Omega STM17 User guide

STM17

Hardware Manual

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Re-Order from

omegamation.com

Omegamation

TM

1-888-55-OMEGA

1-888-55-66342

1-888-55-66342

920-0034 rev A
9/30/2010

920-0034 rev A
9/30/2010

STM17 Hardware Manual

Contents

Introduction .................................................................................................................................................................................................................................3

Block Diagram STM17S, STM17Q ..................................................................................................................................................................................4

Block Diagram STM17C ........................................................................................................................................................................................................5

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

Geing Started ...........................................................................................................................................................................................................................7

Installing Soware .............................................................................................................................................................................................................7

Mounting Hardware ........................................................................................................................................................................................................7

Additional Reading ..........................................................................................................................................................................................................7

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

Voltage Selection ...............................................................................................................................................................................................................8

Current Selection ...........................................................................................................................................................................................................10

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

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

Connecting the STM17 Communications ........................................................................................................................................................13

Connecting to a PC using RS-232 ....................................................................................................................................................................13

Connecting to a host using RS-422/485 .......................................................................................................................................................13

Four-Wire Conguration ...................................................................................................................................................................................14

Two-Wire Conguration ...................................................................................................................................................................................15

Assigning RS-485 Addresses...........................................................................................................................................................................15

Connecting to an STM17 using USB ...............................................................................................................................................................15

STM17 Inputs and Outputs .............................................................................................................................................................................................17

e Step (STEP) and Direction (DIR) Inputs ...........................................................................................................................................................18

e Enable (EN) Digital Input.......................................................................................................................................................................................... 20

e Analog Input ................................................................................................................................................................................................................... 21

e Digital Output ................................................................................................................................................................................................................22

Reference Materials .............................................................................................................................................................................................................. 23

Mechanical Outlines.............................................................................................................................................................................................................23

Technical Specications .....................................................................................................................................................................................................24

Torque-Speed Curves ........................................................................................................................................................................................................ 26

Drive/Motor Heating ........................................................................................................................................................................................................... 30

Mating Connectors and Accessories .......................................................................................................................................................................... 32

LED Error Codes ..................................................................................................................................................................................................................... 33

Contacting Applied Motion Products .......................................................................................................................................................................33

2

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Introduction

ank you for selecting the Applied Motion Products STM17 Drive+Motor. We hope our dedication to performance,
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 [phone], or
you can reach us by fax at [phone]. You can also email [email protected].

Features

Programmable, micro-stepping digital step motor and driver in an integrated package•
Operates from a 12 to 48 volt DC power supply•
Pulse/Direction, CW Pulse/CCW Pulse, or AB Quadrature •
Velocity (Oscillator) mode•
Streaming SCL commands•
Stored Q programs (-Q, -C models only)•
Encoder following (-Q models only)•
RS-232 or RS-422/485 communication (-S, -Q)•
CANopen DS301, DSP402 (-C only)•
Optional, internal encoder feedback•
Available torque up to 68 oz-in (0.48 N-m)•
Digital input ltering •
3 optically isolated digital inputs, 5 to 24 volts •
Optically isolated digital output, 30V 100mA •
12 bit analog input for speed and position control, 0 to 5 volts•
Step input signal smoothing (microstep emulation)•
Anti-resonance•
Electronic damping•

3

MOSFET

PWM

Power

Amplifier

12-48 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

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

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

-

Optional

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Block Diagram STM17S, STM17Q

STM17 Hardware Manual

IO Functions (congure in software)
STEP (5 to 24 Volts) DIR (5 to 24 Volts) EN (5 to 24 Volts) OUT (30V, 80mA)

Step Input Dir 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

4

MOSFET

PWM

Power

Amplifier

12-48 VDC

External

Power Supply

Voltage

Temp

Monitor

Over

Current

Monitor

motor

encoder

5 VDC
Power
Supply

DSP

Driver

Controller

3.3VDC
Power

Supply

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

Comm

Conn

Power

Conn

GND

To PC

(for configuration)

+5V

STEP-

DIR+

DIR-

EN+

EN-

OUT+

OUT-

CAN2.0b

To CANopen

Host

Node ID

Bit Rate

-

Optional

CANopen

Controller

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

STM17 Hardware Manual

Block Diagram STM17C

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5

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STM17 Hardware Manual

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STM17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possibly

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 dif­culty.

