STM23C-3CE | DigiCamel IC Datasheet

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STM17Q-3AE AMP | Alldatasheet

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404 Westridge Dr. Watsonville, CA 95076 Tel: 800-525-1609 Fax: 831-761-6544 www.applied-motion.com #006BB3 #FFFFFF When over a dark color... #383838 85%k 76%C 68%M 67%Y 90%K The STM is an integrated Drive +Motor, fusing step motor and drive technologies into a single device, offering savings on space, wiring and cost over conventional motor and drive solutions. ▪ Pulse & direction, CW/CCW pulse, A/B quadrature ▪ Velocity (oscillator) mode ▪ Streaming commands (SCL compatible) ▪ ST Configurator™ software for setup ▪ Executes stored Q programs ▪ Networking with RS-485 or Ethernet options ▪ Conditional processing & multi-tasking ▪ Math functions, register manipulation ▪ Encoder following ▪ Third-party HMI compatibility Models C IP C IP C IP R R C IP C IP C IP R R DistributeD by: Integrated Steppers Drive Motor Control ▪ CANopen protocols DS301 and DSP402 ▪ Profile Position, Profile Velocity, and Hom- ing modes ▪ Up to 127 axes per channel ▪ Executed stored Q programs Dynamic Current Control Anti-Resonance Torque Ripple Smoothing Microstep Emulation Stall Prevention/Detection For more information visit: www.applied-motion.com/STM 4/1/2012 925-0009 C16 Part Numbers Pulse & DirectioN streamiNg commaNDs Q ProgrammiNg rs-232 rs-422/485 caNoPeN etherNet etherNet/iP rear shaft eNcoDer STM17Q-3AE X X X X X STM17Q-3AN X X X X STM17Q-3RE X X X X X STM17Q-3RN X X X X STM17S-3AE X X X X STM17S-3AN X X X STM17S-3RE X X X X STM17S-3RN X X X STM17R-3ND X X STM17R-3NE X X X STM17R-3NN X STM17C-3CE X X X STM17C-3CN X X STM23Q-2AE X X X X X STM23Q-2AN X X X X STM23Q-2EE X X X X X STM23Q-2EN X X X X STM23Q-2RE X X X X X STM23Q-2RN X X X X STM23Q-3AE X X X X X STM23Q-3AN X X X X STM23Q-3EE X X X X X STM23Q-3EN X X X X STM23Q-3RE X X X X X STM23Q-3RN X X X X STM23IP-2EE X X X X X STM23IP-2EN X X X X STM23IP-3EE X X X X X STM23IP-3EN X X X X Available Part Numbers: STM17R-3NN STM23R-2NN STM24SF-3AN STM17R-3ND STM23R-2ND STM24SF-3AE STM17R-3NE STM23R-2NE STM24SF-3RN STM17S-3AN STM23R-3NN STM24SF-3RE STM17S-3AE STM23R-3ND STM24QF-3AN STM17S-3RN STM23R-3NE STM24QF-3AE STM17S-3RE STM23S-2AN STM24QF-3RN STM17Q-3AN STM23S-2AE STM24QF-3RE STM17Q-3AE STM23S-2RN STM24C-3CN STM17Q-3RN STM23S-2RE STM24C-3CE STM17Q-3RE STM23Q-2AN STM17C-3CN STM23Q-2AE STM17C-3CE STM23Q-2RN STM23Q-2RE STM23S-3AN STM23S-3AE STM23S-3RN STM23S-3RE STM23Q-3AN STM23Q-3AE STM23Q-3RN STM23Q-3RE STM23C-3CN STM23C-3CE STM23S-2AN NEMA Frame Size Motor Length (inch) Series STM Stepper Drive+Motor Control Option Feedback/Rear Shaft D = Rear shaft w/o encoder E = 1000 line encoder N = No encoder/No rear shaft Communications A = RS-232 E = Ethernet R = RS-485 STM Part Number System, 01/10/2012 17S/Q/C n/a 3.19 17R n/a 2.64 23S/Q/C/IP 3.64 4.50 23R 3.35 4.21 24SF/QF/C n/a 4.94 Q = Q Programmer QF = Q Programmer w/ Flex I/O C = CANopen IP = EtherNet/IP R = Step & Direction only S = Velocity & Streaming Commands SF = Velocity & Streaming Commands w/ Flex I/O C = CANopen (requires C control option) N = None STM Drive Model Numbers ▪ Pulse & direction, CW/CCW pulse C IP C IP C IP R R ▪ EtherNet/IP industrial networking ▪ Same control modes as Q model Part Numbers Pulse & DirectioN streamiNg commaNDs Q ProgrammiNg rs-232 rs-422/485 caNoPeN etherNet etherNet/iP rear shaft eNcoDer STM23S-2AE X X X X STM23S-2AN X X X STM23S-2EE X X X X STM23S-2EN X X X STM23S-2RE X X X X STM23S-2RN X X X STM23S-3AE X X X X STM23S-3AN X X X STM23S-3EE X X X X STM23S-3EN X X X STM23S-3RE X X X X STM23S-3RN X X X STM23R-2ND X X STM23R-2NE X X X STM23R-2NN X STM23R-3ND X X STM23R-3NE X X X STM23R-3NN X STM23C-3CE X X X STM23C-3CN X X STM24QF-3AE X X X X X STM24QF-3AN X X X X STM24QF-3RE X X X X X STM24QF-3RN X X X X STM24SF-3AE X X X X STM24SF-3AN X X X STM24SF-3RE X X X X STM24SF-3RN X X X STM24C-3CE X X X STM24C-3CN X X C IP C IP C IP R R C IP C IP C IP R R

