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Applied Motion Products, Inc.
2009 Distributor Training2009 Distributor Training
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
2009 Distributor Training2009 Distributor Training
STM23 Series
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
33
STM = Drive + MotorSTM = Drive + Motor
The STM23 Series are 2-phase hybrid step motors with full-featured drive electronics mounted directly to the rear end bell of the motor.
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
44
STM BasicsSTM Basics
STM = Drive + MotorFrame sizesTwo control optionsTwo stack lengthsTwo communication port optionsEncoder optionPart Numbering SystemI/OSupply VoltageSoftware Toll Free Phone: 877-378-0240
Toll Free Fax: [email protected]
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
55
STM BasicsSTM Basics
STM = Drive + Motor• ST Series drive electronics mounted directly to the back of the step motor
ST drive step motor
STMToll Free Phone: 877-378-0240
Toll Free Fax: [email protected]
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
66
STM BasicsSTM Basics
STM = Drive + Motor• Connections between motor, encoder, and drive all done internally
• STM = STepper drive + Motor
Connectors
Connector board
Drive/controller board
Encoder
Motor Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
77
STM BasicsSTM Basics
Frame Sizes• NEMA 23 currently available• NEMA 17 and 34 in the works (STM17 and STM34)• NEMA “24” in the works (STM24)
NEMA 24 is our designation for a motor that is slightly larger than a NEMA 23, but has the same mounting dimensions as the NEMA 23. Only the shaft diameter of the NEMA 24 is larger: 8 mm vs. 0.25 inchNEMA 24 has more torque than a NEMA 23
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
88
STM BasicsSTM Basics
Two control options• S = basic model
Step & directionVelocity (oscillator) SCL host modeSiNet Hub compatible
• Q = Q programmable versionEverything in the “S”, plus Q programming
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
99
STM BasicsSTM Basics
Two stack lengths• A 2 or 3 in the part number designates length• 2 = 3.64 inch overall length, 125 oz‐in h.t.• 3 = 4.50 inch overall length, 210 oz‐in h.t.• With or without encoder the unit length does not change
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
1010
STM BasicsSTM Basics
Two communication port options• A = RS‐232
ConfigurationSCLHub
• R = RS‐485ConfigurationSerial networking with SCL and Q
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
1111
STM BasicsSTM Basics
Encoder option• An E in the part number
designates an internal incremental encoder
• Encoder functions includeStall DetectionStall Preventionwith Position MaintenancePrecise alignment to an index pulse
• An N in the part number means no encoder
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
1212
STM BasicsSTM Basics
Part numbering system
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
1313
STM BasicsSTM Basics
Build a part numberRequirements• Stored program for stand‐alone operation• Stall Detection required• Serial port only needed for configuration• Minimal torque requirement
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
1414
STM BasicsSTM BasicsStored program execution
Stall Detection requiredMinimal torque required
Serial port for configuration only
STM23Q-2AEToll Free Phone: 877-378-0240
Toll Free Fax: [email protected]
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
1515
STM BasicsSTM Basics
I/O• 3 digital inputs, 5‐24 VDC
STEP• Step, run (oscillator), A quadrature, CW pulse, CW limit, general purpose
DIR• Direction, B quadrature, CCW pulse, CCW limit, general purpose
EN• Enable, speed select (oscillator), alarm reset, general purpose
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
1616
STM BasicsSTM Basics
I/O (cont’d)• 1 digital output, 24 VDC
OUT• Fault, brake, motion, tach
• 1 analog input, 0‐5 VDCAIN• Speed reference (oscillator mode), general purpose• 12 bit resolution
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
1717
STM BasicsSTM Basics
Supply Voltage• Accept 12 – 70 VDC• Recommended power supplies:
300 W at 48 VDC150 W at 24 VDC
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
1818
STM BasicsSTM Basics
Software•• ST ST ConfiguratorConfigurator™™ – configuration (S, Q)
•• SCL UtilitySCL Utility – SCL commands (S, Q)
•• SiNetSiNet Hub ProgrammerHub Programmer™™ – Hub mode (S, Q)For programming SiNet HubsFor use with RS‐232 versions only
•• Q ProgrammerQ Programmer™™ – Q programming (Q only)
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
1919
STM AdvantageSTM Advantage
Sophisticated current controlEncoder feedback optionsPowerful control modes
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
2020
With electronic damping
STM AdvantageSTM Advantage
Sophisticated current control• Anti‐resonancemeans smoother motion and higher torque
Without electronic damping
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
2121
STM AdvantageSTM Advantage
Sophisticated current control• Separate acceleration and running current settings permit cooler motor temperature in constant velocity applications
Running current set at 3 A/phase
Accel/decel current set at 5 A/phase
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
2222
STM AdvantageSTM Advantage
Sophisticated current control• Microstep emulation allows you to microstep even with low‐cost, low‐resolution controllers
coarse stepsfrom externalindexer
microstep emulationperformed by drive
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
2323
Encoder feedback• Stall Detection notifies the system as soon a the motor misses a step.
