18.683 is still above the desired ratio of 10, so the STP-MTR-17048 motor is
not suitable.
We can keep increasing the motor size, or maybe change the reflected load inertia by
changing the reduction ratio from 2:1 to 3:1.

Reduction Ratio 3:1 (Step 2 revisited) – Determine the Positioning

Resolution of the Load
One revolution of the lead screw shaft advances 0.6 inches. We are looking for a
0.001 inch per step precision.
Check to see if 400 pulses/rev will achieve the desired precision:
• With a reduction of 3:1, there will be three motor shaft revolutions to get a displacement
of 0.6 inches.

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• (3 rev) x (400 pulses/rev) = 1200 pulses for every 0.6 inches of displacement.
• Therefore, (0.6 in) / (1200 pulses) = 0.0005 in/pulse.
• This is within the desired 0.001 in/step.
How many pulses are needed for the displacement?
• With the 3:1 gear reduction, the stepping system can be set at 400 steps/rev to exceed the
required load positioning resolution.
• Since the lead screw advances 0.6 inches / rev, in the required stroke of 4.5 inches we will
need:
(4.5 in) / (0.6 rev/in) = 7.5 revolutions on the lead screw
• Since we have a reduction of 3:1, the motor shaft shall rotate 22.5 revolutions.

Reduction Ratio 3:1 (Step 3 revisited) – Determine the Motion

Profile
Since we know that 400 pulses gets one revolution on the motor and we need
22.5 revolutions, then 400 x 22.5 = 9,000 pulses to move 4.5 inches.
From Equation ❹, the indexing frequency for a trapezoidal move is:
• fTRAP = (Ptotal - (fstart x tramp)) ÷ (ttotal - tramp)
= (9,000 - (20 x 0.425s)) ÷ (1.7 - 0.425) = 8,991.5 Hz,
where the starting speed is 20Hz
• (8,991.5 Hz) / (400 steps/rev) = 22.48 rev/s
• To get it in rpm, (22.48 rev/s) x (60 s/min) = 1349 rpm.

Reduction Ratio 3:1 (Step 4 revisited) – Determine the Required

Motor Torque
Using the equations in Table 1:
(Total inertia seen by the motor is the sum of all inertias)
Jtotal = Jmotor + Jgear + ((Jcoupling + Jscrew + JW) ÷ i2)
For this example, we assume the gearbox and coupling inertias are zero.
Load inertia:
JW = (W ÷ (g x e)) x (1 ÷ 2πP)2
= (200 ÷ (386 x 0.9)) x (1 ÷ 2 x 3.1416 x 1.67)2
= 0.00523 lb·in·sec2
Lead screw inertia:
Jscrew = (π x L x p x r4) ÷ (2g)
= (3.1416 x 23.6 x 0.28 x 0.34) ÷ (2 x 386)
= 0.0002178 lb·in·sec2
The inertia of the load and screw reflected to the motor is the sum of both
values divided by the square of the reduction ratio
J(screw + load) referred to motor = ((Jscrew + JW) ÷ i2)
Jtotal less the motor inertia = ((0.0002178 + 0.00523) ÷ 32) = 0.000605 lb·in·sec2
The dynamic torque required to accelerate the inertia (without the motor rotor
inertia) is:
Taccel = Jtotal x ((∆rpm ÷ ∆time) x (2π÷60))
= 0.000605 x ((1349 ÷ 0.2125) x (2 x 3.1416 ÷ 60))
= 0.4022 lb·in

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Determine the running torque, or in this case the friction torque:

The forces are:
Ftotal = Fext + Ffriction + Fgravity [External forces and gravity are zero in this
case.]
= 0 + (μ x W x cosθ) + 0
= 0.05 x 200 = 10 Ib
And the formula to be used is:
Trun = ((Ftotal ÷ (2πP)) + Tpreload) ÷ i
= (10 ÷ (2 x 3.1416 x 1.67)) ÷ 3 [related to the motor side]
= 0.3177 Ib·in [where, we have assumed the preload torque to be zero]
From Equation ❺, the minimum required motor torque @ 1349 rpm is:
Tmotor = Taccel + Trun
= (0.4022 lb·in) + (0.3177 lb·in)
= 0.7199 Ib·in, or 11.51 oz·in
Consider STP-MTR-17048 with the new values:

Figure 3: Torque for STP-MTR-17048 at 8.99 kHz

For the purpose of this example, the torque vs. speed curves for this motor at 8.99
kHz will be approximately 26 oz·in at 32VDC and 44 oz·in at 70VDC. Based on the
torque, this motor meets the desired 11.51 oz·in requirement.
The rotor intertia, per the motor specification is 0.45 oz·in2 or 0.000024 lb·in·sec2.

