Moons' STF-C Series Manuel utilisateur

Rev. 1.0

11/08/2017

STF-R/C

Stepper Motor Drive

Hardware Manual

STF03-R STF05-R

STF06-R STF10-R

STF03-C STF05-C

STF06-C STF10-C

SHANGHAI AMP & MOONS’AUTOMATION CO.,LTD.

Rev. 1.0

11/08/2017

STF-R/C Hardware Manual

400-820-9661

Contents

1 Introduction..................................................................................................3

1.1 Features.............................................................................................3

1.2 Block Diagram ...................................................................................4

1.3 Safety Instructions.............................................................................6

2 Getting Started............................................................................................7

2.1 Installing Software .............................................................................8

2.2 Connecting communication (-R model) .............................................9

2.3 Connecting communication (-C model) ...........................................11

2.4 Setting bus address and baud rate..................................................12

2.4.1 RS-485 address and baud rate settings(-R model)............12

2.4.2

CANopen address and baud rate settings(-C model)

..........13

2.5 Connecting the Power Supply .........................................................14

2.6 Choosing A Power Supply ...............................................................15

2.6.1 Voltage ...............................................................................15

2.6.2 Current................................................................................15

2.7 Connecting the motor ......................................................................16

3 Inputs and Outputs....................................................................................16

3.1 Digital Inputs....................................................................................17

3.1.1 X1, X2, X3, X4 digital input signal ......................................17

3.1.2 X5, X6, X7, X8 digital input signal ......................................18

3.2 Digital Outputs.................................................................................19

3.2.1 Y1, Y2, Y3 Digital Outputs..................................................19

3.2.2 Y4 Digital Output ................................................................20

4 Mounting the Drive....................................................................................21

5 Reference Materials..................................................................................22

5.1 Drive Mechanical Outlines...............................................................22

5.2 Technical Specications...................................................................23

5.3 Recommended Motor......................................................................24

5.4 Torque Curves .................................................................................27

5.5 Numbering System..........................................................................30

5.6 Ordering Information........................................................................30

5.7 Alarm Code......................................................................................30

6 Accessories (Sold Separately)..................................................................31

7 Contacting MOONS’..................................................................................32

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400-820-9661

1 Introduction

Thank you for selecting the MOONS’STF series stepper drive. The STF series are high

performance ﬁeldbus control stepper drive which also integrates with built-in motion controller. The

drives can be controlled by SCL, Modbus/RTU or CANopen in real time. Motion proﬁles can also

be programmed and stored in drives (Q Program) and then be triggered by SCL, Modbus/RTU or

CANopen commands. The drives support RS-485/422 or CANopen communication.

1.1 Features

•Programmable, ﬁled bus controlled stepper motor drive in compact package

•Operating DC voltage range:

STF03 12-48V

STF05 24-48V

STF06 12-48V

STF10

24-70V

•Control Mode

SCL * Serial Communication Command

Q program

* Stand-Alone operation mode

Modbus/RTU (-R model only)

CANopen(-C model only)

* Compliant with CiA301 and CiA402 standard

•Communication

-R: Dual port RS-485/422

-C: Dual port CANopen, RS-232 included

•STF03 output current: max 3A/phase (peak-of-sine)

•STF05 output current: max 5A/phase (peak-of-sine)

•STF06 output current: max 6A/phase (peak-of-sine)

•STF10 output current: max 10A/phase (peak-of-sine)

•I/O 8 optically isolated digital inputs, 5-24VDC high level voltage

4 optically isolated digital outputs, max30V/100mA

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1.2 Block Diagram

DSP

EMC

Filter

DC Input

Power

Converter

Internal

Logic

Supply Voltage

Temp.

Det.

Over

Current

Det.

Mosfet

PWM

Power

Amplifier

High

Speed

Input

Optical

Isolation

Input

Optical

Isolation

Digital

Filter

Software

Filter

Digital

Filter

Software

Filter

Output

Optical

Isolation

Single

Ended

Input

Isolation

X1+

X1-

X2+

X2-

X3+

X3-

X4+

X4-

XCOM

YCOM

Software

Filter

Motor

RS-485

LED

STF-R Block Diagram

Power Supply

STF03 12-48VDC

STF05 24-48VDC

STF06 12-48VDC

STF10 24-70VDC

Y4+

Y4-

RS-485

baud rate

RS-485

address

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DSP

EMC

Filter

DC Input

Power

Converter

Internal

Logic

Supply Voltage

Temp.