19.05 2X M3 Ø 5 +0 -.012 Ø 22 +0 -.052

4.5 FLAT

38.6 67±1 13* Ø 5* 42.3 MAX 42.3 MAX 43.5 4-M3Depth 4.5 42.3 MAX 42.3 MAX 43.5 4-M3Depth 4.5 81±1 55.8 42.4 Ø 22

4.50 Flat

Ø 5 60.8 STM17R STM17S/Q/C Power Supplies Applied Motion offers three matched power supplies for use with the STM drives.

PS150A24 ... 24 VDC, 150 Watt for use with all STM drives.
PS320A48 ... 48 VDC, 320 Watt for use with all STM drives.
PS50A24 ... 24 VDC, 50 Watt for use with STM17 drives. These power supplies have current overload capability making them ideal for use with stepper drives. USB to RS-232/485 Adapter For users without a serial port and/or wishing to take advantage of the benefits of an RS-485 network, Applied Motion offers an adapter (part number 8500-003) that will plug into a USB port and communicate to RS-232 and RS-485 networks. RC-050 Regeneration Clamp The RC-050 regeneration clamp is for use where regeneration from the motor may be excessive for the power supply. In these cases the RC-050 is connected between the drive and power supply and absorbs regenerated energy. Integrated Stepper STM17
NEMA 17 frame size
Torque: up to 68 oz-in
Input voltage: 12-48 VDC Dimensions in mm, not to scale *rear shaft is only present on –ND and –NE versions Accessories 3004-189 Serial Programming Cable The 3004-189 serial programming cable is included with all STM23 and STM24 products (all but R models) with the “A” communication option, and is used for setup and programming. This cable can also be used in streaming serial command (SCL) applications as a permanent connection between the drive and the host device’s RS- 232 port. 3004-259 Serial Programming Cable The 3004-259 serial programming cable is included with all STM17 products (all but R models) with the “A” communication option, and is used for setup and programming. This cable can also be used in streaming serial command (SCL) applications as a permanent connection between the drive and the host device’s RS-232 port.

