Omega STM24, STM24SF-3AN, STM24SF-3AE, STM24SF-3RN, STM24SF-3RE User guide

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Hardware Manual

920-0044D 10/7/2011

Page 2

920-0044D 10/7/2011

STM24 Hardware Manual

Contents

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

Features ......................................................................................................................................................................................................................................................3

List of STM24 Model Numbers ....................................................................................................................................................................................................3

Block Diagram (-SF and -QF) ..........................................................................................................................................................................................................4

Block Diagram (-C) ...............................................................................................................................................................................................................................5

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

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

Mounting the STM24 .........................................................................................................................................................................................................................7

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

Voltage ...............................................................................................................................................................................................................................................8

Current ...............................................................................................................................................................................................................................................9

Connecting the Power Supply ...................................................................................................................................................................................................11

Installation Requirements for CE Compliance ...........................................................................................................................................................11

+5V Keep-Alive Feature: .......................................................................................................................................................................................................12

Connecting the STM24 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 STM24 using USB ..............................................................................................................................................................................16

Inputs and Outputs (-SF and -QF) ...........................................................................................................................................................................................17

Inputs and Outputs (-C) ................................................................................................................................................................................................................18

Connecting Step and Direction Signals ........................................................................................................................................................................19

Connecting Other Signals ....................................................................................................................................................................................................20

Analog Input ................................................................................................................................................................................................................................21

Programmable Output ...........................................................................................................................................................................................................22

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

Mechanical Outline ..................................................................................................................................................................................................................23

Technical Specications .........................................................................................................................................................................................................25

Torque-Speed Curves ............................................................................................................................................................................................................28

Drive/Motor Heating ...............................................................................................................................................................................................................29

Mating Connectors and Accessories ..............................................................................................................................................................................30

LED Error Codes ........................................................................................................................................................................................................................31

Contacting Applied Motion Products ...........................................................................................................................................................................32

Page 3

920-0044D

STM24 Hardware Manual

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Introduction

ank you for selecting the Applied Motion Products STM24 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 (800) 525-1609, or you can reach us by fax at (831) 761-6544. You can also email [email protected].

Features

• Programmable, micro-stepping digital step Drive+Motor in an integrated package

• Operates from a 12 to 70 volt DC power supply

• Operates in velocity or position mode

• Mid-band anti-resonance

• Accepts analog signals, digital signals and streaming serial commands

• Step input signal smoothing

• Communication options: RS-232, RS-422/485, CANopen

• Optional encoder feedback

• Delivers up to 340 oz-in holding torque

• -SF & -QF: four optically isolated, 5 to 24 volt digital “ex I/O” points (each can be congured as an input or

an output)

• -C: three optically isolated, 5 to 24 volt digital inputs, one optically isolated 30V, 100mA digital output

• Input ltering both hardware and soware

• 0 to 5V analog input for speed and position control (-SF and -QF only)

List of STM24 Model Numbers

STM24SF-3AN STM24SF-3AE STM24SF-3RN STM24SF-3RE STM24QF-3AN STM24QF-3AE STM24QF-3RN STM24QF-3RE STM24C-3CN STM24C-3CE

Notes: Last digit indicates 1000 line internal encoder. E: encoder is included, N: no encoder

Next to last digit indicates communication inteface. A = RS-232, R = RS-485, C = CANopen

Page 4

12-70 VDC

External

Power Supply

I/O 1+

Status

I/O 1-

I/O 2+ I/O 2-

I/O 3+ I/O 3-

I/O 4+ I/O 4-

AIN

GND

+5VDC

+5V

RS-232

TX, RX, GND,+5V

RS-485

RX+, RX-, TX+,TX-,GND

Digital

Filter

Optical

Isolation

Software

Filter

Digital

Filter

Optical

Isolation

Software

Filter

Digital

Filter

Optical

Isolation

Software

Filter

Optical

Isolation

Software

Filter

I/O Connector

Power

Conn

Comm

Conn

motor

encoder

Optional

MOSFET

PWM

Power

Amplifier

RS-232 or RS-485

5 Volt DC

Power Supply

3.3VDC Logic

Supply

Voltage &

Temp

Monitor

DSP

Driver

Controller

Over-

Current

Monitor

920-0044D 10/7/2011

Block Diagram (-SF and -QF)

