applied motion products stm integrated motor product presentation march 2009

Applied Motion Products, Inc.

2009 Distributor Training2009 Distributor Training

ELECTROMATEToll Free Phone (877) SERVO98

Toll Free Fax (877) SERV099www.electromate.com

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2009 Distributor Training2009 Distributor Training

STM23 Series



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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.



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44

STM BasicsSTM Basics

STM = Drive + MotorFrame sizesTwo control optionsTwo stack lengthsTwo communication port optionsEncoder optionPart Numbering SystemI/OSupply VoltageSoftware



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55


STM = Drive + Motor• ST Series drive electronics mounted directly to the back of the step motor

ST drive step motor

STMELECTROMATE

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66


STM = Drive + Motor• Connections between motor, encoder, and drive all done internally

• STM = STepper drive + Motor

Connectors

Connector board

Drive/controller board

Encoder

MotorELECTROMATE


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77


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



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88


Two control options• S = basic model

Step & directionVelocity (oscillator) SCL host modeSiNet Hub compatible

• Q = Q programmable versionEverything in the “S”, plus Q programming



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99


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



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1010


Two communication port options• A = RS‐232

ConfigurationSCLHub

• R = RS‐485ConfigurationSerial networking with SCL and Q



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1111


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 ELECTROMATE


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1212


Part numbering system



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1313


Build a part numberRequirements• Stored program for stand‐alone operation• Stall Detection required• Serial port only needed for configuration• Minimal torque requirement



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1414

STM BasicsSTM BasicsStored program execution

Stall Detection requiredMinimal torque required

Serial port for configuration only

STM23Q-2AEELECTROMATE


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1515


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



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1616


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



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1717


Supply Voltage• Accept 12 – 70 VDC• Recommended power supplies:

300 W at 48 VDC150 W at 24 VDC



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1818


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)ELECTROMATE


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1919

STM AdvantageSTM Advantage

Sophisticated current controlEncoder feedback optionsPowerful control modes



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2020

With electronic damping


Sophisticated current control• Anti‐resonancemeans smoother motion and higher torque

Without electronic damping



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2121


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 ELECTROMATE


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2222


Sophisticated current control• Microstep emulation allows you to microstep even with low‐cost, low‐resolution controllers

coarse stepsfrom externalindexer

microstep emulationperformed by drive



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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.




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2424


Encoder feedback• Stall Prevention actually prevents missed steps by dynamically adjusting motor speed to match the torque requirement.



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2525


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



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2626


Encoder feedback• Use the index pulse for precise shaft orientation• Index channel is input “0” in the drive

Encoder disc

Indexpulse



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2727


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



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2828


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



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3939

Application ExamplesApplication Examples

Shuttle ConveyorComponent TestingRemote Pan & Tilt



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4040


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



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4141


Shuttle Conveyor• Solution

Integrated = STMAnalog positioning = QNo stalling = built‐in encoder for stall preventionPart number = STM23Q‐3AE



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4242


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.



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4343


Component Testing• Application requirements:

Limited wiringTest needs to run from PCCounter display to show cycle count



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4444


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



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4545


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



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4646


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



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4747

Stepper Drives from AMPStepper Drives from AMP

STAC6 SeriesST SeriesSTM Series• AMP advantages…

Sophisticated current controlAnti‐ResonanceEncoder feedback functionsPowerful control optionsExcellent priceExcellent performance ELECTROMATE


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4848


New features coming soon…• STM with expanded I/O

New connector board option8 digital inputs4 digital outputsRS‐485 port



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4949


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



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applied motion products stm integrated motor product presentation march 2009

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