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STM17 Technical Specifications

POWER AMPLIFIER:

AMPLIFIER TYPE

Dual H-bridge, 4 quadrant

CURRENT CONTROL

4 state PWM at 16 kHz

OUTPUT TORQUE

Up to 68 oz-in with suitable power supply

POWER SUPPLY

External 12 - 48 VDC power supply required

Under-voltage alarm: 11 VDC

Over-voltage shutdown: 52 VDC

PROTECTION

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

IDLE CURRENT REDUCTION

STM17S/Q/C:

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

STM17R:

Switch selectable 50% or 90% of running current.

CONTROLLER:

MICROSTEP RESOLUTION

STM17S/Q/C:

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

STM17R:

Dip-switch selectable 200, 400, 800, 1000, 1600, 2000, 3200, 4000, 5000, 6400, 8000, 10000,

12800, 20000, 25000 or 25600 steps/rev.

MICROSTEP EMULATION

Performs high resolution stepping by synthesizing fine microsteps from coarse steps (step & direction mode only)

COMMAND SIGNAL SMOOTHING Software configurable filtering reduces jerk and excitation of extraneous system resonances (step & direction mode)

ANTI-RESONANCE

(Electronic Damping)

Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the speed

range and improves settling time

AUTO SETUP

Measures motor parameters and configures motor current control and anti-resonance gain settings

SELF TEST

Checks internal & external power supply voltages, diagnoses open motor phases

NON-VOLATILE STORAGE

Configurations are saved in flash memory on-board the DSP

MODES OF OPERATION

STM17R:

Step & direction or CW/CCW pulse (switch selectable)

STM17S:

Step & direction, CW/CCW pulse, A/B quadrature pulse, velocity (oscillator, joystick), streaming commands

(SCL)

STM17Q:

All STM17S modes of operation plus stored Q program execution

STM17C:

CANopen slave node plus stored Q program execution

DIGITAL INPUTS

Adjustable bandwidth digital noise rejection filter on all inputs

STEP+/- (IN1+/-):

Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.

Function: STM17R: Step, CW pulse; All others: Step, CW pulse, A quadrature (encoder following), CW limit, CW jog,

start/stop (oscillator mode), or general purpose input.

DIR+/- (IN2+/-):

Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.

Function: STM17R: Direction, CCW pulse; All others: Direction, CCW pulse, B quadrature (encoder following), CCW

limit, CCW jog, direction (oscillator mode), or general purpose input.

EN+/- (IN3+/-):

Optically isolated, 5-24 volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz.

Function: STM17R: Enable; All others: Enable, alarm/fault reset, speed 1/speed 2 (oscillator mode).

DIGITAL OUTPUT

OUT+/-:

Optically isolated, 30V/40mA max. Function: STM17R: Fault; All others: Fault, motion, tach, or general

purpose programmable.

ANALOG INPUT

STM17S/Q/C:

AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits.

STM17R:

No analog input

COMMUNICATION INTERFACE

STM17x-3Ax:

RS-232

STM17x-3Rx:

RS-485

STM17C-3Cx:

CANopen and RS-232

STM17R-3Nx:

No communication port

APPROVALS:

AGENCY APPROVALS

RoHS, CE EN61800-3:2004

PHYSICAL:

OPERATING TEMPERATURE

0 to 85°C (32 to 185°F) Internal temperature of the electronics section and encoder

0 to 100°C (32 to 212°F) Temperature of motor body

AMBIENT TEMPERATURE

0 to 40°C (32 to 104°F) When mounted to a suitable heatsink

HUMDITY

90% max, non-condensing

MASS

STM17R:

14.7 oz (416 g); STM17S/Q/C: 15.6 oz (441 g)

ROTOR INERTIA

1.16 x 10-3 oz-in-sec2 (82 g-cm2)

Encoder Option, STM-S/Q/C/IP

The STM integrated steppers are offered with an optional 1000-line incremental encoder. On

STM-S/Q/C/IP models this encoder is integrated into the

housing of the motor, without increasing

the overal size of the unit. The addition of this encoder

provides the following enhanced functionality:

Stall Detection

notifies the system as soon as the required

torque is too great for the motor, resulting in a loss of synchro-

nization between the rotor and stator, also known as stalling.

As soon as the motor stalls the drive triggers its

fault output. See diagram 1.

Stall Prevention

automatically adjusts the excita-

tion of the motor windings to maintain synchronization of the

rotor and stator under all conditions. This means that motor

position is maintained and corrected even when the required

torque is too great for the motor. The stall prevention feature

also performs postion maintenance, which maintains the position

of the motor shaft when at rest. See figure 2.

2

3

1

1 Programmed Motion Prole

2 Point at which load increases

3 Actual Motion Prole

Time

2

3

1

1 Load Increases

2 Motor is no longer able to produce required torque

3 Motor stalls and fault signal sent

Time

Figure 2: Diagram showing the Stall Prevention process

Figure 1: Diagram showing the Stall Detection process

Encoder Option, STM-R

STM-R models can be ordered with an optional 1000-line

incremental encoder mounted to the rear shaft of the

unit. This encoder can be connected to the external

controller for position verification and enhanced

performance, depending on the features of the

controller.

Diagram showing the position of

the encoder inside the STM17