Applied Motion Products STM Integrated Stepper Motor Brochure

Applied Motion Products STM Integrated Stepper Motor Brochure
Control Options
S = Basic version
Q = Q Programmer
C = CANopen
Communications
A = RS-232
R = RS-485
C = CANopen
(required for
CANopen
control option)
Motor Size
3 = 68 oz-in max
STM23S-2AN
Series
STM Series
Feedback
N = None
E = 1000 line
encoder
Frame Size
23
Control
S = Basic version
Q = Q Programmer
C = CANopen
Motor Size
2 = 125 oz-in max
3 = 210 oz-in max
Communications
A = RS-232
R = RS-485
C = CANopen
(required for CANopen
Control option)
STM24SF-3AN
Series
STM Series
Feedback
N = None
E = 1000 line
encoder
Frame Size
24 Control Options
S = Basic version
Q = Q Programmer
C = CANopen
SF = Basic version w/ flex I/O
QF = Q Programmer w/ flex I/O
Motor Size
3 = 340 oz-in max
#383838
16
6/15/2011 925-0009 A
Communications
A = RS-232
R = RS-485
C = CANopen
(required for CANopen
control option)
85%k
404 Westridge Dr.
76%C
Watsonville, CA 95076
68%M
#006BB3
Tel:
800-525-1609
67%Y
Fax: 831-761-6544
90%K
www.applied-motion.com
#FFFFFF
ENCODER
X
X
X
X
X
STM17C-3CN
X
X
STM17Q-3AE
X
X
STM17Q-3AN
X
X
RS-422/485
STM17C-3CE
CANOPEN
Feedback
N = None
E = 1000 line
encoder
Frame Size
17
MODEL NUMBERS
RS-232
Series
STM Series
Q PROGRAM
STM Drive Model Numbers
STM17S-3AN
X
STM17Q-3RE
X
X
STM17Q-3RN
X
X
STM17S-3AE
X
STM17S-3AN
X
Integrated Steppers
The STM is an
integrated
Drive+Motor, fusing
step motor and
drive technologies
into a single device,
offering savings
on space, wiring
and cost over
conventional motor
and drive solutions.
X
X
STM17S-3RE
X
STM17S-3RN
X
X
STM23C-3CE
X
X
X
STM23C-3CN
X
X
X
STM23Q-2AE
X
X
STM23Q-2AN
X
X
STM23Q-2RE
X
STM23Q-2RN
X
STM23Q-3AE
X
X
STM23Q-3AN
X
X
STM23Q-3RE
X
X
STM23S-3RN
X
X
X
X
X
X
X
STM23S-2AE
X
STM23S-2AN
X
STM23S-2RE
X
X
X
X
STM23S-2RN
X
X
STM23S-3AE
X
STM23S-3AN
X
X
STM23S-3RN
X
X
STM24C-3CE
X
X
X
X
STM24C-3CN
X
X
STM24QF-3AE
X
X
STM24QF-3AN
X
X
STM24QF-3RE
X
X
STM24QF-3RN
X
X
STM24SF-3AE
X
X
C C
IP IP
X
STM23S-3RE
STM24SF-3AN
Models
X
C C
IP IP
X
X
X
STM24SF-3RE
X
STM24SF-3RN
X
X
C C
IP IP
▪ C
Pulse & direction
▪ CW/CCW pulse
▪ IP
A/B quadrature
▪ Velocity (oscillator) mode
▪ Host commands (SCL compatible)
▪▪ ST▪Configurator™ software for setup
▪
▪
▪
▪
▪
▪
▪
▪
C
Stand-alone operation
IP
Q
programming for complex motion
Conditional processing
Math functions
Multi-tasking
Register manipulation
Encoder following
Third-party HMI compatibility
▪ CANopen protocols DS301 and DSP402
▪ Profile position, profile velocity and
homing modes
▪ Up to 127 axes per channel
▪ Execute stored Q programs
C
IP
Drive
Motor
Control
Dynamic Current Control
Anti-Resonance
Torque Ripple Smoothing
Microstep Emulation
Stall Prevention/Detection
DISTRIBUTED▪BY:
For more information visit: www.applied-motion.com/STM
Integrated Stepper
• NEMA 17 frame size
• Torque: up to 68 oz-in
• Input voltage: 12-48 VDC
Applied Motion offers three matched power supplies for use with the
STM drives.
• PS150A24 ... 24 VDC, 150 Watt for use with all STM drives.
• PS320A48 ... 48 VDC, 320 Watt for use with all STM drives.
• PS50A24 ... 24 VDC, 50 Watt for use with STM17 drives.
These power supplies have current overload capability making them
ideal for use with stepper drives.
Accessories
STM17
Power Supplies
USB to RS-232/485 Adapter
For users without a serial port and/or wishing to take advantage
of the benefits of an RS-485 network, Applied Motion offers an
adapter (part number 8500-003) that will plug into a USB port and
communicate to RS-232 and RS-485 networks.
STM17 Dimensions
81±1
24
42.3 MAX
31
2 15
55.8
4-M3Depth 4.5
RC-050 Regeneration Clamp
The RC-050 regeneration clamp is for use where regeneration from
the motor may be excessive for the power supply. In these cases
the RC-050 is connected between the drive and power supply and
absorbs regenerated energy.
31
42.3 MAX
Ø 22
60.8
Ø5
4.50 Flat
43.5
42.4
Dimensions in mm
Not to scale
The 3004-189 serial programming cable is included with all STM23
and STM24 products with the “A” communication option, and is
used for setup and programming. This cable can also be used
in streaming serial command (SCL) applications as a permanent
connection between the drive and the host device’s RS-232 port.
STM17 Connections
s
I/O Connections
Inputs & Outputs
3 digital inputs
1 digital output
1 analog input
2
3 digital inputs
1 digital output
1 analog input
3004-189 Serial Programming Cable
3 digital inputs
1 digital output
1 analog input
3004-259 Serial Programming Cable
The 3004-259 serial programming cable is included with all STM17
products with the “A” communication option, and is used for setup
and programming. This cable can also be used in streaming serial
command (SCL) applications as a permanent connection between
the drive and the host device’s RS-232 port.
15
Used for setup and configuration of the STM drive+motor. For more information about ST▪Configurator™▪visit the Applied Motion Products website.
STM17-3
12V
Current Setting: 2A
24V
48V
80
70
60
oz-in
Software
STM17 Torque Curves
ST Configurator™
50
40
30
20
10
0
Q Programmer™
Q▪Programmer™ is used to create stored programs for Q and C models. Q▪Programmer™ is a robust and powerful programming
environment with functionality for multi-tasking, math, conditional processing, register manipulation, encoder following, analog
positioning and more.
0
10
20
30
40
50
rps
Stored Q programs can run stand-alone in Q models, allowing the drive+motor to power up and begin operation on its own.
Stored Q programs can be called from the host in C models using Applied Motion-specific CANopen objects.
All software applications run on Windows 7 (32 & 64 bit), Vista, XP, 2000, NT, ME, 98.
14
3
STM17 Technical Specifications
AMPLIFIER TYPE
Dual H-bridge, 4 quadrant
CURRENT CONTROL
4 state PWM at 16 kHz
OUTPUT TORQUE
Up to 68 oz-in with suitable power supply
POWER SUPPLY
External 12 - 48 VDC power supply required
Under-voltage alarm: 11 VDC
Over-voltage shutdown: 54 VDC
PROTECTION
Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground)
IDLE CURRENT REDUCTION
Reduction range of 0 - 90% of running current after delay selectable in milliseconds
Encoder Option
POWER AMPLIFIER:
Diagram▪showing▪▪the▪
position▪of▪the▪encoder▪
inside▪the▪STM17
CONTROLLER:
MICROSTEP EMULATION
Performs high resolution stepping by synthesizing fine microsteps from coarse steps (step & direction mode only)
COMMAND SIGNAL SMOOTHING
Software configurable filtering reduces jerk and excitation of extraneous system resonances (step & direction mode
only)
ANTI-RESONANCE
(Electronic Damping)
Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the speed
range and improves settling time
AUTO SETUP
Measures motor parameters and configures motor current control and anti-resonance gain settings
SELF TEST
Checks internal & external power supply voltages, diagnoses open motor phases
NON-VOLATILE STORAGE
Configurations are saved in flesh memory on-board the DSP
MODES OF OPERATION
STM17S: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick), streaming commands
(SCL)
STM17Q: All STM17S modes of operation plus stored Q program execution
STM17C: CANopen slave node plus stored Q program execution
DIGITAL INPUTS
Adjustable bandwidth digital noise rejection filter on all inputs
STEP+/- (IN+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.
Function: Step, CW step, A quadrature (encoder following), CW limit, CW jog, start/stop (oscillator mode), or general
purpose input.
DIR+/- (IN2+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.