• Sends an output signal from the drive as soon as the motor mis‐positions.
STM AdvantageSTM Advantage
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
2424
STM AdvantageSTM Advantage
Encoder feedback• Stall Prevention actually prevents missed steps by dynamically adjusting motor speed to match the torque requirement.
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
2525
STM AdvantageSTM Advantage
Encoder feedback• Position Maintenance helps maintain correct motor position at rest.
• Position Maintenance is automatically turned on when Stall Prevention is selected.
Motor shaft at restExternal force applied
to motor shaft
Remove external force & shaft returns to correct
rest position
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
2626
STM AdvantageSTM Advantage
Encoder feedback• Use the index pulse for precise shaft orientation• Index channel is input “0” in the drive
Encoder disc
Indexpulse
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
2727
STM AdvantageSTM Advantage
Powerful control modes• S versions provide several control modes to choose from
Pulse & direction, CW/CCW PulseA/B quadrature (encoder following)Velocity (oscillator)Host mode (SCL)SiNet Hub mode
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
2828
STM AdvantageSTM Advantage
Powerful control modes• Q versions add a powerful motion controller
Create stored programs for stand‐alone operationCommands for…• Motion• I/O• Logic• Math• Multi‐tasking
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
3939
Application ExamplesApplication Examples
Shuttle ConveyorComponent TestingRemote Pan & Tilt
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
4040
Application ExamplesApplication Examples
Shuttle Conveyor• Intermediate section of conveyor that rotates to feed parts to one of three outbound conveyors.
• Selection of outbound conveyor (position) comes from analog output of a master PLC.
• Application requirements:Integrated (no control cabinet near conveyor section)Hard stop homingPrecise analog positioning over 3.5 revolutionsNo stalling
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
4141
Application ExamplesApplication Examples
Shuttle Conveyor• Solution
Integrated = STMAnalog positioning = QNo stalling = built‐in encoder for stall preventionPart number = STM23Q‐3AE
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
4242
Application ExamplesApplication Examples
Component Testing• One half of electrical connector module is fixed.• Other half of connector module is mounted to ballscrew actuator.
• Motor needs to make and break the electrical connection by cycling the actuator back and forth.
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
4343
Application ExamplesApplication Examples
Component Testing• Application requirements:
Limited wiringTest needs to run from PCCounter display to show cycle count
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
4444
Application ExamplesApplication Examples
Component Testing• Solution
Limited wiring = STMRun from PC = S version in SCL mode receives a set of Feed to Length (relative move) commands for each cycleCounter display = digital output from STM drive increments the counter each cyclePart number = STM23S‐2AN
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
4545
Application ExamplesApplication Examples
Remote Pan & Tilt• X‐Y control of HD video camera via remote 2‐axis joystick
• Application requirements:Limited wiring – motors mounted directly to camera pan & tilt axesSmooth motionGood “feel” for operatorAnalog joystick control
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
4646
Application ExamplesApplication Examples
Remote Pan & Tilt• Solution
Limited wiring = STMSmooth motion = anti‐resonance built into current control of every STM unitAnalog joystick control = S version in velocity mode can be offset to work with a center‐off, spring loaded joystick. One STM drive for each axis.Good “feel” = jerkiness of quick changes in joystick can be smoothed out with separate drive settings for accel, decel, and analog filteringPart number = STM23S‐2AN Toll Free Phone: 877-378-0240
Toll Free Fax: [email protected]
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
4747
Stepper Drives from AMPStepper Drives from AMP
STAC6 SeriesST SeriesSTM Series• AMP advantages…
Sophisticated current controlAnti‐ResonanceEncoder feedback functionsPowerful control optionsExcellent priceExcellent performance
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
4848
Stepper Drives from AMPStepper Drives from AMP
New features coming soon…• STM with expanded I/O
New connector board option8 digital inputs4 digital outputsRS‐485 port
Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249
Sold & Serviced By:
4/1/20094/1/2009 2009 AMP Distributor Training 2009 AMP Distributor Training -- STM23 STM23 (c)(c)
4949
Stepper Drives from AMPStepper Drives from AMP
Now in Beta release…• CANopen on ST Series
Profile Position modeProfile Velocity modeHoming modeST5‐C, ST10‐C stepper drivesAvailable now!
• CANopen on STM coming soon• Also available now on SV Series servo drives Toll Free Phone: 877-378-0240
Toll Free Fax: [email protected]
Sold & Serviced By: