STM17S - MOONS
Contents
1. For more information about SCL commands please see the SCL Utility Software Manual on our website at www moons com cn www moons com cn moonsweb ama en software download asp Rev 1 1 is 8 25 2010 STM17S User Manual 6 Troubleshooting LED Error Codes The STM17S uses red and green LEDs to indicate status When the motor is enabled the green LED flashes slowly When the green LED is solid the motor is disabled Errors are indicated by combinations of red and green flashes as follows Qo 9 MOONS Tee err ects sree a OG censos motorenader OG ven brer mem 000 ven 2 come OOO ven ses m 00000 ea een 6900000 aa 60000000 c 0900 Donia cant move abies 000 2 ices 2100 om 0000 ie eee 600000 ea e 60000000 nee 600000000 ven rev res memory eror Rev 1 1 8 25 2010 2d STM17S User Manual au ele S d 7 Reference Materials 7 1 Mechanical Outlines 4 M3 Depth 4 5 31 42 3 MAX Unit mm STM17x 1 STM17x 2 STM17x 3 Rev 1 1 i 8 25 2010 STM17S User Manual 7 2 Technical Specifications Power Amplifier Amplifier Type Dual H Bridge 4 Quadrant Current Control 4 state PWM at 16 KHz SIM17S x1x to 0 23 N m with suitable power supply Output Torque SIM17S x2x to 0 38 N m with suitable power supply SIM17S x3x to 0 48 N m with suitable power supply Power Supply External 12 48 volt power supply required 10 55 volts2. Drive CAC l Revision n 1 Motor STM175 1AN F Th m v J 4 1 Configurator Menus 4 1 1 File Menu In the File Menu previously created configurations can be Opened and new or altered configurations can be Saved Any setup can be Printed The Exit command will close the ST Configurator 4 1 2 Drive Menu The Drive menu provides access to several features e Alarm History will display the last eight alarms and or faults e f an alarm or fault condition is being displayed Clear Alarm will clear it e Restore Factory Defaults will return the drive to its original factory configuration e SCL Terminal allows SCL commands to be entered to test the drive s response creating an opportunity for commands to be learned before host control software is written see section 5 on Simple Operation below Rev 1 1 25 a eie 8 25 2010 STM17S User Manual e Self Test rotates the motor a half revolution in alternating directions at a low speed to allow verification that the motor is connected and functioning properly see section 5 on Simple Operation below e Status Monitor displays real time drive status including e State open or closed of all inputs e State of output click the HI LO buttons to force an output Motor speed e Voltage at the analog input e Alarms or faults e Status flags enabled motion jogging etc The motor can be enabled or disabled from the Status Monitor by clicking the buttons
3. e Never plug in or unplug the Integrated Motor while the system is live The possibility of electric arcing can cause damage Be alert to the potential for personal injury Follow recommended precautions and safe operating practices emphasized with alert symbols Safety notices in this manual provide important infor mation Read and be familiar with these instructions before attempting installation operation or maintenance The purpose of this section is to alert users to the possible safety hazards associ ated with this equipment and the precautions necessary to reduce the risk of personal injury and damage to equipment Failure to observe these precautions could result in serious bodily injury damage to the equipment or operational difficulty Rev 1 1 6 8 25 2010 STM17S User Manual 2 Getting Started The following items are needed e a12 48 volt DC power supply see the section below entitled Choosing a Power Supply for help in choosing the right one e asmallflat blade screwdriver for tightening the connectors included e aPC running Microsoft Windows 98 2000 NT Me XP Vista or Windows 7 e the MOONS CD included e aMOONS programming cable included with RS 232 Models RS 422 485 converters are available from MOONS 2 1 Installing Software Before utilizing the STM17S Integrated Motor and ST Configurator Software in an application the following steps are necessary e Install the ST Configurator softw
4. 0 10 STM17X 2 on 20 30 40 5 Speed rps Torque N m 10 STM17X 3 0 5 0 5 04 k 0 3 0 2 0 1 20 30 40 50 opeed rps Torque N m 20 30 40 50 opeed rps Note all torque curves were measured at 20 000 steps rev Rev 1 1 8 25 2010 44 STM17S User Manual 7 4 SCL Command Reference The Serial Command Language SCL was developed to give users a simple way to control a motor drive via a serial port This eliminates the need for separate motion controllers or indexers to supply Pulse and Direction signals to the drive It also provides an easy way to interface to a variety of other industrial devices such as PLCs and HMls which often have standard or optional serial ports for communicating to other devices Some examples of typical host devices might be e AWindows based PC running MOONS software e An industrial PC running a custom or other proprietary software application e APLC with an ASCII module serial port for sending text strings e An HMI with a serial connection for sending text strings SCL commands control the motion of the step motor use of the inputs and outputs and configure aspects of the drive such as motor current and microstep resolution In SCL mode the STM17S receives commands from the host executing them immediately or sending them to a command buffer and then executing them directly fr
5. 2 wire system diagram NOTE If the PC does not have an RS 422 485 serial port a converter will be required 47 Rev 1 1 8 25 2010 STM17S User Manual RS 232 to RS 422 485 2 wire Converter m 485 25EL 25 pin or 485 9E 9 pin from Integrity Instruments http www rs 485 com Connect the adaptor s B pin to the STM17S s TX and RX terminals Connect the A pin to the drive s TX and RX terminals Connect as follows Adaptor Requires a 7 5 to 24 Volt power supply USB to RS 422 485 2 wire Converters m USB COMI M from byterunner technologies http www byterunner com Set SW1 to ON and SW2 4 to OFF Connect pin 1 of the converter to RX and TX Connect pin 2 to RX and TX Pin 6 is ground The DB 9 is not used Connect as follows m IR 1401B from Beijing itRob Intelligent Telecommunication Co http www itrob cn 2 Prod ucts 2 Products IR 1401B htm Connect D of the converter to RX and TX of the drive Connect D of the converter to RX and TX of the drive Connect GND of the converter to GND of the drive The 5V R and R connections of the converter are not used The converter will automatically operate in 2 wire mode Connect as follows Apt The 5V of the converter is not used Rev 1 1 8 25 2010 m STM17S User Manual 3 2 3 Assigning Addresses Before the entire system is wired each drive will need to connect individually to the host computer so that it can be assigned a uni
6. 52785485 Qingdao Branch Office Room E 10th Floor 73 Wangjiao Mansion Hongkong Middle Road Shinan District Qingdao 266071 P R China Tel 86 0 532 858 9625 Fax 86 0 532 85879512 Europe Branch Moons Industries Europe S R L Via Torri Bianche n 1 20059 Vimercate MB Italy Tel 39 039 62 60 521 Fax 39 039 96 31 409 50 8 25 2010
