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STM23C-3CE
User Manual
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User Manual
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Applied Motion STM23C-3CE User Manual

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Page 1
STM23
Hardware Manual
920-0021F 2/14/2012
1
Page 2
920-0021F 2/14/2012
STM23 Hardware Manual
Contents
Introduction ...................................................................................................................................................................................................................................................................................3
Features ..............................................................................................................................................................................................................................................................................................3
Block Diagram - STM23S/Q/IP ...................................................................................................................................................................................................................................... 5
Block Diagram - STM23C ..................................................................................................................................................................................................................................................6
Safety Instructions .....................................................................................................................................................................................................................................................................7
Geing Started ...........................................................................................................................................................................................................................................................................8
Mounting the Motor+Drive ............................................................................................................................................................................................................................................ 8
Choosing a Power Supply ................................................................................................................................................................................................................................................9
Voltage ............................................................................................................................................................................................................................................................................................... 9
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920-0021F
STM23 Hardware Manual
2/14/2012

Introduction

ank you for selecting the Applied Motion Products STM23 Motor+Drive. We hope our dedication to perfor- mance, quality and economy will make your motion control project successful. If there’s anything we can do to im­prove our products or help you use them beer, please call or fax. We’d like to hear from you. Our phone number is (800) 525-1609, or you can reach us by fax at (831) 761-6544. You can also email support@applied-motion.com.

Features

• Programmable, micro-stepping digital Step Motor+Driver in an integrated package
• Operates from a 12 to 70 volt DC power supply
• Operates in velocity or position mode
• Mid-band anti-resonance
• Accepts analog signals, digital signals and RS-232 serial commands
• Step input signal smoothing
• Q programming over Ethernet and Ethernet/IP models
• RS-422/485 communication models
• Optional encoder feedback
• STM23S/Q-2 delivers up to 125 oz-in
• STM23S/Q-3 delivers up to 210 oz-in
• 3 - optically isolated, 5 to 24 volt digital inputs
• Input ltering both hardware and soware
• 1 - optically isolated, 30V 40ma digital output
• 1 - 0 to 5V analog input for speed and position control
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STM23 Hardware Manual
Available model numbers:
STM23S-2AE STM23Q-2AE STM23S-2AN STM23Q-2AN STM23S-2EE STM23Q-2EE STM23S-2EN STM23Q-2EN STM23S-2RE STM23Q-2RE STM23S-2RN STM23Q-2RN STM23S-3AE STM23Q-3AE STM23S-3AN STM23Q-3AN STM23S-3EE STM23Q-3EE STM23S-3EN STM23Q-3EN STM23S-3RE STM23Q-3RE STM23S-3RN STM23Q-3RN
STM23IP-2EE STM23C-3CE STM23IP-2EN STM23C-3CN STM23IP-3EE STM23IP-3EN
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Block Diagram
MOSFET
PWM
Power
Amplifier
12-70 VDC
External
Power Supply
Voltage
Temp
Det.
Over
Current
Det.
motor
encoder
5 Volt DC
Power Supply
DSP Driver Controller
3.3VDC
Internal
Logic
Supply
STM23S/Q/IP
Optical
Iso
I/O Connector
+
Optical
Iso
Optical
Iso
STEP+
+5VDC (50ma Max)
GND
Digital Filter
Digital Filter
Digital Filter
Software Filter
Software Filter
Software Filter
Status
AIN
Optical
Iso
RS-232 or RS-485
or Ethernet
Comm
Conn
Power
Conn
GND
+5V
STEP-
DIR+
DIR-
EN+
EN-
OUT+
OUT-
RS-232
TX, RX, GND, +5V
or
RS-485
RX+, RX-, TX+, TX-, GND
or 100 Mbit Ethernet
-
Optional
STM23 Hardware Manual

Block Diagram - STM23S/Q/IP

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I/O Congurations STEP (5 to 24 Volts) DIR (5 to 24 Volts) EN (5 to 24 Volts) OUT (30V, 40mA)
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
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12-70 VDC
External
Power Supply
Voltage &
Temp
Monitor
motor
encoder
encoder
5 Volt DC
Power Supply
DSP
Driver
Controller
3.3VDC Logic
Supply
+
IN1+
Status
IN1-
IN2+ IN2
-
IN3+ IN3
-
OUT+ OUT
-
GND
GND
+5VDC
+5V
RS-232
Configuration
Port
-
Optional
Power
Conn
Comm
Conn
I/O Connector
RS-232
CANopen
Network
CAN
Conn
CANopen
Controller
Digital
Filter
Optical
Isolation
Software
Filter
Digital
Filter
Optical
Isolation
Software
Filter
Digital
Filter
Optical
Isolation
Software
Filter
Optical
Isolation
Software
Filter
Over-
Current
Monitor
MOSFET
PWM
Power
Amplifier
Node ID
Bit Rate
4
3
2
1
0
F
E
D
C
B
A
9
8
7
6
5
5
0
4
9
3
8
2
7
1
6
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Block Diagram - STM23C

STM23 Hardware Manual
I/O Functions (congure in software) IN1 IN2 IN3 OUT
Clockwise Limit Counterclockwise Limit Home Sensor Fault General Purpose Input General Purpose Input Enable Input Brake
General Purpose Input Motion
Tach General Purpose Output
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Safety Instructions

