STM Integrated Steppers
Contents
1. Drive amp Motor Controller esonance Toraue F ipple Smoothing R HS Cc 7 Anti Hesonance 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 better motor performance and higher speeds Microstep Emulation Ta 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 cM Synthesized Microsteps Delivers smoother motion in any application Torque Ripple Smoothing 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 Command Signal Smoothing 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 Delivers smoother system performance Dyn2. Optically isolated 5 24 volt Minimum pulse width 100 us Maximum pulse frequency 10 KHz Function general purpose input DIGITAL OUTPUT OUT Optically isolated 30V 100 mA max Function Fault brake motion tach or general purpose programmable ANALOG INPUT AIN referenced to GND Range O to 5 VDC Resolution 12 bits Not present on STM24C S Q type RS 232 RS 485 or Ethernet COMMUNICATION C type CANopen amp RS 232 IP type Ethernet Physical AMBIENT TEMPERATURE O to 40 C 32 to 104 F When mounted to a suitable heat sink HUMIDITY 90 non condensing MASS STM240 3010 1580g ROTOR INERTIA STM240 300 900 gecem 10 ST Configurator TILT 68 0 ATS Comtigurator EAE Fle Cre Taos Heb ee 192188040 No Status Available Click Start Polling if not polling Open Save Dotad Upiad Execute Ces Pwt C egeert t Ure LabM et Pant Peal Comment na 3 a H n u 35 RS485 Bus Utility SEMIN thn leery fm 0S wesw raon wiaty AS kus amat nw ET D aap Page DO Cape Sa 53M Dau US Beg C39 t At S ont on y viai m DTI Pn TIO aa dil 4 See PNA sj Que Dee PE EA Sew Une ee SS 88 2a 28 Software Features Intuitive interface Drive status and alarm monitoring Self test function to test drive motor operation Built in SCL Terminal Online help integrated Software Features Single axis motion control Stored program
3. Lei 20 56 4 MAX 1 5 1 2 z 3 sz 0 9 T Z 0 6 E 0 3 0 0 10 20 30 40 50 Model L Length M Length Speed rps s TM23S Q 3RO 114 4 Connections Pin out L 1 20 Model 56 4 MAX GND TX RX RX RJ11 GND CANL CANH RS232 RS485 CANopen Ethernet GND cds TX TX ort RX RJ45 STEP STEP IN1 STEP STEP STEP IN1 STEP DIR DIR IN2 DIR DIR DIR IN2 DIR EN EN IN3 EN O Port EN EN INS EN OUT OUT OUT OUT OUT OUT OUT OUT 5V 5V 5V AIN AIN AIN L Length M Length GND GND GND STM23 Technical Specifications Power Amplifier AMPLIFIER TYPE Dual H bridge 4 quadrant CURRENT CONTROL 4 state PWM at 20 kHz STM230 200 Up to 1 0 Nem EESE STM230 300 Up to 1 5 Nem POWER SUPPLY External 12 70 volt power supply required PROTECTION Over voltage under voltage over temp motor wiring shorts phase to phase phase to ground STM23S Step amp direction CW CCW pulse A B quadrature pulse velocity oscillator joystick streaming commands SCL MODES OF OPERATION STM23Q All STM23S modes of operation plus stored Q program execution STM23C CANopen slave node plus stored Q program execution STM23IP AII STM23Q modes of operation plus EtherNet IP industrial network communications S Q IP type Adjustable bandwidth digital noise rejection filter on all inputs STEP Optically isol
4. and math functions e Host interface while executing stored programs STM 17 Integrated Stepper NEMA 17 frame size Torque up to 0 48 N m Input voltage 12 48 VDC r V RoHS Compliant CE STM17 Dimensions Unit mm STM17 Torque Curves L 1 _ 24 42 3 MAX ra 4 0 30 L x i NI eo 0 25 e oO 3 A 0 20 pe O5 J 0 15 M 4 5 Flat lt 0 10 Model L Length M Length 0 05 STM170 100 STM170 2 0 Speed rps Connections Pin out STM170 200 RS232 RS485 CANopen RXD GND Communication ii CANT Por TXD CANH e GND RXD E GND TXD Ex Oo STEP STEP IN14 STEP STEP IN1 DIR DIR IN2 DIR DIR IN2 EN EN IN3 I O Port EN EN IN3 OUT OUT OUT Speed rps OUT OUT OUT 45V 45V 45V AIN AIN AIN GND GND GND STM170 300 Torque Nem Speed rps STMT7 Technical Specifications Power Amplifier AMPLIFIER TYPE Dual H bridge 4 quadrant CURRENT CONTROL 4 state PWM at 20 kHz STM17LDI 1LIDI Up to 0 23 Nem OUTPUT TORQUE STM1T7LI 2LIDI Up to 0 38 Nem STM17 0 300 Up to 0 48 Nem POWER SUPPLY External 12 48 volt power supply required PROTECTION Over voltage under voltag
