Moons' STM23C User Manual

STM23C

Integrated Motor

User Manual

Rev. 1.0

AMP & MOONS’ Automation

2

Rev. 1.0
2010/11/03

STM23C User Manual

Contents

1 Introduction ................................................................................ 4

1.1 Features ............................................................................................. 4

1.2 Block Diagram ...................................................................................5

1.3 Safety Instructions .............................................................................6

2 Getting Started ........................................................................... 7

2.1 Installing Software .............................................................................7

2.2 Mounting the Hardware .....................................................................7

2.3 Choosing a Power Supply .................................................................8

2.3.1 Voltage ..................................................................................................8

2.3.2 Current ...................................................................................................9

3 Installation/Connections ......................................................... 12

3.1 Connecting the Power Supply .........................................................12

3.2 Connecting the STM23C Communications ......................................13

3.2.1 Node ID ................................................................................................13

3.2.2 Setting the Bit Rate ..............................................................................13

3.3 Inputs and Outputs ...........................................................................14

3.3.1 Connector Pin Diagram ........................................................................14

3.3.2 IN1 & IN2 Inputs ...................................................................................14

3.3.3 IN3 Input ...............................................................................................15

3.3.4 Programmable Output ..........................................................................16

4 Conguration ........................................................................... 18

4.1 Congurator Menus .........................................................................18

4.1.1 File Menu ..............................................................................................18

4.1.2 Drive Menu ...........................................................................................18

4.1.3 Help Menu ............................................................................................19

4.2 Drive/Revision .................................................................................. 19

4.3 Motor (Integrated Motor) .................................................................. 20

4.3.1 Running Current ...................................................................................20

4.3.2 Accel/Decel Current ..............................................................................20

4.3.3 Idle Current ...........................................................................................20

4.3.4 Idle Current Delay ................................................................................21

4.3.5 Load Inertia ..........................................................................................21

4.3.6 Electronic Damping/Anti-Resonance ....................................................21

4.3.7 Waveform Smoothing ...........................................................................21

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4.4 I/O ....................................................................................................22

4.5 Encoder (optional) ...........................................................................23

4.6 CANopen .........................................................................................24

4.7 Uploading /Downloading .................................................................. 24

5 Simple Operation ..................................................................... 25

6 Troubleshooting ...................................................................... 27

7 Reference Materials ................................................................. 28

7.1 Mechanical Outlines ........................................................................28

7.2 Technical Specications ...................................................................29

7.3 Torque-Speed Curves ......................................................................31

7.4 SCL Command Reference ..............................................................32

7.5 Drive/Motor Heating ......................................................................... 34

8 Contacting MOONS’ ................................................................ 36

The information in this manual applies to the following products:

Model

Optional
Encoder

STM23C-2CN

STM23C-2CE



STM23C-3CN

STM23C-3CE



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1 Introduction

Thank you for selecting the MOONS’ STM23C Integrated Motor. The STM23 Series Integrated
Step Motors incorporate DSP driver technology and integrate the drive electronics with the motor.

This provides smooth, precise motion along with ease of set-up and con guration, 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

• Programmable, micro-stepping digital step motor and driver in an integrated package

• Operates from a 12 to 70 volt DC power supply

• Modes of Operation (as de ned in CiA DSP402)

• Pro le Position

• Pro le Velocity

• Homing

• Q Programming

• Communications: CANopen Network

• Optional encoder feedback

• Available torque

STM23C-2 up to 0.9 N.m
STM23C-3 up to 1.5 N.m

• I/O

Digital Input  ltering both hardware and software

3 optically isolated digital inputs, 5 to 24 volts
1 optically isolated digital output, 30V 100mA

• Technological advances

Mid-band anti-resonance
Sequential Programming through Q Programmer software
Multi-Tasking
Conditional Branching
Math and Data Register manipulation

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1.2 Block Diagram

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

STM23C

Optical

Iso

I/O Connector

+

Optical

Iso

Optical

Iso

IN1+

Digital
Filter

Digital
Filter

Digital
Filter

Software
Filter

Software
Filter

Software
Filter

IN1 (5 to 24 Volts)