Function: Direction, CCW step, B quadrature (encoder following), CCW limit, CCW jog, direction (oscillator mode), or
general purpose input.
EN+/- (IN3+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.
Function: Enable, alarm/fault reset, speed 1/speed 2 (oscillator mode).
DIGITAL OUTPUT
OUT+/-: Optically isolated, 30V/40mA max.
Function: Fault, motion, tach, or general purpose programmable.
ANALOG INPUT
AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits.
COMMUNICATION INTERFACE
STM17x-3Ax: RS-232
STM17x-3Rx: RS-485
STM17C-3Cx: CANopen, RS-232
APPROVALS:
AGENCY APPROVALS
4
The encoder feedback option provides the following functionality:
Stall Detection: The drive detects if the motor has stalled and triggers a fault. See Figure 1 below.
Stall Prevention: The drive automatically senses rotor lag and adjusts motor speed to avoid stalling. See Figure 2 below.
Position Maintenance: When the motor is idle, the encoder detects if the shaft is being moved out of position by an
external force and automatically works to return the motor to its original position.
Align to Index Pulse: The encoder has an index pulse that can be used for precise, repeatable alignment of the motor shaft.
2
1
AMBIENT TEMPERATURE
0 to 40°C (32 to 104°F) When mounted to a suitable heatsink
HUMDITY
90% max, non-condensing
MASS
15.6 oz (441 g)
ROTOR INERTIA
1.16 x 10-3 oz-in-sec2 (82 g-cm2)
1
3
1 Load Increases
0 to 85°C (32 to 185°F) Internal temperature of the electronics section and encoder
0 to 100°C (32 to 212°F) Temperature of motor body
2
3
RoHS
CE EN61800-3:2004
PHYSICAL:
OPERATING TEMPERATURE
The STM drive+motor is offered with an optional 1000 line encoder that is integrated into the housing of the motor, without
increasing the size of the unit.
Velocity
Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Velocity
MICROSTEP RESOLUTION
1 Programmed Motion Profile
2 Motor is no longer able to produce required torque
2 Point at which load increases
3 Motor stalls and fault signal sent
3 Actual Motion Profile
Time
Figure▪1:▪Diagram▪showing▪the▪Stall▪Detection▪process
Time
Figure▪2:▪Diagram▪showing▪the▪Stall▪Prevention▪process
13
C
3rd Party Controller
C
IP IP
Step & direction
Step & Direction
Control Options
Speed1/Speed2 (Toggle Switch)
Speed (Potentiometer)
3rd Party Controller
3rd Party Controller
ria
l No
Se
Vie
w
Fro
nt
3
4
5
14
6
Y1
Y2 /
1
15
16
17
X3 X4
(Toggle Switch)
18
8
9
11
12
13
s
de
or
Co
Err
M
M
I
Run/Stop (Toggle Switch)
d1/Speed2 (Toggle Switch)
Speed (Potentiometer)
MMI Control Option
Speed (Potentiometer)
Host Control
RS-232
Q
5-
B+B-
RED
-S
5
T
Se
-G
T
HIG
LIM OVEOVE
E LOW
CCW VE
REN
E
L
CW
TOR
TAG
DRI
TAGCUR L FAIOR
MO
R FAI ER
VOL
L
VOL
ODM ERR
OVE
HAL
ENC
COM
BGND
AN1
+5V +
OUT OUT ENEN+
DIRDIR+ - +
STEP
STEP
M
I
I
M
UP TO
AXES
I
RS-232
or
C
RS-485 Model
▪ Accepts serial
commands from host PC or PLC
RS-232
Multi-axis
capable
Run/Stop (Toggle Switch) ▪IP
C
Each drive connects
MMI Control
toOption
a port on the hub.
MMI Control Option
C
▪ Accepts serial commands from host PC or PLC
8
M
RS-232
M
RS-232
M
T
GR
RD
B+
ro
A-
R
A+
Er
V-
RO EN
V+
IP
C
RS-232
IP IP RS-232
RS-232 Model
3rd Party Controller
RS-232
S
ria
l No
ErPOS
+ 4 RD
GRGR
1 2 GR + + 4 5 RD
RD
GR
1 GR ++ 6 6 RD
RD
2 GR
+ 7
1 GR
+
1 2 GR
GR
1
DR
1
1 -R re
ED en
1 GR
2 GR +
1 GR + 3
1 GR + 4 RD
GR
+ 4 RD
+ 5 RD
7 RD
RD
D
-RE
RDRD
1 RD
een++ 2 2 RDRD
3 3 RD
-Gr1 GR
RD
GR + +
2
s GR
deIT P
P P
LIMTRI P
r Co
N
TEM
R H
roITIOLIMITIT TRIR TEM
VO IVE
r
VO LTA
OV C
OV LTA
GE ER od
CO ER
GE HIG
TE es
MM CU
LO
MP
H
RR
ER
W
ria
Er
RS-232
IP IP
Software configuration
Two speeds
Vary speed with analog input
Joystick compatible
C
C
RS-232
E
O u nc o
tpu de r
ts
RDRD
en+ 1 2 RD
RDRD
RD
GR + 2
Gre
1 GR + + 3 3 RD
+ 4 RD
View
1 GRGR
GR2 1 tGR + 4 RD
2 GR + + 5 RDRD
Fron
6
1 GR
T
2 GR + + 6 7 RD
P P
1 GR
+
LIMI
1 2 GR
N T TRIP TEMTEM
GR
TRIP
E
1
R R
ITIO
LIMI T
O u nc o
T
OVEOVEHIGH
tpu de r
LIMI
POS
E
CCW
OR E E LOW
ts
REN
CW
TAG
DRIV
TAGCUR R FAIL R
MOT
R FAIL
VOL
L
VOL
ERRO
ODE
OVE
M
HAL
ENC
COM
D
An
ro
X6 X7 An alo
r
/ CC / CW alo g IN+
C
X3 X4
g
od
IN
/ Ser/ Ala W Lim INrm Lim it
es
1 /O
X vo Res it
X1
2
CO Ena X5
X1 /
U
3
MM et
/ STESTE X2 ble
4
T
P X2 / ON
5
1
P / PW / DIRDIR
6
14
/ PW
7
M- +
15
8
M+
16
9
GN
Y1
17
10
Y2 /
18
D
11
Y3 / BRA
19
12
Y / INP KE
20
13
+5 CO ALA OS
21
GN V MM RM N
22
Z- D OU ON
23
Z+
T
24
B25
B+
AA+
Se
ria
lN
o
1
25
Se
Ana
X6 X7 Ana log
/ CCW/ CW log IN+
X3 X4
Lim IN/ Serv/ Alar
Lim i
t
m
1
X o Res it
X1
2
COM Ena X5
X1 /
3
et
/ STESTE X2 MO ble
4
P X2 /
5
P / PW / DIRDIR N
6
14
/ PW
7
M- +
Fro
8
M+
1615
9
nt
GN
Y1
Vie
Y2 /
1817
1110
Y3 / BRA
19
w
Y / INP KE
20
1312
+5VCOMALA OSN
21
GN
22
MO RM
23
D OU
Z+ZT N
24
l No
5-Q
ST
T
OU
IN/
A+A-
ST
M
▪
▪
▪
▪
Speed1/Speed2 (Toggle Switch)
peed (Potentiometer)
• NEMA 23 frame size
• Torque: up to 210 oz-in
• Input voltage: 12-70 VDC
Speed (Potentiometer)
Speed1/Speed2 (Toggle Switch)
25
10
Run/Stop (Toggle Switch)
Run/Stop (Toggle Switch)
E
O u nc o
tpu de r
ts
192021
222324
7
Lim
/ Ser/ Ala
rm Lim it
X vo Res it
X1
COM Ena X5
X1 /
et
/ STESTE X2 MO ble
P X2 /
P / PW / DIRDIR N
/ PW
M- +
M+
GN
Ana
X6 X7 Ana log
/ CCW/ CW log IN+
IN-
2
D
PO
Y3 / BRA
CC
Y / INP KE
CW SIT
+5VCOMALA OSN
W
DR
GN
IO
MO RM
MO LIMLIM N
D OU
VO IVE
Z+ZT N
LIM
VO TO OVIT IT
B+BOV LTA R
TR TR IT
HA LTA GE OV ER
IP IP
A+AEN ER GE
GR
CO COLL CU HI ER TE
MP
FA
-G
MM DE RRLO GH TE
IL
1 re
MP
EN W
1 GR en
ER R
2 GR
FA
T
RO
1 GR + + RD
IL
1
R
2 GR + 2 RD
-R
1 GR
2 RD
2 GR + RD
ED
1 GR + 3
1 GR + 3 RD
+ 4 RD
2 GR
1 GR + + 4 RD
5 RD
GR
+ 6 RD
+ 6 RD
7 RD
RD
T
OU
IN/1
Integrated Stepper
Speed1/Speed2 (Toggle
RS-232 Switch)
RS-232
Q
5-
ST
STM23
C
C IP
C C C
3rd Party Controller
Oscillator / Run-Stop
IP
▪
▪ CW & CCW pulse
▪ A/B quadrature (master encoder)
Run/Stop (Toggle Switch)
Controller
C
UP TO
4
AXES
C
4
3
2
1
HUB 444
MMI Control Option
STM23 Dimensions
IP C
IP
Speed1/Speed2 (Toggle Switch)
RS-485/422 or CANopen
Speed
(Potentiometer)
RS-232
CANopen Model
RS-232
RS-232
l No
S
T
5
-S
32
1 -R re
ED en
1 GR
2 GR +
1 GR + 3
1 GR + 4 RD
GR
+ 4 RD
+ 5 RD
7 RD
RD
ria
UP TOAXES:
ID 2
Each drive connects
to a port on the hub.