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Load/Motor inertia ratio:

J(screw + load) ÷ Jmotor = 0.00605 lb·in·sec2 ÷ 0.000024 lb·in·sec2
= 2.52
The ratio of 2.52 is below the desired ratio of 10, so the STP-MTR-17048 motor is
suitable.
A small change in the mechanical design allowed us to use the motor STP-MTR-17048.
The torque in the point of operation is more than enough, and the ratio of intertia
criteria is fulfilled with any level of voltage in the drive. To be sure the safety factor is
high, it would be better to select a 48V power supply and drive.
Conveyor
Belt Drive – Example Calculations
Step 1 – Define the Actuator and Motion Requirements
Fgravity
W

J motor JW 
Fext

J gear
J pinion

Weight of table and workpiece = 3 lb

External force = 0 lb
Friction coefficient of sliding surfaces = 0.05
Angle of table = 0º
Belt and pulley efficiency = 0.8
Pulley diameter = 1.5 inch
Pulley thickness = 0.75 inch
Pulley material = aluminum
Desired Resolution = 0.001 inch/step
Gear Reducer = 5:1
Stroke = 50 inch
Move time = 4.0 seconds
Accel and decel time = 1.0 seconds

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Definitions
dload = lead or distance the load moves per revolution of the actuator’s drive shaft (P = pitch =
1/dload)
Dtotal = total move distance
θstep = driver step resolution (steps/revmotor)
i = gear reduction ratio (revmotor/revgearshaft)
Taccel = motor torque required to accelerate and decelerate the total system inertia (including
motor inertia)
Trun = constant motor torque requirement to run the mechanism due to friction, external load
forces, etc.
ttotal = move time

Step 2 – Determine the Positioning Resolution of the Load

Rearranging Equation ❹ to calculate the required stepping drive resolution:
ustep = (dload ÷ i) ÷ Lθ
= ((3.14 x 1.5) ÷ 5) ÷ 0.001
= 942 steps/rev
where dload = π x Pulley Diameter.
With the 5:1 gear reduction, the stepping system can be set at 1000 steps/rev to
slightly exceed the required load positioning resolution.
Reduction is almost always required with a belt drive, and a 5:1 planetary
gearhead is common.

Step 3 – Determine the Motion Profile

From Equation ❶, the total pulses to make the required move is:
Ptotal = (Dtotal ÷ (dload ÷ i)) x θstep
= 50 ÷ ((3.14 x 1.5) ÷ 5) x 1000
≈ 53,079 pulses
From Equation ❹, the running frequency for a trapezoidal move is:
fTRAP = (Ptotal - (fstart x tramp)) ÷ (ttotal - tramp)
= 53,079 ÷ (4 - 1)
≈ 17,693 Hz
where accel time is 25% of total move time and starting speed is zero.
= 17,693 Hz x (60 sec/1 min) ÷ 1000 steps/rev
≈ 1,062 RPM motor speed

Step 4 – Determine the Required Motor Torque

Using the equations in Table 1:
Jtotal = Jmotor + Jgear + ((Jpulleys + JW) ÷ i2)
For this example, let’s assume the gearbox inertia is zero.
JW = (W ÷ (g x e)) x r2
= (3 ÷ (386 x 0.8)) x 0.752
≈ 0.0055 lb·in·sec2

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Pulley inertia (remember there are two pulleys) can be calculated as:
Jpulleys ≈
 ((π x L x p x r4) ÷ (2g)) x 2
≈ ((3.14 x 0.75 x 0.098 x 0.754) ÷ (2 x 386)) x 2
≈ 0.00019 lb·in·sec2
The inertia of the load and pulleys reflected to the motor is:
J(pulleys + load) to motor = ((Jpulleys + JW) ÷ i2)
≈ ((0.0055 + 0.00019) ÷ 52) ≈ 0.00023 lb·in·sec2
The torque required to accelerate the inertia is:
Tacc ≈ Jtotal x (∆speed ÷ ∆time) x 0.1
= 0.00023 x (1062 ÷ 1) x 0.1
= 0.025 lb·in
Trun = (Ftotal x r) ÷ i
Ftotal = Fext + Ffriction + Fgravity
= 0 + µWcosu + 0 = 0.05 x 3 = 0.15 lb
Trun = (0.15 x 0.75) ÷ 5
≈ 0.0225 lb·in
From Equation ❺, the required motor torque is:
Tmotor = Taccel + Trun = 0.025 + 0.0225 ≈ 0.05 lb·in
However, this is the required motor torque before we have picked a motor and
included the motor inertia.