: CW Jog
: CW Limit
: GP

IN2 (5 to 24 Volts)

: CCW Jog
: CCW Limit
: GP

IN3 (5 to 24 Volts)

: Enable Input
: Reset Input
: GP

I/O Configurations

GP = General Purpose

Status

Optical

Iso

RS-232

CANopen

Comm

Conn

CANopen

Conn

Power

Conn

IN1-

IN2+

IN2-

IN3+

IN3-

OUT+

OUT-

RS-232

TX, RX, GND

CANopen

CANH, CANL, GND

-

OUT (30V, 100mA)

: Brake Output
: Alarm Output
: Motion Output
: GP

Optional

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1.3 Safety Instructions

Only qualied personnel should transport, assemble, install, operate, or maintain this equipment.
Properly qualied personnel are persons who are familiar with the transport, assembly, installation,
operation, and maintenance of motors, and who meet the appropriate qualications for their jobs.

To minimize the risk of potential safety problems, all applicable local and national codes regulating
the installation and operation 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.

• 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.

• It is 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 qualied 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.

• 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
information. 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
associated 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 difculty.

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2 Getting Started

The following items are needed:

• a 12 - 70 volt DC power supply, see the section below entitled “Choosing a Power Supply” for
help in choosing the right one

• a small at blade screwdriver for tightening the connectors (included)

• a PC running Microsoft Windows 98, 2000, NT, Me, XP, Vista, or Windows 7

• the MOONS’ CD (included)

• the included RS-232 programming cable

2.1 Installing Software

Before utilizing the STM23C Integrated Motor and ST Congurator Software in an application, the

following steps are necessary:

• Install the ST Congurator software from the CD. For applications requiring complex motion,

Q Programmer software may be used and should also be installed at this point.

• Connect the drive to the PC using the RS-232 cable.

• Connect the drive to the power supply. See instructions below.

• Launch the software by clicking Start...Programs...MOONS’.

• Apply power to the drive.

2.2 Mounting the Hardware

As with any step motor, the STM23C must be mounted so as to provide maximum heat sinking
and airow. Keep enough space around the Integrated Motor to allow for airow.

• Never use the drive where there is no airow or where other devices cause the

surrounding air to be more than 40°C (104°F).

• Never put the drive where it can get wet.

• Never use the drive where metal or other electrically conductive particles can
inltrate the drive.

• Always provide airow around the drive.

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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

The STM23C is 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 STM23C to produce higher temperatures. Using power supplies with voltage

outputs that are near the drive maximum may signicantly reduce the operational duty-cycle.

The extended range of operation can be as low as 10 VDC minimum to as high as 75 VDC
maximum. When operating below 18 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 10 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 75 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 75 VDC, a voltage clamp may be required to prevent over-voltage when regeneration
occurs. The RC050 Regeneration Clamp is recommended for the STM23C in this situation (see

3.1 Connecting 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

75 VDC.

These charts show the duty cycle
of the drive at various speeds and
voltages. See also Section 7.5
on Drive/Motor Heating for more
information.

STM23X-2 Max Duty Cycle vs Speed

5 Amps @ Ambient of 40°C

162 x 162 x 6 (mm) Aluminum Plate

0

20

40

60

80

100

0 10 20 30 40 50

Speed (RPS)

e l c y C y t u D %

12V D uty C ycle

24V D uty C ycle

48V D uty C ycle

65V D uty C ycle

Maximum Duty Cycle vs Speed

STM23X-3 Max Duty Cycle vs Speed

5 Amps @ Ambient of 40°C

162 x 162 x 6 (mm) Aluminum Plate

0

20

40

60

80

100

0 10 2 0 30 4 0 5 0

Speed (RPS)

e l c y C y t u D %

12V D uty C ycle

24V D uty C ycle

48V D uty C ycle

65V D uty C ycle

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2.3.2 Current

The maximum supply currents required by the STM23C are shown in the charts below at different

power supply voltage inputs. The STM23C power supply current is lower than the winding currents

because it uses switching ampliers 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 signicantly 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.

STM23-2 12V Power Supply Current

0

0.1

0.3

0.4

0.6

0.7

0.8

1.0

0 1 0 20 3 0 4 0 5 0

Speed (RPS)

Torque ( )

0 .0 0

0 .5 0

1 .0 0

1 .5 0

2 .0 0

2 .5 0

3 .0 0

Amps

Torque

S upply
C u rre nt

S upply
C u rre nt
No Load

N m

.

7

N m

.

STM23-2 24V Power Supply Current

0 1 0 2 0 3 0 4 0 5 0

Speed (RPS)

0 .0 0

0 .5 0

1 .0 0

1 .5 0

2 .0 0

2 .5 0

3 .0 0

3 .5 0

Amps

Torque

S upply
C u rre nt

S upply
C u rre nt
No Load

0

0.1

0.3

0.4

0.6

0.7

0.8

1.0

Torque ( )

N m

.

7

N m

.

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STM23-2 70V Power Supply Current

0 1 0 2 0 3 0 4 0 5 0

Speed (RPS)

0 .0 0

0 .5 0

1 .0 0

1 .5 0

2 .0 0

2 .5 0

3 .0 0

3 .5 0

Amps

Torq ue

S upply
C u rre nt

S upply
C u rre nt
No Load

0

0.1

0.3

0.4

0.6

0.7

0.8

1.0

Torque ( )

N m

.

7

N m

.

STM23-3 12V Power Supply Current

0 1 0 2 0 30 4 0 50

Speed (RPS)

0 .0 0

0 .5 0

1 .0 0

1 .5 0

2 .0 0

2 .5 0

3 .0 0

3 .5 0

Amps

Torq ue

S upply
C u rrent

S upply
C u rrent
No Lo a d

0

0.4

0.7

1.4

1.8

Torque ( )

N m

.

7

1.1

N m

.

STM23-2 48V Power Supply Current

0 1 0 2 0 3 0 4 0 5 0

Speed (RPS)

0 .0 0

0 .5 0

1 .0 0

1 .5 0

2 .0 0

2 .5 0

3 .0 0

Amps

Torq ue

S upply
C u rrent

S upply
C u rrent
No Load

0

0.1

0.3

0.4

0.6

0.7

0.8

1.0

Torque ( )

N m

.

7

N m

.

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STM23-3 48V Power Supply Current

0 1 0 2 0 30 4 0 50

Speed (RPS)

0 .0 0

0 .5 0

1 .0 0

1 .5 0

2 .0 0

2 .5 0

3 .0 0

3 .5 0

Amps

Torq ue

S upply
C u rrent

S upply
C u rrent
No Lo a d

0

0.4

0.7

1.4

1.8

Torque ( )

N m

.

7

1.1

N m

.

STM23-3 24V Power Supply Current

0 10 20 3 0 4 0 5 0

Speed (RPS)

0 .0 0

0 .5 0

1 .0 0

1 .5 0

2 .0 0

2 .5 0

3 .0 0

3 .5 0

Amps

Torq ue

S upply
C u rrent

S upply
C u rrent
No Lo a d

0

0.4

0.7

1.4

1.8

Torque ( )

N m

.

7

1.1

N m

.

STM23-3 70V Power Supply Current

0 1 0 20 3 0 40 50

Speed (RPS)

0 .0 0

0 .5 0

1 .0 0

1 .5 0

2 .0 0

2 .5 0

3 .0 0

3 .5 0

4 .0 0

Amps

Torq ue

S upply
C u rrent

S upply
C u rrent
No Lo a d

0

0.4

0.7

1.4

1.8

Torque ( )

N m

.

7

1.1

N m

.

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3 Installation/Connections

3.1 Connecting the Power Supply

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 STM23C contains an internal fuse connected
to the “+” terminal. This fuse is not user replaceable. If a user serviceable fuse is desired, install a
4 amp fast acting fuse in line with the “+” power supply lead.

Be careful not to reverse the wires. Reversing the connection may open the
internal fuse on the drive 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, causing 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 RC050 never ashes, the clamp is not necessary.

RC050 Regen Clamp

LEDs

Green - Power

Red - Regen

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3.2 Connecting the STM23C Communications

The communications interface for the STM23C is a standard 3-pin
spring clamp. A special cable designed to work with the serial port

for conguration is included. The drives are congured using a

combination of rotary switches and an RS-232 serial link, and then
may be deployed on a distributed CANopen network. The RS-232

interface is used for drive conguration, node ID setting and Q

Program downloading. The CANopen network should be connected
in a daisy-chain fashion, with a 120 ohm terminating resistor at
each end of the network.

Locate the STM23C within 2.5 meters of the PC. Plug the large end
(DB9 connector) of the cable into the serial port of the PC. Plug the 3-pin spring clamp connector
into the appropriate connector on the STM23C. Secure the cable to the PC with the screws on the
DB9 connector.

3.2.1 Node ID

Each node ID on a CANopen network must have a unique

Node ID. The Node ID is congured using a sixteen position

switch to set the lower four bits
of the Node ID while the upper

three bits are congured by using
ST Congurator. CANopen Node

IDs are seven bits long, with a

range of 1 - 127, or 0x01 - 0x7F in
hexadecimal notation. Node ID 0x00

is reserved in accordance with the

DS301 specication.

3.2.2 Setting the Bit Rate

The CANopen network bitrate is set by the ten position switch
on the front of the drive. The bit rate must
be the same for all nodes on the CANopen
network. Any changes to the bit rate require
either a power cycle or a CANopen reset
command to take effect.

Switch Setting Resultant Bit Rate

0

1 Mbps

1

800 kbps

2

500 kbps

3

250 kbps

4

125 kbps

5

50 kbps

6

20 kbps

7

12.5 kbps

8

reserved

9

reserved

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3.3 Inputs and Outputs

The STM23C has three optically isolated inputs that use 5 to 24 volt logic

3.3.1 Connector Pin Diagram

3.3.2 IN1 & IN2 Inputs

IN1 and IN2 are high speed digital inputs. The diagrams below show how to connect them to
various commonly used devices like sensors, switches, relays, PLCs, etc.

Inside drive

RES

IN1+

IN1-

IN2+

IN2-

IN3+

IN3-

OUT+

OU T-

I/O Connector

STM23
Programmable
digital inputs

Output 2

Output 1

IN1+

IN2+

IN2-

+5v to +24v out

IN1-

IN3+

IN3-

Output 3

Connecting to Indexer with Sinking Outputs

Indexer
With
Sourcing
Outputs

Indexer
With
Sinking
Outputs

STM23
5-24V
High
Speed
Inputs

Output 1

IN1+

Output 2

Output 3

COM

IN1-

IN2+

IN2-

IN3+

IN3-

Connecting to Indexer with Sourcing Outputs

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3.3.3 IN3 Input

The IN3 digital input is designed low speed digital input operation between 5 and 24 volts DC. The
diagrams below show how to connect the input to various commonly used devices.

STM23
Programmable
digital inputs

Output 2

Output 1

IN1+

IN2+

IN2-

+5v to +24v out

IN1-

IN3+

IN3-

Output 3

Connecting to Indexer with Sinking Outputs

Indexer
With
Sourcing
Outputs

Indexer
With
Sinking
Outputs

STM23
5-24V
High
Speed
Inputs

Output 1

IN1+

Output 2

Output 3

COM

IN1-

IN2+

IN2-

IN3+

IN3-

Connecting to Indexer with Sourcing Outputs

STM23
5-24V
High
Speed
Inputs

Output 1+

Output 1-

IN1+

IN1-

IN2+

IN2-

Output 2+

Output 2-

Output 3+

Output 3-

IN3+

IN3-

Connecting to Indexer with Differential Outputs

(Many high speed indexers have differential outputs)