Q Programmer™ Q Programmer™ is used to create stored programs for Q, C and IP models. Q Programmer™ is a robust and powerful program- ming environment with functionality for multi-tasking, math, conditional processing, register manipulation, encoder following, analog positioning and more. Stored Q programs can run stand-alone in Q and IP models, allowing the drive+motor to power up and begin operation on its own. Stored Q programs can be called from the host in C models using Applied Motion-specific CANopen objects. ST Configurator™ Used for setup and configuration of the STM drive+motor (all but R models). For more information about ST Configurator™ visit the Applied Motion Products website. All software applications run on Windows 7 (32 & 64 bit), Vista, XP, 2000, NT, ME, 98. 314 STM17 Torque Curves 0 10 20 30 40 50 oz-in rps STM17-3 12V 24V 48V Software Current Setting: 2A s I/O Connections STEP+ STEP- DIR+ DIR EN+ EN OUT+ OUT V 1 2 3 4 5 6 7 8 1 2 3 4 S/RSETUP IN1+ IN1- IN2+ IN2 IN3+ IN3 OUT+ OUT +5V AIN GND - + 3 digital inputs 1 digital output 1 analog input R R 3 digital inputs 1 digital output 1 analog input 3 digital inputs 1 digital output R RSTEP+ STEP- DIR+ DIR EN+ EN OUT+ OUT +5V AIN GND - + 3 digital inputs 1 digital output 1 analog input R R R R

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.

1 Programmed Motion Pro/f_ile

2 Point at which load increases

3 Actual Motion Pro/f_ile

1 Load Increases

2 Motor is no longer able to produce required torque

3 Motor stalls and fault signal sent

Figure 2: Diagram showing the Stall Prevention processFigure 1: Diagram showing the Stall Detection process Encoder Option 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

NEMA 23 frame size
Torque: up to 210 oz-in
Input voltage: 12-70 VDC STM23 Dimensions Use SiNet Hub Programmer™ software to develop your sequence of events, then download them to a SiNet Hub for a stand-alone system (STM23 only) or stream serial commands to the drives from a PC, PLC, HMI, or other host controller. MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet Step & Direction Host Control Stand-Alone Programmable Multi-Axis Systems Oscillator / Run-Stop MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet ▪ Software configuration ▪ Two speeds ▪ Vary speed with analog input ▪ Joystick compatible RS-232 ▪ Accept serial commands from host PC or PLC MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet ▪ Comprehensive text based language ▪ Download, store & execute programs ▪ High level features: multi-tasking, conditional programming and math functions ▪ Host interface while executing stored programs MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet ▪ Step & direction ▪ CW & CCW pulse ▪ A/B quadrature (master encoder) (S only) C IP C IP C R IP C R C IP C IP C R IP C R C IP C IP C R IP C R Control Options RS-485 ▪ Accept serial commands from host PC or PLC ▪ Multi-axis capable, up to 32 axes C IP C IP C R IP C R CANopen Model ▪ Connect to CANopen network ▪ DS301 and DSP402 protocols C IP C IP C R IP C R 4.5* FLAT 19.05 2X M3 -.013Ø 6.35

5.85 FLAT

1.6 4.8 85.1 12* Ø 5* “L” (see chart) 20 Ø 38.1 ±.05

56.4 MAX

47.14 47.14 4X Ø 5 53.2 Model Length “L” STM23S/Q/C/IP -2 92.4 STM23S/Q/C/IP -3 114.4 STM23R-2 85 STM23R-3 107 47.14 47.14 4X Ø 5 28.5 50.9 1.6 4.8 75.07 15.9REF 90.9 Ø 38.1±.05 50.8 “L” (see chart) -.013Ø 6.35 59.7 31.2 STM23R STM23S/Q/C/IP C IP C IP C R IP C R C IP C IP C R IP C R C IP C IP C R IP C R MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet C IP C IP C R IP C R ▪ Accepts streaming commands from host PC or PLC ▪ 1000’s of axes with Ethernet and EtherNet/IP C IP C IP C R IP C R Dimensions in mm, not to scale *rear shaft is only present on –ND and –NE versions

