ST Series Stepper Drives

ST Series

ST Series Stepper Drives

A Series of Compact Digital Stepper Drives with 4 Control Options for OEM Applications.

Sophisticated Current Control
Anti-Resonance and Torque Ripple Smoothing
Microstep Emulation
Encoder Feedback Option
CANopen Fieldbus

Downloads

ST Brochure
ST-S Hardware Manual ( S models)
ST-Q-Si-C Hardware Manual (Q, Si, C models)
ST Configurator™ software w/ built-in Help File for drive and motor configuration (S, Q, C models)
Q Programmer™ software for creating Q programs (Q, C models)
Si Programmer™ software for creating Si programs (Si models)
CANopen manual for CANopen applications (C models)
CANopen FAQ for CANopen applications (C models)

POWER SUPPLY:

ST5: 24-48 VDC
ST10: 24-80 VDC

OUTPUT CURRENT:

ST5: 5A (peak of sine)
ST10: 10A (peak of sine)

PROTECTION:

Over-voltage
Under-voltage
Over-temp
Motor shorts
Motor open phase

Part Numbers

Control Options

ST-S

Basic Model
Pulse & Direction
CW/CCW Pulse
A/B Quadrature
Velocity (oscillator) mode
Host commands (SCL)
SiNet Hub compatible
ST Configurator™ software for setup

ST-Plus

Same dimensions and I/O as S models, Plus...
Q Programmer™ for complex motion
Conditional processing
Math functions
Multi-tasking
Register manipulation
Encoder following
Third-party HMI compatibility

ST-Q

Stand-alone Operation
Q Programmer™ for complex motion
Conditional processing
Math functions
Multi-tasking
Register manipulation
Encoder following
Third-party HMI compatibility
ST Configurator™ software for setup

ST-Si

Stand-alone Operation
Si Programmer™ for simple yet powerful indexing
Si Programmer™ with built-in motor configuration
Motion, I/O, logic
User friendly GUI
MMI-01 compatible

ST-C

CANopen compatible stepper drive
Adheres to CiA draft standards 301 and 402
Supports Profile Position, Profile Velocity, and Homing modes
Supports stored Q program execution through AMP-specific object dictionary entry
Provides twenty-three AMP-specific data registers that can be accessed via both the CANopen network and a stored Q program

Specifications

All Models:
AMPLIFIER TYPE	Dual H-Bridge, 4 Quadrant
CURRENT CONTROL	4 state PWM at 20 Khz
OUTPUT CURRENT	ST5: 0.1 - 5.0 amps/phase in 0.01 amp increments ST10: 0.1 - 10.0 amps/phase in 0.01 amp increments
POWER SUPPLY	ST5: External 24 - 48 VDC Power Supply Required ST10: External 24 - 80 VDC Power Supply Required
INPUT VOLTAGE RANGE	ST5: 18 - 53 VDC ST10: 18 - 88 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.
AMBIENT TEMPERATURE	0 - 55°C (32 - 158°F), drive must be mounted to suitable heatsink
HUMIDITY	90% non-condensing.
MICROSTEP RESOLUTION	Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev.
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.
TORQUE RIPPLE SMOOTHING	Allows for fine adjustment of phase current waveform harmonic content to reduce low-speed torque ripple in the range 0.25 to 1.5 rps
AUTO SETUP	Measures motor parameters and configures motor current control and anti-resonance gain settings
SELF TEST	Checks internal and external power supply voltages. Diagnoses open motor phases and motor resistance changes > 40%. Detects encoder wiring and signal faults (differential encoder only).
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).

ST-S, Plus Models:
NON-VOLATILE STORAGE	Configurations are saved in FLASH memory on-board the DSP.
MODES OF OPERATION	ST-S: Step & Direction, CW/CCW, A/B Quadrature, Oscillator, Joystick, SCL, Hub. ST-Plus: Same as ST-S plus stand-alone execution of stored programs created using Q Programmer™ application software
STEP AND DIRECTION INPUTS	Optically Isolated, Differential, 5 Volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 2 MHz Function: Step & Direction, CW/CCW Step, A/B Quadrature, Run/Stop & Direction, Jog CW & CCW, CW & CCW Limits, or general purpose. Adjustable bandwidth digital noise rejection filter.
ENABLE INPUT	Optically Isolated, 5-12 Volt Function: Motor Enable, Alarm Reset, Speed Select (Oscillator Mode), or general purpose.
OUTPUT	Optically Isolated, 24V, 10mA MAX. Function: Fault, Motion, Tach, or general purpose.
ANALOG INPUT RANGE	0 to 5VDC
ANALOG INPUT RESOLUTION	12 bits
COMMUNICATION INTERFACE	RS-232 for configuration, serial commands, and connection to a SiNet Hub
AGENCY APPROVALS	RoHS CE (EMC): EN 61800-3:2004 CE (LVD, ST5-S): EN 61800-5-1:2003 CE (LVD, ST10-S): LVD 2006/95/EC