STM24 Hardware Manual

I/O Functions (congure in software)

I/O 1 I/O 2 I/O 3 I/O 4

Step Input Direction Input Jog CW Input Jog CCW Input Limit CW Input Limit CCW Input Enable Input Alarm Reset Input Enable Input Alarm Reset Input Start/Stop Input Change Speed Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input Brake Output Brake Output Brake Output Brake Output Fault Output Fault Output Fault Output Fault Output Motion Output Motion Output Motion Output Motion Output Tach Output Tach Output Tach Output Tach Output General Purpose Output General Purpose Output General Purpose Output General Purpose Output

Page 5

STM24 Hardware Manual

Block Diagram (-C)

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10/7/2011

12-70 VDC

External

Power Supply

RS-232

Configuration

Port

Bit Rate

Node ID

CANopen

Network

GND

+5V

IN1+ IN1-

IN2+ IN2

IN3+ IN3

OUT+ OUT

Conn

Power

5 Volt DC

Power Supply

3.3VDC Logic

Supply

Voltage &

Temp

Monitor

Comm

CAN

Conn

7 8

Conn

RS-232

CANopen

Controller

MOSFET

GND

+5VDC

encoder

Optical

Isolation

Optical

Isolation

I/O Connector

Optical

Isolation

Optical

Isolation

Digital

Filter

Digital

Filter

Digital

Filter

Software

Filter

Software

Filter

Software

Filter

Software

Filter

DSP

Driver

Controller

Status

PWM

Power

Amplifier

Over-

Current

Monitor

motor

encoder

Optional

I/O Functions (congure in software)

IN1 IN2 IN3 OUT

Clockwise Limit Counterclockwise Limit Home Sensor Fault General Purpose Input General Purpose Input Enable Input Brake

General Purpose Input Motion

Tach General Purpose Output

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STM24 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 STM24 drives contain electrostatically sensitive components that can be damaged by incorrect handling.

Discharge yourself before touching the product. Avoid contact with high insulating materials (articial fabrics, plastic lm, etc.). Place the product on a conductive surface.

• During operation keep all covers and cabinet doors shut. Otherwise, there are deadly hazards that could

possibility cause severe damage to health or the product.

• In operation, depending on the degree of enclosure protection, the product can have bare components

that are live or have hot surfaces. Control and power cables can carry a high voltage even when the motor is not rotating.

• Never pull out or plug in the product while the system is live. ere is a danger of electric arcing and danger

to persons and contacts.

• Aer powering down the product, wait until both LEDs are completely dark before touching live sections of

the equipment or undoing connections (e.g., contacts, screwed connections). 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.

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Geing Started

is manual describes the use of four dierent drive models. What you need to know and what you must have depends on the drive model. For all models, you’ll need the following:

• a 12 - 70 volt DC power supply. Please read the section entitled Choosing a Power Supply for help in choosing the right power supply.

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

• a personal computer running Microso Windows 98, 2000, NT, Me , XP, Vista or 7 (32 or 64 bit).

•

ST Congurator

ucts/soware.

• An Applied Motion programming cable (included with RS-232 models; USB and RS-485 adaptors are avail-

able from Applied Motion, see the Accessories section for part numbers)

If you’ve never used an STM24 drive you’ll need to get familiar with the drive and the set up soware before you try to

deploy the system in your application. We strongly recommend the following:

™ and

Q Programmer

™ soware applications, available at www.applied-motion.com/prod-

1. For -Q drives, download and install the

able at www.applied-motion.com/products/soware. For -S and -C models, install the

2. Launch the soware by clicking Start...Programs...Applied Motion...

3. Connect the drive to your PC using the programming cable. When using RS-485, it must be set up in the

4-Wire conguration (See “Connecting to a host using RS-485” below).

4. Connect the drive to the power supply.

5. Apply power to the drive.

6. e soware will recognize your drive, display the model and rmware version and be ready for action.

ST Congurator

™ and

Q Programmer

™ soware applications, avail-

ST Congurator

™.

Mounting the STM24

As with any stepper motor the STM24 must be mounted so as to provide maximum heat-sinking and air-ow. Keep space around the Drive+Motor to allow convected air-ow.

