STM24 Technical Specifications

POWER AMPLIFIER:

AMPLIFIER TYPE

Dual H-bridge, 4 quadrant

CURRENT CONTROL

4 state PWM at 20 kHz

OUTPUT TORQUE

Up to 340 oz-in with suitable power supply

POWER SUPPLY

External 12 - 70 VDC power supply required

Under-voltage alarm: 11 VDC

Over-voltage shutdown: 74 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

CONTROLLER:

MICROSTEP RESOLUTION

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

only)

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

STM24SF:

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

mands (SCL)

STM24QF:

All STM24S modes of operation plus stored Q program execution

STM24C:

CANopen slave node plus stored Q program execution

DIGITAL FLEX I/O

SF and QF models

Adjustable bandwidth digital noise rejection filter on all I/O points configured as inputs

When configured as Inputs:

Optically isolated, 5-24 VDC, 8-12 mA. Minimum pulse width = 250 ns. Maximum pulse frequency = 3 MHz. Func-

tions: see STM24 hardware manual.

When configured as Outputs:

Optically isolated, open emitter/collector, 30V/80mA max, 10 kHz max. Functions: see STM24 hardware manual.

DIGITAL I/O

C models

Adjustable bandwidth digital noise rejection filter on all inputs

IN1 - IN3:

Optically isolated inputs, 5-24 VDC, 8-12 mA. Minimum pulse width = 250 ns. Maximum pulse frequency =

3 MHz. Functions: see STM24 hardware manual.

OUT:

Optically isolated output, open emitter/collector, 30V/80mA max. Function: see STM24 hardware manual.

ANALOG INPUT

AIN referenced to GND. Range = 0 to 5 VDC. Resolution = 12 bits. (Not present on STM24C).

COMMUNICATION INTERFACE

STM24x-3Ax:

RS-232

STM24x-3Rx:

RS-485

STM24C-3Cx:

CANopen, RS-232

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

56 oz (1580 g)

ROTOR INERTIA

1.27 x 10-2 oz-in-sec2 (900 g-cm2)

7

10

STM23 Technical Specifications

POWER AMPLIFIER:

AMPLIFIER TYPE

Dual H-bridge, 4 quadrant

CURRENT CONTROL

4 state PWM at 20 kHz

OUTPUT TORQUE

STM23-2:

Up to 125 oz-in with suitable power supply

STM23-3:

Up to 210 oz-in with suitable power supply

POWER SUPPLY

External 12 - 70 VDC power supply required. Under-voltage alarm: 11 VDC. Over-voltage shutdown: 74 VDC

PROTECTION

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

IDLE CURRENT REDUCTION

STM23S/Q/C/IP:

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

STM23R:

Switch selectable 50% or 90% of running current.

CONTROLLER:

MICROSTEP RESOLUTION

STM23S/Q/C/IP:

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

STM23R:

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

STM23R:

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

STM23S:

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

(SCL), SiNet Hub compatible

STM23Q:

All STM23S modes of operation plus stored Q program execution

STM23C:

CANopen slave node plus stored Q program execution

STM23IP:

All STM23Q modes of operation plus EtherNet/IP industrial network communications

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: STM23R: 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: STM23R: 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 frequeny = 3 MHz.

Function: STM23R: Enable; All others: Enable, alarm/fault reset, speed 1/speed 2 (oscillator mode).

DIGITAL OUTPUT

OUT+/-:

Optically isolated, 30V/40 mA max.

Function: STM23R: Fault; All others: Fault, motion, tach or general purpose programmable.

ANALOG INPUT

STM23S/Q/IP:

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

STM23R/C:

No analog input

COMMUNICATION INTERFACE

STM23x-xAx:

RS-232, STM23x-xEx: Ethernet, STM23x-xRx: RS-485, STM23C-3Cx: CANopen, RS-232,

STM23IP-xEx:

Ethernet, EtherNet/IP, STM23R-xNx: 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

STM23-2:

30 oz (850 g), STM23-3: 42 oz (1191 g)

ROTOR INERTIA

STM23-2:

3.68 x 10-3 oz-in-sec2 (260 g-cm2), STM23-3: 6.52 x 10-3 oz-in-sec2 (460 g-cm2)