Only qualied personnel are permied to transport, assemble, commission, and maintain this equipment. Prop­erly qualied personnel are persons who are familiar with the transport, assembly, installation, commissioning and operation of motors, and who have the appropriate qualications for their jobs. e qualied personnel must know and observe the following standards and regulations: IEC 364 resp. CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National regulations for safety and accident prevention or VBG 4
To minimize the risk of potential safety problems, you should follow all applicable local and national codes that reg­ulate the installation and operation of your equipment. ese codes vary from area to area and it is your responsi­bility 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. We do not guarantee the products described in this publication are suitable for your particular application, nor do we assume any responsibility for your product design, installation, or operation.
• Read all available documentation before assembly and commissioning. Incorrect handling of products in this manual can result in injury and damage to persons and machinery. Strictly adhere to the technical information on the installation requirements.
• It is vital to ensure that all system components are connected to earth ground. Electrical safety is impossible without a low-resistance earth connection.
• e STM23 drives contain electrostatically sensitive components that can be damaged by incorrect han­dling. Discharge yourself before touching the product. Avoid contact with high insulating materials (articial fabrics, plastic lm, etc.). Place the product on a conductive surface.
• During operation keep all covers and cabinet doors shut. Otherwise, there are deadly hazards that could possibility cause severe damage to health or the product.
• In operation, depending on the degree of enclosure protection, the product can have bare components that are live or have hot surfaces. Control and power cables can carry a high voltage even when the motor is not rotating.
• Never pull out or plug in the product while the system is live. ere is a danger of electric arcing and danger to persons and contacts.
• Aer powering down the product, wait at least ten minutes before touching live sections of the equipment or undoing connections (e.g., contacts, screwed connections). Capacitors can store dangerous voltages for long periods of time aer power has been switched o. To be safe, measure the contact points with a meter before touching.
Be alert to the potential for personal injury. Follow the recommended precautions and safe operating practices included with the alert symbols. Safety notices in this manual provide important information. Read and be familiar with these instructions before aempting installation, operation, or maintenance. e purpose of this section is to alert users to possible safety hazards associated with this equipment and the precautions that need to be taken to reduce the risk of personal injury and damage to the equipment. Failure to observe these precautions could result in serious bodily injury, damage to the equipment,or operational diculty.
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Geing Started
is manual describes the use of dierent drive models. What you need to know and what you must have depends on the drive model. For all models, you’ll need the following:
• a 12 - 70 volt DC power supply. Please read the section entitled Choosing a Power Supply for help in choosing the right power supply.
• a small at blade screwdriver for tightening the connectors (included).
• a personal computer running Microso Windows 98, 2000, NT, Me , XP, Vista or 7.
•
ST Congurator
products/soware.
• An Applied Motion programming cable (included in RS-232 Models, RS-485 converters are available from AMP) or a CAT5 patch cable for Ethernet models.
If you’ve never used an STM23 drive before you’ll need to get familiar with the drive and the set up soware be­fore you try to deploy the system in your application. We strongly recommend the following:
™ and
Q Programmer
™ soware applications, available at hp://www.applied-motion.com/
1. For Q/IP/C models, download and install the available at www.applied-motion.com/products/soware. For S models, install the
2. Launch the soware by clicking Start...Programs...Applied Motion...
3. Connect the drive to your PC using the programming cable. When using RS-485, it must be set up in the 4-Wire conguration (See “Connecting to a host using RS-485” below). For Ethernet models, connect directly to your PC’s Ethernet port or connect the STM23 to a router or switch. See page 20 for more information.
4. Connect the drive to the power supply.
5. Apply power to the drive.
6. e soware will recognize your drive, display the model and rmware version and be ready for action.
ST Congurator
™ and
Q Programmer
™ soware applications,
ST Congurator
™.

Mounting the Motor+Drive

As with any stepper motor the STM23 motors must be mounted so as to provide maximum heat-sinking and air­ow. Keep space around the STM23 Motor+Drive to allow convected air-ow.
• Never use your drive in a space where there is no air ow or where other devices cause the sur- rounding air to be more than 40°C.
• Never put the drive where it can get wet or where metal or other electrically conductive particles can get on the circuitry.
• Always provide air-ow around the drive.
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STM23-2 Max Duty cycle vs Speed
5 Amps @Ambient of 40°C
Mounted to a 6.4" x 6.4" x .25" Aluminum Plate
0
20
40
60
80
100
0 10 20 30 40 50
Speed (RPS)
% Duty Cycle
12V Duty Cycle 24V Duty Cycle 48V Duty Cycle 65V Duty Cycle
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Choosing a Power Supply

When choosing a power supply, there are many things to consider. If you are manufacturing equipment that will be sold to others, you probably want a supply with all the safety agency approvals. If size and weight are an issue use a switching supply. You must also decide what size of power supply (in terms of voltage and current) is needed for your application.

Voltage

e STM23 series drives are designed to give optimum performance between 24 and 48 volts DC. Choosing the voltage depends on the performance needed and Motor+Drive heating that is acceptable and/or does not cause a drive over-temperature. Higher voltages will give higher speed performance but will cause the Motor+Drive to operate at higher temperatures. Using power supplies with voltage outputs that are near the drive maximum may reduce the operational duty-cycle signicantly. See the chart below to determine thermal performance at dierent power supply voltages
If you choose an unregulated power supply, make sure the no load voltage of the supply does not exceed the drive’s maximum input voltage specication.
100
% Duty Cycle
STM23-3 Max Duty cycle vs Speed
5 Amps @Ambient of 40°C
Mounted to a 6.4" x 6.4" x .25" Aluminum Plate
80
60
40
20
0
0 10 20 30 40 50
Speed (RPS)
9
12V Duty Cycle 24V Duty Cycle 48V Duty Cycle 65V Duty Cycle
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No Load
No Load
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STM23 Hardware Manual