-S
G
RD R-
V-
A+
A-
B+
s
de P
TEM
r Co R H
roVE OVEE HIGLOW
Er
TAG
E
1
RD
3
RD
+
4
RD
+
4
GR
+ 5 RDRD
GR
1
7
GR +
2 GR
+
1
GR
1
T
RENOR
DRI
BCURERR
VOL TAG
R
M
VOL
GND
AN1
OVE
+5V +
COM
OUT OUT ENEN+ DIR
DIR+ - +
STEP
STEP
1
4
#5
# 4
# 1
32
AXES
ID 1
t View
Fron
HUB 444
UP TO
128
ID 5
#5
# 3
# 2
ID 1
# 1
UP TO
32
AXES
RS-485/422 or CANopen
# 4
I
RS485/422
# 3
# 2
MMI Control Option
#5
ID 5 #
ID #4 3
4
# 1
ID23
#
ID
# 1
128
AXES:
RS-485
TO
2UP
32
ID 1
# 4
# 3
# 2
# 1
# 4
# 3
# 4
# 3
# 1
RS485/422
RS-232
# 2
UP TO
32
AXES
# 1
RS-232
5
T
N
o
S
1 -R re
ED en
1 GR
2 G +
R
1 G + 3
R
1 GR + 4 RD
G + 4 RD
R
+ 5 RD
7 RD
RD
rial
UP TO
8
r
T
B- D
GN 1
AN
+5V T+
OU TOU ENEN+ DIR +
DIR PSTE P+
STE
AXES
Each drive connects
to a port on the hub.
# 3
# 2
UP TO
4
AXES #
1
UP TO
127
AXES
HUB 444
# 4
92.4
STM23X-3
114.4
UP TO
1
127
AXES
Use SiNet▪Hub▪Programmer™ software
to develop your sequence of events,
then download them to a SiNet Hub
for a stand-alone system (STM23 and
STM24 only) or stream serial commands
to the drives from a PC, PLC, HMI, or
other host controller.RS-232
+ - Statuss
GND
CANL
CANH
GND
RX
TX
Status
IN1+
IN1IN2+
IN2IN3+
IN3OUT+
OUT-
C
C
C
C
IP
IP& IP
IP
Inputs
Outputs
STEP+
STEPDIR+
DIREN+
ENOUT+
OUT+5V
AIN
GND
3 digital inputs
1 digital output
1 analog input
IP
IPinputs
3 digital
C
C
3 digital inputs
C
1 digital output
1 digital output
1 analog input IP IP
C
C
4
#5
RS485/422
3
RS485/422
or
2
o
rr
B+
R
A-
E
A+
C
o
d
D
VO RI
VE
VO LT
O LT AG OVE
CO VE AG E
R
R
M CU E H TE
LO IG M
M
H
RR
P
ER
W
RO EN
e
s
G
R R
D -G
Se
V-
STM23X-2
C
C
I/O Connections
-S
32
AXES
12
STM23 Connections
UP TO
127
AXES
UP TO
V+
# 1
C
RS485/422
# 2
LENGTH “L” mm
Dimensions in mm
Not to scale
UP TO
127
AXES # 5
MODEL
IP
UP TO
128
AXES
Multi-Axis Systems
RS-232
32
127
AXES
UP TO
#5
# 1
UP TO
UP TO
C
C
Ctext based language
▪ Comprehensive
▪ Download, store &
execute programs
IP IPRS-232
▪ High level features: multi-tasking, conditional programming,
& math functions
▪ Host interface while executing stored programs
AXES:
CANopen
AXES:
CANopen
5
5/422
HUB 444
UP TO
128
AXES:
RS-485
ID 1
4
AXES:
RS-485
ID 2
M
RS485/422
32
ID 3
AXES:
CANopen
M
ANopen
#UP4TO
RS-232
RS-232
ID 4
AXES:
CANopen
+
ree + 2 2 RD
RDRD
3
-G 1 GR
GR + + + 3 4 RD
RD
1 GRGR
2 1
GR + 4 RD
s GR
2 GR + + 5 RDRD
6
1 GR
deIT P
2 GR + + 6 7 RD
P P
1 GR
+
1 2 GR
r CoLIMTRI P TEMTEM
GR
1
ro ION ITIT TRI
ER ER H
ErPOSITW LIM
OV HIG W T
LIM OV
R
LO EN
CC
CW IVETO GEGE RR
IL
DR
CU IL R FA OR
MO LTA
FA
VO LTA
VO ERLL DE ERR
OV
HA COMM
EN
CO
4
3
2
1
D
-RE
RD
n 1 RD
RD
3
AXES:
RS-485
ID 2
C
L
STM
Se
rial
N
o
ST
An
X6 X7 An alo
/ CC / CW alo g IN+
X3 X4
g
IN
/ Se / Ala W Lim INLim i
t
rvo rm
1 /O
it
X
X1
2
CO En Reset X5
X1 /
U
3
ab
X2 MM le
/ ST ST
4
T
EP X2
5
EP / / / DIRON
1
6
14
/ PWPW DIR 7
M- +
15
8
M+
16
9
GN
Y1
17
10
Y2 /
18
D
11
Y3 / BR
19
12
Y / INP AK
20
13
+5 CO AL OS E
21
GN V MM AR N
22
Z- D OU ON M
23
Z+
T
24
B25
B+
AA+
ID 3
32
2
32
5-Q
ID 4
AXES
UP TO
UP TO
E
O u nc o
tpu de r
ts
5
# 2
or
UP TO
RS-485/422 or CANopen
UP TO
# 3
RS-232
1
UP TO
D5
3
RS-485/422 or CANopen
or
4
AXES
2
1
8
AXES
8
AXES
Each drive connects
Stand-Alone Programmable
to a port on the hub.
4
UP TO
IP
UP TO
RS485/422
HUB 444
V+
AXES:
CANopen
4
AXES
RS-232
G
-R re
ED en
Se
ria
lN
o
S
T
5
4
AXES
128
or
UP TO
HUB 444
or
UP TO
RS-232
UP TO
4
Co
ID 3
3
s
OV
OV LTA
GE ER
CO ER
GE HIG
TE
MM CU
LO
MP
H
RR
ER
W
RO EN
T
R
VA+
AB+
ro
A-
Er
B+
AXES
Each drive connects
to a port on the hub.
ID 4
8
ID 1AXESRS-232
RS-485
GN BAN D
OU +5 1
V
OU T+
TEN
EN DIR +
DIR
Er
STE DR ro
STE +
VO IVE
Pr
P+
VO LTA
8
OVER HIGH
LOW
E
RENTR
AGE
AGECUR
DRIV
ERRO
VOLT
M
VOLT
OVER
COM
ENEN
DIR +
DIR
STE STE +
PP+
GN BAN D
OU +5V 1
OU T+
T-
ID 5
UP TO
de
GR
RD
-G
Se
V+
-S
5
T
S
l No
RD
3
RD
+
4
RD
+
4
GR
+ 5 RDRD
GR
1
7
GR +
2 GR
+
1
GR
1
▪ Connect to CANopen network
▪ DS301 and DSP402 protocols
RS-232
UP TO
ria
Se
D n
-G
-RE ree
GR
RD
s
de
V+
V-
Co
1
r
A+
P
TEM
2
RS-232
IP
C
RS-485/422 or CANopen
UP TO
32
AXES:
RS-485
5
Anti-Resonance/Electronic Damping
STM23-2 Torque Curves
120
Delivers better motor performance and higher speeds
100
Microstep Emulation
12 VDC
STM23-2
24 VDC
48 VDC
70 VDC
oz-in
n
Current Setting: 5A
1.8° Steps
With Microstep Emulation, low resolution systems can still provide smooth motion.
The drive can take low-resolution step pulses and create fine resolution micro-step
motion.