• Never use your Drive+Motor in a space where there is no air ow or where other devices cause the sur- rounding air to be more than 40°C.

• Never put the drive where it can get wet or where metal or other electrically conductive particles can get on the circuitry.

• Always provide airow around the Drive+Motor .

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Choosing a Power Supply

When choosing a power supply, there are many things to consider. If you are manufacturing equipment that will be sold

to others, you probably want a supply with all the safety agency approvals. If size and weight are an issue use a switching

supply.

You must also decide what size of power supply (in terms of voltage and current) is needed for your application.

Voltage

e STM24 is designed to give optimum performance between 24 and 70 volts DC. Choosing the voltage depends on the performance needed and Drive+Motor heating that is acceptable and/or does not cause a drive over-temperature. Higher voltages will give higher speed performance but will cause the Drive+Motor to operate at higher temperatures. Using power supplies with voltage outputs that are near the drive maximum may reduce the operational duty-cycle signicantly. See the chart below to determine thermal performance at dierent power supply voltages

If you choose an unregulated power supply, make sure the no load voltage of the supply does not exceed the drive’s maximum input voltage specication.

STM24 Hardware Manual

STM24X-3 Max Duty Cycle vs Speed

6A/phase, 40°C Ambient

Mounted on a 162 x 162 x 6 (mm)

Aluminum Plate

12V Duty Cycle 24V Duty Cycle 48V Duty Cycle

100

e l c y C y t u D %

65V Duty Cycle

0 10 20 30 40 50

Speed (RPS)

Page 9

No Load

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Current

e maximum supply current required by the STM24 is shown in the chart below with dierent power supply voltage inputs. You will note in the chart that the Drive+Motor does not draw as much current as the motor itself. at’s because the STM24 uses switching ampliers, converting 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 you’ll need from the power supply.

Also note that the current draw is signicantly dierent at higher speeds depending on the torque load to the motor. Estimating your current needs may require a good analysis of the load the motor will encounter.

STM24-3 12V Power Supply Current

Motor Current: 6A/phase

2.5

1.5

Torque(N.m)

0.5

4.50

4.00

3.50

3.00

2.50

2.00

1.50

1.00

0.50

0.00

Torque

Amps

Supply Current Supply Current

Torque(N.m)

0 10 20 30 40 50

Speed(RPS)

STM24-3 24V Power Supply Current

Motor Current: 6A/phase

2.5

1.5

0.5

0 10 20 30 40 50

Speed(RPS)

4.50

4.00

3.50

3.00

2.50

2.00

1.50

1.00

0.50

0.00

Torque

Amps

Supply Current Supply Current

Page 10

No Load

920-0044D 10/7/2011

2.5

1.5

Torque(N.m)

0.5

STM24-3 48V Power Supply Current

Motor Current: 6A/phase

0 10 20 30 40 50

Speed(RPS)

STM24 Hardware Manual

5.00

4.50

4.00

3.50

3.00

2.50

2.00

1.50

1.00

0.50

0.00

Amps

Torque Supply Current Supply Current

Torque(N.m)

STM24-3 70V Power Supply Current

Motor Current: 6A/phase

2.5

1.5

0.5

0 10 20 30 40 50

Speed(RPS)

5.00

4.50

4.00

3.50

3.00

2.50

2.00

1.50

1.00

0.50

0.00

Torque

Amps

Supply Current Supply Current

Page 11

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Connecting the Power Supply

If you need information about choosing a power supply, please read “Choosing a Power Supply” located above in this

manual.

Connect the motor power supply “+” terminal to the driver terminal labeled “+”. Connect power supply “-” to the drive terminal labeled “-”. Use 16 to 20-gauge wire. e STM24 contains an internal fuse that connects to the power supply +

terminal. is fuse is not user replaceable. If you want to install a user serviceable fuse in your system install a 5 amp fast acting fuse in line with the + power supply lead.

• Connect the red wire to power supply +

• Connect the black wire to power supply -

• Connect the green wire to earth ground

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

Installation Requirements for CE Compliance

In order to meet the EMC Directive of CE, a line lter must be installed between the DC power supply and the STM24 as shown below.