7. can be turned on and off by program instructions like Set Output SO The output can be used to drive LEDs relays and the inputs of other electronic devices like PLCs and counters The OUT col lector and OUT emitter terminals of the transistor are available at the connector This allows the output to be configured for current sourcing or sinking Diagrams of various connection types follow Do not connect the output to more than 30 volts The current through the output terminal must not exceed 100mA 5 24 volt Power Supply Connecting a Sinking Output Rev 1 1 ES 8 25 2010 STM17S User Manual 5 24 volt Power Supply Connecting a Sourcing Output 5 24 volt Power Supply Connecting a Sourcing Output again 5 24 volt Power Supply Driving a Relay Rev 1 1 8 25 2010 zi STM17S User Manual 4 Configuration ST Configurator is the PC based software application that is used to configure the STM17S check status and perform basic operations ST Configurator can also upload save or open any saved STM17S configurations Motor configuration for the STM17S is rather simple as most parameters are fixed Because this is an integrated motor driver the configuration generally has only two elements the Motion amp I O and the Motor The optional encoder adds a third element ii F ST Configurator 2 0 2 untitled D ENERO File Drive Help PLEIE
8. in this manual applies to the following products Communications Optional Model RS 232 RS 485 Encoder STM17S 1AN Y STM17S 1RN v STM17S 1AE v Y STM17S 1RE 4 Y STM17S 2AN Y STM17S 2RN d STM17S 2AE v Y STM17S 2RE v Y STM17S 3AN Y STM17S 3RN di STM17S 3AE Y Y STM17S 3RE Y Y Rev 1 1 8 25 2010 STM17S User Manual 1 Introduction Thank you for selecting the MOONS STM17S Integrated Motor The STM17 Series Integrated Step Motors incorporate DSP driver technology and integrate the drive electronics with the mo tor This provides smooth precise motion along with ease of set up and configuration all at a low cost We hope our commitment to performance quality and economy will result in a successful motion control project 1 1 Features e Programmable micro stepping digital step motor and driver in an integrated package e Operates from a 12 to 48 volt DC power supply e Control Modes Pulse Input e Step and Direction e CW CCW e A B Quadrature Encoder following Velocity e Analog Velocity e Switch Control Velocity e Serial Commanded Velocity Position e Analog Position e Serial Commanded Position e Communications RS 232 RS 422 485 e Optional encoder feedback e Available torque STM17S 1 up to 0 23 N m STM17S 2 up to 0 38 N m STM17S 3 up to 0 48 N m e O Digital Input filtering both hardware and software 3 optically isolated digital inputs 5
9. min max nominal 12 48 volts voltages outside this range will pU OROS ANGE cause driver faults and or may damage the drive Over voltage under voltage over temp internal motor shorts phase to phase Protection phase to ground Idle Current Reduction range of 0 90 of running current after a delay selectable in millisec Reduction onds Ambient Temperature 0 40 C 32 104 F when mounted to a suitable heatsink Humidity 9096 non condensing Controller Electronic Damping stable operation throughout the speed range of the motor Measures motor parameters and configures motor current control and anti resonance gain settings Checks internal and external power supply voltages diagnoses open motor Self Test phases Microstep Emulation deg high resolution stepping by synthesizing coarse steps into fine micro Software configurable filtering for use in removing spectral components from the command sequence reduces jerk limiting excitation of system resonance Dynamic Current Software configurable for running current accel current idle current to make Control motion smoother and the motor run cooler Pulse Input Step amp Direction CW CCW A B Quadrature Encoder following Velocity Analog Velocity Switch Control Velocity Serial Commanded Velocity Position Analog Position Serial Commanded Position Non Volatile Storage Configurations are saved in FLASH memory on board the DSP Auto Setup Dynamic Smoot
10. 2V 1 8Amps 40 1 2 fonus 35 1 _ 30 Supply Current 25 0 8 5 Full Load O 5 w 20 06 6 Supply Current B gt No Load 15 o o 04 amp 10 5 0 2 0 0 0 10 20 30 40 50 Speed RPS STM17S 1AN Supply Current 24V 1 8Amps 40 1 2 35 1 Torque _ 30 x K 25 0 8 o Supply Current Oo Full Load w 20 06 6 gt Supply Current E 15 04 amp No Load 10 P 0 2 5 0 0 0 10 20 30 40 50 Speed RPS Rev 1 1 8 25 2010 STM17S User Manual STM17S 1AN Supply Current 48V 1 8Amps 40 1 2 35 1 x Torque g N 25 0 8 2 Supply Current O 5 Full Load w 20 06 6 pe gt Supply Current J 15 04 No Load F 10 D 5 0 2 0 0 0 10 20 30 40 50 Speed RPS STM17S 2AN Supply Current 12V 1 8Amps 60 1 2 Torque 50 A T x Supply C t P upply Curren 0 we Full Load O um gt 30 0 6 Supply Current i gt No Load 6 20 04 E 5 o 10 0 2 0 0 0 5 10 15 20 25 30 35 40 Speed RPS STM17S 2AN Supply Current 24V 1 8Amps 60 1 50 A Torque 0 8 T c gt N 0 6 o Supply Current O Full Load gt 30 Full Load c 04 2 Supply Current o 20 No Load D 10 0 2 0 0 0 10 20 30 40 50 Speed RPS 44 Rev 1 1 8 25 2010 STM17S Us
11. 6 4 3 Motor Integrated MOtOr sera kanan akan anna akan 2f TF RINNAN 27 a Oe FNC CEN COED EI m 2 2 NE 27 4 3 4 Idle Current Delay ee 28 4 3 9 NNN 28 4 3 6 Electronic Damping Anti Resonance rranannnnnnanrnanenanennernnnnnnnne 20 4 3 7 VASS 28 AA MOI LO ener 29 4 4 1 Pulse amp Direction Mode rrarrnnnrnnannnanennnerannnnnnnnnnnnannnanennnrnnnnnnene 29 4 4 2 Velocity NOE 32 4 4 3 SCL Mode Serial Command Language 34 Rev 1 1 5 8 25 2010 STM17S User Manual 4 5 Encoder optional ne 36 4 6 Uploading DOoWnDloSdlfiQss su use sktuas ote tpud nsa nur c Sd Sans uus ease eoe once 37 5 Simple OperatiOn rarrannnunnunnunnnnnnnnnnnnnnnnnnnunnunnunnunnunnnnnnnnnnne 38 6 Troubleshooting sseeeesesesa naaa naaa ENS ENNEMENN DUUM EUE ES 40 LED Error COdES Le 40 7 Reference Materials eese eere 41 7 1 Mechanical Outlines seen rakan anna anakan naaa kaka 41 7 2 Technical Specifications rrrrnrnnrnnnnnnnnnrrernnrnurnnrnnnvnennenusnnennsnnn 42 7 3 Torque Speed Curves rrarnnrnnnnnvnnnnnnrnnnnernerneennennrnnnnunnnsnunnnenusene 44 7 4 SCL Command Reference serasa ekeke nana kanan akan naaa 45 7 5 Drive Motor Heating seen era krana nana a nnne 47 8 Contacting MOONS ranennnnnnnnnennunnnnnnnnnnnnnnnnunnnnnnennunnnvnnennn 50 The information
12. Because the host in a four wire system never needs to disable its transmitter software is simplified Some converters make this process very difficult to implement and can delay communications to PC GND GND to PC RX Ix to PC RX IX to PC TX RX RX to PC TX Drive 1 Drive 2 Drive 3 RS 422 485 4 wire system diagram NOTE If the PC does not have an RS 422 485 serial port a converter will be required Rev 1 1 16 8 25 2010 STM17S User Manual RS 232 to RS 422 485 4 wire Converter m 22 25AL 25 pin from Integrity Instruments http www rs 485 com Connect as follows Requires a 7 5 to 24 Volt power supply USB to RS 422 485 4 wire Converter m IR 1401B from Beijing itRob Intelligent Telecommunication Co http www itrob cn 2 _ Products 2 Products IR 1401B htm The 5V of the converter is not used Two Wire Configuration In a 2 wire system the host must disable its transmitter before it can receive data This must be done quickly before a drive begins to answer a query The STM17S includes a transmit delay pa rameter 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 Transmit Delay TD command or it can be set using the ST Configurator software It is not necessary to set the transmit delay in a four wire system to PC GND to PC TX A to PC TX B Drives 1 Drive 2 Drive 3 RS 422 485