80
60
Synthesized
Microsteps
Delivers smoother motion in any application
40
Torque Ripple Smoothing
20
0
0
10
20
30
40
50
rps
Command Signal Smoothing
12 VDC
STM23-3
All step motors have an inherent low speed torque ripple that can affect the
motion of the motor. By analyzing this torque ripple the system can apply
a negative harmonic to negate this effect, which gives the motor much
smoother motion at low speed.
Delivers smoother motion at lower speeds
STM23-3 Torque Curves
24 VDC
48 VDC
Command Signal smoothing can soften the effect of immediate changes in
velocity and direction, making the motion of the motor less jerky. An added
advantage is that it can reduce the wear on mechanical components.
70 VDC
Current Setting: 5A
250
oz-in
n
Features
140
Step motor systems have a natural tendency to resonate at certain speeds.
The STM drive+motor automatically calculates the system’s natural frequency
and applies damping to the control algorithm. This greatly improves midrange
stability, allows for higher speeds, greater torque utilization and also improves
settling times.
Delivers smoother system performance
200
Dynamic Current Control
150
Allows for three current settings to help the motor run cooler and reduce power consumption.
▪ Running Current - the current the drive will deliver for continuous motion.
▪ Accel Current - the current the drive will deliver when accelerating or decelerating.
▪ Idle Current - reduces current draw when motor is stationary.
100
System Runs Cooler
50
Self Test & Auto Setup
0
0
10
20
30
40
50
At start-up the drive measures motor parameters, including the resistance and inductance,
then uses this information to optimize the system performance.
rps
6
11
STM24 Technical Specifications
STM23 Technical Specifications
POWER AMPLIFIER:
POWER AMPLIFIER:
Dual H-bridge, 4 quadrant
AMPLIFIER TYPE
Dual H-bridge, 4 quadrant
4 state PWM at 20 kHz
CURRENT CONTROL
4 state PWM at 20 kHz
OUTPUT TORQUE
Up to 340 oz-in with suitable power supply
OUTPUT TORQUE
POWER SUPPLY
External 12 - 70 VDC power supply required
Under-voltage alarm: 11 VDC
Over-voltage shutdown: 74 VDC
STM23x-2xx: Up to 125 oz-in with suitable power supply
STM23x-3xx: Up to 210 oz-in with suitable power supply
POWER SUPPLY
PROTECTION
Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground)
External 12 - 70 VDC power supply required
Under-voltage alarm: 11 VDC
Over-voltage shutdown: 74 VDC
IDLE CURRENT REDUCTION
Reduction range of 0 - 90% of running current after delay selectable in milliseconds
PROTECTION
Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground)
IDLE CURRENT REDUCTION
Reduction range of 0 - 90% of running current after delay selectable in milliseconds
AMPLIFIER TYPE
CURRENT CONTROL
CONTROLLER:
CONTROLLER:
MICROSTEP RESOLUTION
Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
MICROSTEP EMULATION
Performs high resolution stepping by synthesizing fine microsteps from coarse steps (step & direction mode only)
MICROSTEP RESOLUTION
Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
COMMAND SIGNAL SMOOTHING
Software configurable filtering reduces jerk and excitation of extraneous system resonances (step & direction mode
only)
MICROSTEP EMULATION
Performs high resolution stepping by synthesizing fine microsteps from coarse steps (step & direction mode only)
COMMAND SIGNAL SMOOTHING
ANTI-RESONANCE
(Electronic Damping)
Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the speed
range and improves settling time
Software configurable filtering reduces jerk and excitation of extraneous system resonances (step & direction mode
only)
ANTI-RESONANCE
AUTO SETUP
Measures motor parameters and configures motor current control and anti-resonance gain settings
(Electronic Damping)
Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the speed
range and improves settling time
SELF TEST
Checks internal & external power supply voltages, diagnoses open motor phases
AUTO SETUP
Measures motor parameters and configures motor current control and anti-resonance gain settings
NON-VOLATILE STORAGE
Configurations are saved in flesh memory on-board the DSP
SELF TEST
Checks internal & external power supply voltages, diagnoses open motor phases
MODES OF OPERATION
STM24SF: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick), streaming commands (SCL), SiNet Hub compatible
STM24QF: All STM24S modes of operation plus stored Q program execution
STM24C: CANopen slave node plus stored Q program execution
NON-VOLATILE STORAGE
Configurations are saved in flesh memory on-board the DSP
MODES OF OPERATION
DIGITAL FLEX I/O
SF▪and▪QF▪models
Adjustable▪bandwidth▪digital▪noise▪rejection▪filter▪on▪all▪I/O▪points▪configured▪as▪inputs▪
When configured as Inputs:
Optically isolated, 5-24 VDC, 8-12 mA. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz. Functions: see STM24 hardware manual.
When configured as Outputs:
Optically isolated, open emitter/collector, 30V/40mA max, 10 kHz max. Functions: see STM24 hardware manual.
STM23S: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick), streaming commands
(SCL), SiNet Hub compatible
STM23Q: All STM23S modes of operation plus stored Q program execution
STM23C: CANopen slave node plus stored Q program execution
DIGITAL INPUTS
DIGITAL I/O
C▪models
Adjustable▪bandwidth▪digital▪noise▪rejection▪filter▪on▪all▪inputs
IN1 - IN3: Optically isolated inputs, 5-24 VDC, 8-12 mA. Minimum pulse width = 250 ns. Maximum pulse frequency =
3 MHz. Functions: see STM24 hardware manual.
OUT: Optically isolated output, open emitter/collector, 30V/40mA max. Function: see STM24 hardware manual.
Adjustable bandwidth digital noise rejection filter on all inputs
STEP+/- (IN1+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.
Function: Step, CW step, A quadrature (encoder following), CW limit, CW jog, start/stop (oscillator mode), or general
purpose input.
DIR+/- (IN2+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.
Function: Direction, CCW step, B quadrature (encoder following), CCW limit, CCW jog, direction (oscillator mode), or
general purpose input.
EN+/- (IN3+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequeny = 3 MHz.
Function: Enable, alarm/fault reset, speed 1/speed 2 (oscillator mode).
ANALOG INPUT
AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits. (Not present on STM24C).
DIGITAL OUTPUT
COMMUNICATION INTERFACE
STM24x-3Ax: RS-232
STM24x-3Rx: RS-485
STM24C-3Cx: CANopen, RS-232
OUT+/-:▪Optically isolated, 30V/40 mA max.
Function: Fault, motion, tach, or general purpose programmable.
ANALOG INPUT
AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits. (Not present on STM23C).