6

STM17 Hardware Manual

Geing Started

e following items are needed:

a 12 - 48 volt DC power supply, see the section entitled “Choosing a Power Supply” for help in choosing one•
a small at blade screwdriver for tightening the connectors (included)•
a PC running Microso Windows 98, 2000, NT, Me, XP, Vista, or Windows 7•
the CD that was included with your STM17•
a programming cable (included with RS-232 models)•

Installing Soware

Before using the STM17 integrated motor and
sary:

Install the ST Congurator soware from the CD. •
Launch the soware by clicking Start...Programs...Applied Motion Products. •
Connect the drive to the PC using the programming cable. When using RS-422/485, the drive must be set up in a •
4-Wire conguration (see “Connecting to a host using RS-422/485”.)
Connect the drive to the power supply. See instructions.•
Apply power to the drive.•
e soware will recognize the drive and display the model and rmware version. At this point, it is ready for use.•
If you are using an STM17Q and plan to create a Q program to be stored in the drive, you will also need to install •

Programmer

.

ST Congurator

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soware in an application, the following steps are neces-

Q

Mounting Hardware

As with any step motor, the STM17 must be mounted so as to provide maximum heat sinking and airow. Keep enough
space around the unit 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 STM17.

Additional Reading

To learn more about
To learn more about the Q and SCL languages, please read the
www.applied-motion.com.

ST Congurator

, please refer to the built-in help.

Host Command Reference

, available on your CD and at

7

STM17S-1AN Wattage vs Speed

1.8 Amps @ Ambient of 40°C

80 x 80x 6(mm) Alumin um Plate

0

10

20

30

40

50

60

0 10 20 30 40 50

Speed(RPS)

Watts

12V W atts

24V W atts

48V W atts

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STM17 Hardware Manual

Choosing a Power Supply

e main considerations when choosing a power supply are the voltage and current requirements for the application.

Voltage Selection

e STM17 is designed to give optimum performance between 12 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 STM17 to produce higher temperatures. Using
power supplies with voltage outputs that are near the drive maximum may signicantly reduce the operational duty­cycle.
e extended range of operation can be as low as 10 VDC minimum to as high as 55 VDC maximum. When operating
below 12 VDC, the power supply input may require larger capacitance to prevent under-voltage and internal-supply
alarms. Current spikes may make supply readings erratic. e supply input cannot go below 12 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. is will not fault the drive, but the drive will likely power down.
Absolute maximum power supply input is 55 VDC at which time an over-voltage alarm and fault will occur. When using
a power supply that is regulated and is near the drive maximum voltage of 55 VDC, a voltage clamp may be required to
prevent over-voltage when regeneration occurs. e RC-050 Regeneration Clamp is recommended for the STM17 in this
situation. 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 55 VDC.

e charts below show the heat output, in was, of the drive at various speeds and voltages. See the section on “Duty
Cycle Heating” in the Reference Materials for more information.

8

STM17S-2AN Wattage vs Speed

1.8 Amps @ Ambient o f 40°C

80 x 80x 6(mm) Aluminum Plate

0

10

20

30

40

50

60

0 10 20 30 40 50

Speed(RPS)

Watts

12V W atts

24V W atts

48V W atts

STM17S-3AN Wattage vs Speed

1.8 Amps @ Ambient o f 40°C

80 x 80x 6(mm) Aluminum Plate

0

10

20

30

40

50

60

0 10 20 30 40 50

Speed(RPS)

Watts

12V W atts

24V W atts

48V W atts

STM17 Hardware Manual

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9

0.6

0.8

1.0

1.2

pply Current A)

STM17X-1

12V 24V 48V

0.0

0.2

0.4

0.6

0.8

1.0

1.2

0 10 20 30 40 50

Max Supply Current (A)

rps

STM17X-1

12V 24V 48V

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STM17 Hardware Manual

Current Selection

e maximum supply currents required by the STM17 are shown in the charts below at dierent power supply voltage
inputs. e STM17 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. e 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 dierent 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.