13. Closed to release brake the output controls a fail safe brake relay Rev 1 1 i 8 25 2010 STM17S User Manual e Open to release brake the output opens to release the brake e Closed when moving the output closes whenever the motor is moving e Open when moving the output opens whenever the motor is moving e Tach out the output produces pulses relative to the motor position e Not used there is no function for the output but it can be controlled using the SCL Set Output SO Feed to Length and Set Output FO Immediate High Output IH and Immediate Low Output IL commands 4 4 3 SCL Mode Serial Command Language Here the power up mode for the drive is set for use with SCL applications SCL is MOONS host command language for applications requiring drives to receive instructions from a host controller in real time With SCL drives can be operated using an RS 232 or RS 422 485 serial interface depending on the motor drive model See the SCL Command Reference section in the Reference Materials for more information RS 422 485 Address amp SCL Configuration When using the RS 422 485 m R5 485 Address version motor drives the node address can be set so that more than one device can be addressed on the network Transmit Delay msec Communication Protocol Prefix all responses with address character M Respond ta all commands with ack or nak Use 3 digit HMI compatible register addressing
14. Command Mode zl Point to Point Positioning Transmit Delay A value can be entered that will cause the motor drive to delay the given value in milliseconds before the response to a command is sent This delay is sometimes necessary on RS 422 485 networks to allow time for the Host controller to switch its RS 422 485 transceiver from transmit to receive This has no effect on when a command is executed B SCL Configuration R5 405 Address I Se ee S o 2 3 4 5 6 7 8 9 x amp Transmit Delay mec Rev 1 1 8 25 2010 a STM17S User Manual Bit Rate This is the serial communication Baud Rate The factory default is 9600 but it can be set higher for greater communications throughput Five baud rates are available as shown below Bit Hate 4600 4600 Communication Protocol The protocol for serial communication has some optional settings For more information on the SCL protocol see the SCL Utility Software Manual located our website http www moons com cn moonsweb ama en index asp Communication Protocol Prefig all responses with address character M Respond to all commands with ack or nak Use 3 digit HMI compatible register addressing e Prefix all responses with the address character Normally the integrated motor will not send an address character if the command it receives is not addressed This forces the ad dress character to always be sent e Respond to a
15. Mode are very high speed and can be sensitive to external electrical noise The Input Noise Filter sets a hardware circuit to filter out unwanted noise that can cause extra steps As a general rule set the filter frequency to double that of the desired maximum input frequency Setting the frequency too low may cause loss of step counts When setting this value take care to analyze the performance over the whole range of desired speeds Other I O Settings Functions can also be assigned to the EN Input and the Output in the Pulse amp Direction Control box Options for the EN Input are e Enable motor when closed the motor is enabled when there is no current flowing through the input and it has no power when the input is open e Enable motor when open the motor is enabled when there is current flowing through the input and it has no power when the input is closed Reset alarm when closing an alarm or fault can be cleared by closing the input Reset alarm when opening an alarm or fault can be cleared by opening the input e Not used there is no function for the input but its state can be read using the SCL Immediate Inputs IS Feed to Sensor FS or Feed to Sensor with Safety Distance FY command Options for Output are Closed on fault the output will close if a fault occurs e Open on fault the output will open if a fault occurs e Closed to release brake the output controls a fail safe brake relay e Open to relea
16. SIM1 S Integrated Motor User Manual Rev 1 0 AMP amp MOONS Automation STM17S User Manual ISA aa A FAU ER 4 1 2 Block Diagram serak ota Exon anakan nennen Kana Kanan aaa 5 1 3 Safety Instructions ee 6 Z Getting SME 7 2 1 Installing Software an T 2 2 Mounting Hardware ekeke eek keenakan nenen nan ana anakan T 2 3 Choosing a Power Supply kee kakek anakanak akan kaka 8 2 3 1 Voltage SelectiOn RET 8 S SAEC NT E 10 3 Installation CONNECTIONS 14 3 1 Connecting the Power Supply eeseeeeeeeeeeeeeeeeee 14 3 2 Connecting the STM17S Communications 15 3 2 1 Connecting to a PC using Fei Lav 15 3 2 2 Connecting to a host using RS 422 489 a 16 3 2 9 MAT nn an ana een ene ee er een eee 19 3 3 Inputs and Outputs ee cee cece eee eeceeeeeeeeteeeaeeeeeeeeeeeeeeenenenees 20 009 GAP Dagang A aa 20 33 2 OTEP e DIR Digital INpuUlS pe EN Sena ana 21 95059 ND 22 TAN ME 29 33 9 Programmable a B Orio ON scere e EEEE Ea EEEN E 23 4 ConfiguratiOn nnrnnnnnennnnnnnnnnnnnnnnennnnnnennunnnnnnennunnnnnnunnnnnnunnn 25 4 1 Configurator Menus rrarrnannnnrnnnnnannnnrvnnnnnnnnnrnnnnnannnannnnrnnnnnnnnnnee 25 Fl FEN 25 Fr NENNE 25 11 FI NM 26 4 2 DERES 2
17. Speed 12V Watts 1 8 Amps Ambient of 40 C 24V Watts 80 x 80x 6 mm Aluminum Plate 48V Watts 60 50 40 8 30 s 20 10 0 0 10 20 30 40 50 Speed RPS Rev 1 1 8 8 25 2010 STM17S User Manual STM17S 2AN Wattage vs Speed 12V Watts 1 8 Amps Ambient of 40 C 24V Watts 80 x 80x 6 mm Aluminum Plate 48V Watts 60 50 40 2 30 sz 20 A 10 PEN 0 0 10 20 30 40 50 Speed RPS STM17S 3AN Wattage vs Speed 12V Watts 1 8 Amps Ambient of 40 C 24V Watts 80 x 80x 6 mm Aluminum Plate 48V Watts 60 50 40 2 30 20 10 0 0 10 20 30 40 50 Speed RPS 9 Rev 1 1 8 25 2010 STM17S User Manual 2 3 2 Current The maximum supply currents required by the STM17S are shown in the charts below at different power supply voltage inputs The STM17S power supply current is lower than the winding currents because it uses switching amplifiers to convert 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 will be required from the power supply It is important to note that the current draw is significantly different at higher speeds depending on the torque load to the motor Estimating how much current is necessary may require a good analysis of the load the motor will encounter STM17S 1AN Supply Current 1
18. a deadband is required This is the range of voltages in which the motor does not run and is useful for stopping the motor when the joystick is released Filter Frequency If the analog signal is noisy the motor speed may not remain constant Industrial systems often pick up electrical noise on an analog wire and the STM17 S high resolution 12 bit analog input may respond to the noise If this occurs the analog filter frequency should be lowered until the issue is resolved If the frequency is set too low the motor may change speed more slowly than specified in the acceleration and deceleration boxes due to excessive filtering Other I O Settings Options for the EN Input are e Change motor speed when the input is closed the motor will run at a different speed which must be entered in the Change motor speed to box e Enable motor when closed the motor is enabled when current is flowing through the input and has no power when the input is open Reset alarm when closing an alarm or fault can be cleared by closing the input Reset alarm when opening an alarm or fault can be cleared by opening the input e Not used there is no function for the input but its state can be read using the SCL Immediate Inputs IS Feed to Sensor FS or Feed to Sensor with Safety Distance FY command Options for Output are e Closed on fault the output will close if a fault occurs e Open on fault the output will open if a fault occurs e