STM23-2 12 VDC 24 VDC 48 VDC 70 VDC 0 10 20 30 40 50 oz-in rps 150 200 250n STM23-3 12 VDC 24 VDC 48 VDC 70 VDC 100 0 10 20 30 40 50 oz-in rps Dynamic Current Control At start-up the drive measures motor parameters, including the resistance and inductance, then uses this information to optimize the system performance. Command Signal Smoothing Command Signal smoothing can soften the effect of immediate changes in velocity and direction, making the motion of the motor less jerky. An added advantage is that it can reduce the wear on mechanical components. Delivers smoother system performance Torque Ripple Smoothing All step motors have an inherent low speed torque ripple that can affect the motion of the motor. By analyzing this torque ripple the system can apply a negative harmonic to negate this effect, which gives the motor much smoother motion at low speed. Delivers smoother motion at lower speeds Microstep Emulation With Microstep Emulation, low resolution systems can still provide smooth motion. The drive can take low-resolution step pulses and create fine resolution micro-step motion. Delivers smoother motion in any application 1.8° Steps Synthesized Microsteps Step motor systems have a natural tendency to resonate at certain speeds. The STM drive+motor automatically calculates the system’s natural frequency and applies damping to the control algorithm. This greatly improves midrange stability, allows for higher speeds, greater torque utilization and also improves settling times.

Features

Anti-Resonance/Electronic Damping Delivers better motor performance and higher speeds Self Test & Auto Setup System runs cooler Allows for three current settings to help the motor run cooler and reduce power consumption. ▪ Running Current - the current the drive will deliver for continuous motion. ▪ Accel Current - the current the drive will deliver when accelerating or decelerating. ▪ Idle Current - reduces current draw when motor is stationary. Current Setting: 5ACurrent Setting: 5A I/O Connections 3 digital inputs 1 digital output 1 analog input 3 digital inputs 1 digital output C IP C IP C R IP C R 3 digital inputs 1 digital output C IP C IP C R IP C R STM23-2AN STEP+ STEP- DIR+ DIR EN+ EN OUT+ OUT +5V AIN GND STM23-2CN 0 8 F E D C B A 91 0 5 IN1+ IN1 IN2+ IN2 IN3+ IN3 OUT+ OUT - + 1 2 3 4 5 6 7 8 1 2 3 4 STEP+ STEP- DIR+ DIR EN+ EN OUT+ OUT V S/RSETUP C IP C IP C R IP C R 3 digital inputs 1 digital output 1 analog input 3 digital inputs 1 digital output 1 analog input C IP C IP C R IP C R C IP C IP C R IP C R

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) 710 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)

Ø 38.1 47.14 Ø 8

7.5 Flat

4-Ø 4.5 125.5±1 20.6 60 47.14 15 1.5 I/O Connections C IP C IP C R IP C R 4 digital flex I/O 1 analog input 4 digital flex I/O 1 analog input C IP C IP C R IP C R C IP C IP C R IP C R 3 digital inputs 1 digital output Integrated Stepper STM24

NEMA 24 frame size
Torque: up to 340 oz-in
Input voltage: 12-70 VDC STM24-2AN I/O1+ I/O1- I/O2+ I/O2 I/O3+ I/O3 I/O4+ I/O4 +5V AIN GND STM24-2CN 0 8 F E D C B A 91 0 5 IN1+ IN1 IN2+ IN2 IN3+ IN3 OUT+ OUT - + Dimensions in mm Not to scale Current Setting: 6A

Ø 38.1 47.14 Ø 8 4-Ø 4.5 125.5±1 20.6 60 47.14 15 1.5 I/O Connections C IP C IP C R IP C R 4 digital flex I/O 1 analog input 4 digital flex I/O 1 analog input C IP C IP C R IP C R C IP C IP C R IP C R 3 digital inputs 1 digital output Integrated Stepper STM24

NEMA 24 frame size
Torque: up to 340 oz-in
Input voltage: 12-70 VDC STM24-2AN I/O1+ I/O1- I/O2+ I/O2 I/O3+ I/O3 I/O4+ I/O4 +5V AIN GND STM24-2CN 0 8 F E D C B A 91 0 5 IN1+ IN1- IN2+ IN2 IN3+ IN3 OUT+ OUT - + Dimensions in mm Not to scale Current Setting: 6A

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) 710 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)