Det.

Over

Current

Det.

Mosfet

PWM

Power

Amplifier

High

Speed

Input

Optical

Isolation

Input

Optical

Isolation

Digital

Filter

Software

Filter

Digital

Filter

Software

Filter

Output

Optical

Isolation

Single

Ended

Input

Isolation

X1+

X1-

X2+

X2-

X3+

X3-

X4+

X4-

XCOM

YCOM

Software

Filter

Motor

ARM CANopen

LED

STF-C Block Diagram

Power Supply

STF03 12-48VDC

STF05 24-48VDC

STF06 12-48VDC

STF10 24-70VDC

Y4+

Y4- CANopen

Baud rate

CANopen

Node ID

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1.3 Safety Instructions

Only qualiﬁed personnel should transport, assemble, install, operate, or maintain this equipment.

Properly qualiﬁed personnel are persons who are familiar with the transport, assembly, installation,

operation, and maintenance of motors, and who meet the appropriate qualiﬁcations for their jobs.

To minimize the risk of potential safety problems, all applicable local and national codes regulating

the installation and operation of equipment should be followed. These codes may vary from area

to area and it is the responsibility of the operating personnel to determine which codes should be

followed, and to verify that the equipment, installation, and operation are in compliance with the

latest revision of these codes.

Equipment damage or serious injury to personnel can result from the failure to follow all applicable

codes and standards. MOONS’does not guarantee the products described in this publication

are suitable for a particular application, nor do they assume any responsibility for product design,

installation, or operation.

•Read all available documentation before assembly and operation. Incorrect handling of the

products referenced in this manual can result in injury and damage to persons and machinery.

All technical information concerning the installation requirements must be strictly adhered to.

•It is vital to ensure that all system components are connected to earth ground. Electrical safety

is impossible without a low-resistance earth connection.

•This product contains electrostatically sensitive components that can be damaged by incorrect

handling. Follow qualiﬁed anti-static procedures before touching the product.

•During operation keep all covers and cabinet doors shut to avoid any hazards that could

possibly cause severe damage to the product or personal health.

•During operation, the product may have components that are live or have hot surfaces.

•Never plug in or unplug the Integrated Motor while the system is live. The possibility of electric

arcing can cause damage.

Be alert to the potential for personal injury. Follow recommended precautions and safe operating

practices emphasized with alert symbols. Safety notices in this manual provide important

information. Read and be familiar with these instructions before attempting installation, operation,

or maintenance. The purpose of this section is to alert users to the possible safety hazards

associated with this equipment and the precautions necessary to reduce the risk of personal injury

and damage to equipment. Failure to observe these precautions could result in serious bodily

injury, damage to the equipment, or operational difﬁculty.

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2 Getting Started

The following items are needed:

•An appropriate power supply, see the section below entitled“Choose a Power Supply”for

help in choosing the right one.

•A compatible stepper motor, please see the section below entitled “Recommended Motor”

•A small ﬂat blade screwdriver for tightening the connectors screw(included)

•A PC running Microsoft Windows XP / Vista / Windows 7/ Windows 8 / Windows 10(32-bit or

64-bit)operation system

•Optional I/O cable (Sold seperately)

•Install STF Congurator software (Available from MOONS’website)

•-R model

A network cable is included in the package. It is used for connection with the next drive in the

RS-485 network. It can also be used for connection with PC for drive conﬁguration.

•-C model

A RS-232 programming cable(included in the package)

A network cable is included in the package. It is used for connection with the next drive in the

CANopen network.

TIP: When connecting the rst drive in the RS-485 or CANopen network with PC or controller. you

can cut the daisy chain cable or network cable into two: one half is used for connection with the

RS-485 or CANopen port on the PC or controller, the other half can be used for connection with

termination resistor, which can be put at the end of the network.

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2.1 Installing Software

• Download the STF Congurator Software from the MOONS’ website and install it.