19. are from the CD e Connect the drive to the PC using the programming cable When using RS 422 485 it must be set up in a 4 Wire configuration see Connecting to a host using RS 422 485 below e Connect the drive to the power supply See instructions below e Launch the software by clicking Start Programs MOONS e Apply power to the drive The software will recognize the drive and display the model and firmware version At this point it is ready for use 2 2 Mounting Hardware As with any step motor the STM17S must be mounted so as to provide maximum heat sinking and airflow Keep enough space around the Integrated Motor to allow for airflow e 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 e Never put the drive where it can get wet e Never use the drive where metal or other electrically conductive particles can infiltrate the drive e Always provide airflow around the drive Rev 1 1 8 25 2010 STM17S User Manual 2 3 Choosing a Power Supply The main considerations when choosing a power supply are the voltage and current requirements for the application 2 3 1 Voltage Selection The STM17S is designed to give optimum performance between 12 and 48 Volts DC Choosing the voltage depends on the performance needed and motor drive heating thatis acceptable and or does not cause a drive over temperature Higher voltages will give high
20. at the bottom of the display 4 1 3 Help Menu The Help Menu allows access to the help screens via Contents gives Contact information for MOONS links the user to the Website and gives technical information About ST Configurator 4 2 Drive Revision Normally the drive model and revision are automatically detected when the STM17S is powered up while the ST Configurator software is active and the STM17S is connected to the PC serial port If the box does not list the correct model after the STM17S is powered up please check the wired connections including the power supply and communications connections If the STM17S is intentionally not connected the model and revision can be chosen from the drop down list on the upper right This will provide the correct screen options and offline configuration can be accomplished and saved in a file on the PC Rev 1 1 8 25 2010 26 STM17S User Manual 4 3 Motor Integrated Motor In the Integrated Motor dialog box operational parameters are defined and configured Motor Specs cannot be modified as they are fixed according to the STM17S model selected in the Drive selection box ejua M Integrated Motor Running Current 1 Load Inertia 1 20 lamps C 0000 gcm TE riae perpe EEE Pr een Ca 1 0 2r rotor inertia Accel Decel Current gd eR E 200 amps Electronic Damping nti resonance Off cm La IM Waveform Smoothing Off Motor 5 Idle Current olo
21. contains the complete command listing as well as instructions on connecting and configuring the STM17S for use in SCL mode using the Data Registers and the Protocol command It also contains detailed information on e Host Serial Communications e Host Serial Connections e Alarm and Status Codes e Working with Inputs and Outputs The Manual is available from the MOONS website at http www moons com cn moonsweb ama en software download asp under the SCL Utility download section Rev 1 1 8 25 2010 STM17S User Manual 7 5 Drive Motor Heating Step motors convert electrical power from the driver into mechanical power to move a load Because step motors are not 100 efficient some of the electrical power turns into heat as it passes through the motor The amount of heating is not so much dependent on the load being driven as on the motor speed and power supply voltage There are certain combinations of speed and voltage at which a motor cannot be continuously operated without damage occurring to the motor A step motor typically reaches its maximum temperature after 30 to 45 minutes of operation A motor that runs for one minute and then rests for one minute is said to have a duty cycle of 50 Five minutes of running and five minutes of rest is also a 5096 duty cycle However one hour of running and one hour of rest has the effect of 100 duty cycle as the motor will reach full and possible excessive temperature during the fi
22. d or Alarm Reset This input can also be connected to a sensor switch or other device for use with Wait Input WI Seek Home SH Feed to Sensor FS On Input Ol and other commands e AIN is an analog input for a velocity or position command signal It can accept 0 5 volts and has gain filtering offset and dead band settings 3 3 1 Connector Pin Diagram STEP gt SS is alt DIR u Z O O Status 100mA Limit Signal Conditionina Rev 1 1 8 25 2010 a STM17S User Manual 3 3 2 STEP amp DIR Digital Inputs The diagrams below show how to connect the STEP amp DIR Inputs to various commonly used devices Indexer with Sinking Outputs Indexer with Sourcing Outputs Indexer with Differential Outputs Connecting to Indexer with Differential Outputs Many high speed indexers have differential outputs Encoder 5 to 24V EE STM17 Power run stop switch Su pply closed run Using Mechanical Switches 24 Rev 1 1 8 25 2010 STM17S User Manual 3 3 3 EN Digital Input While the STEP and DIR inputs are designed for high speed digital input operation the Enable EN input is designed for low speed digital input operation between 5 and 24 volts Note If 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 The diagrams belo
23. e Encoder installed at the time of purchase The Stall Detection feature continuously compares the actual motor posi tion as reported by the encoder against the theoretical motor position Encoder If the motor strays so far out of position that it cannot produce torque a position fault occurs This includes a motor at rest being driven out of posi tion by an external force Checking the box will cause the drive to fault when the motor stalls This fault can then be reported by the Fault output and cleared by the Alarm Reset input F4 Encoder Feedback optional Encoder mm counts turn 1000 lines Stall Detection Fault drive if motor stalls for is forced out of position m Stall Prevention not available in Pulse amp Direction mode Automatically adjust torque utilization to prevent stalling Use 100 mas Hard stop fault drive if motor stalls for more than 2D nsec Help Cancel OF The Stall Prevention feature can prevent many stalls before they occur The encoder is used to monitor the lead angle of the motor a measure of torque utilization If the motion profile begins to demand more torque than the motor can produce the velocity is automatically reduced before the motor stalls Checking the first box will engage stall prevention A maximum torque utilization per centage must also be entered In the event that the motor cannot move at all such as after hitting a hard stop the drive can be to
24. e connected to the terminal This fuse is not user replaceable If a user serviceable fuse is desired install a 2 amp fast acting fuse in line with the power supply lead To Power Supply To Power Supply To Earth Ground Be careful not to reverse the wires Reversing the connection may open the internal fuse and void the warranty If a regulated power supply is being used there may be a problem with regeneration When a load decelerates rapidly from a high speed some of the kinetic energy of the load is transferred back to the power supply possibly tripping the over voltage protection of a regulated power supply caus ing it to shut down This problem can be solved with the use of a MOONS RC050 Regeneration Clamp It is recommended that an RC050 initially be installed in an application If the regen LED on the RCO050 never flashes the clamp is not necessary d Fu LEDs Pa Green power Red regen L EO n IR P nal L L4 ME m den gt T ir Ii Si i z a s ak i RC050 Regen Clamp Rev 1 1 14 8 25 2010 STM17S User Manual 3 2 Connecting the STM17S Communications The STM17S is available with two types of serial communications RS 232 STM17S xAx or RS 422 485 STM17S xRx Each type requires a different hardware connection for interface to a PC or other Host system The RS 232 version comes with a cable that will provide the interface to an RS 232