5. execution Multi tasking Conditional processing Math functions Data registers Motion Profile simulation Online help integrated Software Features Stream SCL commands from the command line Simple interface with powerful capability Easy setup with RS 485 for 32 axis network motion control Monitoring Status of I O drive alarm and the other nine most useful motion parameters Write and save SCL command Scripts Online help integrated Supports all RS 485 drives Software Features Friendly User Interface Multiple operation Mode Support Multi Thread High Performance CAN bus monitor and log function Kvaser PEAK adapter support FREE DOWNLOAD Our software and user manual can be downloaded from our website www moonsindustries com All software applications run on Windows 7 Vista XP NT 2000 32 bit or 64 bit Drive amp Motor Controller esonance Toraue F ipple Smoothing R HS Cc 7 Encoder Option STM S Q C IP The STM integrated steppers are offered with an optional 1000 line incremental encoder On STM S Q C IP models this encoder is integrated into the housing of the motor without increasing the overal size of the unit The addition of this encoder provides the following enhanced functionality Stall Detection notifies the system as soon as the required torque is too great for the motor resulting in a loss of synchr
6. KHz Function CW limit Enable Speed 1 Speed 2 oscillator mode or general purpose input IN4 Optically isolated 5 24 volt Minimum pulse width 100 us Maximum pulse frequency 10 KHz Function CCW limit alarm fault reset or general purpose input DIGITAL INPUTS SF AND QF MODELS Adjustable bandwidth digital noise rejection filter on all inputs STEP Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2MHz Function Step CW step A quadrature encoder following CW limit CW jog start stop oscillator mode or general purpose input DIR Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function Direction CCW step B quadrature encoder following CW limit CW jog direction oscillator mode or general purpose input EN Optically isolated 5 24 volt Minimum pulse width 100 us Maximum pulse frequency 10 KHz Function Enable alarm fault reset speed 1 speed 2 oscillator mode or general purpose input DIGITAL INPUT ETHERNET MODELS Adjustable bandwidth digital noise rejection filter on all inputs IN1 Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function CW limit CW jog or general purpose input DIGITAL INPUT C MODELS IN2 Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function CCW limit CCW jog or general purpose input IN3
7. amic Current Control 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 System runs cooler Self Test amp Auto Setup At start up the drive measures motor parameters including the resistance and inductance then uses this information to optimize the system performance Control Options Options Step amp Direction e Step amp direction CW amp CCW pulse e A B quadrature master encoder Oscillator Run stop mm Speed1 Speed2 Toggle Switch d softwa re CO nfigu ration d f Speed Potentiometer Two Speeds e Vary speed with analog input e Joystick compatible Run Stop Toggle Switch Host Control EE ie RS 232 e Accept serial commands from host PC or PLC RS 232 485 or Ethernet RS 485 e Accept serial commands from host PC or PLC e Multi axis capable up to 32 axes E CN UE e Accepts streaming commands from host PC or PLC e 1000 s of axes with Ethernet and EtherNet IP uo CANopen Model e Connect to CANopen network e CiA301 and CiA402 protocols UC s TP RS 232 485 or Ethernet e Comprehensive text based languaged e Download store amp execute programs e High level features multi tasking conditional programming