Current

e power supply current required by the STM23 at various voltages is shown in the charts below. Note that the supply current owing into the STM23 is less than the motor phase current. at’s because the STM23’s switch­ing amplier converts high voltages and low currents from the DC power supply into the higher current and lower voltage required by the motor. Using a higher voltage power supply will increase high speed torque, but will also increase motor heating (see page 40).
Also note that the current draw is signicantly dierent at higher speeds depending on the torque load to the mo­tor. Estimating your current needs may require a good analysis of the load the motor will encounter.
STM23-2 12V Power Supply Current
140
3.00
Torque (Oz-In)
Torque (Oz-In)
120 100
80 60 40 20
0
0 10 20 30 40 50
Speed (RPS)
STM23-2 24V Power Supply Current
140 120 100
80 60 40 20
0
0 10 20 30 40 50
Speed (RPS)
2.50
2.00
1.50
1.00
0.50
0.00
3.50
3.00
2.50
2.00
1.50
1.00
0.50
0.00
Amps
Torque Oz/In
Supply Current
Supply Current
Amps
Torque Oz/In
Supply Current
Supply Current
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No Load
No Load
STM23 Hardware Manual
STM23-2 48V Power Supply Current
140
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3.00
Torque (Oz-In)
120 100
80 60 40 20
0
0 10 20 30 40 50
Speed (RPS)
STM23-2 70V Power Supply Current
140 120
2.50
2.00
1.50
1.00
0.50
0.00
3.50
3.00
Amps
Torque Oz/In
Supply Current
Supply Current
Torque (Oz-In)
100
80 60 40 20
0
0 10 20 30 40 50
Speed (RPS)
11
2.50
2.00
1.50
1.00
0.50
0.00
Amps
Torque Oz/In
Supply Current
Supply Current
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No Load
No Load
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STM23 Hardware Manual
STM23-3 12V Power Supply Current
Torque (Oz-In)
250
200
150
100
50
0
0 10 20 30 40 50
Speed (RPS)
STM23-3 24V Power Supply Current
250
3.50
3.00
2.50
2.00
1.50
1.00
0.50
0.00
3.50
Amps
Torque Oz/In
Supply Current
Supply Current
Torque (Oz-In)
200
150
100
50
0
0 10 20 30 40 50
Speed (RPS)
12
3.00
2.50
2.00
1.50
1.00
0.50
0.00
Amps
Torque Oz/In
Supply Current
Supply Current
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No Load
No Load
STM23 Hardware Manual
STM23-3 48V Power Supply Current
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Torque (Oz-In)
250
200
150
100
50
0
0 10 20 30 40 50
Speed (RPS)
STM23-3 70V Power Supply Current
250
3.50
3.00
2.50
2.00
1.50
1.00
0.50
0.00
4.00
Amps
Torque Oz/In
Supply Current
Supply Current
Torque (Oz-In)
200
150
100
50
0
0 10 20 30 40 50
Speed (RPS)
13
3.50
3.00
2.50
2.00
1.50
1.00
0.50
0.00
Amps
Torque Oz/In
Supply Current
Supply Current
Page 14
To Power Supply +
To Earth Ground
To Power Supply –
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STM23 Hardware Manual

Connecting the Power Supply

If you need information about choosing a power supply, please read “Choosing a Power Supply” located above in this manual.
Connect the motor power supply “+” terminal to the driver terminal labeled “+”. Connect power supply “-” to the drive terminal labeled “-”. Use wire in the range of 16 to 20 AWG. e STM23 drives contain an internal fuse that connects to the power supply + terminal. is fuse is not user replaceable. If you want to install a user serviceable fuse in your system install a 4 amp fast acting fuse in line with the + power supply lead.
It is important that the motor frame be electrically connected to ground. When the motor is mounted on an insu­lated surface, a ground wire is required as shown in the diagram below. Also, in applications where multiple STMs are used on a machine, individual ground wires may reduce the overall electrical noise level.
Be careful not to reverse the wires. Reverse connection may open the internal fuse on your driver and void your warranty.
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STM23 Hardware Manual
If you plan to use a regulated power supply you may encounter a problem with regeneration. If you rapidly decel­erate a load from a high speed, much of the kinetic energy of that load is transferred back to the power supply. is can trip the over-voltage protection of a switching power supply, causing it to shut down and/or over-voltage your STM. We oer the RC-050 “regeneration clamp” to solve this problem. If in doubt, buy an RC-050 for your rst installation. If the “regen” LED on the RC-050 never ashes, you don’t need the clamp.
2/14/2012
RC-050 Regen Clamp
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ground (to PC ground)
TX (to PC RX)
+5V Supply (for SiNet Hub)
RX (to PC TX)
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STM23 Hardware Manual

Connecting the STM23 Communications

e STM23 is available with four types of communications: RS-232, RS-422/485, Ethernet and CANopen/RS-232. Each type requires a dierent hardware connection for interface to a PC or other host system. e RS-232 version (STM23x­xAx) comes with a cable that will provide the interface to an RS-232 port through a DB9 style connector. e RS-422/485 version (STM23x-xRx) requires the user to provide both the cabling and the RS-422/485 interface. e Ethernet versions (STM23Q-xEx and STM23IP-xEx) require the user to provide a CAT5 or beer Ethernet cable for interfacing to the drive. is cable can be either a straight-thru or cross-over type. e CANopen/RS-232 version (STM23C-xCx) also includes an RS-232 port for conguration. Below are descriptions of how to interface various STM23 Drive+Motors to a PC.

Connecting to a PC Using RS-232

• Locate your computer within 8 feet of the Drive+Motor.
• Your drive was shipped with a communication cable. Plug the large end into the serial port of your PC and
the small end into the RS-232 jack (RJ-11 connector) on your drive. Secure the cable to the PC with the screws on the sides.
Never connect a drive to a telephone circuit. It uses the same connectors and cords as telephones and mo­dems, but the voltages are not compatible.
NOTE: If the PC does not have an RS-232 serial port, a USB Serial Converter will be needed. For more information, please read
Connecting to an STM23 Using USB.
Pin Assignments of the RS-232 Port (RJ11 connector)
e RS-232 circuitry does not have any extra electrical “hardening” and care should be taken when connecting to the RS­232 port as hot plugging could result in circuit failure. If this is a concern the RS-422/485 version should be used.
Do not plug or unplug the RS-232 connection while power is applied to the drive. is is known as “hot plugging” and should be avoided.