25. e motor is at rest In most cases the default value of 5096 works well Motor heating may be further reduced by lowering the Idle Current percentage even more Rev 1 1 zd 8 25 2010 STM17S User Manual 4 3 4 Idle Current Delay The Idle Current Delay is the amount of time between when the motor stops and the current is reduced to the Idle Current value Itis recommended to allow a little time for the motor to settle out before the current is reduced Note All current values represent the peak value of the sine wave 4 3 5 Load Inertia This anti resonance feature is most effective if the load inertia is set precisely If this is a known value the first option circle should be clicked the inertia entered and units of measurement selected If the exact inertia is not known the second option circle should be selected and an ap proximate load to motor inertia ratio entered This number can be adjusted as needed 4 3 6 Electronic Damping Anti Resonance The checkbox allows this feature to be enabled or disabled By default the feature is enabled as this is recommended There may be a rare case where disabling the feature is desired 4 3 7 Waveform Smoothing By default this is disabled Consult factory for details when enabling this feature Rev 1 1 8 25 2010 EN STM17S User Manual 4 4 Motion amp I O Clicking on the Motion button will bring up the Motion menu where one of several operating modes may be selected P
26. ent of the motor The encoder may be mounted on a shaft on the machine or can be another motor in the system For all Digital Signal Type modes a value will need to be entered in the Steps Rev Step Smooth ing Filter and Input Noise Filter fields Steps Rev Steps Rev allows adjustment of the way the drive responds to incoming step pulses If a step mo tor drive in an existing application is being replaced with a new drive the new drive can be config ured here to have the same number of steps rev as the old one In a new application this value should be entered in accordance with the pulse source or indexer The motor will provide smoother more precise motion with a higher step count but when the frequency of the indexer is limited the steps rev may need to be reduced to achieve the desired speed range For example in an application requiring a maximum speed of 20 revs second where the indexer is limited to a 100kHz maximum pulse rate the steps rev should be no higher than 5000 A particular value may also be entered to make one step result in a convenient increment of motion For example in a linear motion application using a lead screw with a pitch of 5 turns per inch 20 000 steps rev will provide a nominal movement of 00001 inches per step Move lengths can be more easily calculated with this method For a metric application with the same lead screw 50 800 steps rev would result in 0001 mm per step Encoder following application
27. er Manual STM17S 2AN Supply Current 48V 1 8Amps 60 1 0 9 50 08 T Torque E 40 07 A 0 6 Supply Current 04 2 Supply Current o 20 0 3 No Load H 3 0 1 0 0 0 10 20 30 40 50 Speed RPS STM17S 3AN Supply Current 12V 1 8Amps 80 1 2 70 m 1 Torque 60 c K 50 0 8 o Supply Current O 3 Full Load 3 40 DO pek 3 gt Supply Current 30 04 amp No Load F 90 D oz 7 10 0 0 0 10 20 30 40 50 Speed RPS STM17S 3AN Supply Current 24V 1 8Amps 80 1 2 70 1 Po Torque 60 q 50 0 8 o Supply Current 9 40 0 6 E Full Load Oo 5 30 gt Supply Current 0 4 E No Load 20 5 10 ar 0 0 0 10 20 30 40 50 Speed RPS Rev 1 1 12 8 25 2010 STM17S User Manual STM17S 3AN Supply Current 48V 1 8Amps 80 1 2 Torque 70 1 g 60 08 t Supply Current B 50 E Full Load 2 7 40 0 0 Supply Current o 30 No Load Oo 0 4 Q 20 z 10 0 2 0 0 0 10 20 30 40 50 Speed RPS 13 Rev 1 1 8 25 2010 STM17S User Manual 3 Installation Connections 3 1 Connecting the Power Supply 6 37 Connect the power supply terminal to the drive terminal and the power supply terminal to the drive terminal using 16 to 20 gauge wire The STM17S contains an internal fus
28. er speed performance but will cause the STM17S to produce higher temperatures Using power supplies with voltage out puts that are near the drive maximum may significantly reduce the operational duty cycle The extended range of operation can be as low as 10 VDC minimum to as high as 55 VDC maximum When operating below 12 VDC the power supply input may require larger capacitance to prevent under voltage and internal supply alarms Current spikes may make supply readings erratic The supply input cannot go below 12 VDC for reliable operation Absolute minimum power supply input is 10 VDC If the Input supply drops below 10 VDC the low voltage alarm will be triggered This will not fault the drive Absolute maximum power supply input is 55 VDC at which point an over voltage alarm and fault will occur When using a power supply that is regulated and is near the drive maximum voltage of 55 VDC a voltage clamp may be required to prevent over voltage when regeneration occurs The RCO050 Regeneration Clamp is recommended for the STM17S in this situation see 3 1 Connect ing the Power Supply below When using an unregulated power supply make sure the no load voltage of the supply does not exceed the drive s maximum input voltage of 55 VDC The charts below show the heat output in watts of the drive at various speeds and voltages See section 7 5 on Drive Motor Heating for more information STM17S 1AN Wattage vs
29. eturn denotes the end of transmission to the drive The syntax of the command is XXAB lt cr gt where XX designates the command always composed of 2 uppercase letters and A and B define the possible parameters These parameters can vary in length can be letters or numbers and are often optional Once a drive receives the lt cr gt carriage return it will determine whether or not it understood the command if it did it will either execute or buffer the command The drive can also be programmed ahead of time to send a response as to whether or not it understood the command as well as any error code Rev 1 1 TH 8 25 2010 STM17S User Manual Some SCL commands transfer data to the drive for immediate or later use These data values are stored in data registers and remain there until new commands change the values or power is removed from the drive Some data registers in a drive are Read Only and contain predefined information about the drive which can also be read through SCL commands Because of the intense nature of serial communications required in host mode applications there is a serial communication protocol PR command available that will adjust a drive s serial communications protocol to best fit an application Typically this command is used when configuring a drive and saved as part of the startup parameters But it can be used at any time to dynamically alter the serial communications The SCL Utility Software Manual