ST-Q, Si, C Models:
NON-VOLATILE STORAGE	Programs, data and drive configuration are saved in FLASH and EEPROM memory
MODES OF OPERATION	ST-Q: Stand-alone execution of stored programs created using Q Programmer™ application software ST-Si: Stand-alone execution of stored programs created using Si Programmer™ application software ST-C: CANopen node
INPUTS	X1, X2 Optically Isolated, Differential, 5 Volt. Minimum pulse width = 250 ns. Maximum pulse frequency = 2 MHz Function: Step & Direction, CW/CCW Step, A/B Quadrature, Encoder Following, Sensor, Home or Branch Select X3* Optically isolated, 12 - 24V, sourcing or sinking, Function: Motor Enable, Sensor, Home or Branch Select X4* Optically isolated, 12 - 24V, sourcing or sinking, Function: Alarm Reset, Sensor, Home or Branch Select X5, X6* Optically isolated, 12 - 24V, sourcing or sinking, Function: Jogging, Sensor, Home or Branch Select X7, X8 Optically isolated, differential, 12 - 24V Function: CW & CCW Limits, Sensor, Home or Branch Select *NOTE: Inputs X3 - X6 have a shared common.
OUTPUTS	Y1¹ Optical darlington, 30V, 100mA max, NPN/sinking. Function: Brake or general purpose programmable. Y2¹ Optical darlington, 30V, 100mA max, NPN/sinking. Function: Motion, tach or general purpose programmable Y3¹ Optical darlington, 30V, 100mA max, NPN/sinking. Function: Fault or general purpose programmable. Y4 Optical darlington, 30V, 100mA max, configurable as sinking or sourcing. Function: general purpose programmable *¹NOTE: Outputs Y1 - Y3 have a shared common.*
TWO ANALOG INPUTS	RANGE Software selectable: 0-5V, ±5V, 0-10V, ±10V RESOLUTION 12 bits (with ±10V signal range) 11 bits (with 0-10V or ±5V signal range) 10 bits (with 0-5V signal range) *NOTE: Si Programmer™ does not support the analog inputs of ST-Si drives.*
ENCODER OPTION	Differential line receivers suitable rates to 2 MHz. Employs encoder to provide Stall Detection and Stall Prevention w/ static Position Maintenance.
COMMUNICATION INTERFACE	ST-Q, Si: RS-232 for configuration, programming, serial commands, and connection to a SiNet Hub; optional RS-485 for serial commands/networking ST-C: RS-232 for configuration and programming; CANopen for communications and control
AGENCY APPROVALS	RoHS CE (EMC): EN61800-3:2004

Software

	ST Configurator™ Used for setup and configuration of the ST series drives. (Runs on Windows Vista, XP, 2000, NT, ME, 98).
	Si Programmer™ Intended for use in stand-alone applications, Si Programmer™ provides a user-friendly, point-and-click, graphical interface that doesn't require any previous programming experience to use. (Runs on Windows Vista, XP, 2000, NT, ME, 98).
	Q Programmer™ Q Programmer™ is used to create and edit stand-alone programs for Q version drives. The functions of these drives include multi-tasking, math, register manipulation, encoder following, and more. (Runs on Windows Vista, XP, 2000, NT, ME, 98).
	CANopen Example Program Example program that provides an easy point-and-click way to verify and test drive operation across different CANopen operating modes. C# source code is included to show how CANopen commands may be sent from a PC-based program, or to modify program to work with a different CAN adapter. (Runs on Windows. Requires Kvaser Leaflight USB-CAN adaptor to run program. Requires a compatible programming environment to view source code).


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