COMMUNICATION INTERFACE
STM23x-xAx: RS-232
STM23x-xRx: RS-485
STM23C-3Cx: CANopen, RS-232
APPROVALS:
AGENCY APPROVALS
RoHS
CE EN61800-3:2004
APPROVALS:
OPERATING TEMPERATURE
0 to 85°C (32 to 185°F) Internal temperature of the electronics section and encoder
0 to 100°C (32 to 212°F) Temperature of motor body
PHYSICAL:
AMBIENT TEMPERATURE
0 to 40°C (32 to 104°F) When mounted to a suitable heatsink
HUMDITY
90% max, non-condensing
MASS
56 oz (1580 g)
ROTOR INERTIA
1.27 x 10-2 oz-in-sec2 (900 g-cm2)
PHYSICAL:
AGENCY APPROVALS
RoHS
CE EN61800-3:2004
OPERATING TEMPERATURE
0 to 85°C (32 to 185°F) Internal temperature of the electronics section and encoder
0 to 100°C (32 to 212°F) Temperature of motor body
AMBIENT TEMPERATURE
0 to 40°C (32 to 104°F) When mounted to a suitable heatsink
HUMDITY
90% max, non-condensing
MASS
STM23x-2xx: 30 oz (850 g)
STM23x-3xx: 42 oz (1191 g)
ROTOR INERTIA
STM23x-2xx: 3.68 x 10-3 oz-in-sec2 (260 g-cm2)
STM23x-3xx: 6.52 x 10-3 oz-in-sec2 (460 g-cm2)
10
7
STM24
STM24 Torque Curves
STM24-3
Integrated Stepper
Current Setting: 6A
12V
24V
48V
70V
350
• NEMA 24 frame size
• Torque: up to 340 oz-in
• Input voltage: 12-70 VDC
300
oz-in
250
200
150
100
STM24 Dimensions
50
20.6
15
60
47.14
0
7
20
30
40
50
5
55
10
4-Ø
1.5
0
rps
47.14
60
Ø 38.1
Ø 7.5 Flat
Ø8
77
89
84
125.5±1
51
Dimensions in mm
Not to scale
STM24 Connections
C
C
IP& IP
Inputs
Outputs
I/O Connections
STATUS
IN1+
IN1IN2+
IN2IN3+
IN3OUT+
OUT-
C
I/O 1+
I/O 1I/O 2+
I/O 2I/O 3+
I/O 3I/O 4+
I/O 4+5V
AIN
GND
4 digital flex I/O
1 analog input
IP
IPflex I/O
4 digital
C
1 analog input
C
C
C
3 digital
IPinputs
IP
1 digital output
IP
C
8
9
STM24
STM24 Torque Curves
STM24-3
Integrated Stepper
Current Setting: 6A
12V
24V
48V
70V
350
• NEMA 24 frame size
• Torque: up to 340 oz-in
• Input voltage: 12-70 VDC
300
oz-in
250
200
150
100
STM24 Dimensions
50
20.6
15
60
47.14
0
7
20
30
40
50
5
55
10
4-Ø
1.5
0
rps
47.14
60
Ø 38.1
Ø 7.5 Flat
Ø8
77
89
84
125.5±1
51
Dimensions in mm
Not to scale
STM24 Connections
C
C
IP& IP
Inputs
Outputs
I/O Connections
STATUS
IN1+
IN1IN2+
IN2IN3+
IN3OUT+
OUT-
C
I/O 1+
I/O 1I/O 2+
I/O 2I/O 3+
I/O 3I/O 4+
I/O 4+5V
AIN
GND
4 digital flex I/O
1 analog input
IP
IPflex I/O
4 digital
C
1 analog input
C
C
C
3 digital
IPinputs
IP
1 digital output
IP
C
8
9
STM24 Technical Specifications
STM23 Technical Specifications
POWER AMPLIFIER:
POWER AMPLIFIER:
Dual H-bridge, 4 quadrant
AMPLIFIER TYPE
Dual H-bridge, 4 quadrant
4 state PWM at 20 kHz
CURRENT CONTROL
4 state PWM at 20 kHz
OUTPUT TORQUE
Up to 340 oz-in with suitable power supply
OUTPUT TORQUE
POWER SUPPLY
External 12 - 70 VDC power supply required
Under-voltage alarm: 11 VDC
Over-voltage shutdown: 74 VDC
STM23x-2xx: Up to 125 oz-in with suitable power supply
STM23x-3xx: Up to 210 oz-in with suitable power supply
POWER SUPPLY
PROTECTION
Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground)
External 12 - 70 VDC power supply required
Under-voltage alarm: 11 VDC
Over-voltage shutdown: 74 VDC
IDLE CURRENT REDUCTION
Reduction range of 0 - 90% of running current after delay selectable in milliseconds
PROTECTION
Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground)
IDLE CURRENT REDUCTION
Reduction range of 0 - 90% of running current after delay selectable in milliseconds
AMPLIFIER TYPE
CURRENT CONTROL
CONTROLLER:
CONTROLLER:
MICROSTEP RESOLUTION
Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
MICROSTEP EMULATION
Performs high resolution stepping by synthesizing fine microsteps from coarse steps (step & direction mode only)
MICROSTEP RESOLUTION
Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
COMMAND SIGNAL SMOOTHING
Software configurable filtering reduces jerk and excitation of extraneous system resonances (step & direction mode
only)
MICROSTEP EMULATION
Performs high resolution stepping by synthesizing fine microsteps from coarse steps (step & direction mode only)
COMMAND SIGNAL SMOOTHING
ANTI-RESONANCE
(Electronic Damping)
Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the speed
range and improves settling time
Software configurable filtering reduces jerk and excitation of extraneous system resonances (step & direction mode
only)
ANTI-RESONANCE
AUTO SETUP
Measures motor parameters and configures motor current control and anti-resonance gain settings
(Electronic Damping)
Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the speed
range and improves settling time
SELF TEST
Checks internal & external power supply voltages, diagnoses open motor phases
AUTO SETUP
Measures motor parameters and configures motor current control and anti-resonance gain settings
NON-VOLATILE STORAGE
Configurations are saved in flesh memory on-board the DSP
SELF TEST
Checks internal & external power supply voltages, diagnoses open motor phases
MODES OF OPERATION
STM24SF: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick), streaming commands (SCL), SiNet Hub compatible
STM24QF: All STM24S modes of operation plus stored Q program execution
STM24C: CANopen slave node plus stored Q program execution
NON-VOLATILE STORAGE
Configurations are saved in flesh memory on-board the DSP
MODES OF OPERATION
DIGITAL FLEX I/O
SF▪and▪QF▪models
Adjustable▪bandwidth▪digital▪noise▪rejection▪filter▪on▪all▪I/O▪points▪configured▪as▪inputs▪
When configured as Inputs:
Optically isolated, 5-24 VDC, 8-12 mA. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz. Functions: see STM24 hardware manual.
When configured as Outputs:
Optically isolated, open emitter/collector, 30V/40mA max, 10 kHz max. Functions: see STM24 hardware manual.
STM23S: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick), streaming commands
(SCL), SiNet Hub compatible
STM23Q: All STM23S modes of operation plus stored Q program execution
STM23C: CANopen slave node plus stored Q program execution
DIGITAL INPUTS
DIGITAL I/O
C▪models
Adjustable▪bandwidth▪digital▪noise▪rejection▪filter▪on▪all▪inputs
IN1 - IN3: Optically isolated inputs, 5-24 VDC, 8-12 mA. Minimum pulse width = 250 ns. Maximum pulse frequency =
3 MHz. Functions: see STM24 hardware manual.
OUT: Optically isolated output, open emitter/collector, 30V/40mA max. Function: see STM24 hardware manual.
Adjustable bandwidth digital noise rejection filter on all inputs
STEP+/- (IN1+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.
Function: Step, CW step, A quadrature (encoder following), CW limit, CW jog, start/stop (oscillator mode), or general
purpose input.
DIR+/- (IN2+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.
Function: Direction, CCW step, B quadrature (encoder following), CCW limit, CCW jog, direction (oscillator mode), or
general purpose input.
EN+/- (IN3+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequeny = 3 MHz.
Function: Enable, alarm/fault reset, speed 1/speed 2 (oscillator mode).
ANALOG INPUT
AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits. (Not present on STM24C).
DIGITAL OUTPUT
COMMUNICATION INTERFACE
STM24x-3Ax: RS-232
STM24x-3Rx: RS-485
STM24C-3Cx: CANopen, RS-232
OUT+/-:▪Optically isolated, 30V/40 mA max.
Function: Fault, motion, tach, or general purpose programmable.
ANALOG INPUT
AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits. (Not present on STM23C).
COMMUNICATION INTERFACE
STM23x-xAx: RS-232
STM23x-xRx: RS-485
STM23C-3Cx: CANopen, RS-232
APPROVALS:
AGENCY APPROVALS
RoHS
CE EN61800-3:2004
APPROVALS:
OPERATING TEMPERATURE
0 to 85°C (32 to 185°F) Internal temperature of the electronics section and encoder
0 to 100°C (32 to 212°F) Temperature of motor body
PHYSICAL:
AMBIENT TEMPERATURE
0 to 40°C (32 to 104°F) When mounted to a suitable heatsink
HUMDITY
90% max, non-condensing
MASS
56 oz (1580 g)
ROTOR INERTIA
1.27 x 10-2 oz-in-sec2 (900 g-cm2)
PHYSICAL:
AGENCY APPROVALS
RoHS
CE EN61800-3:2004
OPERATING TEMPERATURE
0 to 85°C (32 to 185°F) Internal temperature of the electronics section and encoder
0 to 100°C (32 to 212°F) Temperature of motor body
AMBIENT TEMPERATURE
0 to 40°C (32 to 104°F) When mounted to a suitable heatsink
HUMDITY
90% max, non-condensing
MASS
STM23x-2xx: 30 oz (850 g)
STM23x-3xx: 42 oz (1191 g)
ROTOR INERTIA
STM23x-2xx: 3.68 x 10-3 oz-in-sec2 (260 g-cm2)
STM23x-3xx: 6.52 x 10-3 oz-in-sec2 (460 g-cm2)
10
7
Anti-Resonance/Electronic Damping
STM23-2 Torque Curves
120
Delivers better motor performance and higher speeds
100
Microstep Emulation
12 VDC
STM23-2
24 VDC
48 VDC
70 VDC
oz-in
n
Current Setting: 5A
1.8° Steps
With Microstep Emulation, low resolution systems can still provide smooth motion.
The drive can take low-resolution step pulses and create fine resolution micro-step
motion.
80
60
Synthesized
Microsteps
Delivers smoother motion in any application
40
Torque Ripple Smoothing
20
0
0
10
20
30
40
50
rps
Command Signal Smoothing
12 VDC
STM23-3
All step motors have an inherent low speed torque ripple that can affect the
motion of the motor. By analyzing this torque ripple the system can apply
a negative harmonic to negate this effect, which gives the motor much
smoother motion at low speed.
Delivers smoother motion at lower speeds
STM23-3 Torque Curves
24 VDC
48 VDC
Command Signal smoothing can soften the effect of immediate changes in
velocity and direction, making the motion of the motor less jerky. An added
advantage is that it can reduce the wear on mechanical components.