30. hing Multiple Modes Of Control Rev 1 1 8 25 2010 T STM17S User Manual Inputs optically isolated 5 24 volts minimum pulse width 250 ns maximum pulse frequency 3 MHz STEP Functions Step CW Step A Quadrature CW Limit CW Jog general purpose input adjustable bandwidth digital noise rejection filter Step Input ee Inputs optically isolated 5 24 volts minimum pulse width 250 ns maximum Direction Input pulse frequency 3 MHz DIR Functions DIR CCW Step B Quadrature CCW Limit CCW Jog general purpose input adjustable bandwidth digital noise rejection filter Inputs optically isolated 5 24 volts minimum pulse width 100 us maximum pulse frequency 10 KHz EN Functions Enable alarm reset speed control general purpose input adjustable bandwidth digital noise rejection filter Output Open Collector 30 volts 100 mA max maximum pulse frequency 10 KHz OUT Functions Fault brake motion tach and general purpose programmable Analog Input Input 0 5 volts AIN referenced to GND Functions analog control modes and general purpose analog usage programmable for signal range offset dead band and filtering Analog Input 12 bits Resolution eer mune aon RS 232 or RS 422 485 Interface Supply Output 4 8 5 volts 100mA maximum Enable Input Rev 1 1 s 8 25 2010 STM17S User Manual 7 3 Torque Speed Curves STM17X 1 0 25 0 20 3 I gt 0 15 g 0 10 0 05 0
31. late 48V Temp 120 Q 100 e 3 80 D 60 S 40 20 0 0 10 20 30 40 50 Speed RPS STM17S 3AN Max Duty Cycle vs Speed 12V Duty Cycle 1 8 Amps Ambient of 40 C 24V Duty Cycle 80 x 80 x 6 mm Aluminum Plate 48V Duty Cycle 100 o 80 o gt O 60 2 A 40 as 20 0 0 10 20 30 Speed RPS 40 50 48 STM17S User Manual STM17S 3AN Temperature vs Speed 12V Temp 1 8 Amps Ambient of 40 C md ee 80 x 80 x 6 mm Aluminum Plate DV ee 140 120 100 Co O e Temperature C iN O N e e 0 10 20 30 40 50 Speed RPS Rev 1 1 P 8 25 2010 STM17S User Manual 8 Contacting MOONS Rev 1 1 Headquarters 168 Mingjia Road Minhang District Shanghai 201107 P R China Tel 86 0 21 52634688 Fax 86 0 21 52634098 Shenzhen Branch Office Room 2209 22 F Kerry Center 2008 Renminnan Road Luohu District Shenzhen 518001 P R China Tel 86 0 755 25472080 Fax 86 0 755 25472081 Beijing Branch Office Room 202 Unit 2 7th Building Huilongsen International Science amp Technology Industry Park No 99 kechuang 14th street Beijing 101111 P R China Tel 86 0 10 59755578 Fax 86 0 10 59755579 Nanjing Branch Office Room 302 Building A Tengfei Creation Center 55 Jiangjun Road Jiangning District Nanjing 211100 P R China Tel 86 0 25 52785841 Fax 86 0 25
32. ld to fault after a given amount of time when the Hard Stop box is checked and a time limit is entered Rev 1 1 8 25 2010 RS STM17S User Manual 4 6 Uploading Downloading Configuring a drive can first begin by clicking the Upload from Drive button and uploading the present configuration This will retrieve any drive settings that can then be updated and downloaded The drive con figuration is summarized in the table on the right side of the window as shown below Uploading the present configuration first is not required setting the configuration can be done from the ST Configurator applica tion defaults or a configuration can be opened from a previously saved STE file D Die Direction EN nat used OUT nat used AIN not used Upload from Orive Eo ee 8 Encoder E A d D aci sm When configuration updates are complete the summary will show this information Not all configuration information is shown here only a sum mary of the basics The configuration shown in the summary may not be the same as that in the drive until a download has been completed Complete the configuration by clicking the Download to Drive button This will download the con figuration database to the drive and cause it to reset thus updating its operating parameters Rev 1 1 i 8 25 2010 STM17S User Manual 5 Simple Operation After the STM17S is wired and the configuration is downloaded ST Configurator can be
33. ll commands with ack or nak Without this the drive will not send a response for commands that do not require it For example the Feed to Length FL command does not require a response by enabling this setting the drive will respond with an ack to indicate it has received the command e Use 3 digit HMI compatible register addressing By default Data Registers are accessed with a single letter such as A or B when Data Register specific commands are used When this box is checked Data Registers are accessed using a 3 digit code For example to access the Acceleration Data Register the Register Load Read RL command is used as shown e RLA Read back Data Register A e When this option is checked the command would be sent like this e RL017 Read back Data Register A Rev 1 1 ER 8 25 2010 STM17S User Manual Command Mode This can be used to select any command mode that is available on the integrated motor Select ing command modes in this fashion may require manual setup using the serial interface See SCL Utility Software Manual at http www moons com cn moonsweb ama en index asp for more infor mation on command modes and setup requirements Multiaxis MisNet Hub This option is not available for the STM17S series products 4 5 Encoder optional The Encoder operation on the STM17S is programmed using ST Configu rator The number of counts turn cannot be changed as it indicates the count of th
34. nual 3 2 2 Connecting to a host using RS 422 485 RS 422 485 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 The use of Category 5 cable is recommended as it is widely used for computer networks inexpensive easily obtained and certified for quality and data integrity The STM17S can be used with either Two Wire or Four Wire RS 422 485 implementation The connection can be point to point i e one drive and one host or a multi drop network one host and up to 32 drives NOTE To use the STM17S RS 422 485 version with the ST Configurator software it must be connected in the Four Wire configuration see below RS 422 485 Connector diagram Four Wire Configuration Four Wire Systems utilize separate transmit and receive wires One pair of wires must connect the host s transmit signals to each drive s 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 422 485 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
35. of equipment should be followed These codes may vary from area to area and it is the responsibility of the operating personnel to determine which codes should be followed and to verify that the equipment installation and operation are in compliance with the latest revision of these codes Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards MOONS does not guarantee the products described in this publication are suitable for a particular application nor do they assume any responsibility for product design installation or operation e Read all available documentation before assembly and operation Incorrect handling of the products referenced in this manual can result in injury and damage to persons and machinery All technical information concerning the installation requirements must be strictly adhered to e Itis vital to ensure that all system components are connected to earth ground Electrical safety is impossible without a low resistance earth connection This product contains electrostatically sensitive components that can be damaged by incorrect handling Follow qualified anti static procedures before touching the product During operation keep all covers and cabinet doors shut to avoid any hazards that could pos sibly cause severe damage to the product or personal health During operation the product may have components that are live or have hot surfaces