Note: all curves were measured at 20,000 steps/rev, 1.8A motor current, maximum torque load

10

0.6

0.8

1.0

1.2

pply Current (A)

STM17X-3

12V 24V 48V

0.0

0.2

0.4

0.6

0.8

1.0

1.2

0 10 20 30 40 50

Max Supply Current (A)

rps

STM17X-3

12V 24V 48V

0.6

0.8

1.0

1.2

pply Current A)

STM17X-2

12V 24V 48V

0.0

0.2

0.4

0.6

0.8

1.0

1.2

0 10 20 30 40 50

Max Supply Current (A)

rps

STM17X-2

12V 24V 48V

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11

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STM17 Hardware Manual

Installation/Connections

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. e STM17 contains an internal fuse connected to the “+” terminal. is fuse is not user
replaceable. If a user serviceable fuse is desired, install a 2 amp fast acting fuse in line with the “+” power supply lead.

Be careful not to reverse the wires. Reverse connection may open the internal fuse on your driver
and void your warranty.

Power Supply Connections

RC-050 Regen Clamp

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. is problem can be solved with the use of
an RC-050 regeneration clamp. It is recommended that an RC-050 initially be installed in an application. If the “regen” LED
on the RC-050 never ashes, the clamp is not necessary.

12

Ground (circuit ground)

Ground (circuit ground)

TX (Transmit)

+5V (Internal Jumper Select)

RX (Receive)

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Connecting the STM17 Communications

e STM17 is available with two types of serial communications, RS-232 (STM17x-xAx) or RS-422/485 (STM17x-xRx).
Each type requires a dierent hardware connection for interface to a PC or other host system. e RS-232 version comes
with a cable that will provide the interface to an RS-232 port through a DB9 style connector. e RS-422/485 version
requires the user to provide both the cabling and the RS-422/485 interface. Below are descriptions of how to interface
both of these serial communication types to a PC.

Connecting to a PC using RS-232

Locate the STM17 within 8 feet (2.5 meters) of the PC. Plug the large end (DB9 connector) of the communication cable
that came with the drive into the serial port of the PC. e small end will have a 5-pin spring clamp connector. Plug this
end into the appropriate connector on the STM17. Secure the cable to the PC with the screws on the DB9 connector.

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 STM17 Using USB.

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 computer.
It also allows the communication cable to be long (more than 300 meters or 1000 feet). e use of Category 5 cable is
recommended as it is widely used for computer networks, inexpensive, easily obtained and certied for quality and data
integrit y.

RS-422/485 versions of the STM17 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).

NOTE: To use the STM17 RS-422/485 version with the ST Congurator soware, the STM17 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.

RS-232 Connector diagram

13

GND (circuit ground)

TX

-

TX+

RX

-

RX+

+Rx- +Tx- GND +Rx- +Tx- GND +Rx- +Tx- GND

to Host Tx+

to Host Tx-

to Host Rx+

to Host Rx-

to Host GND

Drive 1 Drive 2 Drive n

120

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RS-422/485 Connector diagram

STM17 Hardware Manual

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 computer ground.

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.

RS-422/485 4–wire system

14

GND (circuit ground)

TX

-

TX+

RX

-

RX+

+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

STM17 Hardware Manual

Two-Wire Conguration

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RS-422/485 Connector diagram

Typical RS-422/485 Two-Wire System

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 STM17 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

ST Congurator

soware. It is not necessary to

set the transmit delay in a four-wire system.

NOTE: a 120 ohm terminating resistor is required at the end of the 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 STM17 drive’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 programming cable and the

ST Congurator™

soware that came with your

drive for this 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

ST Congurator™

soware. Finally, apply power to your drive. If you

ST Congurator™

seings match

15

1ON2 3 4

RS-232

1ON2 3 4

2 Wire

RS-485

1ON2 3 4

4 Wire

RS-485

920-0034 rev A
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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.

Connecting to an STM17 using USB

e USB-COMi-M from www.byterunner.com is an excellent choice for USB to serial conversion. It can be used for all RS­232, RS-422 and RS-485 applications. e USB-COM-CBL can be used for USB to RS-232 connection only.
Both adapters are available from byterunner.com. ese adapters use the FTDI chip set and are compatible with Win­dows XP and later, including 64 bit versions.

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, use the DB9 connector and set the switches according to the diagram
below. e DB-9 connector is not used for RS-485.

STM17 Hardware Manual

USB-COMi-M Switch Seings

For RS-485 two wire systems, set the switches and make the connections to the STM17 according the diagrams below.