EMI Filter

P/N:092.00823.00 (LCR)

DC Power Input

V+

V-

LINE

LOAD

V+

V-

GND

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920-0044D 10/7/2011

If you plan to use a regulated power supply you may encounter a problem with regeneration. If you rapidly decelerate a load from a high speed, much of the kinetic energy of that load is transferred back to the power supply. is can trip the

over-voltage protection of a switching power supply, causing it to shut down. We oer the RC-050 “regeneration clamp” to solve this problem. If in doubt, buy an RC-050 for your rst installation. If the “regen” LED on the RC-050 never ashes,

you don’t need the clamp.

STM24 Hardware Manual

RC-050 Regen Clamp

+5V Keep-Alive Feature:

+5Volts can be fed to the +5V terminal to keep the logic alive when the DC bus voltage is removed. is is very useful when an encoder is present, as the position of the system is then known when the DC bus is re-applied. An internal voltage fault will have to be cleared and the motor re-enabled when the DC bus is re-applied. A .4 Amp or larger supply is required for the keep-alive supply.

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Connecting the STM24 Communications

e STM24 is available with two types of serial communication: RS-232 (STM24x-xAx) or RS-422/485 (STM24x-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. e CANopen (-C) version also includes an RS-232 port for conguration. Below are descriptions of how to interface the STM24 to a PC.

Connecting to a PC Using RS-232

• Locate your computer within 8 feet of the Drive+Motor.

• Your drive was shipped with a communication cable. Plug the large end into the serial port of your PC and

the small end into the RS-232 jack (RJ-11 connector) on your drive. Secure the cable to the PC with the screws on the sides.

Never connect a drive to a telephone circuit. It uses the same connectors and cords as telephones and modems, but the voltages are not compatible.

NOTE: If the PC does not have an RS-232 serial port, a USB Serial Converter will be needed. For more information, please read

Connecting to an STM24 Using USB.

ground (to PC ground)

TX (to PC RX)

Pin Assignments of the RS-232 Port (RJ11 connector)

RX (to PC TX)

+5V Supply (for SiNet Hub)

e RS-232 circuitry does not have any extra electrical “hardening” and care should be taken when connecting to the RS-

232 port as hot plugging could result in circuit failure. If this is a concern the RS-422/485 version should be used.

Do not plug or unplug the RS-232 connection while power is applied to the drive. is is known as “hot plugging” and should be avoided.

Connecting to a Host Using RS-422/485

RS-422/485 communication allows connection of more than one drive to a single host PC, PLC, HMI or other controller. It also allows the communication cable to be long (more than 300 meters or 1000 feet). We recommend using Category 5 cable in low electrical-noise environments. Category 5 cable is widely used for computer networks, inexpensive, easily obtained and certied for quality and data integrity. For electrically noisy environments we recommend twisted pair cable with an overall shield and drain wire. Connect the drain wire at one end of the cable to earth ground..

RS-422/485 versions of the STM24 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).

Page 14

GND

TX– TX+ RX–

RX+

920-0044D 10/7/2011

STM24 Hardware Manual

NOTE: To use the STM24 RS-422/485 version with the ST Congurator soware, the STM24 must be connected to the PC in the four-wire “point to point” conguration (see below) and congured one axis at a time.

to Host GND

to Host Rx-

to Host Rx+

to Host Tx-

to Host Tx+

+Rx- +Tx- GND

STM24

RS-422/485 4–wire “Point to Point” Wiring

RS-422/485 Connector diagram

Four-Wire Conguration

Four-wire Systems utilize separate transmit and receive wires. One pair of wires must connect the host’s transmit signals to each drive’s RX+ and RX- terminals. e other pair connects the drive’s TX+ and TX- terminals to the host’s receive signals.

A logic ground terminal is provided on each drive and can be used to keep all drives at the same ground potential. is terminal connects internally to the DC power supply return (V-), so if all the drives on the RS-422/485 network are powered from the same supply it is not necessary to connect the logic grounds. One drive’s GND terminal should still be connected to the host computer ground.

to Host GND

to Host Rx-

to Host Rx+

to Host Tx-

120

to Host Tx+

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

Drive 1 Drive 2 Drive n

RS-422/485 4–wire system

NOTE: a 120 ohm terminating resistor is required at the end of a four wire network.