Indexer
With
Differential
Outputs

STM23
Programmable
digital inputs

Output 2

Output 1

IN1+

IN2+

IN2-

+5v to +24v out

IN1-

IN3+

IN3-

Output 3

Connecting to Indexer with Sinking Outputs

Indexer
With
Sourcing
Outputs

Indexer
With
Sinking
Outputs

STM23
5-24V
High
Speed
Inputs

Output 1

IN1+

Output 2

Output 3

COM

IN1-

IN2+

IN2-

IN3+

IN3-

Connecting to Indexer with Sourcing Outputs

STM23
5-24V
High
Speed
Inputs

Output 1+

Output 1-

IN1+

IN1-

IN2+

IN2-

Output 2+

Output 2-

Output 3+

Output 3-

IN3+

IN3-

5 to 24
volt
Power
Supply

STM23

Connecting the Input to a Switch or Relay

Switch or Relay
(closed = logic low)

+

-

IN-

IN+

Connecting to Indexer with Differential Outputs

(Many high speed indexers have differential outputs)

5 to 24
volt
Power
Supply

STM23

Connecting an NPN type Proximity Sensor to an input

(when prox sensor activates, input goes low)

+ - IN+

IN-

out

+

NPN

Proximity

Sensor

5 to 24
volt
Power
Supply

STM23

Connecting an PNP type Proximity Sensor to an input

(when prox sensor activates, input goes low)

out

+

PNP

Proximity

Sensor

+

-

IN+

IN+

Indexer
With
Differential
Outputs

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3.3.4 Programmable Output

The STM23C drives feature one optically isolated digital output. This output can be programmed
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). Or the output
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+
(collector) and OUT- (emitter) terminals of the transistor are available at the connector. This allows

the output to be congured 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 Sourcing Output

PLC

STM23C

OUT+

OU T- IN

COM

5 – 24 volt

Power Supply

STM23C

Connecting a Sourcing Output again

PLC

OUT+

OUT-

IN

COM

-+

5 – 24 volt

Power Supply

Load

STM23C

Connecting a Sinking Output

OUT+

OU T-

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5 – 24 volt

Power Supply

Connecting a Sourcing Output

PLC

5 – 24 volt

Power Supply

Driving a Relay

1N4935 suppression diode

relay

STM23C

STM23C

OUT+

OUT+

OU T-

OU T- IN

COM

5 – 24 volt

Power Supply

STM23C

Connecting a Sourcing Output again

PLC

OUT+

OUT-

IN

COM

-+

5 – 24 volt

Power Supply

Load

STM23C

Connecting a Sinking Output

OUT+

OU T-

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4 Conguration

ST Congurator is the PC based software application that is used to congure the STM23C. It can
also upload, save, or open any saved STM23C congurations.

Motor conguration for the STM23C is rather simple as most parameters are xed. Because it is
an integrated motor/driver, the conguration generally has only three elements - the I/O, CANopen

settings, and the Motor. The optional encoder adds a fourth element.

4.1 Congurator Menus

4.1.1 File Menu

In the File Menu previously created congurations can be Opened and new or altered
congurations can be Saved. Any setup can be Printed. The Exit command will close the ST
Congurator.

4.1.2 Drive Menu

The Drive menu provides access to several features.

• Alarm History will display the last eight alarms and/or faults.

• If an alarm or fault condition is being displayed, Clear Alarm will clear it.

• Restore Factory Defaults will return the drive to its original factory conguration.

• 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).

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• Set Node ID Range brings up the same window as the CANopen button (see section 4.6 on

CANopen below.)

• Self Test rotates the motor a half revolution in alternating directions at a low speed to allow
verication that the motor is connected and functioning properly (see section 5 on Simple

Operation below).

• Status Monitor displays real time drive status including:

• State (open or closed) of all inputs

• State of output (click the HI/LO buttons to force an output)

• Motor speed

• Alarms or faults

• Status ags (enabled, motion, jogging, etc.)

The motor can be enabled or disabled from the Status Monitor by clicking the buttons at the
bottom of the display.

• Set Quick Decel Rate allows entry of a decel rate for limits and faults, entered in rev/sec/sec.

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 Congurator.