STM23-2 12 VDC 24 VDC 48 VDC 70 VDC 0 10 20 30 40 50 oz-in rps 150 200 250n STM23-3 12 VDC 24 VDC 48 VDC 70 VDC 100 0 10 20 30 40 50 oz-in rps Dynamic Current Control Dynamic Current Control At start-up the drive measures motor parameters, including the resistance and inductance, then uses this information to optimize the system performance. Command Signal Smoothing Command Signal Smoothing Command Signal smoothing can soften the effect of immediate changes in velocity and direction, making the motion of the motor less jerky. An added advantage is that it can reduce the wear on mechanical components. Delivers smoother system performance Torque Ripple Smoothing Torque Ripple Smoothing All step motors have an inherent low speed torque ripple that can affect the motion of the motor. By analyzing this torque ripple the system can apply a negative harmonic to negate this effect, which gives the motor much smoother motion at low speed. Delivers smoother motion at lower speeds Microstep Emulation Microstep Emulation With Microstep Emulation, low resolution systems can still provide smooth motion. The drive can take low-resolution step pulses and create fine resolution micro-step motion. Delivers smoother motion in any application 1.8° Steps Synthesized Microsteps Step motor systems have a natural tendency to resonate at certain speeds. The STM drive+motor automatically calculates the system’s natural frequency and applies damping to the control algorithm. This greatly improves midrange stability, allows for higher speeds, greater torque utilization and also improves settling times. Anti-Resonance/Electronic Damping Anti-Resonance/Electronic Damping Delivers better motor performance and higher speeds Self Test & Auto Setup System runs cooler Allows for three current settings to help the motor run cooler and reduce power consumption. ▪ Running Current - the current the drive will deliver for continuous motion. ▪ Accel Current - the current the drive will deliver when accelerating or decelerating. ▪ Idle Current - reduces current draw when motor is stationary. Self Test & Auto Setup Current Setting: 5ACurrent Setting: 5A I/O Connections 3 digital inputs 1 digital output 1 analog input 3 digital inputs 1 digital output C IP C IP C R IP C R 3 digital inputs 1 digital output C IP C IP C R IP C R STM23-2AN STEP+ STEP- DIR+ DIR EN+ EN OUT+ OUT +5V AIN GND STM23-2CN 0 8 F E D C B A 91 0 5 IN1+ IN1 IN2+ IN2 IN3+ IN3 OUT+ OUT - + 1 2 3 4 5 6 7 8 1 2 3 4 STEP+ STEP- DIR+ DIR EN+ EN OUT+ OUT V S/RSETUP C IP C IP C R IP C R 3 digital inputs 1 digital output 1 analog input 3 digital inputs 1 digital output 1 analog input C IP C IP C R IP C R C IP C IP C R IP C R

NEMA 23 frame size
Torque: up to 210 oz-in
Input voltage: 12-70 VDC STM23 Dimensions Use SiNet Hub Programmer™ software to develop your sequence of events, then download them to a SiNet Hub for a stand-alone system (STM23 only) or stream serial commands to the drives from a PC, PLC, HMI, or other host controller. MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet Step & Direction Host Control Stand-Alone Programmable Step & Direction Stand-Alone Programmable Multi-Axis Systems Multi-Axis Systems Oscillator / Run-Stop Oscillator / Run-Stop MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet ▪ Software configuration ▪ Two speeds ▪ Vary speed with analog input ▪ Joystick compatible RS-232 ▪ Accept serial commands from host PC or PLC MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection # 5 # 4 # 3 # 2 # 1 RS-232/485 or Ethernet MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet ▪ Comprehensive text based language ▪ Download, store & execute programs ▪ High level features: multi-tasking, conditional programming and math functions ▪ Host interface while executing stored programs MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet ▪ Step & direction ▪ CW & CCW pulse ▪ A/B quadrature (master encoder) (S only) C IP C IP C R IP C R C IP C IP C R IP C R C IP C IP C R IP C R Control Options RS-485 ▪ Accept serial commands from host PC or PLC ▪ Multi-axis capable, up to 32 axes C IP C IP C R IP C R CANopen Model ▪ Connect to CANopen network ▪ DS301 and DSP402 protocols C IP C IP C R IP C R 4.5* FLAT 19.05 2X M3 -.013Ø 6.35