NOTE: If the PC does not have an RS-422/485 serial port, a converter will be required.

Page 15

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

to Host Tx+ (B)

to Host Tx- (A)

to Host GND

Drive 1 Drive 2 Drive n

120

GND

TX–

TX+

RX–

RX+

STM24 Hardware Manual

Two-Wire Conguration

920-0044D

10/7/2011

RS-422/485 Connector diagram

Transmit and receive on the same pair of wires can lead to trouble. e host must not only disable its transmier before

it can receive data, it must do so quickly, before a drive begins to answer a query. e STM24 includes a “transmit delay”

parameter that can be adjusted to compensate for a host that is slow to disable its transmier. is adjustment can be made over the network using the TD command, or it can be set using the set the transmit delay in a four-wire system.

NOTE: a 120 ohm terminating resistor is required at the end of 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 Drive+Motor’s TX+ and RX+ terminals. Connect “A” to the drive’s TX- and RX- terminals.

Assigning RS-485 Addresses

Before wiring the entire system, you’ll need to connect each drive individually to the host computer so that a unique address can be assigned to each drive. Use the

Connect the drive to your PC and then launch the have already congured your drive, then you should click the Upload buon so that the

those of your drive. Click on the Motion buon, then select the “SCL” operating mode. If you have a Q drive, you may want to select “Q Programming”. Either way, you’ll see the RS-485 Address panel appear. Just click on the address character of your choice. You can use the numerals 0..9 or the special characters ! “ # $ % & ‘ ( ) * + , - . / : ; < = > ? @ . Just make

Typical RS-422/485 Two-Wire System

ST Congurator

ST Congurator™

soware that came with your drive for this purpose.

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

soware. It is not necessary to

ST Congurator™

seings match

Page 16

920-0044D 10/7/2011

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.

STM24 Hardware Manual

Connecting to an STM24 using USB

e USB-COMi-M (8500-003) from Applied Motion is an excellent choice for USB to serial conversion. It can be used for all RS-232, RS-422 and RS-485 applications. e USB-COM-CBL from byterunner.com can be used for USB to RS-232

connection only. 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 (8500-003), use the DB9 connector and set the switches according to the diagram below. e DB-9 connector is not used for RS-485.

RS-232

1ON2 3 4

USB-COMi-M (8500-003) Switch Seings

For RS-485 two wire systems, set the switches and make the connections to the STM24 according the diagrams below.

USB-COMi-M (8500-003) 6 pin

screw terminal connector

1 RX-, TX2 RX+, TX+ 6 GND

For RS-485 four wire systems, set the switches and make the connections to the STM24 according the diagrams below.

USB-COMi-M (8500-003) 6 pin

screw terminal connector

1 RX2 RX+ 3 TX+ 4 TX6 GND

STM24 5 pin connector

2 Wire

RS-485

1ON2 3 4

4 Wire

RS-485

1ON2 3 4

Page 17

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Inputs and Outputs (-SF and -QF)

e STM24SF and STM24QF have four “ex I/O” points. Each can be congured as a digital input or a digital output. In addition, pre-dened functions such as motor enable or fault output can be assigned, providing the exibility to handle a

diverse range of applications.

ST Congurator™

is used to set each ex I/O point as an input or output.

ST Congurator™

can also be used to assign functions to each I/O point, or functions can be assigned “on the y” from SCL streaming commands or stored Q programs. Example connection diagrams can be found on the following pages.

I/O Functions (congure in software)

I/O 1 I/O 2 I/O 3 I/O 4

I/O 1+ I/O 1

I/O 2+ I/O 2

I/O 3+ I/O 3

I/O 4+

I/O 4 +5V AIN GND

STM24SF and STM24QF Connector Pin Diagram

Page 18

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STM24 Hardware Manual

inside drive

I/O+

I/O

I/O Connector

inside drive

I/O+

I/O

I/O Connector

Equivalent Circuit: Flex I/O Point Set as Input Equivalent Circuit: Flex I/O Point Set as Output

inside drive

+5V

AIN

GND

I/O Conne ctor

Equivalent Circuit: Analog Input

50 mA max

Signal

Conditioning

Inputs and Outputs (-C)

e STM24C has three digital inputs and one digital output. e inputs can be used for end of travel limits and a position sensor in support of the CANopen DSP402 homing modes, or as general purpose inputs to be read over the CANopen network. e output has no predened purpose in the CANopen specs but can be used as a brake, fault, motion or tach output, or it can be used as a general purpose output which can be opened or closed over the CANopen network. Example connection diagrams can be found on the following pages.