USB-COMi-M 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 STM17 according the diagrams below.

USB-COMi-M 6 pin screw

terminal connector

1 RX­2 RX+
3 TX+
4 TX­6 GND

STM17 5 pin connector

STM17 5 pin connector

16

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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STM17 Inputs and Outputs

All STM drive+motors include three digital inputs, one analog input, and one digital output.

•STEP&DIR:5to24voltdigitalinputsignalsforcommandingposition.WhennotbeingusedfortheStep&Direc­tion function, these inputs can be used for CW & CCW Limit, CW & CCW Jogging and Run/Stop & Direction Velocity
modes. ese inputs can also be connected to sensors, switches and other devices for use with SCL and Q commands
such as Wait Input, Seek Home, Feed to Sensor, If Input and others. Quadrature signals from encoders can also be used.

•EN:5to24voltsowareprogrammableinputcanbeusedformotorenableoralarmreset.isinputcanalsobe

connected to a sensor, switch and other devices for use with Wait Input, Seek Home, Feed to Sensor, If Input and other
commands.

•AIN:0-5Vanaloginputforvelocityorpositioncommands,withgain,ltering,osetanddead-bandseings.

•OUT:digitaloutputthat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 SCL & Q instructions like Set Output (SO).

Connector Pin Diagram

IO Functions (congure in software)
STEP (5 to 24 Volts) DIR (5 to 24 Volts) EN (5 to 24 Volts) OUT (30V, 80mA)

Step Input Dir 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

17

STM17

DIR+

DIR DIR-

STEP+

STEP STEP-

Indexer

with
Sinking
Outputs

5-24 VDC

STM17

DIR+

DIR+

DIR- DIR-

STEP+

STEP-

STEP+

STEP-

STM17

DIR-

DIR+

STEP-

STEP+

Indexer

with

Sourcing

Outputs

STEP

5-24 VDC

DIR

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e Step (STEP) and Direction (DIR) Inputs

e STM17 drive+motors include two high-speed inputs called STEP and DIR. 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 “encoder following” applications.
Or you can use these inputs with Wait Input, If Input, Feed to Sensor, Seek Home and other SCL or Q commands.

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.

Example connection diagrams:

Connecting to indexer with Sinking Outputs

Connecting to indexer with Sourcing Outputs

Connecting to Indexer with Dierential Outputs

(Many High Speed Indexers have Dierential Outputs)

18

STM17

+

DIR+

DIR-

STEP+

- STEP-

5 to 24

VDC

Power
Supply

direction switch

run/stop switch

(closed=run)

STM17

Master

Encoder

DIR-

DIR+

STEP-

STEP+

B-

B+

A-

A+

STM17 Hardware Manual

Wiring for Encoder Following

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Using Mechanical Switches

19

STM17

Switch or Relay

(closed = logic Low)

EN-

EN+

5-24

VDC

Power

Supply

-

+

NPN

Proximity

Sensor

output

+

–

STM17

5-24

VDC

Power

Supply

EN-

EN+

-

+

5-24

VDC

Power

Supply

PNP

Proximity

Sensor

output

+

–

-

+

STM17

EN-

EN+

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STM17 Hardware Manual

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 low 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.

Example connection diagrams:

Connecting the Input to a Switch or Relay

Connecting an NPN Type Proximity Sensor to an input

(When prox sensor activates, input goes low).

Connecting an PNP Type Proximity Sensor to an input

(When prox sensor activates, input goes low).

20

inside drive

AIN

GND

Signal

Conditioning

+5V

50ma Limit

I/O Connector

1-10k 

pot

c w

cc w

GND

AIN

+5V OUT

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e Analog (AIN) Input

e STM17 drives feature an analog input. 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
soware to set the signal range, oset, dead-band and lter frequency. e
STM17 drives also provide a +5VDC 100ma output 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.

Example connection diagram:

ST Congurator

Connecting a Potentiometer to the Analog Input

21

STM17

5-24 VDC

Power Supply

+ –

Load

OUT-

OUT+

5-24 VDC

Power Supply

+ –

OUT-

OUT+

STM17

Load

STM17

1N4935 suppression diode

5-24 VDC

Power Supply

+ –

relay

OUT-

OUT+

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STM17 Hardware Manual

e Digital Output

e STM17 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 Set Output. e output can be used to drive LEDs, relays and the inputs of other electronic
devices like PLCs and counters. e “OUT+” (collector) and “OUT-” (emier) terminals of the transistor are
available at the connector. is allows you to congure the output for current sourcing or sinking.