• Launch the software by clicking Start-----Programs ----MOONS’

• Connect the drive to the PC using communication cable:

Connect the -R model drive to the RS-485 port of the PC using the network cable included in

the package

Connect the -C model drive to the RS-232 port of the PC using the RS-232 cable included in

the package

The connectors and other points of interest are illustrated below:

Ground Screws

LED

RS-485 or CANopen

Communication

Connector

Motor Connector

Power Connector

I/O Connector

Band Rate

Node ID

RS-485 or CANopen

LED

RS-485 or CANopen

Communication Connector

RS-485 or CANopen

Ground Screws

Motor Connector

Power Connector

I/O Connector

Band Rate

Node ID

Model Number Model Number

STF05-R STF05-C STF03-R STF03-C

STF10-R STF10-C STF06-R STF06-C

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2.2 Connecting communication (-R model)

RS-485 Port

PIN Signal Wire Color

1 RX+ ORN/WHT

2 RX- ORN

3 TX+ GRN/WHT

4.5 NC BLU, BLU/WHT

6 TX- GRN

7.8 GND BRN/WHT, BRN

Connection STF drive with PC using RS-485 communication

Before using STF congurator for –R drive conguration, please connect COM1 or COM2 on the

driver to host PC by network cable provided. Both 4 wire connection or 2 wire connection can be

used.

RS-485 four-wire connection: RS-485 two-wire connection:

Drive Connection

RX+ Connect to host’s TX+

RX- Connect to host’s TX-

TX+ Connect to host’s RX+

TX- Connect to host’s RX-

GND Connect to host’s GND

Drive Connection

RX+ Connect to host’s +

RX- Connect to host’s -

TX+ Connect to host’s +

TX- Connect to host’s -

GND Connect to host’s GND

NOTE: The RS-485 port on the drive is isolated from internal circuitry of the drive. So the

GND of each drive's RS-485 port must be connected together. The rst drive's GND of the

RS-485 port must be connected to the GND of RS-485 port on the host PC or controller.

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RS-485 network connection

Multiple –R model drive network can be built via dual RS-485 communication port by network

cable provided.

RS-485 Four-wire Conﬁguration

RS-485 four-wire system utilize separate transmit and receive wires. One pair of wires connect

the host’s transmit signals(TX+/TX-) to each drive’s RX+/RX- receive terminals. The other pair

connects the drive’s TX+/TX- terminals to the host’s receive signals. A logical ground terminal is

provided on each drive and can be used to keep all the drives at the same ground potential. The

rst drive’s logical GND of the RS-485 bus must connect to host’s ground.

Four-wire Connection

Connect the drive’s RX+ to the TX+ terminal of the host controller,and connect the drive’s RX- to

the TX- terminal of the host controller . Connect the drive’s TX+ to the RX+ terminal of the host

controller,and connect the drive’s TX- to the RX- terminal of the host controller .

Connect the drive’s GND and the host’s GND to a same ground.

NOTE: The RS-485 port on the drive is isolated from internal circuitry of the drive. So the

GND of each drive’s RS-485 port must be connected together. The rst drive’s GND of the

RS-485 port must be connected to the GND of RS-485 port on the host PC or controller.

RS-485 Tow-wire Conﬁguration

In a two-wire system ,the data transmitting and receiving use a same cable. the host must stop

its transmitting before receiving data. That means the host must stop transmit data before drive

begins to answer a query which just come from the host, otherwise the host cannot receive

any data witch sent from a drive. There is a transmit delay parameter that can be adjusted to

compensate for a host that is slow to disable its transmitter. This adjustment can be set over the

network using the TD command,it also can be set by using the STF Congurator software. Users

can set a shorter transmit delay in a four-wire system.

Two-wire connection

The RX+ and TX+ of the drive connect to the host’s + in parallel. The RX- and TX- of the drive

connect to the host’s - in parallel. Connect the drive’s GND and the host’s GND to a same ground.

NOTE: The RS-485 port on the drive is isolated from internal circuitry of the drive. So the

GND of each drive’s RS-485 port must be connected together. The rst drive’s GND of the

RS-485 port must be connected to the GND of RS-485 port on the host PC or controller.

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