STATUS

IN1+ IN1

IN2+ IN2

IN3+

IN3 OUT+ OUT

IN1+

IN1

IN2+

IN2

I/O Conne ctor

IN3+

IN3

OUT+

OUT

inside STM24C

STM24C Connector Pin Diagram Equivalent Circuit

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I/O Functions (congure in software)

IN1 IN2 IN3 OUT

Clockwise Limit Counterclockwise Limit Home Sensor Fault General Purpose Input General Purpose Input Enable Input Brake

General Purpose Input Motion

Tach General Purpose Output

Connecting Step and Direction Signals

e STM24-QF and STM24-SF drives include two high-speed inputs that can accept 5 to 24 volt single-ended or dif-

ferential signals, up to 3 MHz. ese inputs can be connected to an external controller that provides step & direction (or step CW and step CCW) command signals. You can also connect a master encoder to the high-speed inputs for “following” applications. Or you can use these inputs with Wait Input, If Input, Feed to Sensor, Seek Home and other SCL or Q

commands.

Connection diagrams follow.

Indexer

with

5-24 VDC

DIR I/O 2

I/O 2+

Sinking

Outputs

STEP I/O 1

I/O 1+

Connecting to indexer with Sinking Outputs

Indexer

COM

with

DIR I/O 2+

Sourcing

O utputs

STEP I/O 2+

Connecting to indexer with Sourcing Outputs

DIR+

I/O 2+

Indexer

with

DIR- I/O 2

Differential

Outputs

STEP+

STEP-

I/O 1+

I/O 1

I/O 2

I/O 1

STM24

Connecting to Indexer with Dierential Outputs

Page 20

STM24

Master

Encoder

DIR+

I/O 2+

DIR- I/O 2

I/O 1+

STEP-

STEP+

I/O 1

GND GND

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STM24 Hardware Manual

Wiring for Encoder Following

Connecting Other Signals

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.

I/O+

5-24 VDC

Power

Supply

Switch or Relay

(closed = logic Low)

I/O

STM24

Using Mechanical Switches

5-24 VDC

Power

Supply

NPN

Proximity

Sensor

output

–

I/O+

I/O

STM24

Connecting an NPN Type Proximity Sensor to an Input

(When prox sensor activates, input goes low).

5-24 VDC

Power

Supply

PNP

Proximity

Sensor

output

–

STM24

I/O+

Connecting an PNP Type Proximity Sensor to an Input

(When prox sensor activates, input goes low).

I/O

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Analog Input

e STM24SF and STM24QF 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 incoming analog signal. Use the

Congurator™

50ma 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.

soware to set the signal range, oset, dead-band and lter frequency. e STM24 provides a +5VDC

inside drive

+5V

50 mA max

Signal

Conditioning

I/O Conne ctor

AIN

GND

Analog Input Circuit

+5V OUT

1-10k 

pot

cc w

AIN

GND

Connecting a Potentiometer to the Analog Input

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STM24 Hardware Manual

Programmable Output

e STM24SF and STM24QF include four “ex I/O” points which can be individually congured to act as digital outputs.

e STM24C includes one dedicated digital output. Each 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). An output can also be turned on and o by program instructions like Set Output. An 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 cur-

rent sourcing or sinking.

Diagrams of various connection types follow.

Do not connect the output to more than 30VDC. e current through the output terminal must not exceed 100mA.