4.2 Drive/Revision

Normally the drive model and revision are automatically
detected when the STM23C is powered up while the

ST Congurator software is active and the STM23C is
connected to the PC serial port. If the box does not list

the correct model after the STM23C is powered up, please check the wired connections (including
the power supply and communications connections.) If the STM23C 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 ofine conguration can be accomplished and saved in a le on the

PC.

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4.3 Motor (Integrated Motor)

In the Integrated Motor dialog box, operational parameters are dened and
congured. Motor Specs cannot be modied as they are xed according to
the STM23C model selected in the Drive selection box.

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 prole. 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 90%. The

Idle Current reduces motor heating by lowering the current when the motor is at rest. In most

cases, the default value of 50% works well. Motor heating may be further reduced by lowering the

Idle Current percentage even more.

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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. It is 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 rst 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
approximate 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.

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4.4 I/O

Clicking on the I/O button will bring up the I/O Conguration menu.

Limit Sensors

Options for the IN3 Input are:

• Enable motor when closed - the motor is enabled when there is current owing through the

input and it has no power when the input is open

• Enable motor when open - the motor is enabled when there is no current owing 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

• 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

• Open on fault - the output will open if a fault occurs

• Closed to release brake - the output controls a fail safe brake relay

• Open to release brake - the output opens to release the brake

• Closed when moving - the output closes whenever the motor is moving

• Open when moving - the output opens whenever the motor is moving

• Tach out - the output produces pulses relative to the motor position

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• 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.

4.5 Encoder (optional)

The Encoder operation on the STM23C is programmed using ST
Congurator. The number of counts/turn cannot be changed as it indicates
the count of the Encoder installed at the time of purchase.

The Stall Detection feature continuously compares the actual motor
position, as reported by the encoder, against the theoretical motor position.
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 position 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.

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 prole begins

to demand more torque than
the motor can produce, the
velocity is automatically
reduced before the motor

stalls. Checking the rst box

will engage stall prevention.

A maximum torque utilization

percentage 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 told to fault after a given amount of time when the Hard Stop box is checked and a time

limit is entered.

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4.6 CANopen

Each node on a CANopen network must have a unique Node ID. On

the STM23C, this is set using both the ST Congurator software and the
sixteen position switch on the front of the drive. CANopen Node IDs are
seven bits long, with a range of 1 - 127, or 0x01 - 0x7F in hexadecimal
notation. The lower four bits, 0x0-0xF are set using the hardware switch, and the upper three bits,
0x0 - 0x7, are set using ST Congurator.

4.7 Uploading /Downloading

Conguring a drive can rst begin by clicking the Upload from Drive
button and uploading the present conguration. This will retrieve any drive
settings that can then be updated and downloaded. The drive conguration

is summarized in the table on the right side of the window as shown

below. Uploading the present conguration rst is not required; setting the
conguration can be done from the ST Congurator application defaults or
a conguration can be opened from a previously saved le.

When conguration updates are complete the summary will show this
information. Not all conguration information is shown here, only a
summary of the basics. The conguration shown in the summary may not

be the same as that in the drive until a download has been completed.

Complete the conguration by clicking the Download to Drive button. This
will download the conguration database to the drive and cause it to reset;

thus updating its operating parameters.

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5 Simple Operation

After the STM23C is wired and the conguration is downloaded, ST Congurator can be used for

several simple operations. These features are accessible through the drop down list in the Drive
menu.

Self Test

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

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The commands and their responses should appear as shown in the Host Terminal window below:

Every command should have a drive response of “%” which means the command was received
and executed. With this example the motor will move one revolution at 10 rev/sec. 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

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6 Troubleshooting

LED Error Codes

The STM23C 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. Errors are indicated
by a combination of red and green ashes as follows:

Code

Error

solid green

no alarm, motor disabled

flashing green

no alarm, motor enabled

1 red, 1 green

motor stall

(optional encoder only)