70 VDC
Current Setting: 5A
250
oz-in
n
Features
140
Step motor systems have a natural tendency to resonate at certain speeds.
The STM drive+motor automatically calculates the system’s natural frequency
and applies damping to the control algorithm. This greatly improves midrange
stability, allows for higher speeds, greater torque utilization and also improves
settling times.
Delivers smoother system performance
200
Dynamic Current Control
150
Allows for three current settings to help the motor run cooler and reduce power consumption.
▪ Running Current - the current the drive will deliver for continuous motion.
▪ Accel Current - the current the drive will deliver when accelerating or decelerating.
▪ Idle Current - reduces current draw when motor is stationary.
100
System Runs Cooler
50
Self Test & Auto Setup
0
0
10
20
30
40
50
At start-up the drive measures motor parameters, including the resistance and inductance,
then uses this information to optimize the system performance.
rps
6
11
C
3rd Party Controller
C
IP IP
Step & direction
Step & Direction
Control Options
Speed1/Speed2 (Toggle Switch)
Speed (Potentiometer)
3rd Party Controller
3rd Party Controller
ria
l No
Se
Vie
w
4
5
1
14
6
Y1
Y2 /
Fro
nt
3
15
16
17
X3 X4
(Toggle Switch)
18
8
9
11
12
13
s
de
or
Co
Err
M
M
I
Run/Stop (Toggle Switch)
d1/Speed2 (Toggle Switch)
Speed (Potentiometer)
MMI Control Option
Speed (Potentiometer)
Host Control
RS-232
Q
5-
B+B-
RED
-S
5
T
Se
-G
T
HIG
LIM OVEOVE
E LOW
CCW VE
REN
E
L
CW
TOR
TAG
DRI
TAGCUR L FAIOR
MO
R FAI ER
VOL
L
VOL
ODM ERR
OVE
HAL
ENC
COM
BGND
AN1
+5V +
OUT OUT ENEN+
DIRDIR+ - +
STEP
STEP
M
I
I
M
UP TO
AXES
I
RS-232
or
C
RS-485 Model
▪ Accepts serial
commands from host PC or PLC
RS-232
Multi-axis
capable
Run/Stop (Toggle Switch) ▪IP
C
Each drive connects
MMI Control
toOption
a port on the hub.
MMI Control Option
C
▪ Accepts serial commands from host PC or PLC
8
M
RS-232
M
RS-232
M
T
GR
RD
B+
ro
A-
R
A+
Er
V-
RO EN
V+
IP
C
RS-232
IP IP RS-232
RS-232 Model
3rd Party Controller
RS-232
S
ria
l No
ErPOS
+ 4 RD
GRGR
1 2 GR + + 4 5 RD
RD
GR
1 GR ++ 6 6 RD
RD
2 GR
+ 7
1 GR
+
1 2 GR
GR
1
DR
1
1 -R re
ED en
1 GR
2 GR +
1 GR + 3
1 GR + 4 RD
GR
+ 4 RD
+ 5 RD
7 RD
RD
D
-RE
RDRD
1 RD
een++ 2 2 RDRD
3 3 RD
-Gr1 GR
RD
GR + +
2
s GR
deIT P
P P
LIMTRI P
r Co
N
TEM
R H
roITIOLIMITIT TRIR TEM
VO IVE
r
VO LTA
OV C
OV LTA
GE ER od
CO ER
GE HIG
TE es
MM CU
LO
MP
H
RR
ER
W
ria
Er
RS-232
IP IP
Software configuration
Two speeds
Vary speed with analog input
Joystick compatible
C
C
RS-232
E
O u nc o
tpu de r
ts
RDRD
en+ 1 2 RD
RDRD
RD
GR + 2
Gre
1 GR + + 3 3 RD
+ 4 RD
View
1 GRGR
GR2 1 tGR + 4 RD
2 GR + + 5 RDRD
Fron
6
1 GR
T
2 GR + + 6 7 RD
P P
1 GR
+
LIMI
1 2 GR
N T TRIP TEMTEM
GR
TRIP
E
1
R R
ITIO
LIMI T
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T
OVEOVEHIGH
tpu de r
LIMI
POS
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CCW
OR E E LOW
ts
REN
CW
TAG
DRIV
TAGCUR R FAIL R
MOT
R FAIL
VOL
L
VOL
ERRO
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OVE
M
HAL
ENC
COM
D
An
ro
X6 X7 An alo
r
/ CC / CW alo g IN+
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X3 X4
g
od
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/ Ser/ Ala W Lim INrm Lim it
es
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CO Ena X5
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U
3
MM et
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4
T
P X2 / ON
5
1
P / PW / DIRDIR
6
14
/ PW
7
M- +
15
8
M+
16
9
GN
Y1
17
10
Y2 /
18
D
11
Y3 / BRA
19
12
Y / INP KE
20
13
+5 CO ALA OS
21
GN V MM RM N
22
Z- D OU ON
23
Z+
T
24
B25
B+
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ria
lN
o
1
25
Se
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X6 X7 Ana log
/ CCW/ CW log IN+
X3 X4
Lim IN/ Serv/ Alar
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1
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COM Ena X5
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et
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4
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5
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6
14
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7
M- +
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8
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1615
9
nt
GN
Y1
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Y2 /
1817
1110
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19
w
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20
1312
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21
GN
22
MO RM
23
D OU
Z+ZT N
24
l No
5-Q
ST
T
OU
IN/
A+A-
ST
M
▪
▪
▪
▪
Speed1/Speed2 (Toggle Switch)
peed (Potentiometer)
• NEMA 23 frame size
• Torque: up to 210 oz-in
• Input voltage: 12-70 VDC
Speed (Potentiometer)
Speed1/Speed2 (Toggle Switch)
25
10
Run/Stop (Toggle Switch)
Run/Stop (Toggle Switch)
E
O u nc o
tpu de r
ts
192021
222324
7
Lim
/ Ser/ Ala
rm Lim it
X vo Res it
X1
COM Ena X5
X1 /
et
/ STESTE X2 MO ble
P X2 /
P / PW / DIRDIR N
/ PW
M- +
M+
GN
Ana
X6 X7 Ana log
/ CCW/ CW log IN+
IN-
2
D
PO
Y3 / BRA
CC
Y / INP KE
CW SIT
+5VCOMALA OSN
W
DR
GN
IO
MO RM
MO LIMLIM N
D OU
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Z+ZT N
LIM
VO TO OVIT IT
B+BOV LTA R
TR TR IT
HA LTA GE OV ER
IP IP
A+AEN ER GE
GR
CO COLL CU HI ER TE
MP
FA
-G
MM DE RRLO GH TE
IL
1 re
MP
EN W
1 GR en
ER R
2 GR
FA
T
RO
1 GR + + RD
IL
1
R
2 GR + 2 RD
-R
1 GR
2 RD
2 GR + RD
ED
1 GR + 3
1 GR + 3 RD
+ 4 RD
2 GR
1 GR + + 4 RD
5 RD
GR
+ 6 RD
+ 6 RD
7 RD
RD
T
OU
IN/1
Integrated Stepper
Speed1/Speed2 (Toggle
RS-232 Switch)
RS-232
Q
5-
ST
STM23
C
C IP
C C C
3rd Party Controller
Oscillator / Run-Stop
IP
▪
▪ CW & CCW pulse
▪ A/B quadrature (master encoder)
Run/Stop (Toggle Switch)
Controller
C
UP TO
4
AXES
C
4
3
2
1
HUB 444
MMI Control Option
STM23 Dimensions
IP C
IP
Speed1/Speed2 (Toggle Switch)
RS-485/422 or CANopen
Speed
(Potentiometer)
RS-232
CANopen Model
RS-232
RS-232
l No
S
T
5
-S
32
1 -R re
ED en
1 GR
2 GR +
1 GR + 3
1 GR + 4 RD
GR
+ 4 RD
+ 5 RD
7 RD
RD
ria
UP TOAXES:
ID 2
Each drive connects
to a port on the hub.
