D-x
STEPPER DRIVES
INTEGRATED STEPPER DRIVES/MOTORS
WITH ADVANCED FEATURES AND CONTROL OPTIONS
l Current Output 0.5 to 5.0 A
l Configurator
TM
configuration
Software
l Configurable Idle Current
Reduction
l External Control Options
l Pulse and Direction
l Analog Command Signal
l Host Command via RS232/485
l Fault Protection:
l Over-Voltage, Under-Voltage
l Over-Temp
l External Output Shorts
l Internal Amplifier Shorts
l Open Motor Phases
l Multi-Axis System with
SINet
TM
Hub
l Microstepping Emulation Up To
51200 steps/revolution
The STM is a drive + motor + control unit,
fusing step motor, drive, and controller
technologies into a single device, offering
savings on space, wiring and cost over
conventional motor and drive solutions.
The “S” models offer control options such
as step and direction, analog input, joystick
control, and host commands using the
Si Command Language (SCL). The
“Q” models add the capability of stand-
alone programmable operation using the
“Q” text-based programming language. This
language offers high-level features such as
multi-tasking, conditional programming,
math functions, register access, and much
more. Both of the STM models offer RS232
and RS485 versions, as well as the option
of a 1000-line encoder that is integrated
into the motor housing. The encoder option
provides stall detection and prevention;
the controller senses rotor lag and reduces
speed to avoid stalling. In addition, all
models offer two different motor sizes:
a 2-stack version that provides 125 oz-in of
holding torque, and a 3-stack version with
210 oz-in of torque.
STM Series
Starts at
$
417
ADVANCED FEATURES
Auto Set-Up:
At start-up the drive measures motor
parameters, including the resistance and
inductance, then uses this information to
optimize the system performance.
Self-Test:
At power-up the drive diagnoses
mis-wires and detects any open or
shorted motor phases.
Torque Ripple Smoothing:
The drive smoothes the low-speed
torque ripple which is inherent in all
step motor systems.
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.
Anti-Resonance/
Electronic Damping:
Step motor systems resonate at certain
speeds. The STM drive + motor
automatically calculates the system’s
natural frequency and applies damping
to the control algorithm.
Configuration
Software
Included!
SPECIFICATIONS
POWER AMPLIFIER (ALL MODELS)
Amplifier Type: Dual H-Bridge,
4 Quadrant
Current Control: 4 state PWM at 20 Khz
Output Torque:
STM23x-2 Series: To 125 oz-in with
suitable power supply
STM23x-3 Series: To 210 oz-in with
suitable power supply
Power Supply: External 12 to 70 Vdc
power supply required
Input Voltage Range: 12 to 70 Vdc
Protection: Over-voltage, under-
voltage, over-temp, motor/wiring shorts
(phase-to-phase, phase-to-ground)
Idle Current Reduction: Reduction
range of 0 to 90% of running current
after delay selectable in milliseconds
Ambient Temperature: 0 to 40°C
(32 to 104°F) (mounted to suitable
heatsink)
Humidity: 90% non-condensing
CONTROLLER (ALL MODELS)
Microstep Resolution: Software
selectable from 200 to 51200 steps/rev
in increments of 2 steps/rev
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
STM23S-3RN, $520, shown
smaller than actual size.
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