1 red, 2 green

move attempted while drive disabled

2 red, 1 green

CCW limit

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 over voltage

4 red, 2 green

power supply under voltage

5 red, 1 green

over current/short circuit

7 red, 1 green

serial communication error

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7 Reference Materials

7.1 Mechanical Outlines

92.5±1

77

75

5.85 Flat

Ø 6.35

Ø 38.1

4-Ø 5

47.14

56.4 MAX

56.4 MAX

47.14

20

15

1.6

4.8

50.9

22

Unit:mm

STM23C-2

114.5±1

77

75

5.85 Flat

Ø 6.35

Ø 38.1

4-Ø 5

47.14

56.4 MAX

56.4 MAX

47.14

20

15

1.6

4.8

50.9

44

Unit:mm

STM23C-3

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7.2 Technical Specications

Power Amplier

Amplier Type Dual H-Bridge, 4 Quadrant

Current Control 4 state PWM at 20 KHz

Output Torque

STM23C-2 Series – to 0.9 N.m with suitable power supply
STM23C-3 Series – to 1.5 N.m with suitable power supply

Power Supply External 12 - 70 volt power supply required

Input Voltage Range

10 - 75 volts min/max (nominal 12 - 70 volts), voltages outside this range will

cause driver faults and/or may damage the drive

Protection

Over-voltage, under-voltage, over-temp, motor/wriring shorts (phase-to-phase,
phase-to-ground)

Idle Current
Reduction

Reduction range of 0 - 90% of running current after a delay selectable in

milliseconds

Ambient Temperature 0 - 40°C(32 - 104°F) when mounted to a suitable heatsink

Humidity 90% non-condensing

Controller

Current Control Advanced digital current control provides excellent high speed torque

Microstep Resolution Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev

Speed Range Speeds up to 80 rps

Distance Range Over 10,000,000 revolutions (at 200 steps/rev)

Anti Resonance
(Electronic Damping)

Raises the system-damping ratio to eliminate midrange instability and allow
stable operation throughout the speed range of the motor

Auto Setup

Measures motor parameters and congures motor current control and anti-reso­nance gain settings

Self Test

Checks internal and external power supply voltages, diagnoses open motor

phases

Microstep Emulation

Performs high resolution stepping by synthesizing coarse steps into ne micro-

steps

Dynamic Smoothing

Software congurable ltering for use in removing spectral components from the
command sequence, reduces jerk, limiting excitation of system resonance.

Dynamic Current
Control

Software congurable for running current, accel current, idle current, to make

motion smoother and the motor run cooler

Multiple Modes Of
Control

CANopen (as dened in CiA DSP402): Prole Position, Prole Velocity, Homing;

Q Programming

Noise Filtering Programmable hardware digital noise lter, software noise lter

Serial Commanding Supports Serial Command Language (SCL)

Encoder Feedback Optional 4000 counts/rev encoder feedback

Position Capture High speed position capture for labeling and packaging applications

Non-Volatile Storage Congurations are saved in FLASH memory on-board the DSP

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IN1 and IN2 Inputs
IN1+/­IN2+/-

Inputs: optically isolated, 5 - 24 volts, min. pulse width 250 ns., max. pulse

frequency 2 MHz

Functions: CW & CCW Jog, CW & CCW Limits, general purpose input

IN3 Input
IN3+/-

Input: optically isolated, 5 - 24 volts, min. pulse width 100 us., max. pulse
frequency 10 KHz

Functions: Motor Enable, Alarm Reset, Home, general purpose input

Output
OUT+/-

Open Collector, 30 volts, 100 mA max, maximum pulse frequency 10 KHz

Functions: Fault, and general purpose programmable

Communication
Interface

CANopen, RS-232; selectable speeds: 12.5, 20, 50, 125, 250, 500, 800 kbps

and 1Mbps

Supply Output +4.8 - 5 volts @ 100mA maximum

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7.3 Torque-Speed Curves

Note: all torque curves were measured at 20,000 steps/rev.

STM23C-2

Speed(rps)

)m N(euqroT

1.0

0.8

0.6

0.4

0.2

0

0 10 20 30 40 50

.

12V

24V

48V

70V

STM23C-3

Speed(rps)

)m N(euqroT

1.5

1.2

0.9

0.6

0.3

0

0 10 20 30 40 50

.