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 controller. It also allows the communication cable to be long (more than 300 meters or 1000 feet). We recommend using Category 5 cable in low electrical-noise environments. Category 5 cable is widely used for computer networks, inexpensive, easily obtained and certied for quality and data integrity. For electrically noisy environments we recommend twisted pair cable with an overall shield and drain wire. Connect the drain wire at one end of the cable to earth ground..
RS-422/485 versions of the STM23 can be used with either four-wire or two-wire congurations. Both types of con­gurations can be used for point-to-point (i.e. one drive and one host) or multi-drop networks (one host and up to 32 drives).
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GND
TX–
TX+
RX–
RX+
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STM23 Hardware Manual
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NOTE: To use the STM23 RS-422/485 version with the ST Congurator soware, the STM23 must be con­nected to the PC in the four-wire “point to point” conguration (see below) and congured one axis at a time.
to Host GND
to Host Rx-
to Host Rx+
to Host Tx-
to Host Tx+
+Rx- +Tx- GND
STM24
RS-422/485 4–wire “Point to Point” Wiring
RS-422/485 Connector diagram
Four-Wire Conguration
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. e 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. is 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 ground.
to Host GND
to Host Rx-
to Host Rx+
to Host Tx-
120
to Host Tx+
+Rx- +Tx- GND +Rx- +Tx-GND +Rx- +Tx- GND
Drive 1 Drive 2 Drive n
RS-422/485 4–wire system
NOTE: a 120 ohm terminating resistor is required at the end of a four wire network.
NOTE: If the PC does not have an RS-422/485 serial port, a converter will be required.
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+Rx- +Tx- GND +Rx- +Tx- GND +Rx- +Tx- GND
to Host Tx+ (B)
to Host Tx- (A)
to Host GND
Drive 1 Drive 2 Drive n
120
GND
TX–
TX+
RX–
RX+
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Two-Wire Conguration
STM23 Hardware Manual
RS-422/485 Connector diagram
Transmit and receive on the same pair of wires can lead to trouble. e host must not only disable its transmier before it can receive data, it must do so quickly, before a drive begins to answer a query. e STM23 includes a “transmit delay” parameter that can be adjusted to compensate for a host that is slow to disable its transmier. is adjustment can be made over the network using the TD command, or it can be set using the set the transmit delay in a four-wire system.
NOTE: a 120 ohm terminating resistor is required at the end of a two wire network.
RS-232 to RS-485 2-wire Converter
Model 485-25E from Integrity Instruments (800-450-2001) works well for converting your PC’s RS-232 port to RS-485. It comes with everything you need. Connect the adaptor’s “B” pin to the Drive+Motor’s TX+ and RX+ terminals. Connect “A” to the drive’s TX- and RX- terminals.

Assigning RS-485 Addresses

Before wiring the entire system, you’ll need to connect each drive individually to the host computer so that a unique address can be assigned to each drive. Use the purpose.
Connect the drive to your PC and then launch the have already congured your drive, then you should click the Upload buon so that the those of your drive. Click on the Motion buon, then select the SCL operating mode. If you have a Q drive, you may want to select “Q Programming”. Either way, you’ll see the RS-485 Address panel appear. Just click on the address charac­ter of your choice. You can use the numerals 0..9 or the special characters ! “ # $ % & ‘ ( ) * + , - . / : ; < = > ? @ . Just make
Typical RS-422/485 Two-Wire System
ST Congurator
ST Congurator™
ST Congurator™
soware, available at Applied Motion’s website for this
soware. Finally, apply power to your drive. If you
soware. It is not necessary to
ST Congurator™
seings match
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STM23 Hardware Manual
sure that each drive on your network has a unique address. If you are using a 2-wire network, you may need to set the Transmit Delay, too. 10 milliseconds works on the adapters we’ve tried. Once you’ve made your choices, click Download to save the seings to your drive.
2/14/2012

Connecting to an STM23 using USB

e USB-COMi-M (8500-003) from Applied Motion is an excellent choice for USB to serial conversion. It can be used for all RS-232, RS-422 and RS-485 applications. e USB-COM-CBL from connection only. ese adapters use the FTDI chip set and are compatible with Windows XP and later, including 64 bit versions.
byterunner.com
can be used for USB to RS-232
Note: Prolic-based USB serial adapters do not work with Vista 64 or Windows 7 64 bit operating systems.
For RS-232 conversion using the USB-COMi-M (8500-003), use the DB9 connector and set the switches according to the diagram below. e DB-9 connector is not used for RS-485.
RS-232
1ON2 3 4
USB-COMi-M (8500-003) Switch Seings
For RS-485 two wire systems, set the switches and make the connections to the STM23 according the diagrams below.
2 Wire
USB-COMi-M (8500-003) 6 pin
screw terminal connector
1 RX-, TX­2 RX+, TX+ 6 GND
For RS-485 four wire systems, set the switches and make the connections to the STM23 according the diagrams below.
USB-COMi-M (8500-003) 6 pin
screw terminal connector
1 RX­2 RX+ 3 TX+ 4 TX­6 GND
STM23 5 pin connector
STM23 5 pin connector
RS-485
1ON2 3 4
4 Wire
RS-485
1ON2 3 4
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STM23 Hardware Manual

Connecting the Drive to Your PC using Ethernet

is process requires three steps
• Physically connect the drive to your network (or directly to the PC)
• Set the drive’s IP address
• Set the appropriate networking properties on your PC.
Note: the following pages are an excerpt from the “eSCL Communication Reference Guide”. For more
information, please read the rest of the guide.