1.6 4.8 85.1 12* Ø 5* “L” (see chart) 20 Ø 38.1 ±.05 47.14 47.14 4X Ø 5 53.2 Model Length “L” STM23S/Q/C/IP -2 92.4 STM23S/Q/C/IP -3 114.4 STM23R-2 85 STM23R-3 107 47.14 47.14 4X Ø 5 28.5 50.9 1.6 4.8 75.07 15.9REF 90.9 Ø 38.1±.05 50.8 “L” (see chart) -.013Ø 6.35 59.7 31.2 STM23R STM23S/Q/C/IP C IP C IP C R IP C R C IP C IP C R IP C R C IP C IP C R IP C R MMI Control Option 3rd Party Controller RS-232 RS-485/422 or CANopen UP TO AXES: RS-485 MMI Each drive connectsto a port on the hub. or UP TO AXES UP TO AXES RS-232RS-232 HUB 444 Run/Stop (Toggle Switch) Speed1/Speed2 (Toggle Switch) Speed (Potentiometer) Serial No Error Codes GR-GreenRD-RED DRIVE OVER TEMP 1 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD COMM ERROR 1 GR + 7 RD ST5-S GND B-B+A-A+V-V+ AN1+5V OUT+OUT- EN-EN+DIR- DIR+ STEP-STEP+ ID 1ID 2ID 3ID 4ID 5 Serial No Error Codes GR-Green RD-RED POSITION LIMIT 1 GR + 1 RD CCW LIMIT TRIP 1 GR + 2 RDCW LIMIT TRIP 2 GR + 2 RDDRIVE OVER TEMP 1 GR + 3 RDMOTOR OVER TEMP 2 GR + 3 RDVOLTAGE HIGH 1 GR + 4 RDVOLTAGE LOW 2 GR + 4 RDOVER CURRENT 1 GR + 5 RD HALL FAIL 1 GR + 6 RDENCODER FAIL 2 GR + 6 RDCOMM ERROR 1 GR + 7 RD Front View X COMMON X7 / CW Limit X3 / Servo Enable X4 / Alarm Reset Analog IN-Analog IN+ X2 / DIR-X2 / DIR+ X1 / STEP / PWM+X1 / STEP / PWM- GND GND A+A-B+B-Z+Z- +5V OUT Y COMMONY3 / ALARMY2 / INPOSNY1 / BRAKE 1817161514 13121110987654 2 3 1 19202122232425 r e d o c n Estupt u O X6 / CCW Limit IN/OUT 1 ST5-Q RS-232/485 or Ethernet RS485/422RS485/422RS485/422 # 5 # 4 # 3 # 2 # 1 UP TO 127 AXES UP TO 128 AXES: CANopen Ethernet Connection RS-232/485 or Ethernet C IP C IP C R IP C R ▪ Accepts streaming commands from host PC or PLC ▪ 1000’s of axes with Ethernet and EtherNet/IP C IP C IP C R IP C R Dimensions in mm, not to scale *rear shaft is only present on –ND and –NE versions

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. Figure 2: Diagram showing the Stall Prevention process 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 the overal size of the unit. The addition of this encoder 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. 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 Figure 1: Diagram showing the Stall Detection process Encoder Option 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. STM-R models can be ordered with an optional 1000-line incremental encoder mounted to the rear shaft of the Diagram showing the position of the encoder inside the STM17

Q Programmer™ Q Programmer™ is used to create stored programs for Q, C and IP models. Q Programmer™ is a robust and powerful program- ming environment with functionality for multi-tasking, math, conditional processing, register manipulation, encoder following, analog positioning and more. Stored Q programs can run stand-alone in Q and IP models, allowing the drive+motor to power up and begin operation on its own. Stored Q programs can be called from the host in C models using Applied Motion-specific CANopen objects. ST Configurator™ Used for setup and configuration of the STM drive+motor (all but R models). For more information about ST Configurator™ visit the Applied Motion Products website. All software applications run on Windows 7 (32 & 64 bit), Vista, XP, 2000, NT, ME, 98. 314 STM17 Torque Curves 0 10 20 30 40 50 oz-in rps STM17-3 12V 24V 48V Software Current Setting: 2A I/O Connections STEP+ STEP- DIR+ DIR EN+ EN OUT+ OUT V 1 2 3 4 5 6 7 8 1 2 3 4 S/RSETUP IN1+ IN1- IN2+ IN2 IN3+ IN3 OUT+ OUT +5V AIN GND - + 3 digital inputs 1 digital output 1 analog input R R 3 digital inputs 1 digital output 1 analog input 3 digital inputs 1 digital output R RSTEP+ STEP- DIR+ DIR EN+ EN OUT+ OUT +5V AIN GND - + 3 digital inputs 1 digital output 1 analog input R R R R