12V

24V

48V

70V

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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 HMIs, which often have standard or optional

serial ports for communicating to other devices. Some examples of typical host devices might be:

• A Windows based PC running MOONS’ software

• An industrial PC running a custom or other proprietary software application

• A PLC with an ASCII module/serial port for sending text strings

• 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 congure

aspects of the drive such as motor current and microstep resolution.

In SCL mode, the STM23C receives commands from the host, executing them immediately or
sending them to a command buffer and then executing them directly from the buffer. When used in

the Q Programming mode, It can store a created program for stand-alone operation.

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 identier to tell the software which drive is connected and what the rmware

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 lled with commands without the host
controller needing to wait for a specic 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 return denotes the end of transmission to the drive.

The syntax of the command is

XXAB<cr>

where XX designates the command (always composed of 2 uppercase letters), and A and B

dene the possible parameters. These parameters can vary in length, can be letters or numbers,

and are often optional. Once a drive receives the <cr> (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.

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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 predened

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 t an application. Typically this command is used when
conguring 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 contains the complete command listing as well as instructions on

connecting and conguring the STM23C for use in SCL mode, using the Data Registers and the

Protocol command. It also contains detailed information on:

• Host Serial Communications

• Host Serial Connections

• Alarm and Status Codes

• 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.

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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% efcient, 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 ve minutes of rest is also a 50% 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 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.

STM23X-2 Max Duty Cycle vs Speed

5 Amps @ Ambient of 40°C

162 x 162 x 6 (mm) Aluminum Plate

0

20

40

60

80

100

0 1 0 2 0 3 0 4 0 50

Speed (RPS)

e l c y C y t u D %

12V Duty C ycle

24V Duty C ycle

48V Duty C ycle

65V Duty C ycle

Maximum Duty Cycle vs Speed

STM23X-2 Temperature vs. Speed

5.0 Amps @ Ambient of 40°C

162 x 162 x 6 (mm) Aluminum Plate

0

50

100

150

200

250

0 10 20 30 40 50

Speed (RPS)

) ( e r u t a r e p m e T

12V Tem p

24V Tem p

48V Tem p

65V Tem p

Temperature vs Speed

C °

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STM23X-3 Max Duty Cycle vs Speed

5 Amps @ Ambient of 40°C

162 x 162 x 6 (mm) Aluminum Plate

0

20

40

60

80

100

0 10 20 3 0 4 0 5 0

Speed (RPS)

e l c y C y t u D %

12V Duty Cycle

24V Duty Cycle

48V Duty Cycle

65V Duty Cycle

STM23X-3 Temperature vs. Speed

5.0 Amps @ Ambient of 40°C

162 x 162 x 6 (mm) Aluminum Plate

0

20

40

60

80

100

120

140

160

180

0 10 20 30 40 50

Speed (RPS)

e r u t a r e p m e T

12V Tem p

24V Tem p

48V Tem p

65V Tem p

) (

C °

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8 Contacting MOONS’

Room 202,Unit 2,7th Building, Huilongsen International Science & Technology
Industry Park, No.99,kechuang 14th street, Beijing 101111 ,P.R. China
Tel: [phone]
Fax: [phone]

Room 302, Building A, Tengfei Creation Center, 55 Jiangjun Road, Jiangning District,
Nanjing 211100, P.R. China
Tel: [phone]
Fax: [phone]

168 Mingjia Road, Minhang District,
Shanghai 201107, P.R.China
Tel: [phone]
Fax: [phone]

Room 2209, 22/F, Kerry Center, 2008 Renminnan Road, Luohu District,
Shenzhen 518001, P.R.China
Tel: [phone]
Fax: [phone]

Headquarters

Shenzhen Branch Office

Beijing Branch Office

Nanjing Branch Office

Qingdao Branch Office

Room E, 10th Floor, 73 Wangjiao Mansion, Hongkong Middle Road, Shinan District,
Qingdao 266071, P.R. China
Tel: [phone]
Fax: [phone]

Via Torri Bianche n.1 20059 Vimercate(MB) Italy
Tel: [phone]
Fax: [phone]

Europe Branch: Moons' Industries (Europe) S.R.L.

Service Center

[phone]