Addresses, Subnets, and Ports

Every device on an Ethernet network must have a unique IP address. In order for two devices to communicate with each other, they must both be connected to the network and they must have IP addresses that are on the same subnet. A subnet is a logical division of a larger network. Members of one subnet are generally not able to communicate with members of another unless they are connected through special network equipment (e.g. router). Subnets are dened by the choices of IP addresses and subnet masks. If you want to know the IP address and subnet mask of your PC, select Start…All Programs…Accessories…Com­mand Prompt. en type “ipcong” and press Enter. You should see something like this:
If your PC’s subnet mask is set to 255.255.255.0, a common seing known as a Class C subnet mask, then your machine can only talk to another network device whose IP address matches yours in the rst three octets. (e numbers between the dots in an IP address are called octets.) For example, if your PC is on a Class C subnet
and has an IP address of 192.168.0.20, it can talk to a device at 192.168.0.40, but not one at 192.168.1.40. If you change your subnet mask to 255.255.0.0 (Class B) you can talk to any device whose rst two octets match yours. Be sure to ask your system administrator before doing this. Your network may be segmented for a rea­son.
Your drive includes a 16 position rotary switch for seing its IP address. e factory default address for each switch seing is shown in the table on the next page.
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Seings 1 through E can be changed using the versal recovery address. If someone were to change the other seings and not write it down or tell anyone (I’m not naming names here, but you know who I’m talking about) then you will not be able to communicate with your
Rotary Switch IP Address
ST Congurator
0 10.10.10.10 1 192.168.1.10 2 192.168.1.20 3 192.168.1.30 4 192.168.0.40 5 192.168.0.50 6 192.168.0.60 7 192.168.0.70 8 192.168.0.80 9 192.168.0.90 A 192.168.0.100
B 192.168.0.110 C 192.168.0.120 D 192.168.0.130
E 192.168.0.140
F DHCP
soware. Seing 0 is always “10.10.10.10”, the uni-
drive. e only way to “recover” it is to use the universal recovery address.
Seing F is “DHCP”, which commands the drive to get an IP address from a DHCP server on the network. e IP address automatically assigned by the DHCP server may be “dynamic” or “static” depending on how the adminis­trator has congured DHCP. e DHCP seing is reserved for advanced users.
Your PC, or any other device that you use to communicate with the drive, will also have a unique address.
On the drive, switch seings 1 through E use the standard class B subnet mask (i.e. “255.255.0.0”). e mask for the universal recovery address is the standard class A (i.e. “255.0.0.0”). One of the great features of Ethernet is the ability for many applications to share the network at the same time.
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Ports are used to direct trac to the right application once it gets to the right IP address. e UDP eSCL port in our drives is 7775. To send and receive commands using TCP, use port number 7776. You’ll need to know this when you begin to write your own application. You will also need to choose an open (unused) port number for your application. Our drive doesn’t care what that is; when the rst command is sent to the drive, the drive will make note of the IP address and port number from which it originated and direct any responses there. e drive will also refuse any trac from other IP addresses that is headed for the eSCL port. e rst application to talk to a drive “owns” the drive. is lock is only reset when the drive powers down.
If you need help choosing a port number for your application, you can nd a list of commonly used port num­bers at
One nal note: Ethernet communication can use one or both of two “transport protocols”: UDP and TCP. eSCL commands can be sent and received using either protocol. UDP is simpler and more ecient than TCP, but TCP is more reliable on large or very busy networks where UDP packets might occasionally be dropped.

Option 1: Connect a Drive to Your Local Area Network

If you have a spare port on a switch or router and if you are able to set your drive to an IP address that is com­patible with your network, and not used by anything else, this is a simple way to get connected. is technique also allows you to connect multiple drives to your PC. If you are on a corporate network, please check with your system administrator before connecting anything new to the network. He or she should be able assign you a suitable address and help you get going.
hp://www.iana.org/assignments/port-numbers.
STM23 Hardware Manual
If you are not sure which addresses are already used on your network, you can nd out using “Angry IP scanner”, which can be downloaded free from
LAN DRIVE
appear to be unused because a computer or other device is currently turned o. And many networks use dy­namic addressing where a DHCP server assigns addresses “on demand”. e address you choose for your drive might get assigned to something else by the DHCP server at another time.
hp://www.angryip.org/w/Download
PC NIC
SWITCH
or
ROUTER
. But be careful: an address might
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Once you’ve chosen an appropriate IP address for your drive, set the rotary switch according the address table above. If none of the default addresses are acceptable for your network, you can enter a new table of IP ad­dresses using Congurator. If your network uses addresses starting with 192.168.0, the most common subnet, you will want to choose an address from switch seings 4 through E. Another common subnet is 192.168.1. If
your network uses addresses in this range, the compatible default selections are 1, 2 and 3. If your PC address is not in one of the above private subnets, you will have to change your subnet mask to
255.255.0.0 in order to talk to your drive. To change your subnet mask:
1. On Windows XP, right click on “My Network Places” and select properties. On Windows 7, click Computer. Scroll down the le pane until you see “Network”. Right click and select properties. Select “Change adapter seings”
2. You should see an icon for your network interface card (NIC). Right click and select properties.
3. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties buon. On Windows 7 and Vista, look for “(TCP/IPv4)”
4. If the option “Obtain an IP address automatically” is selected, your PC is geing an IP address and a subnet mask from the DHCP server. Please cancel this dialog and proceed to the next section of this
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manual: “Using DHCP”.
5. If the option “Use the following IP address” is selected, life is good. Change the subnet mask to “255.255.0.0” and click OK.
Using DCHP
If you want to use your drive on a network where all or most of the devices use dynamic IP addresses supplied by a DHCP server, set the rotary switch to “F”. When the drive is connected to the network and powered on, it will obtain an IP address and a subnet mask from the server that is compatible with your PC. e only catch is that you won’t know what address the server assigns to your drive. the Drive Discovery feature, as long as your network isn’t too large. With the drive connected to the network and powered on, select Drive Discovery from the Drive menu.
You will see a dialog such as this: Normally, Drive Discovery will only detect one network interface card (NIC), and will select it automatically. If you are using a laptop and have both wireless and wired network connections, a second NIC may appear. Please select the NIC that you use to connect to the network to which you’ve connected your drive. en click
STM23 Hardware Manual
ST Congurator
can nd your drive using
OK. Drive Discovery will notify you as soon as it has detected a drive.
If you think this is the correct drive, click Yes. If you’re not sure, click Not Sure and Drive Discovery will look for additional drives on your network. Once you’ve told Drive Discovery which drive is yours, it will automatically enter that drive’s IP address in the IP address text box so that you are ready to communicate.
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Option 2: Connect a Drive Directly to Your PC

It doesn’t get much simpler than this:
1. Connect one end of a CAT5 Ethernet cable into the LAN card (NIC) on your PC and the other into the drive.
You don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make
the necessary physical layer changes.
2. Set the IP address on the drive to “10.10.10.10” by seing the rotary switch at “0”.
3. To set the IP address of your PC: a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the le pane until you see “Network”. Right click and
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select properties. Select “Change adapter seings”
4. You should see an icon for your network interface card (NIC). Right click and select properties. a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties
buon.
b. On Windows 7 and Vista, look for “(TCP/IPv4)”
5. Select the option “Use the following IP address”. en enter the address “10.10.10.11”. is will give your PC an IP address that is on the same subnet as the drive. Windows will know to direct any trac intended for the drive’s IP address to this interface card.
STM23 Hardware Manual
6. Next, enter the subnet mask as “255.255.255.0”.
7. Be sure to leave “Default gateway” blank. is will prevent your PC from looking for a router on this subnet.
8. Because you are connected directly to the drive, anytime the drive is not powered on, your PC will annoy you with a small message bubble in the corner of your screen saying “e network cable is unplugged.”
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Option 3: Use Two Network Interface Cards (NICs)