5-24 VDC

Power Supply

+ –

OUT+

Load

STM24

OUT

Connecting a Sinking Output

OUT+

STM24

OUT

Load

Connecting a Sourcing Output

relay

5-24 VDC

Power Supply

+ –

5-24 VDC

Power Supply

STM24

OUT+

1N4935 suppression diode

OUT

Connecting a Relay

+ –

Page 23

Ø 38.1

47.14

Ø 8

Ø 7.5 Flat

4 - Ø 4.5

125.5±1

20.6

47.14

1.5

STM24X-3A

STM24 Hardware Manual

Reference Materials

Mechanical Outline

920-0044D

10/7/2011

Page 24

Ø 38.1

47.14

Ø 8

Ø 7.5 Flat

4 - Ø 4.5

125.5±1

20.6

47.14

1.5

STM24X-3R

Ø 38.1

47.14

Ø 8

Ø 7.5 Flat

4 - Ø 4.5

125.5±1

20.6

47.14

1.5

STM24C-3C

0 9

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STM24 Hardware Manual

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Technical Specications

POWER AMPLIFIER: All Models

AMPLIFIER TYPE Dual H-Bridge, 4 quadrant CURRENT CONTROL 4 state PWM at 20 kHz OUTPUT TORQUE 340 oz-in with suitable power supply POWER SUPPLY External 12 - 70 VDC power supply required INPUT VOLTAGE RANGE 10 - 75 min/max (nominal 12 - 70 VDC) PROTECTION Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-

to-phase, phase-to-ground)

IDLE CURRENT REDUCTION Reduction range of 0 – 90% of running current after delay selectable

in milliseconds

PHYSICAL AND ENVIRONMENTAL

MASS 1.58 kg (56 oz)

2 (

ROTOR INERTIA 900 g-cm AMBIENT TEMPERATURE 0 to 40°C (32 - 104°F) when mounted to suitable heatsink HUMIDITY 90% non-condensing AXIAL BEARING LOAD RATING 3.37 Lbs RADIAL BEARING LOAD RATING 15.96 Lbs

1.27 x 10-2 oz-in-sec2)

CONTROLLER: All Models

MICROSTEP RESOLUTION Software selectable from 200 to 51200 steps/rev in increments of 2

steps/rev SPEED RANGE 0.00416 to 50 revolutions/second DISTANCE RANGE Up to 10,000,000 revolutions (at 200 steps/rev) ANTI-RESONANCE

(Electronic Damping)

TORQUE RIPPLE SMOOTHING Allows for ne adjustment of phase current waveform harmonic con-

AUTO SETUP Measures motor parameters and congures motor current control

SELF TEST Checks internal & external power supply voltages. Diagnoses open

MICROSTEP EMULATION Performs high resolution stepping by synthesizing ne microsteps

COMMAND SIGNAL SMOOTHING

ENCODER (OPTIONAL) 1000 lines (4000 counts/revolution). Index pulse mapped to input

Raises the system damping ratio to eliminate midrange instability

and allow stable operation throughout the speed range and improves

settling time.

tent to reduce low-speed torque ripple in the range 0.25 to 1.5 rps

and anti-resonance gain settings

motor phases and motor resistance changes >40%.

from coarse steps (Step & Direction mode only)

Software congurable ltering reduces jerk and excitation of extrane-

ous system resonances (Step & Direction mode only).

“0”.

Page 26

920-0044D 10/7/2011

CONTROLLER: SF & QF Models

MODES OF OPERATION Step & direction, CW/CCW pulse, A/B quadrature, oscillator, joystick,

SCL streaming commands, stored programs (Q only).

I/O 1 (STEP) INPUT:

Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter. Function: Step, CW Step, A quadrature, CW jog, Start/stop (oscillator

mode), motor enable, general purpose Input. OUTPUT: Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz max. Function: fault, motion, tach, brake, general purpose

I/O 2 (DIR) INPUT:

Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter. Function: direction (step & direction or oscillator modes), CCW step, B quadrature, alarm reset, CCW jog, sensor, gen-

eral purpose input. OUTPUT: Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz max. Function: fault, motion, tach, brake, general purpose

I/O 3 INPUT:

Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter. Function: speed change (oscillator mode), CW limit,

sensor, motor enable, general purpose input. OUTPUT: Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz max. Function: fault, motion, tach, brake, general purpose

I/O 4 INPUT:

Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter.