36. om the buffer It cannot however create a stored program for stand alone operation For that function the STM17Q is needed The communications protocol of SCL is simple in that the host initiates all communication with one exception The only time the drive will initiate communication is at power up At that time the drive will send an identifier to tell the software which drive is connected and what the firmware version is There are two types of SCL commands buffered and immediate Buffered commands are loaded into and then executed out of the drive s command buffer Buffered commands are executed one at a time and in sequential order The buffer can be filled with commands without the host controller needing to wait for a specific command to execute before sending the next command Special buffer commands enable the buffer to be loaded and to pause for a desired time Immediate commands are not buffered but are executed immediately running in parallel with a buffered command if necessary Immediate commands are designed to access the drive at any time and can be sent as often as needed This allows a host controller to get information from the drive at a high rate most often for checking drive status or motor position The basic structure of a command packet from the host to the drive is always a text string followed by a carriage return The text string is composed of the command itself followed by any required parameters A carriage r
37. port through a DB9 style connector The RS 422 485 version requires the user to provide both the cabling and the RS 422 485 interface Below are descriptions of how to interface both of these serial communication types to a PC 3 2 1 Connecting to a PC using RS 232 Locate the STM17S within 2 5 meters of the PC Plug the large end DB9 connector of the communication cable that came with the drive into the serial port of the PC The small end will have a 5 pin spring clamp connector Plug this end into the appropriate connector on the STM17S Secure the cable to the PC with the screws on the DB9 connector NOTE If the PC does not have an RS 232 serial port a USB Serial Converter will be needed Recommended USB to DB9 Serial adapters are e Item 26886 from Cables ToGo http www Cables ToGo com e W1301 from Sewel http www SewellDirect com e HL 340 from Alibaba http detail china alibaba com buyer offerdetail 587993633 html For laptops the SSP 100 PCMCIA converter card from http www SewellDirect com is recommended Ground circuit ground Ground circuit ground TX Transmit 5V Internal Jumper Select RX Receive RS 232 Connector diagram The RS 232 circuitry does not have any extra electrical hardening and care should be taken when connecting to the RS 232 port as hot plugging could result in circuit failure If this is a con cern the RS 422 485 version should be used 15 Rev 1 1 8 25 2010 STM17S User Ma
38. que address Once the drive has been connected to the PC as described above launch the ST Configurator software Apply power to the drive If a drive has already been configured click the Upload button so that the ST Configurator settings match those of the drive Click on the Motion button and select the SCL operating mode The numerals 0 9 or the special characters 96 amp lt gt 2 may be used as addresses Make sure each drive on the network has a unique address On a 2 wire network the Transmit Delay may also need to be set Most adapters work well with 10 milliseconds Once the address has been assigned click Download to save the settings to the drive Rev 1 1 n 8 25 2010 STM17S User Manual 3 3 Inputs and Outputs The STM17S has three types of inputs e High speed digital inputs for step amp direction commands or encoder following 5 to 24 volt logic Low speed digital input for other signals 5 to 24 volt logic e Analog input for analog speed and positioning modes All drives include 3 digital inputs and 1 analog input e STEP amp DIR are high speed digital inputs for commanding position Quadrature signals from encoders can also be used When not being used for the Step amp Direction function these in puts can be used for CW amp CCW Limit CW amp CCW Jogging and Run Stop amp Direction Veloc ity modes e EN is a low speed software programmable input and can be used for Motor Enable an
39. r specs 50 060A iai d 433 if in Rated Current ped se a Rotor Inertia 38 gm2 Idle Current Delay Smoothing Gain 0 040 n n Mss Phase T n Mas Lead Angle an deg p E I I I I Speed 26 Q0 Ev zer DE Cancel Help 4 3 1 Running Current This value is set by default to a current level that gives good performance at constant speed but lower than the maximum current to allow the integrated motor to operate at a lower temperature If the application requires full torque at full speed this value can be increased up to the Rated Current of the integrated motor If an application is particularly heat sensitive and there is more torque available than needed motor heating may be reduced by lowering the running current 4 3 2 Accel Decel Current This value is set by default to the Rated Current of the integrated motor so that maximum torque is provided during the acceleration or deceleration phase of a move profile The purpose of the Accel Decel Current is to allow the integrated motor to operate at a lower current and therefore cooler when at a constant speed while still having full torque when needed especially if the load is high inertia This value can be reduced for lower torque and operating temperature 4 3 3 Idle Current Idle Current is set as a percentage of the Running Current with a maximum setting of 9096 The Idle Current reduces motor heating by lowering the current when th
40. rst hour The actual temperature of the motor depends on how much heat is conducted convected or radiated out of it The curves below result from measurements 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 Results may vary STM17S 1AN Max Duty Cycle vs Speed 12V Duty Cycle 1 8 Amps Ambient of 40 C 24V Duty Cycle 80 x 80 x 6 mm Aluminum Plate 48V Duty Cycle 100 o 80 gt O 60 2 40 xe 20 0 0 10 20 30 40 50 Speed RPS STM17S 1AN Temperature vs Speed 12V Temp 1 8 Amps Ambient of 40 C D 80 x 80 x 6 mm Aluminum Plate lemp 160 140 120 100 2 80 60 E 40 20 0 0 10 20 30 40 50 Speed RPS Rev 1 1 id 8 25 2010 STM17S User Manual Rev 1 1 8 25 2010 STM17S 2AN Max Duty Cycle vs Speed 1 8 Amps Ambient of 40 C 80 x 80 x 6 mm Aluminum Plate 12V Duty Cycle 24V Duty Cycle 48V Duty Cycle 100 o 80 o gt O 60 2 Q 40 se 20 0 0 10 20 30 40 50 Speed RPS STM17S 2AN Temperature vs Speed 12V Temp 1 8 Amps Ambient of 40 C 24V Temp ae 80 x 80 x 6 mm Aluminum P
41. s can also be easily configured with a particular Steps Rev value To drive the motor two turns for every one turn of a 2000 count rev 500 line encoder the value of 1000 steps rev would be entered Step Smoothing Filter When in Pulse amp Direction Mode the step input command can be filtered so that if low Step Rev counts such as 200 or 400 are being used the actual motor movement is smoother The smoothing filter can effectively cause the motor to operate as if the Step Rev count is 20000 The filter range is 10 to 2000Hz the smaller the filter value the smoother the stepping As with most types of filters lower filter frequencies will cause a step lag in the move profile with the amount of lag dependant on the filter value the Step Rev count value and the speed of the move See the table below for a general idea of the lag that will be present with given filter frequency values If the lag due to the filter causes undesirable results a higher step rate and filter frequency may be required Setting the frequency to its maximum of 2000 effectively turns off the filter Rev 1 1 8 25 2010 ee STM17S User Manual Step Lag vs Speed Steps Rev 2000 1400 1200 SF 1000 1000 SF 500 SF 250 SF 100 SF 50 SF 25 Step Count lag NOTE SF Step Smoothing filter value in Hz 30 50 rev sec Input Noise Filter The digital inputs used for the Pulse amp Direction