-S
G
RD R-
V-
A+
A-
B+
s
de P
TEM
r Co R H
roVE OVEE HIGLOW
Er
TAG
E
1
RD
3
RD
+
4
RD
+
4
GR
+ 5 RDRD
GR
1
7
GR +
2 GR
+
1
GR
1
T
RENOR
DRI
BCURERR
VOL TAG
R
M
VOL
GND
AN1
OVE
+5V +
COM
OUT OUT ENEN+ DIR
DIR+ - +
STEP
STEP
1
4
#5
# 4
# 1
32
AXES
ID 1
t View
Fron
HUB 444
UP TO
128
ID 5
#5
# 3
# 2
ID 1
# 1
UP TO
32
AXES
RS-485/422 or CANopen
# 4
I
RS485/422
# 3
# 2
MMI Control Option
#5
ID 5 #
ID #4 3
4
# 1
ID23
#
ID
# 1
128
AXES:
RS-485
TO
2UP
32
ID 1
# 4
# 3
# 2
# 1
# 4
# 3
# 4
# 3
# 1
RS485/422
RS-232
# 2
UP TO
32
AXES
# 1
RS-232
5
T
N
o
S
1 -R re
ED en
1 GR
2 G +
R
1 G + 3
R
1 GR + 4 RD
G + 4 RD
R
+ 5 RD
7 RD
RD
rial
UP TO
8
r
T
B- D
GN 1
AN
+5V T+
OU TOU ENEN+ DIR +
DIR PSTE P+
STE
AXES
Each drive connects
to a port on the hub.
# 3
# 2
UP TO
4
AXES #
1
UP TO
127
AXES
HUB 444
# 4
92.4
STM23X-3
114.4
UP TO
1
127
AXES
Use SiNet▪Hub▪Programmer™ software
to develop your sequence of events,
then download them to a SiNet Hub
for a stand-alone system (STM23 and
STM24 only) or stream serial commands
to the drives from a PC, PLC, HMI, or
other host controller.RS-232
+ - Statuss
GND
CANL
CANH
GND
RX
TX
Status
IN1+
IN1IN2+
IN2IN3+
IN3OUT+
OUT-
C
C
C
C
IP
IP& IP
IP
Inputs
Outputs
STEP+
STEPDIR+
DIREN+
ENOUT+
OUT+5V
AIN
GND
3 digital inputs
1 digital output
1 analog input
IP
IPinputs
3 digital
C
C
3 digital inputs
C
1 digital output
1 digital output
1 analog input IP IP
C
C
4
#5
RS485/422
3
RS485/422
or
2
o
rr
B+
R
A-
E
A+
C
o
d
D
VO RI
VE
VO LT
O LT AG OVE
CO VE AG E
R
R
M CU E H TE
LO IG M
M
H
RR
P
ER
W
RO EN
e
s
G
R R
D -G
Se
V-
STM23X-2
C
C
I/O Connections
-S
32
AXES
12
STM23 Connections
UP TO
127
AXES
UP TO
V+
# 1
C
RS485/422
# 2
LENGTH “L” mm
Dimensions in mm
Not to scale
UP TO
127
AXES # 5
MODEL
IP
UP TO
128
AXES
Multi-Axis Systems
RS-232
32
127
AXES
UP TO
#5
# 1
UP TO
UP TO
C
C
Ctext based language
▪ Comprehensive
▪ Download, store &
execute programs
IP IPRS-232
▪ High level features: multi-tasking, conditional programming,
& math functions
▪ Host interface while executing stored programs
AXES:
CANopen
AXES:
CANopen
5
5/422
HUB 444
UP TO
128
AXES:
RS-485
ID 1
4
AXES:
RS-485
ID 2
M
RS485/422
32
ID 3
AXES:
CANopen
M
ANopen
#UP4TO
RS-232
RS-232
ID 4
AXES:
CANopen
+
ree + 2 2 RD
RDRD
3
-G 1 GR
GR + + + 3 4 RD
RD
1 GRGR
2 1
GR + 4 RD
s GR
2 GR + + 5 RDRD
6
1 GR
deIT P
2 GR + + 6 7 RD
P P
1 GR
+
1 2 GR
r CoLIMTRI P TEMTEM
GR
1
ro ION ITIT TRI
ER ER H
ErPOSITW LIM
OV HIG W T
LIM OV
R
LO EN
CC
CW IVETO GEGE RR
IL
DR
CU IL R FA OR
MO LTA
FA
VO LTA
VO ERLL DE ERR
OV
HA COMM
EN
CO
4
3
2
1
D
-RE
RD
n 1 RD
RD
3
AXES:
RS-485
ID 2
C
L
STM
Se
rial
N
o
ST
An
X6 X7 An alo
/ CC / CW alo g IN+
X3 X4
g
IN
/ Se / Ala W Lim INLim i
t
rvo rm
1 /O
it
X
X1
2
CO En Reset X5
X1 /
U
3
ab
X2 MM le
/ ST ST
4
T
EP X2
5
EP / / / DIRON
1
6
14
/ PWPW DIR 7
M- +
15
8
M+
16
9
GN
Y1
17
10
Y2 /
18
D
11
Y3 / BR
19
12
Y / INP AK
20
13
+5 CO AL OS E
21
GN V MM AR N
22
Z- D OU ON M
23
Z+
T
24
B25
B+
AA+
ID 3
32
2
32
5-Q
ID 4
AXES
UP TO
UP TO
E
O u nc o
tpu de r
ts
5
# 2
or
UP TO
RS-485/422 or CANopen
UP TO
# 3
RS-232
1
UP TO
D5
3
RS-485/422 or CANopen
or
4
AXES
2
1
8
AXES
8
AXES
Each drive connects
Stand-Alone Programmable
to a port on the hub.
4
UP TO
IP
UP TO
RS485/422
HUB 444
V+
AXES:
CANopen
4
AXES
RS-232
G
-R re
ED en
Se
ria
lN
o
S
T
5
4
AXES
128
or
UP TO
HUB 444
or
UP TO
RS-232
UP TO
4
Co
ID 3
3
s
OV
OV LTA
GE ER
CO ER
GE HIG
TE
MM CU
LO
MP
H
RR
ER
W
RO EN
T
R
VA+
AB+
ro
A-
Er
B+
AXES
Each drive connects
to a port on the hub.
ID 4
8
ID 1AXESRS-232
RS-485
GN BAN D
OU +5 1
V
OU T+
TEN
EN DIR +
DIR
Er
STE DR ro
STE +
VO IVE
Pr
P+
VO LTA
8
OVER HIGH
LOW
E
RENTR
AGE
AGECUR
DRIV
ERRO
VOLT
M
VOLT
OVER
COM
ENEN
DIR +
DIR
STE STE +
PP+
GN BAN D
OU +5V 1
OU T+
T-
ID 5
UP TO
de
GR
RD
-G
Se
V+
-S
5
T
S
l No
RD
3
RD
+
4
RD
+
4
GR
+ 5 RDRD
GR
1
7
GR +
2 GR
+
1
GR
1
▪ Connect to CANopen network
▪ DS301 and DSP402 protocols
RS-232
UP TO
ria
Se
D n
-G
-RE ree
GR
RD
s
de
V+
V-
Co
1
r
A+
P
TEM
2
RS-232
IP
C
RS-485/422 or CANopen
UP TO
32
AXES:
RS-485
5
STM17 Technical Specifications
AMPLIFIER TYPE
Dual H-bridge, 4 quadrant
CURRENT CONTROL
4 state PWM at 16 kHz
OUTPUT TORQUE
Up to 68 oz-in with suitable power supply
POWER SUPPLY
External 12 - 48 VDC power supply required
Under-voltage alarm: 11 VDC
Over-voltage shutdown: 54 VDC
PROTECTION
Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground)
IDLE CURRENT REDUCTION
Reduction range of 0 - 90% of running current after delay selectable in milliseconds
Encoder Option
POWER AMPLIFIER:
Diagram▪showing▪▪the▪
Diagram showing▪▪
showing the
position▪of▪the▪encoder▪
position of the encoder
inside▪the▪STM17
inside the STM17
CONTROLLER:
MICROSTEP EMULATION
Performs high resolution stepping by synthesizing fine microsteps from coarse steps (step & direction mode only)
COMMAND SIGNAL SMOOTHING
Software configurable filtering reduces jerk and excitation of extraneous system resonances (step & direction mode
only)
ANTI-RESONANCE
(Electronic Damping)
Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the speed
range and improves settling time
AUTO SETUP
Measures motor parameters and configures motor current control and anti-resonance gain settings
SELF TEST
Checks internal & external power supply voltages, diagnoses open motor phases
NON-VOLATILE STORAGE
Configurations are saved in flesh memory on-board the DSP
MODES OF OPERATION
STM17S: Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick), streaming commands
(SCL)
STM17Q: All STM17S modes of operation plus stored Q program execution
STM17C: CANopen slave node plus stored Q program execution
DIGITAL INPUTS
Adjustable bandwidth digital noise rejection filter on all inputs
STEP+/- (IN+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.
Function: Step, CW step, A quadrature (encoder following), CW limit, CW jog, start/stop (oscillator mode), or general
purpose input.
DIR+/- (IN2+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.
Function: Direction, CCW step, B quadrature (encoder following), CCW limit, CCW jog, direction (oscillator mode), or
general purpose input.
EN+/- (IN3+/-): Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.
Function: Enable, alarm/fault reset, speed 1/speed 2 (oscillator mode).
DIGITAL OUTPUT
OUT+/-: Optically isolated, 30V/40mA max.