Step 5 – Select & Confirm the Stepping Motor & Driver System
It looks like a reasonable choice for a motor would be the STP-MTR-17048 or
NEMA 17 motor. This motor has an inertia of:
Jmotor = 0.00006 lb·in·sec2
The actual motor torque would be modified:
Taccel = Jtotal x (∆speed ÷ ∆time) x 0.1
= (0.00023 + 0.00006) x (1062 ÷ 1) x 0.1 ≈ 0.03 lb·in
so that:
Tmotor = Taccel + Trun
= 0.03 + 0.0225 ≈ 0.0525 lb·in ≈ 0.84 oz·in

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Appendix C: Selecting the SureStep™ Stepping System

70

STP-MTR-17048
60

50
1/2 Stepping
400 steps/rev
Torque (oz-in)

40
1/10 Stepping
2000 steps/rev
30

20

Required
10 Torque vs. Speed

0
0 150 300 450 600 750 900 1050 1200 1350 1500 1650 1800 1950 2100 2250

RPM:

It looks like the STP-MTR-17048 stepping motor will work. However, we still
need to check the load to motor inertia ratio:
Ratio = J(pulleys + load) to motor ÷ Jmotor
= 0.00023 ÷ 0.00006 = 3.8
It is best to keep the load-to-motor inertia ratio below 10, so 3.8 is within an
acceptable range.

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Index Table – Example Calculations

Index Table

Step 1 – Define the Actuator and Motion Requirements

J gear

J motor

Diameter of index table = 12 inch

Thickness of index table = 2 inch
Table material = steel
Number of workpieces = 8
Desired Resolution = 0.036º
Gear Reducer = 25:1
Index angle = 45º
Index time = 0.7 seconds
Definitions
dload = lead or distance the load moves per revolution of the actuator’s drive shaft (P = pitch =
1/dload)

Dtotal = total move distance

θstep = driver step resolution (steps/revmotor)

i = gear reduction ratio (revmotor/revgearshaft)

Taccel = motor torque required to accelerate and decelerate the total system inertia (including
motor inertia)
Trun = constant motor torque requirement to run the mechanism due to friction, external load
forces, etc.
ttotal = move time

Step 2 – Determine the Positioning Resolution of the Load

Rearranging Equation ❹ to calculate the required stepping drive resolution:
θstep = (dload ÷ i) ÷ Lθ
= (360º ÷ 25) ÷ 0.036º
= 400 steps/rev
With the 25:1 gear reduction, the stepping system can be set at 400 steps/rev to
equal the required load positioning resolution.
It is almost always necessary to use significant gear reduction when controlling
a large inertia disk.

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Step 3 – Determine the Motion Profile

From Equation ❶, the total pulses to make the required move is:
Ptotal = (Dtotal ÷ (dload ÷ i)) x ustep
= (45º ÷ (360º ÷ 25) x 400
= 1250 pulses
From Equation ❹, the running frequency for a trapezoidal move is:
fTRAP = (Ptotal - (fstart x tramp)) ÷ (ttotal - tramp)
= 1,250 ÷ (0.7 - 0.17) ≈ 2,360 Hz
where accel time is 25% of total move time and starting speed is zero.
= 2,360 Hz x (60 sec/1 min) ÷ 400 steps/rev
≈ 354 RPM

Step 4 – Determine the Required Motor Torque

Using the equations in Table 1:
Jtotal = Jmotor + Jgear + (Jtable ÷ i2)
For this example, let’s assume the gearbox inertia is zero.
Jtable ≈
 (π x L x p x r4) ÷ (2g)
≈ (3.14 x 2 x 0.28 x 1296) ÷ (2 x 386)
≈ 2.95 lb·in·sec2
The inertia of the indexing table reflected to the motor is:
Jtable to motor = Jtable ÷ i2
≈ 0.0047 lb·in·sec2
The torque required to accelerate the inertia is:
Taccel ≈ Jtotal x (∆speed ÷ ∆time) x 0.1
= 0.0047 x (354 ÷ 0.17) x 0.1
≈ 1.0 lb·in
From Equation ❺, the required motor torque is:
Tmotor = Taccel + Trun
= 1.0 + 0 = 1.0 lb·in
However, this is the required motor torque before we have picked a motor and
included the motor inertia.