Function: Alarm reset, CCW limit, sensor, general purpose input. OUTPUT: Optically isolated, open emitter/collector, 30V, 40 mA max. 10 kHz

max. Function: fault, motion, tach, brake, general purpose ANALOG INPUT RANGE (AIN) 0 to 5VDC ANALOG INPUT RESOLUTION 12 bits COMMUNICATION RS-232 or RS-485 5 VOLT USER OUTPUT 4.8 to 5.0 VDC, 50 mA maximum

STM24 Hardware Manual

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STM24 Hardware Manual

CONTROLLER: C Model

IN1 Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter

Function: CW limit, general purpose input.

IN2 Optically isolated, 5-24 V, 8-12 mA. Minimum pulse width = 250 ns.

Maximum pulse frequency = 3 MHz. Adjustable bandwidth digital noise rejection lter

Function: CCW limit, general purpose input.

IN3 Optically isolated, 5-24 V, 8-12 mA.

Function: home sensor, general purpose input.

OUT Optically isolated, 30V, 40mA MAX. open emitter/collector.

Function: fault, motion, alarm, tach or general purpose

COMMUNICATION INTERFACE CAN 2.0b (for CANopen network), RS-232 (for conguration)

CANOPEN CONFORMANCE DS301, DSP402

CANOPEN MOTION Homing, Prole Velocity, Prole Position (single set-point and set of

set-points)

10/7/2011

Page 28

STM24X

V24V48V70V

920-0044D 10/7/2011

Torque-Speed Curves

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

6A/phase

350

300

250

200

oz-in

150

STM24 Hardware Manual

100

0 10 20 30 40 50

rps

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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 STM24 in our lab and provided curves showing the maximum duty cycle versus speed for

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.

10/7/2011

STM24X-3 Max Duty Cycle vs Speed

6A/phase, 40°C Ambient

Mounted on a 162 x 162 x 6 (mm)

Aluminum Plate

100

e l c y C y t u D %

0 10 20 30 40 50

Speed (RPS)

12V Duty Cycle 24V Duty Cycle 48V Duty Cycle 65V Duty Cycle

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STM24 Hardware Manual

Mating Connectors and Accessories

Connector Part Number - Manufacturer

DC Power (2-position, screw terminal) 1615780000 - Weidmuller I/O (11-position, spring cage) 1881419 - Phoenix RS-485 (5-position, spring cage) 1881354 - Phoenix

Accessories

Serial programming cable for programming units with RS-232 ports (STM24x-xAx): P/N 3004-189

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

DC power supplies: 24 V, 150 W switching power supply, P/N PS150A24 48 V, 320 W switching power supply, P/N PS320A48 Regeneration clamp for use with high inertial loads: RC-050

Note: Prolic-based USB serial adapters do not work with Vista 64 or Windows 7 64 bit operating systems. Suggested adapters are Applied Motion Products USB-COMi-M (8500-003) or Byterunner USB-COM-CBL.

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LED Error Codes

Status LED STM

e STM drive+motor includes red and green LEDs to indicate status. When the motor is enabled, the green LED ashes

slowly. When the green LED is solid, the motor is disabled. Errors are indicated by combinations of red and green

“ashes” as follows:

Code Error

solid green no alarm, motor disabled flashing green no alarm, motor enabled fast green Q program running 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 3 red, 3 green blank Q segment 4 red, 1 green power supply overvoltage 4 red, 2 green power supply undervoltage 4 red, 3 green flash memory backup error 5 red, 1 green over current / short circuit 5 red, 2 green I/O occupied 6 red, 1 green open motor winding 6 red, 2 green bad encoder signal (optional encoder only) 7 red, 1 green serial communication error 7 red, 2 green flash memory error

STATUS

IN1+

IN1 IN2+ IN2

IN3+

IN3 OUT+

OUT

STM24C Connector Pin Diagram STM24SF & STM24QF Connector Pin Diagram

I/O 1+ I/O 1 I/O 2+ I/O 2 I/O 3+ I/O 3 I/O 4+ I/O 4 +5V AIN GND

Page 32

920-0044D

Re-Order from

omegamation.com

Omegamation

1-888-55-OMEGA

1-888-55-66342

10/7/2011

Contacting Applied Motion Products

Corporate Headquarters 404 Westridge Drive Watsonville, CA 95076 (831) 761-6555 fax (831) 761-6544 web www.applied-motion.com [email protected]

STM24 Hardware Manual