42. se brake the output opens to release the brake e Closed when moving the output closes whenever the motor is moving e Open when moving the output opens whenever the motor is moving e Tach out the output produces pulses relative to the motor position e Not used there is no function for the output but it can be controlled using the SCL Set Output Rev 1 1 m 8 25 2010 STM17S User Manual SO Feed to Length and Set Output FO Immediate High Output IH and Immediate Low Output IL commands 4 4 2 Velocity Mode Velocity Control Mode DIR input controls direction of rotation Speed Accel 10 TEV ZEC 100 ev s s 100 revs s s 00K Range Oto Sy UNES ance Speed 10 ev sec at 5 Speed proportional to analog input Help Choose a Function for EM Input Mat used m Choose a Function for the Output Nat Used In Velocity Mode the motor s speed is controlled by analog and or digital inputs The drive is setup and all available I O are configured in the Velocity Dialog box e Checking the Use STEP input as Run Stop will command the drive to run using a switch or signal from another electronic device If this box is not checked the motor will run at all times unless the Speed proportional to analog input box is checked and the analog input voltage is set at O e The DIR input is always active and will set the direction of any motion The motor running parameters can be set to affect
43. the fixed Speed revs sec Acceleration revs s s and Deceleration revs s s rates e When it is desired for the drive to run in analog input mode the Speed proportional to analog input box must be checked The maximum speed corresponding to 5V analog input is set in the Analog Input box When the value 10 rev sec at 5V is set 2 5V analog input will produce 5 rev sec The analog input can also change the motor direction if an Offset value is entered under the Advanced Settings tab Rev 1 1 8 25 2010 ic STM17S User Manual Advanced Analog Settings Advanced Analog Settings Offset D mv Auto Offset Deadband 50 my Filter Freq 500 Hz Help Cancel LIF e Offset When a joystick will be used to operate the drive in both directions an Offset must be entered that is half the voltage range of the joystick If the drive s 5V output is being used to power an analog joystick the offset could be set to 2 5V for equal speed in both directions The maximum speed is half the value entered in the Analog Input box above and so 2 5V analog input will correspond to zero speed Auto Offset can be used to effectively zero the analog input value This is very useful when the analog input value cannot be measured externally e Deadband When it is necessary to stop the motor with an analog signal that doesn t go to 0 volts or an offset value potentiometers can usually go to 0 volts but electronic circuits usually can t
44. to 24 volts 1 optically isolated digital output 30V 100mA 1 analog input for speed and position control 0 to 5 volts e Technological advances otep input signal smoothing Mid band anti resonance Rev 1 1 A 8 25 2010 STM17S User Manual 1 2 Block Diagram STM17S Block Diagram 12 48 VDC External Power Supply GND GN 5V 5VDC 100mA Max motor STEP STEP DIR DIR encoder EN gt EN gt Optional ml 1 0 Connector Status OUT OUT AIN I O Configurations STEP 5 to 24 Volts DIR 5 to 24 Volts EN 5 to 24 Volts OUT 30V 80mA Step Input Direction Input Enable Input Brake Output Jog CW Jog CCW Reset Input Alarm Output Limit CW Limit CCW Change Speed Motion Output Start Stop General Purpose General Purpose Tach Output General Purpose General Purpose 5 Rev 1 1 8 25 2010 STM17S User Manual 1 3 Safety Instructions Only qualified personnel should transport assemble install operate or maintain this equipment Properly qualified personnel are persons who are familiar with the transport assembly installation operation and maintenance of motors and who meet the appropriate qualifications for their jobs To minimize the risk of potential safety problems all applicable local and national codes regulating the installation and operation
45. ulse amp Direction Mode Ve locity Oscillator Mode and Serial Command Language SCL are the modes available for the S drives Multiaxis MisNet Hub is not available on the STM17S Motion amp I O Motion Control Mode amp Pulse amp Direction Mode Multasis Mistet Hub 4 4 1 Pulse amp Direction Mode This mode is for systems where the position of the motor is determined by a digital input signal in the form of pulses There are three Digital Signal Types available Digital Signal Type Pulse amp Direction Control m Digital Signal Type i x Pulse amp Direction J Help 2000 Hz 18 MHz Choose a Function For EM Input Nat used r Choose a Function for the Output Not Used Pulse and Direction A signal such as that generated by a step motor controller is used In this mode the frequency of the pulses fed into one input determines the speed of the motor The direction of rotation is deter mined by a signal fed into another input Either an ON or OFF signal can be configured to repre sent clockwise motion Rev 1 1 a 8 25 2010 STM17S User Manual CW and CCW Pulse The drive has two inputs allocated to this feature and the motor will move CW or CCW depending on which input the pulse is fed into A amp B Quadrature This is sometimes called Slave Mode Signals fed to the drive from a master encoder control the movem
46. used for several simple operations These features are accessible through the drop down list in the Drive menu Bl ST Configurator 2 0 2 untitled Self Test Alarm History Clear Alarm Restore Factory Defaults SCL Terminal Self Test Status Monitor Set Quick Decel Rate This feature will instruct the motor to rotate a half revolution in alternating directions at a low speed to verify that the motor is operational SCL Terminal Serial communication commands can be streamed to the drive through the SCL Host Terminal Some examples are shown below Command Description VE10 sets motor speed to 10 rev sec AC100 sets acceleration to 100 rev sec sec DE100 sets deceleration to 100 rev sec sec EG20000 sets electronic gearing resolution to 20000 pulses rev DI20000 sets distance to 20000 counts in the CW direction FL launches feed to length move Rev 1 1 8 25 2010 38 STM17S User Manual The commands and their responses should appear as shown in the Host Terminal window below Host Terminal Previous Commands amp Responses SVE TOS pA AL100 pa DE 1004 pA tEG20000 ra 0 200004 F4 FL armari Every command should have a drive response of 96 which means the command was received and executed With this example the motor will move one revolution at 10 rev sec
47. w show how to connect the EN input to various commonly used devices Switch or Relay closed logic low NPN Proximity Sensor Connecting an NPN type Proximity Sensor to an input when prox sensor activates input goes low PNP Proximity Sensor Connecting an PNP type Proximity Sensor to an input when prox sensor activates input goes low Rev 1 1 8 25 2010 E STM17S User Manual 3 3 4 AIN Input The STM17S drives have an analog input AIN which can accept a signal range of 0 to 5 volts The drive can be configured to operate at a speed or position that is proportional to the analog sig nal Use the ST Configurator software to set the signal range offset dead band and filter frequen cy The STM17S provides a 5VDC 100mA limit voltage supply 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 inside drive 5v OUT 5v OUT 100 mA limit 1 10k Q Signal po Conditioning Connecting a Potentiometer to the Analog Input I O Connector 3 3 5 Programmable Output The STM17S drives feature one optically isolated digital output OUT This output can be set to automatically control a motor brake to signal a fault condition to indicate when the motor is mov ing or to provide an output frequency proportional to motor speed tach signal Or the output
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