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 Appendix C: Selecting the SureStep™ Stepping System

Step 5 – Select & Confirm the Stepping Motor & Driver System
It looks like a reasonable choice for a motor would be the STP-MTR-34066, or
NEMA 34 motor. This motor has an inertia of:
Jmotor = 0.0012 lb·in·sec2
The actual motor torque would be modified:
Taccel = Jtotal x (∆speed ÷ ∆time) x 0.1
= (0.0047 + 0.0012) x (354 ÷ 0.17) x 0.1
≈ 1.22 lb·in
STP-MTR-34S (32 VDC, 2.8A)
so that:
Tmotor = Taccel + Trun
= 1.22 + 0
= 1.22 lb·in = 19.52 oz·in
350
1/2 Stepping
400 steps/rev STP-MTR-34066
300
1/10 Stepping
2000 steps/rev

250
Torque (oz-in)

200

150

100
Required
Torque vs. Speed
50

0
0 75 150 225 300 375 450 525 600

RPM:

It looks like the STP-MTR-34066 stepping motor will work. However, we still
need to check the load to motor inertia ratio:
Ratio = Jtable to motor ÷ Jmotor
= 0.0047 ÷ 0.0012 = 3.9
It is best to keep the load-to-motor inertia ratio below 10, so 3.9 is within an
acceptable range.

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Engineering Unit Conversion Tables,

Formulae, & Definitions:
Conversion of Length
To convert A to B, B
multiply A by the
entry in the table. µm mm m mil in ft
µm 1 1.000E–03 1.000E–06 3.937E–02 3.937E–05 3.281E–06
mm 1.000E+03 1 1.000E–03 3.937E+01 3.937E–02 3.281E–03
m 1.000E+06 1.000E+03 1 3.937E+04 3.937E+01 3.281E+00
A
mil 2.540E+01 2.540E–02 2.540E–05 1 1.000E–03 8.330E–05
in 2.540E+04 2.540E+01 2.540E–02 1.000E+03 1 8.330E–02
ft 3.048E+05 3.048E+02 3.048E–01 1.200E+04 1.200E+01 1

Conversion of Torque
To convert A to B, B
multiply A by the
entry in the table. N·m kg·m kg·cm oz·in lb·in lb·ft
N·m 1 1.020E–01 1.020E+01 1.416E+02 8.850E+00 7.380E-01
kg·m 9.810E+00 1 1.000E+02 1.390E+03 8.680E+01 7.230E+00
kg·cm 1.000E–02 1 1.390E+01 8.680E–01 7.230E–02
A
oz·in 7.060E–03 7.200E–04 7.200E–02 1 6.250E–02 5.200E–03
lb·in 1.130E–01 1.150E–02 1.150E+00 1.600E+01 1 8.330E–02
lb·ft 1.356E+00 1.380E–01 1.383E+01 1.920E+02 1.200E+01 1

Conversion of Moment of Inertia

To convert A to B, B
multiply A by the
entry in the table. kg·m2 kg·cm·s2 oz·in·s2 lb·in·s2 oz·in2 lb·in2 lb·ft2
kg·m2 1 1.020E+01 1.416E+02 8.850E+00 5.470E+04 3.420E+03 2.373E+01
kg·cm·s2 9.800E–02 1 1.388E+01 8.680E–01 5.360E+03 3.350+02 2.320E+00
oz·in·s2 7.060E–03 7.190E–02 1 6.250E–02 3.861E+02 2.413E+01 1.676E–01
A lb·in·s2 1.130E–01 1.152E+00 1.600E+01 1 6.180E+03 3.861E+02 2.681E+00
oz·in2 1.830E–05 1.870E–04 2.590E–03 1.620E–04 1 6.250E–02 4.340E–04
lb·in2 2.930E–04 2.985E–03 4.140E–02 2.590E–03 1.600E+01 1 6.940E–03
lb·ft2 4.210E–02 4.290E–01 5.968E+00 3.730E–01 2.304E+03 1.440E+02 1

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 Appendix C: Selecting the SureStep™ Stepping System

Engineering Unit Conversion Tables, Formulae, & Definitions

(cont’d):

General Formulae & Definitions

Description: Equations:
Gravity gravity = 9.8 m/s2; 386 in/s2
Torque T = J · α; α = rad/s2
Power (Watts) P (W) = T (N·m) · ω (rad/s)
Power (Horsepower) P (hp) = T (lb·in) · ν (rpm) / 63,024
Horsepower 1 hp = 746W
Revolutions 1 rev = 1,296,000 arc·sec / 21,600 arc·min

Equations for Straight-Line Velocity & Constant Acceleration

Description: Equations:
vf = vi + at
Final velocity
final velocity = (initial velocity) + (acceleration)(time)
xf = xi + ½(vi +vf)t
Final position
final position = initial position + [(1/2 )(initial velocity + final velocity)(time)]
xf = xi + vit + ½at2
Final position final position = initial position + (initial velocity)(time) + (1/2)(acceleration)(time
squared)
Final velocity vf2 = vi2 + 2a(xf – xi)
squared final velocity squared = initial velocity squared + [(2)(acceleration)(final
position – initial position)]

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