19.05 2X M3 Ø 5 +0 -.012 Ø 22 +0 -.052 38.6 67±1 13* Ø 5* 42.3 MAX 42.3 MAX 43.5 4-M3Depth 4.5 42.3 MAX 42.3 MAX 43.5 4-M3Depth 4.5 81±1 55.8 42.4 Ø 22 Ø 5 60.8 STM17R STM17S/Q/C Power Supplies Applied Motion offers three matched power supplies for use with the STM drives.

PS150A24 ... 24 VDC, 150 Watt for use with all STM drives.
PS320A48 ... 48 VDC, 320 Watt for use with all STM drives.
PS50A24 ... 24 VDC, 50 Watt for use with STM17 drives. These power supplies have current overload capability making them ideal for use with stepper drives. USB to RS-232/485 Adapter For users without a serial port and/or wishing to take advantage of the benefits of an RS-485 network, Applied Motion offers an adapter (part number 8500-003) that will plug into a USB port and communicate to RS-232 and RS-485 networks. RC-050 Regeneration Clamp The RC-050 regeneration clamp is for use where regeneration from the motor may be excessive for the power supply. In these cases the RC-050 is connected between the drive and power supply and absorbs regenerated energy. Integrated Stepper STM17
NEMA 17 frame size
Torque: up to 68 oz-in
Input voltage: 12-48 VDC Dimensions in mm, not to scale *rear shaft is only present on –ND and –NE versions Accessories 3004-189 Serial Programming Cable The 3004-189 serial programming cable is included with all STM23 and STM24 products (all but R models) with the “A” communication option, and is used for setup and programming. This cable can also be used in streaming serial command (SCL) applications as a permanent connection between the drive and the host device’s RS- 232 port. 3004-259 Serial Programming Cable The 3004-259 serial programming cable is included with all STM17 products (all but R models) with the “A” communication option, and is used for setup and programming. This cable can also be used in streaming serial command (SCL) applications as a permanent connection between the drive and the host device’s RS-232 port.