Note: If current is owing into or out of an output, the logic state of that output is low or closed. If no current is
owing, or the output is not connected, the logic state is high or open.

Do not connect the output to more than 30VDC.
e current through the output terminal must not exceed 40mA.

Example connection diagrams:

Connecting a Sinking Output

Connecting a Sourcing Output

Driving a Relay

22

L±1

55.8

42.4

2

24

Ø 22

4.50 Flat

15

Ø 5

42.3 MAX

42.3 MAX

31

31

43.5

4-M3Depth 4.5

STM17 Hardware Manual

Reference Materials

Mechanical Outlines

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Model Length (L) in mm

STM17x-1 67
STM17x-2 72.5
STM17x-3 81

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STM17 Hardware Manual

Technical Specications

Power AmPlifier

Amplier Type Dual H-Bridge, 4 Quadrant
Current Control 4 state PWM at 16 KHz
Output Torque STM17x-1x Series – to 31 oz-in with suitable power supply

STM17x-2x Series – to 54 oz-in with suitable power supply
STM17x-3x Series – to 68 oz-in with suitable power supply

Power Supply External 12-48 volt power supply required

Input Voltage Range 10-55 volts min/max (nominal 12-48 volts), voltages outside this

range may cause driver faults and/or may damage the device

Protection Over-voltage, under-voltage, over-temp, internal motor shorts

(phase-to-phase, phase-to-ground)

Idle Current Reduction Reduction range of 0–90% of running current after a delay select-

able in milliseconds

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)

Auto Setup Measures motor parameters and congures motor current control

Self Test Checks internal and external power supply voltages, diagnoses

Microstep Emulation Performs high resolution stepping by synthesizing coarse steps into

Dynamic Smoothing Software congurable ltering for use in removing spectral compo-

Dynamic Current Control Software congurable for running current, accel current, idle cur-

Raises the system-damping ratio to eliminate midrange instability

and allow stable operation throughout the speed range of the mo-

tor

and anti-resonance gain settings

open motor phases

ne microsteps

nents from the command sequence, reduces jerk, limiting excita-

tion of system resonance

rent, to make motion smoother and the motor run cooler

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Multiple Modes Of Control Pulse Input - Step & Direction, CW/CCW, A/B Quadrature (incre-

mental encoder

Velocity - Analog Velocity, Switch Control Velocity, Serial Command-

ed Velocity

Serial Command Language (SCL)

Stored Program Execution (Q models only)

Noise Filtering Programmable hardware digital noise lter, software noise lter
Encoder Feedback Optional 4000 counts/rev encoder feedback
Non-Volatile Storage Congurations are saved in FLASH memory on-board the DSP

inPuts And outPuts

Step Input STEP +/-

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

maximum pulse frequency 3 MHz. Max current draw 12mA.

Functions: Step, CW Step, A Quadrature, CW Limit, CW Jog, general

purpose input; adjustable bandwidth digital noise rejection lter

Direction Input DIR+/-

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

maximum pulse frequency 3 MHz. Max current draw 12mA.

Functions: DIR, CCW Step, B Quadrature, CCW Limit, CCW Jog,

general purpose input; adjustable bandwidth digital noise rejection

lter

Enable Input EN+/-

Inputs: optically isolated, 5-24 volts, minimum pulse width 100 us.,

maximum pulse frequency 10 KHz. Max current draw 12mA.

Functions: Enable, alarm reset, speed control, general purpose

input; adjustable bandwidth digital noise rejection lter

Output OUT+/-

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

10 KHz

Functions: Fault, brake, motion, tach, and general purpose pro-

grammable
Analog Input AIN

Input: 0-5 volts (AIN referenced to GND). Input impedance: 30k

ohms min.