is technique allows you to keep your PC connected to your LAN, but keeps the drive o the LAN, preventing possible IP conicts or excessive trac.
1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it directly to the
PC NIC1 NIC2 LAN DRIVE
drive using a CAT5 cable. You don’t need a special “crossover cable”; the drive will automatically de­tect the direct connection and make the necessary physical layer changes.
2. If you use a laptop and only connect to your LAN using wireless networking, you can use the built-in RJ45 Ethernet connection as your second NIC.
3. Set the IP address on the drive to “10.10.10.10” by seing the rotary switch at “0”.
4. To set the IP address of the second NIC: a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the le pane until you see “Network”. Right click and
select properties. Select “Change adapter seings”
5. You should see an icon for your newly instated NIC. Right click again and select properties. a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties
buon.
b. On Windows 7 and Vista, look for “(TCP/IPv4)”
6. Select the option “Use the following IP address”. en enter the address “10.10.10.11”. is will give your PC an IP address that is on the same subnet as the drive. Windows will know to direct any trac intended for the drive’s IP address to this interface card.
7. Next, enter the subnet mask as “255.255.255.0”. Be sure to leave “Default gateway” blank. is will prevent your PC from looking for a router on this subnet.
8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will annoy you with a small message bubble in the corner of your screen saying “e network cable is unplugged.”
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STEP+ STEP­DIR+ DIR­EN+ EN­OUT+ OUT­+5V AIN GND
RES
inside drive
STEP+
STEP-
I/O Connector
DIR+
DIR-
EN+
EN-
OUT+
OUT-
AIN
GND
Signal
Conditioning
+5V
50ma Limit
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STM23 Hardware Manual

STM23 Inputs and Outputs

e STM23 drives include 3 digital inputs and 1 analog input
• Two high speed digital inputs, 5-24 volt logic, labeled STEP (or IN1) and DIR (or IN2), for commanding posi- tion. Pulse & direction, CW/CCW pulse, and A/B quadrature encoder signals can be used as position com­mands with these inputs. e STEP/IN1 and DIR/IN2 inputs can also be connected to sensors, switches and other devices for use with streaming SCL and Q programming commands such as Wait Input (WI), Seek Home (SH), Feed to Sensor (FS), etc. When not being used for commanding position, these inputs can also be used for CW/CCW end-of-travel limits, CW/CCW jog inputs, or Run/stop & direction velocity-mode inputs.
(no analog input on STM23C models)
the available functionality of these inputs is determined by the STM23 control option (S, Q, C or IP) as well as the motion control mode selected in ST Congurator.
• One digital input, 5-24 volt logic, labeled EN (or IN3), which can be used for motor enable/disable and/ or alarm reset. It can also be connected to a sensor, switch or other device for use with streaming SCL and Q programming commands such as Wait Input, Seek Home, Feed to Sensor, etc.
• One analog input, 0-5 volt logic, labeled AIN, which can be used as an analog velocity or position command. It can also be used with streaming SCL and Q programming commands such as Wait Input, Seek Home, Feed to Sensor, etc.
NOTE: e analog input is not available on STM23C (CANopen) models.
.
NOTE:
Connector Pin Diagram - STM23
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IN1+ IN1
­IN2+ IN2
­IN3+ IN3
­OUT+ OUT
-
STATUS
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Connector Pin Diagram - STM23C
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inside drive
IN1+
IN1-
IN2+
IN2-
IN3+
IN3-
I/O Conne ctor
OUT+
OUT-
RES
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High Speed Digital Inputs

e STM23 drives include two high-speed inputs labeled STEP (or IN1) and DIR (or IN2). ey accept 5 to 24 volt single-ended or dierential signals, up to 2 MHz. Typically these inputs connect to an external controller that provides step & direction command signals. You can also connect a master encoder to the high-speed inputs for “following” applications. Or you can use these inputs with Wait Input, If Input, Feed to Sensor, Seek Home and other SCL or Q commands.
Connection diagrams follow.
Indexer
with
5-24 VDC
DIR DIR/IN2-
Sinking Outputs
STEP STEP/IN1-
DIR/IN2+
STM23
STEP/IN1+
Connecting to indexer with Sinking Outputs
DIR
DIR/IN2+
Indexer
with
Sourcing
Outputs
STEP
GND
DIR/IN2-
STM23
STEP/IN1+
STEP/IN1-
Connecting to indexer with Sourcing Outputs
Indexer
with
Differential
Outputs
DIR+
DIR- DIR/IN2-
STEP+
STEP-
DIR/IN2+
STM23
STEP/IN1+
STEP/IN1-
Connecting to Indexer with Dierential Outputs
(Many High Speed Indexers have Dierential Outputs)
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STM23
GND
DIR/IN2-
DIR/IN2+
STEP/IN1-
STEP/IN1+
GND
B-
B+
A-
A+
Master Encoder
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Wiring for Encoder Following
5 to 24
VDC Power Supply
+
- STEP/IN1-
direction switch
run/stop switch
(closed=run)
DIR/IN2+
DIR/IN2-
STEP/IN1+
Using Mechanical Switches
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e Enable (EN) Digital Input
As mentioned in the previous section, the high-speed STEP and DIR inputs are designed for high speed operation. e Enable digital input is designed for high speed digital input operation between 5 and 24 volts DC.
Note: If current is owing into or out of an input, the logic state of that input is low or closed. If no current is ow­ing, or the input is not connected, the logic state is high or open.
e diagrams on the following pages show how to connect the input to various commonly used devices.
EN/IN3+
STM23
EN/IN3-
5-24 VDC
Power
Supply
+
Switch or Relay
(closed = logic Low)
-
Connecting the Input to a Switch or Relay
5-24
VDC
Power
Supply
+
+
output
NPN
Proximity
-
Sensor
–
EN/IN3+
STM23
EN/IN3-
Connecting an NPN Type Proximity Sensor to an input
(When prox sensor activates, input goes low).
5-24 VDC
Power
Supply
+
-
+
PNP
Proximity
Sensor
–
output
EN/IN3+
STM23
EN/IN3-
Connecting an PNP Type Proximity Sensor to an input
(When prox sensor activates, input goes low).
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Analog Input

e STM23S/Q/IP drives feature an analog input (not available on STM23C drives). e input can accept a signal range of 0 to 5 VDC. e drive can be congured to operate at a speed or position that is proportional to the analog signal. Use the STM23 drives provide a 5 volt DC, 50 mA output labeled +5V 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.
ST Congurator
soware to set the signal range, oset, dead-band and lter frequency. e
+5V
AIN
GND
I/O Connector
1-10k Ohm
potentiometer
50ma Limit
Conditioning
cw
cc w
inside drive
Signal
+5V
AIN
GND
Connecting a Potentiometer to the Analog Input
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STM23 Hardware Manual