404 Westridge Dr. Watsonville, CA 95076 Tel: 800-525-1609 Fax: 831-761-6544 www.applied-motion.com #006BB3 #FFFFFF When over a dark color... #383838 85%k 76%C 68%M 67%Y 90%K The STM is an integrated Drive +Motor, fusing step motor and drive technologies into a single device, offering savings on space, wiring and cost over conventional motor and drive solutions. ▪ Pulse & direction, CW/CCW pulse, A/B quadrature ▪ Velocity (oscillator) mode ▪ Streaming commands (SCL compatible) ▪ ST Configurator™ software for setup ▪ Executes stored Q programs ▪ Networking with RS-485 or Ethernet options ▪ Conditional processing & multi-tasking ▪ Math functions, register manipulation ▪ Encoder following ▪ Third-party HMI compatibility Models C IP C IP C IP R R C IP C IP C IP R R DistributeD by: Integrated Steppers Drive Motor Control ▪ CANopen protocols DS301 and DSP402 ▪ Profile Position, Profile Velocity, and Hom- ing modes ▪ Up to 127 axes per channel ▪ Executed stored Q programs Dynamic Current Control Anti-Resonance Torque Ripple Smoothing Microstep Emulation Stall Prevention/Detection For more information visit: www.applied-motion.com/STM 4/1/2012 925-0009 C16 Part Numbers Pulse & DirectioN streamiNg commaNDs Q ProgrammiNg rs-232 rs-422/485 caNoPeN etherNet etherNet/iP rear shaft eNcoDer STM17Q-3AE X X X X X STM17Q-3AN X X X X STM17Q-3RE X X X X X STM17Q-3RN X X X X STM17S-3AE X X X X STM17S-3AN X X X STM17S-3RE X X X X STM17S-3RN X X X STM17R-3ND X X STM17R-3NE X X X STM17R-3NN X STM17C-3CE X X X STM17C-3CN X X STM23Q-2AE X X X X X STM23Q-2AN X X X X STM23Q-2EE X X X X X STM23Q-2EN X X X X STM23Q-2RE X X X X X STM23Q-2RN X X X X STM23Q-3AE X X X X X STM23Q-3AN X X X X STM23Q-3EE X X X X X STM23Q-3EN X X X X STM23Q-3RE X X X X X STM23Q-3RN X X X X STM23IP-2EE X X X X X STM23IP-2EN X X X X STM23IP-3EE X X X X X STM23IP-3EN X X X X Available Part Numbers: STM17R-3NN STM23R-2NN STM24SF-3AN STM17R-3ND STM23R-2ND STM24SF-3AE STM17R-3NE STM23R-2NE STM24SF-3RN STM17S-3AN STM23R-3NN STM24SF-3RE STM17S-3AE STM23R-3ND STM24QF-3AN STM17S-3RN STM23R-3NE STM24QF-3AE STM17S-3RE STM23S-2AN STM24QF-3RN STM17Q-3AN STM23S-2AE STM24QF-3RE STM17Q-3AE STM23S-2RN STM24C-3CN STM17Q-3RN STM23S-2RE STM24C-3CE STM17Q-3RE STM23Q-2AN STM17C-3CN STM23Q-2AE STM17C-3CE STM23Q-2RN STM23Q-2RE STM23S-3AN STM23S-3AE STM23S-3RN STM23S-3RE STM23Q-3AN STM23Q-3AE STM23Q-3RN STM23Q-3RE STM23C-3CN STM23C-3CE STM23S-2AN NEMA Frame Size Motor Length (inch) Series STM Stepper Drive+Motor Control Option Feedback/Rear Shaft D = Rear shaft w/o encoder E = 1000 line encoder N = No encoder/No rear shaft Communications A = RS-232 E = Ethernet R = RS-485 STM Part Number System, 01/10/2012 17S/Q/C n/a 3.19 17R n/a 2.64 23S/Q/C/IP 3.64 4.50 23R 3.35 4.21 24SF/QF/C n/a 4.94 Q = Q Programmer QF = Q Programmer w/ Flex I/O C = CANopen IP = EtherNet/IP R = Step & Direction only S = Velocity & Streaming Commands SF = Velocity & Streaming Commands w/ Flex I/O C = CANopen (requires C control option) N = None STM Drive Model Numbers ▪ Pulse & direction, CW/CCW pulse C IP C IP C IP R R ▪ EtherNet/IP industrial networking ▪ Same control modes as Q model Part Numbers Pulse & DirectioN streamiNg commaNDs Q ProgrammiNg rs-232 rs-422/485 caNoPeN etherNet etherNet/iP rear shaft eNcoDer STM23S-2AE X X X X STM23S-2AN X X X STM23S-2EE X X X X STM23S-2EN X X X STM23S-2RE X X X X STM23S-2RN X X X STM23S-3AE X X X X STM23S-3AN X X X STM23S-3EE X X X X STM23S-3EN X X X STM23S-3RE X X X X STM23S-3RN X X X STM23R-2ND X X STM23R-2NE X X X STM23R-2NN X STM23R-3ND X X STM23R-3NE X X X STM23R-3NN X STM23C-3CE X X X STM23C-3CN X X STM24QF-3AE X X X X X STM24QF-3AN X X X X STM24QF-3RE X X X X X STM24QF-3RN X X X X STM24SF-3AE X X X X STM24SF-3AN X X X STM24SF-3RE X X X X STM24SF-3RN X X X STM24C-3CE X X X STM24C-3CN X X C IP C IP C IP R R C IP C IP C IP R R

Product Information

STM23C-3CE specifications and overview.

Summary

Integrated Steppers

Description

Integrated Steppers

Source title STM23C-3CE Datasheet(PDF) - Applied Motion Products, Inc.

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