Functions: analog control modes and general purpose analog us-

age; programmable for signal range, offset, dead band and ltering

Analog Input Resolution 12 bits

Communication Interface RS-232 or RS-422/485
Supply Output +4.8-5 volts @ 100mA maximum

9/30/2010

25

35

STM17X

-

1

12V

24V

48V

25

30

15

20

oz-in

10

0

5

0 10 20 30 40 50

rps

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STM17 Hardware Manual

PHYsiCAl & enVironmentAl

Mass STM17x-1xx: 292 g (10.3 oz)

STM17x-2xx: 360 g (12.7 oz)
STM17x-3xx: 441 g (15.6 oz)

Rotor Inertia STM17x-1xx: 38 g-cm2 (0.21 oz-in2)

STM17x-2xx: 57 g-cm2 (0.31 oz-in2)
STM17x-3xx: 82 g-cm2 (0.45 oz-in2)

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

Humidity 90% non-condensing

Torque-Speed Curves

Note: all torque curves were measured at 20,000 steps/rev, 1.8A motor current

26

60

STM17X

-

2

12V

24V

48V

40

50

30

oz-in

10

20

0

0 10 20 30 40 50

rps

80

STM17X

-

3

12V

24V

48V

60

70

40

50

oz-in

20

30

0

10

0 10 20 30 40 50

rps

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27

STM17S-1AN Max Duty Cycle v s Speed

1.8 Amps @ Ambient of 40°C

80 x 80 x 6(mm) Aluminum Plate

0

20

40

60

80

100

0 10 20 30 40 50

Speed (RPS)

% Duty Cycle

12V Duty Cyc le

24V Duty Cyc le

48V Duty Cyc le

STM 17S-1AN Temperature vs. Spee d

1.8 Amps @ Ambient of 40°C

80 x 80 x6(mm) Aluminum Plate

0

20

40

60

80

100

120

140

160

0 10 20 30 40 50

Speed (RPS)

Temperature (C)

12V Temp

24V Temp

48V Temp

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STM17 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 STM17 Drive+Motors in our lab and provided curves showing the maximum duty cycle
versus speed for each size 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
Drive+Motor under various conditions.

28

STM 17S-2AN Max Duty Cycle vs Speed

1.8 Amps @ Ambient of 40°C

80 x 80x 6(mm) Aluminum Plate

0

20

40

60

80

100

0 10 20 30 40 50

Speed (RPS)

% Duty Cycle

12V Dut y Cyc le

24V Dut y Cyc le

48V Dut y Cyc le

STM17S-2AN Temperature vs. Speed

1.8 Amps @ Ambient of 40°C

80 x 80x 6(mm) Aluminum Plate

0

20

40

60

80

100

120

140

0 10 20 30 40 50

Speed (RPS)

Temperature (C)

12V Temp

24V Temp

48V Temp

STM 17S-3AN Max Duty Cycle vs Speed

1.8 Amps @ Ambient of 40°C

80 x 80x 6(mm) Aluminum Plate

0

20

40

60

80

100

0 10 20 30 40 50

Speed (RPS)

% Duty Cycle

12V Dut y Cyc le

24V Dut y Cyc le

48V Dut y Cyc le

STM 17S-3AN Temperature vs. Spee d

1.8 Amps @ Ambient of 40°C

80 x 80x 6(mm) Aluminum Plate

0

20

40

60

80

100

120

140

0 10 20 30 40 50

Speed (RPS)

Temperature (C)

12V Temp

24V Temp

48V Temp

STM17 Hardware Manual

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STM17 Hardware Manual

Mating Connectors and Accessories

Mating Connector (Type) PArt no

DC Power (2-position, screw terminal) Weidmuller 1615780000
I/O (11-position, spring cage) Phoenix 1881419
Comm (5-position, spring cage) Phoenix 1881354

Accessories

USB-Serial Adapter with one RS-232 port and one RS-485 port for programming all units: P/N 8500-003

DC Power Supplies:
24V, 50W switching power supply, P/N PS50A24
24 V, 150W switching power supply, P/N PS150A24
48 V, 320W switching power supply, P/N PS320A48

Regeneration Clamp for Applications with High Inertial Loads
RC-050

30

Code Condition

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 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

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Re-Order from

omegamation.com

Omegamation

TM

1-888-55-OMEGA

1-888-55-66342

1-888-55-66342

STM17 Hardware Manual

9/30/2010

LED Status & Error Codes

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. Errors are indicated by combinations of
red and green “ashes” as follows:

Contacting Applied Motion Products

Corporate Headquarters
404 Westridge Drive
Watsonville, CA 95076
[phone]
fax [phone]
web www.applied-motion.com
[email protected]

31