D-y
Torque Ripple Smoothing: Allows for
fine adjustment of phase current
waveform harmonic content to reduce
low-speed torque ripple in the range
0.25 to 1.5 rps
Auto Set-Up: Measures motor
parameters and configures motor
current control and anti-resonance
gain settings
Self Test: Checks internal and
external power supply voltages;
diagnoses open motor phases and
motor resistance changes >40%;
detects encoder wiring and signal
faults (differential encoder only)
Microstep Emulation: Performs high
resolution stepping by synthesizing fine
microsteps from coarse steps (step and
direction mode only)
Command Signal Smoothing:
Software configurable filtering reduces
jerk and excitation of extraneous
system resonances (step and direction
mode only)
CONTROLLER (“S” MODELS)
Non-Volatile Storage:
Configurations are saved in FLASH
memory on-board the DSP
Mode of Operation: Step and direction,
CW/CCW, A/B quadrature, oscillator,
joystick, SCL, hub
Step and Direction Inputs:
STEP ±: Optically Isolated, 5 to 24V;
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)
DIR ±: Optically isolated, 5 to 24V;
minimum pulse width = 250 ns;
maximum pulse frequency = 3 MHz;
function: DIR, CCW step,
B quadrature, encoder following,
CCW limit, CCW jog, sensor,
DIR (oscillator mode), adjustable
bandwidth digital noise rejection
filter on all inputs
Enable Input:
EN±: Optically isolated, 5 to 24V;
minimum pulse width = 250 ns;
maximum pulse frequency = 3 MHz;
function: enable, reset, speed
1/speed 2 (oscillator mode)
Output: Optically isolated, 24V, 40 mA
max NPN/sinking; function: fault,
motion, tach or general purpose
programmable
Analog Input Range: 0 to 5 Vdc
Analog Input Resolution: 12 bits
Communication Interface:
RS232 or RS485
CONTROLLER (“Q” MODELS)
Non-Volatile Storage: Programs, data
and drive configuration are saved in
FLASH and EEPROM memory
Inputs:
STEP ±: Optically isolated, 5 to 24V;
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), general
purpose input
DIR ±: Optically isolated, 5 to 24V;
minimum pulse width = 250 ns;
maximum pulse frequency = 3 MHz;
function: DIR, CCW step,
B quadrature, encoder following,
CCW limit, CCW jog, sensor, DIR
(oscillator mode), general
purpose input
EN ±: Optically isolated, 5 to 24V;
minimum pulse width = 250 ns;
maximum pulse frequency = 3 MHz;
function: enable, reset, speed 1/
speed 2 (oscillator mode), general
purpose input
Adjustable bandwidth digital noise
rejection filter on all inputs
Output: Optically isolated, 24V, 40 mA
max NPN/sinking
Function: Fault, motion, tach or general
purpose programmable
Analog Input Range: 0 to 5 Vdc
Analog Input Resolution: 12 bits
Communication Interface:
RS232 or RS485
PHYSICAL (ALL MODELS)
Mass:
STM23X-2XX = 1 lb 14 oz
STM23X-3XX = 2 lb 10 oz
Rotor Inertia:
STM23X-2XX = 0.0037 oz-in
2
STM23X-2XX = 0.0065 oz-in
2
Operating Temp Range: -20 to 50°C
(-4 to 122°F)
TORQUE-SPEED CURVES