Function: Fault, motion, tach, or general purpose programmable.
ANALOG INPUT
AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits.
COMMUNICATION INTERFACE
STM17x-3Ax: RS-232
STM17x-3Rx: RS-485
STM17C-3Cx: CANopen, RS-232
APPROVALS:
AGENCY APPROVALS
4
The encoder feedback option provides the following functionality:
Stall Detection: The drive detects if the motor has stalled and triggers a fault. See Figure 1 below.
Stall Prevention: The drive automatically senses rotor lag and adjusts motor speed to avoid stalling. See Figure 2 below.
Position Maintenance: When the motor is idle, the encoder detects if the shaft is being moved out of position by an
external force and automatically works to return the motor to its original position.
Align to Index Pulse: The encoder has an index pulse that can be used for precise, repeatable alignment of the motor shaft.
2
1
AMBIENT TEMPERATURE
0 to 40°C (32 to 104°F) When mounted to a suitable heatsink
HUMDITY
90% max, non-condensing
MASS
15.6 oz (441 g)
ROTOR INERTIA
1.16 x 10-3 oz-in-sec2 (82 g-cm2)
1
3
1 Load Increases
0 to 85°C (32 to 185°F) Internal temperature of the electronics section and encoder
0 to 100°C (32 to 212°F) Temperature of motor body
2
3
RoHS
CE EN61800-3:2004
PHYSICAL:
OPERATING TEMPERATURE
The STM drive+motor is offered with an optional 1000 line encoder that is integrated into the housing of the motor, without
increasing the size of the unit.
Velocity
Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Velocity
MICROSTEP RESOLUTION
1 Programmed Motion Profile
2 Motor is no longer able to produce required torque
2 Point at which load increases
3 Motor stalls and fault signal sent
3 Actual Motion Profile
Time
Figure▪1:▪Diagram▪showing▪the▪Stall▪Detection▪process
Time
Figure▪2:▪Diagram▪showing▪the▪Stall▪Prevention▪process
13
Used for setup and configuration of the STM drive+motor. For more information about ST▪Configurator™▪visit the Applied Motion Products website.
STM17-3
12V
Current Setting: 2A
24V
48V
80
70
60
oz-in
Software
STM17 Torque Curves
ST Configurator™
50
40
30
20
10
0
Q Programmer™
Q▪Programmer™ is used to create stored programs for Q and C models. Q▪Programmer™ is a robust and powerful programming
environment with functionality for multi-tasking, math, conditional processing, register manipulation, encoder following, analog
positioning and more.
0
10
20
30
40
50
rps
Stored Q programs can run stand-alone in Q models, allowing the drive+motor to power up and begin operation on its own.
Stored Q programs can be called from the host in C models using Applied Motion-specific CANopen objects.
All software applications run on Windows 7 (32 & 64 bit), Vista, XP, 2000, NT, ME, 98.
14
3
Integrated Stepper
• NEMA 17 frame size
• Torque: up to 68 oz-in
• Input voltage: 12-48 VDC
Applied Motion offers three matched power supplies for use with the
STM drives.
• PS150A24 ... 24 VDC, 150 Watt for use with all STM drives.
• PS320A48 ... 48 VDC, 320 Watt for use with all STM drives.
• PS50A24 ... 24 VDC, 50 Watt for use with STM17 drives.
These power supplies have current overload capability making them
ideal for use with stepper drives.
Accessories
STM17
Power Supplies
USB to RS-232/485 Adapter
For users without a serial port and/or wishing to take advantage
of the benefits of an RS-485 network, Applied Motion offers an
adapter (part number 8500-003) that will plug into a USB port and
communicate to RS-232 and RS-485 networks.
STM17 Dimensions
81±1
24
42.3 MAX
31
2 15
55.8
4-M3Depth 4.5
RC-050 Regeneration Clamp
The RC-050 regeneration clamp is for use where regeneration from
the motor may be excessive for the power supply. In these cases
the RC-050 is connected between the drive and power supply and
absorbs regenerated energy.
31
42.3 MAX
Ø 22
60.8
Ø5
4.50 Flat
43.5
42.4
Dimensions in mm
Not to scale
The 3004-189 serial programming cable is included with all STM23
and STM24 products with the “A” communication option, and is
used for setup and programming. This cable can also be used
in streaming serial command (SCL) applications as a permanent
connection between the drive and the host device’s RS-232 port.
STM17 Connections
I/O Connections
Inputs & Outputs
3 digital inputs
1 digital output
1 analog input
2
3 digital inputs
1 digital output
1 analog input
3004-189 Serial Programming Cable
3 digital inputs
1 digital output
1 analog input
3004-259 Serial Programming Cable
The 3004-259 serial programming cable is included with all STM17
products with the “A” communication option, and is used for setup
and programming. This cable can also be used in streaming serial
command (SCL) applications as a permanent connection between
the drive and the host device’s RS-232 port.
15
Control Options
S = Basic version
Q = Q Programmer
C = CANopen
Communications
A = RS-232
R = RS-485
C = CANopen
(required for
CANopen
control option)
Motor Size
3 = 68 oz-in max
STM23S-2AN
Series
STM Series
Feedback
N = None
E = 1000 line
encoder
Frame Size
23
Control
S = Basic version
Q = Q Programmer
C = CANopen
Motor Size
2 = 125 oz-in max
3 = 210 oz-in max
Communications
A = RS-232
R = RS-485
C = CANopen
(required for CANopen
Control option)
STM24SF-3AN
Series
STM Series
Feedback
N = None
E = 1000 line
encoder
Frame Size
24 Control Options
S = Basic version
Q = Q Programmer
C = CANopen
SF = Basic version w/ flex I/O
QF = Q Programmer w/ flex I/O
Motor Size
3 = 340 oz-in max
#383838
16
6/15/2011 925-0009 A
Communications
A = RS-232
R = RS-485
C = CANopen
(required for CANopen
control option)
85%k
404 Westridge Dr.
76%C
Watsonville, CA 95076
68%M
#006BB3
Tel:
800-525-1609
67%Y
Fax: 831-761-6544
90%K
www.applied-motion.com
#FFFFFF
ENCODER
X
X
X
X
X
STM17C-3CN
X
X
STM17Q-3AE
X
X
STM17Q-3AN
X
X
RS-422/485
STM17C-3CE
CANOPEN
Feedback
N = None
E = 1000 line
encoder
Frame Size
17
MODEL NUMBERS
RS-232
Series
STM Series
Q PROGRAM
STM Drive Model Numbers
STM17S-3AN
X
STM17Q-3RE
X
X
STM17Q-3RN
X
X
STM17S-3AE
X
STM17S-3AN
X
Integrated Steppers
The STM is an
integrated
Drive+Motor, fusing
step motor and
drive technologies
into a single device,
offering savings
on space, wiring
and cost over
conventional motor
and drive solutions.
X
X
STM17S-3RE
X
STM17S-3RN
X
X
STM23C-3CE
X
X
X
STM23C-3CN
X
X
X
STM23Q-2AE
X
X
STM23Q-2AN
X
X
STM23Q-2RE
X
STM23Q-2RN
X
STM23Q-3AE
X
X
STM23Q-3AN
X
X
STM23Q-3RE
X
X
STM23S-3RN
X
X
X
X
X
X
X
STM23S-2AE
X
STM23S-2AN
X
STM23S-2RE
X
X
X
X
STM23S-2RN
X
X
STM23S-3AE
X
STM23S-3AN
X
X
STM23S-3RN
X
X
STM24C-3CE
X
X
X
X
STM24C-3CN
X
X
STM24QF-3AE
X
X
STM24QF-3AN
X
X
STM24QF-3RE
X
X
STM24QF-3RN
X
X
STM24SF-3AE
X
X
C C
IP IP
X
STM23S-3RE
STM24SF-3AN
Models
X
C C
IP IP
X
X
X
STM24SF-3RE
X
STM24SF-3RN
X
X
C C
IP IP
▪ C
Pulse & direction
▪ CW/CCW pulse
▪ IP
A/B quadrature
▪ Velocity (oscillator) mode
▪ Host commands (SCL compatible)
▪▪ ST▪Configurator™ software for setup
▪
▪
▪
▪
▪
▪
▪
▪
C
Stand-alone operation
IP
Q
programming for complex motion
Conditional processing
Math functions
Multi-tasking
Register manipulation
Encoder following
Third-party HMI compatibility
▪ CANopen protocols DS301 and DSP402
▪ Profile position, profile velocity and
homing modes
▪ Up to 127 axes per channel
▪ Execute stored Q programs
C
IP
Drive
Motor
Control
Dynamic Current Control
Anti-Resonance
Torque Ripple Smoothing
Microstep Emulation
Stall Prevention/Detection
DISTRIBUTED▪BY:
For more information visit: www.applied-motion.com/STM
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