8. ated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2MHz Function Step CW step A quadrature encoder following CW limit CW jog start stop oscillator mode or general purpose input DIR Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function Direction CCW step B quadrature encoder following CCW limit CCW jog direction oscillator mode or general purpose input EN Optically isolated 5 24 volt Minimum pulse width 100 us Maximum pulse frequency 10 KHz Function Enable alarm fault reset speed 1 speed 2 oscillator mode or general purpose input C type Adjustable bandwidth digital noise rejection filter on all inputs IN1 Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function CW limit CW jog or general purpose input IN2 Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function CCW limit CCW jog or general purpose input IN3 Optically isolated 5 24 volt Minimum pulse width 100 us Maximum pulse frequency 10 KHz Function general purpose input DIGITAL OUTPUT OUT Optically isolated 30V 100mA max Function Fault brake motion tach or general purpose programmable ANALOG INPUT AIN referenced to GND Range O to 5 VDC Resolution 12 bits Not present on STM23C S Q type RS 232 RS 485 or Ethernet COMMUNICATION C type CANo
9. e over temp internal shorts phase to phase phase to ground Controller MICROSTEP RESOLUTION Software selectable from 200 to 51200 steps rev in increments of 2 steps rev ENCODER FEEDBACK Optional 4000 counts rev encoder feedback SPEED RANGE Speeds up to 3000 rpm NON VOLATILE STORAGE Configurations are saved in FLASH memory on board the DSP STM17S Step amp direction CW CCW pulse A B quadrature pulse velocity oscillator joystick streaming commands SCL MODES OF OPERATION STM17Q All STM17S modes of operation plus stored Q program execution STM17C CANopen slave node plus stored Q program execution S Q type Adjustable bandwidth digital noise rejection filter on all inputs STEP Optically isolated 5 24 volt Minimum pulse with 250 ns Maximum pulse frequency 2MHz Function Step CW step A quadrature encoder following CW limit CW jog start stop oscillator mode or general purpose input DIR Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function Direction CCW step B quadrature encoder following CCW limit CCW jog direction oscillator mode or general purpose input EN Optically isolated 5 24 volt Minimum pulse width 100 us Maximum pulse frequency 10 KHz Function Enable alarm fault reset speed 1 speed 2 oscillator mode or general purpose input C type Adjustable bandwidth digital noise rejection filter on all inputs IN1 Optically i
10. ernal 12 70 volt power supply required PROTECTION Over voltage under voltage over temp internal motor shorts phase to phase phase to ground Controller MICROSTEP RESOLUTION Software selectable from 200 to 51200 steps rev in increments of 2 steps rev ENCODER FEEDBACK Optional 4000 counts rev encoder feedback SPEED RANGE Speeds up to 3000 rpm NON VOLATILE STORAGE Configurations are saved in FLASH memory on board the DSP STM24S Step amp direction CW CCW pulse A B quadrature pulse velocity oscillator joystick streaming commands SCL MODES OF OPERATION STM24Q All STM24S modes of operation plus stored Q program execution STM24C CANopen slave node plus stored Q program execution STM24 IP All STM24Q modes of operation plus EtherNet IP industrial network communications Adjustable bandwidth digital noise rejection filter on all I O points configured as inputs IN1 Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function Step CW step A quadrature encoder following CW jog start stop oscillator mode Enable or general purpose input IN2 Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function Direction CCW step B quadrature encoder following CW jog direction oscillator mode alarm fault reset or general purpose input IN3 Optically isolated 5 24 volt Minimum pulse width 100 us Maximum pulse frequency 10
11. onization between the rotor and stator also Known as stalling As soon as the motor stalls the drive triggers its fault output See Figure 1 Stall Prevention automatically adjusts the excitation of the motor windings to maintain synchronization of the rotor and stator under all conditions This means that motor position is maintained and corrected even when the required torque is too great for the motor The stall prevention feature also performs position maintenance which maintains the position of the motor shaft when at rest See Figure 2 Velocity 8 Velocity D Load Increases 2 Motor is no longer able to produce required torque 3 Motor stalls and fault signal sent D Programmed Motion Profile Point at which