Programmable Output

e STM23 drives feature one optically isolated digital output. is output can be set to automatically control a motor brake, to signal a fault condition, to indicate when the motor is moving or to provide an output frequency proportional to motor speed (tach signal). e output can also be turned on and o by program instructions like the Set Output (SO) command. e output can be used to drive LEDs, relays and the inputs of other electronic devices like PLCs and counters. e output transistor’s collector, labeled OUT+, and emier, labeled OUT-, are available at the connector. is allows you to congure the output for current sourcing or sinking.
Diagrams of various connection types follow.
Do not connect the output to more than 30VDC. e current through the output terminal must not exceed 40mA.
5-24 VDC
Power Supply
+ –
OUT+
Load
STM23
OUT-
Connecting a Sinking Output
5-24 VDC
Power Supply
+ –
OUT+
STM23
OUT-
Connecting a Sourcing Output
COM
PLC
IN
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5-24 VDC
Power Supply
+
–
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OUT+
IN
PLC
STM23
OUT-
Connecting a Sinking Output again
relay
OUT+
COM
5-24 VDC
Power Supply
+ –
STM23
1N4935 suppression diode
OUT-
Driving a Relay
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Reference Materials

Mechanical Outlines

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STM23x-2Ax
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STM23x-2Rx
37
STM23x-3Ax
Page 38
MODEL OPTIONS
STM23C-2CN CANOPEN, NO ENC STM23C-2CE CANOPEN, ENCODER
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STM23x-3Rx
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STM23C-2Cx
Page 39
MODEL OPTIONS
STM23C-3CN CANOPEN, NO ENC STM23C-3CE CANOPEN, ENCODER
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STM23C-3Cx
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Technical Specications
POWER AMPLIFIER
AMPLIFIER TYPE Dual H-Bridge, 4 Quadrant CURRENT CONTROL 4 state PWM at 20 Khz OUTPUT TORQUE STM23x-2xx: 125 oz-in with suitable power supply
STM23x-3xx: 210 oz-in with suitable power supply POWER SUPPLY External 12 - 70 VDC power supply required PROTECTION Over-voltage (shutdown at 74VDC), under-voltage (shutdown at 11VDC),
over-temp, motor/wiring shorts (phase-to-phase, phase-to-ground). IDLE CURRENT REDUCTION Reduction range of 0 – 90% of running current aer delay selectable in mil-
liseconds. OP ER ATI NG TE M P ER ATU R E 0 to 85ºC (32 to 185ºF) Internal temperature of the electronics section and
encoder
0 to 100ºC (32 to 212ºF) Temperature of motor body AMBIENT TEMPERATURE 0 to 40°C (32 - 104°F) (mounted to suitable heatsink) HUMIDITY 90% max, non-condensing AGENCY APPROVALS RoHS, CE EN61800-3:2004
CONTROLLER
MICROSTEP RESOLUTION Soware selectable from 200 to 51200 steps/rev in increments of 2 steps/
rev. MICROSTEP EMULATION Performs high resolution stepping by synthesizing ne microsteps from
coarse steps (step & direction mode only) ANTI-RESONANCE
(Electronic Damping)
TORQUE RIPPLE SMOOTHING Allows for ne adjustment of phase current waveform harmonic content to
AUTO SETUP Measures motor parameters and congures motor current control and anti-
SELF TEST Checks internal & external power supply voltages. Diagnoses open motor
COMMAND SIGNAL SMOOTH­ING
Raises the system damping ratio to eliminate midrange instability and allow
stable operation throughout the speed range and improves seling time.
reduce low-speed torque ripple in the range 0.25 to 1.5 rps
resonance gain seings
phases and motor resistance changes >40%.
Soware congurable ltering reduces jerk and excitation of extraneous
system resonances (step & direction mode only).
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CONTROLLER
NON-VOLATILE STORAGE Congurations are saved in FLASH memory on-board the DSP. MODE OF OPERATION Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator,
joystick), SCL streaming commands, SiNet Hub. STEP AND DIRECTION INPUTS STEP+/- (IN1+/1)
Optically Isolated, 5-24 Volt. 8-12mA. Minimum pulse width = 250 ns. Maxi-
mum pulse frequency = 3MHz.
Function: Step, CW step, A quadrature, CW limit , CW jog, START/STOP
(oscillator mode), general purpose input.
Adjustable bandwidth digital noise rejection lter on all inputs
DIR+/- (IN2+/-)
Optically Isolated, 5-24 Volt. 8-12mA. Minimum pulse width = 250 ns.
Maximum pulse frequency = 3 MHz.
Function: Direction, CCW step, B quadrature, CCW limit , CCW jog, sensor,
direction (oscillator mode), general purpose input.
Adjustable bandwidth digital noise rejection lter on all inputs ENABLE INPUT EN+/- (IN3+/-)
Optically Isolated, 5-24 Volt. 8-12mA. Minimum pulse width = 250 ns. Maxi-
mum pulse frequency = 3 MHz.
Function: Enable, alarm/fault reset, speed 1/speed 2(oscillator mode). Ad-
justable bandwidth digital noise rejection lter on all inputs OUTPUT Optically isolated, 30V, 40mA MAX.
Function: Fault, motion, tach or general purpose programmable
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ANALOG INPUT RANGE AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits. COMMUNICATION INTERFACE STM23x-xAx: RS-232
STM23x-xEx: Ethernet
STM23x-xRx: RS-485
STM23C-xCx: CANopen, RS-232
STM23IP-xEx: Ethernet, EtherNet/IP + 5 VOLT USER OUTPUT 4.8V to 5.0V @ 50mA Maximum
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MOTO R D ATA
MASS STM23x-2xx = 1 lb, 14 oz (850 g)
STM23x-3xx = 42 oz (1191 g)
ROTOR INERTIA STM23x-2xx = 3.68x10
STM23x-3xx = 6.5x10
-3
STM23 Hardware Manual
3
-
oz-in-sec2 (260 g-cm2)
oz-in-sec2 (460 g-cm2)
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80
100
120
140
STM23-2
12 VDC 24 VDC 48 VDC 70 VDC
0
20
40
60
0 10 20 30 40 50
oz-i
n
rps
150
200
250
STM23-3
12 VDC 24 VDC 48 VDC 70 VDC
0
50
100
0 10 20 30 40 50
oz-i
n
rps
STM23 Hardware Manual