load increases 3 Actual Motion Profile Time Figure 1 Diagram showing the Stall Detection process Figure 2 Diagram showing the Stall Prevention process Accessories RC 880 Regeneration Clamp Many motor and drives systems require a clamp circuit to limit increase in power supply voltage when the motor is decelerating under load This is commonly referred to as regeneration and occurs when DC motors are driven by their load backdriving During regeneration the DC motor can produce enough voltage to actually exceed the input power supply voltage MOONS drives can deal with regeneration by channeling the increased motor voltage back to the source power supply However if the voltage i
12. pen amp RS 232 IP type Ethernet DIGITAL INPUTS Physical AMBIENT TEMPERATURE O to 40 C 32 to 104 F When mounted to a suitable heat sink HUMIDITY 90 non condensing STM230 200 850g MASS STM230 300 1200g STM230 200 260 gecem ROTOR INERTIA STM230 300 460 gcm C sius STM24 Dimensions Unit mm RS 232 or Ethernet Type 125 55 20 6 60 5MAX NEM 15 84 77 238 1 RS 485 Type 120 02 CANopen Type 120 921 20 6 60 5 MAX 79 77 STM24 Integrated Stepper NEMA 24 frame size Torque up to 2 4 N m Input voltage 12 70 VDC STM24 Torque Curves STM240 300 N O1 Torque Nem k N o oa o O1 NX eo 0 20 30 40 Speed rps 50 Connections Pin out RS485 CANopen Ethernet Communication Port GND TX TX RX GND GND RX TX CANL CANH I O Port I O12 1 01 I O24 1 02 1 03 1 03 104 1 04 5V AIN GND IN1 IN1 IN2 IN2 IN3 INS OUT OUT STM24 Technical Specifications Power Amplifier CURRENT CONTROL 4 state PWM at 20 kHz OUTPUT TORQUE STM240 300 Up to 2 4 Nem POWER SUPPLY Ext
13. s not clamp to a safe level the power supply and or drive can be damaged or destroyed Max Supply Voltage 80V Max Output Current 8A rms Continuous Power 50W Headquarters No 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107 P R China Service Center Tel 86 0 21 52634688 Fax 86 0 21 62968682 96 400 820 9661 Web www moonsindustries com E mail info moons com cn MOONS Industries America Inc Shenzhen Branch Office Wuhan Branch Office 1113 North Prospect Avenue Itasca IL 60143 U S A Room 2209 22 F Kerry Center No 2008 Renminnan Road Room 3001 World Trade Tower No 686 Jiefang Tel 001 630 833 5940 Shenzhen 518001 P R China Avenue Jianghan District Wuhan 430022 P R China Fax 001 630 833 5946 Tel 86 0 755 2547 2080 Tel 86 0 27 8544 8742 Fax 86 0 755 2547 2081 Fax 86 0 27 8544 8355 MOONS Industries Europe S r l Via Torri Bianche 1 20059 Vimercate MB Italy Tel 39 039 62 60 521 MOTION TECHNOLOGIES PTY LTD MOONS Industries Europe S r l Office Germany R ntgenstrasse 9 64846 Gross Zimmern Germany Mail info moonsindustries eu 24 22 30 Northumberland Road Unit 13 54 Smith Road Caringbah NSW 2229 Australia Springvale VIC 3171 Australia Phone 02 9524 4782 Phone 03 8555 3586 Fax 02 9525 3878 Fax 03 8555 3553 MOONS moving in better ways sales motiontech com au www motiontech com au 21 10 15
14. solated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function CW limit CW jog or general purpose input IN2 Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function CCW limit CCW jog or general purpose input IN3 Optically isolated 5 24 volt Minimum pulse width 100 us Maximum pulse frequency 10 KHz Function general purpose input DIGITAL INPUTS OUT Optically isolated 30V 100mA max DIGITAL OUTPUT Function Fault brake motion tach or general purpose programmable ANALOG INPUT AIN referenced to GND Range O to 5 VDC Resolution 12 bits S Q type RS 232 RS 485 COMMUNICATION C type CANopen amp RS 232 Physical AMBIENT TEMPERATURE O to 40 C 32 to 104 F When mounted to a suitable heat sink HUMIDITY 90 non condensing STM170 100 280g MASS STM170 200 360g STM170 300 440g STM170 100 38 gecm ROTOR INERTIA STM170 200 57 gem STM170 300 82 gm STM2Z3 Integrated Stepper NEMA 23 frame size Torque up to 1 5 N m Input voltage 12 70 VDC 2 RoHS Compliant CE STM23 Dimensions Unit mm STM23 Torque Curves STM230 200 1 0 gt x lt lt z 0 8 D 3 co LO 0 6 2 g 04 2 0 2 0 Model L Length M Length STM23S Q 2A ED Speed rps STM23S Q 3A EG STM230 300
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