Torque-Speed Curves

Note: all torque curves were measured at 20,000 steps/rev.
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65V Duty Cycle
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STM23 Hardware Manual

Drive/Motor Heating

Step motors convert electrical power from the driver into mechanical power to move a load. Because step motors are not perfectly ecient, some of the electrical power turns into heat on its way through the motor. is heating is not so much dependent on the load being driven but rather the motor speed and power supply voltage. ere are certain combinations of speed and voltage at which a motor cannot be continuously operated without damage.
We have characterized the STM23 drive+motors in our lab and provided curves showing the maximum duty cycle versus speed at commonly used power supply voltages. Please refer to these curves when planning your applica­tion.
Please also keep in mind that a step motor typically reaches maximum temperature aer 30 to 45 minutes of opera­tion. If you run the motor for one minute then let it sit idle for one minute, that is a 50% duty cycle. Five minutes on and ve minutes o is also 50% duty. However, one hour on and one hour o has the eect of 100% duty because during the rst hour the motor will reach full (and possibly excessive) temperature.
e actual temperature of the motor depends on how much heat is conducted, convected or radiated out of it. Our measurements were 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. Your results may vary.
Please use the curves below, which show the motor body temperature, to determine the maximum duty cycle of the STM23 drive+motors under various conditions.
Maximum Duty Cycle vs Speed
STM23-2 Max Duty cycle vs Speed
5 Amps @Ambient of 40°C
Mounted to a 6.4" x 6.4" x .25" Aluminum Plate
100
80
60
40
% Duty Cycle
20
0
0 10 20 30 40 50
Speed (RPS)
12V Duty Cycle 24V Duty Cycle 48V Duty Cycle
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65V Duty Cycle
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STM23-3 Max Duty cycle vs Speed
5 Amps @Ambient of 40°C
Mounted to a 6.4" x 6.4" x .25" Aluminum Plate
100
80
60
40
% Duty Cycle
20
0
0 10 20 30 40 50
Speed (RPS)
Temperature vs Speed
STM23-2 Temperature vs. Speed
5.0 Amps @Ambient of 40°C
250
200
Mounted to a 6.4" x 6.4" x .25" Aluminum Plate
12V Duty Cycle 24V Duty Cycle 48V Duty Cycle
12V Temp 24V Temp 48V Temp 65V Temp
150
100
Temperature (C)
50
0
0 10 20 30 40 50
Speed (RPS)
STM23-3 Temperature vs. Speed
5.0 Amps @Ambient of 40°C
180 160 140 120 100
80 60 40
Temperature (C)
20
Mounted to a 6.4" x 6.4" x .25" Aluminum Plate
0
0 10 20 30 40 50
Speed (RPS)
12V Temp 24V Temp 48V Temp 65V Temp
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Mating Connectors and Accessories

STM23 Hardware Manual
Mating Connector
(Type)
DC Power (2-position, screw terminal) 1615780000 - Weidmuller 1615780000 - Weidmuller 1615780000 - Weidmuller
I/O (11-position, spring cage) 1881419 - Phoenix 1881419 - Phoenix 1881419 - Phoenix
RS-485 (5-position, spring cage) - 1881354 - Phoenix 1881419 - Phoenix
RS-232/CANopen - -
STM23x-xAxSTM23x-xEx STM23x-xRx STM23C-xCx
[mating connector for CANopen/
RS-232]-
Accessories
Serial programming cable for programming units with RS-232 ports (STM23x-xAx): P/N 3004-189 Serial programming cable for RS-232/CANopen ports (STM23C-xCx): P/N 3004-256 USB-Serial Adapter with one RS-232 port and one RS-485 port: P/N 8500-003
Note: Prolic-based USB serial adapters do not work with Vista 64 or Windows 7 64 bit operating systems. Suggested adapters are Applied Motion 8500-003 or Byterunner USB-COM-CBL.
DC Power Supplies: 24 V, 150 W switching power supply, P/N PS150A24 48 V, 320 W switching power supply, P/N PS320A48 Regeneration Clamp for use with high inertial loads: RC-050
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920-0021F
STM23 Hardware Manual
2/14/2012

LED Error Codes

Status LED STM
e STM drive+motor includes red and green LEDs to indicate status. When the motor is enabled, the green LED ashes slowly. When the green LED is solid, the motor is disabled. Conditions and errors are indicated by combina­tions of red and green “ashes” as follows:
Code Condition
solid green no alarm, motor disabled flashing green(slow) no alarm, motor enabled flashing green(fast) 1 red, 1 green motor stall (optional encoder only)* 1 red, 2 green 2 red, 1 green 2 red, 2 green cw limit 3 red, 1 green drive overheating* 3 red, 2 green internal voltage out of range* 4 red, 1 green power supply overvoltage* 4 red, 2 green power supply undervoltage 5 red, 1 green over current / short circuit* 6 red, 1 green open motor winding* 7 red, 1 green serial communication error
Q Program running
move attempted while drive disabled ccw limit
*ese errors are faults and will disable the motor. ey also cause the output to activate if it is so congured.
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920-0021F 2/14/2012

Contacting Applied Motion Products

Corporate Headquarters 404 Westridge Drive Watsonville, CA 95076 (831) 761-6555 fax (831) 761-6544 web www.applied-motion.com support@applied-motion.com
STM23 Hardware Manual
48
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