Moons' STF-4X-ECX User manual

Rev. 1.0
08/12/2023
STF-4X-ECX
Stepper Motor Driver
Hardware Manual
SHANGHAI AMP & MOONS’AUTOMATION CO.,LTD.
STF05-4X-ECX
STF10-4X-ECX

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STF-4X-ECX Hardware Manual
1 Introduction ....................................................................................................... 3
1.1 Features ................................................................................................. 3
1.2 Safety Instructions.................................................................................. 4
2 Getting Started.................................................................................................. 5
2.1 Choosing a Power Supply...................................................................... 5
2.1.1 Voltage ................................................................................... 5
2.1.2 Current .................................................................................... 6
2.2 Connecting the Power Supply................................................................ 6
2.3 Installing Software.................................................................................. 7
2.4 Connecting the EtherCAT....................................................................... 8
2.5 Setting the EtherCAT Node ID ............................................................... 8
2.6 Connecting the Motor............................................................................. 8
3 Inputs and Outputs............................................................................................ 9
3.1 Digital Inputs........................................................................................... 9
3.2 Digital Outputs........................................................................................ 10
3.3 Y2 Brake Output..................................................................................... 12
4 Mounting the Drive............................................................................................ 13
5 Alarm Code ....................................................................................................... 13
6 Reference Materials.......................................................................................... 14
6.1 Technical Specifications ......................................................................... 14
6.2 Drive Dimensions .................................................................................. 14
6.3 5.3 Recommended Motor...................................................................... 15
6.4 Torque Curves ........................................................................................ 18
7 Accessories ..................................................................................................... 20
7.1 RC-880 Regeneration Clamp ..................................................... 20
7.2 Bus Communication ................................................................... 20
7.3 USB mini-B cable ....................................................................... 20
8 Contacting MOONS’....................................................................................... 21

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1 Introduction
Thank you for choosing MOONS’STF-4X series stepper motor driver. The STF-4X series is a
high-performance bus-controlled 4-axis stepper motor driver, which also integrates the function
of an intelligent motion controller. It can operate as a standard EtherCAT slave and supports CoE
(CANopen over EtherCAT).
EtherCAT® i s a r egi st er ed t r ademar k, used under l i cense by Beckho� Aut omat i on GmbH,
Germany.
1.1 Features
• Programmable, digital stepper drive.
• Push-in IO connector for easy wiring
• Wide range input voltage:
STF05-4X: 24-70VDC
STF10-4X: 24-70VDC
• It supports CoE (CANopen over EtherCAT) and conforms to the CiA 402 standard. Based
on 100BASE-TX cable, 100Mbps baud rate, full duplex mode, high transmission speed, high
reliability communication
• Support VoE (Vendor over EtherCAT) and bus upgrade products
• Support Profile Position, Profile Velocity, Cyclic Synchronous Position, Cyclic Synchronous
Velocity and Homing modes as well as the unique Q mode of MOONS’
• Current Output：
STF05-4X: continuous 4 ×5A/ phase (peak of sine)
STF10-4X: continuous 4 ×10A/ phase (peak of sine)
• Abundant I/O interface：
5 optically isolated digital inputs,5-24VDC
2 optically isolated digital outputs, max30V/100mA
1 brake direct drive control signal: maximum withstand voltage 24V, maximum current 1A
• Communication
Dual-port RJ45 for EtherCAT communication
USB port for configuration
• Red and green status lights and digital LED display

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1.2 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
i nj ur y, damage t o t he equi pment , or oper at i onal di �cul t y.

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2 Getting Started
The following items are needed:
• A 24-70VDC power supply, see the section below entitled “Choose a Power Supply”for
helping to choose the right one.
• A compatible stepper motor, please see the section below entitled “Recommended Motor”
• A small flat blade screwdriver
• A PC running Microsoft Windows 7/ Windows 8/ Windows 10(32bit or 64bit) and Microsoft.net
framework 4.0.
• A USB Mini-B cable
• Install the Stepper Suite software
• A CAT5 cable, used to do the daisy-chain connection. It is also used to configure the drive.
• Optional extended motor cable (Sold separately)
• Optional extended encoder cable (Sold separately)
• Optional extended I/O cable (Sold separately)
2.1 Choosing a Power Supply
The main considerations when choosing a power supply are the voltage and current requirements
for the application.
2.1.1 Voltage
The STF drive and motor is designed to give optimum performance between 24~48 Volts
DC. Choosing the voltage depends on the performance needed and diver/motor heating that
acceptable and/or does not cause a drive over-temperature. Higher voltage will give higher speed
performance, but will cause the drive to produce higher temperatures. Using power supplies with
voltage outputs that are near the drive maximum may significantly reduce the operational duty
cycle.
The STF05/10-4X drive extended range of operation voltage can be as low as 18VDC minimum
to as high as 75VDC maximum. When operation below 18VDC, the STF05/10-4X series will
work unstable. The supply input cannot go blow 18VDC for reliable operation, otherwise under
voltage alarm will be triggered. STF05/10 drive will stop working when this alarm is triggered. If a
regulated power supply is used, and that is near the driver maximum voltage of 75VDC, a voltage
clamp may be required to prevent the voltage over 75VDC which will occurs an overvoltage fault.
When using an unregulated power supply, make sure the no-load voltage of the supply does not
exceed the maximum input voltage 75VDC.

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2.1.2 Current
When STF dr i ves wor k wi t h di �er ent mot or s, t he r ecommended power suppl y out put cur r ent
capaci t y under di �er ent suppl y vol t age i s shown i n bel ow t abl e. The STF dr i ve power suppl y
current is lower than the the winding currents because it uses switching amplifiers to convert a
high voltage and low current into low voltage and high current. The more power supply voltage
exceeds the motor voltage, the less current will be required from the power supply.
I t i s i mpor t ant t o not e t hat t he cur r ent dr aw i s si gni ficant l y di �er ent at hi gher speeds dependi ng
on the torque load to the motor. Estimating how much current is necessary may require a good
analysis of the load to the motor.
Drive Motor Voltage Uniaxial Current Drive Motor Voltage Uniaxial Current
STF05
AM8 24V Above 1.0A
STF10
AM23
24V Above 3.0A
AM11 24V Above 1.0A 48V Above 4.0A
AM14 24V Above 1.0A 70V Above 4.0A
AM17
24V Above 1.5A
AM24
24V Above 4.5A
48V Above 1.5A 48V Above 4.5A
AM23
24V Above 3.0A 70V Above 4.5A
48V Above 4.0A
AM34
24V Above 6.0A
AM24
24V Above 4.5A 48V Above 6.0A
48V Above 4.5A 70V Above 6.0A
2.2 Connecting the Power Supply
STF-4X products share a power connector. The first digit on the left side of the connector is the V+
of the power supply, and the second digit is the V- of the power supply.
(NOTE: Be careful not to reverse the wires. Reversing the connection may open the
internal fuse on the drive and void the warranty.)
V+ V-
Connect the chassis to the earth ground through the grounding screws.
To the Earth Ground.

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2.3 Installing Software
Stepper suite is the PC based software application used to configure, and perform servo
tuning, drive testing and evaluation of the step-servo products. System servo control gains, drive
functionality and I/O configuration are set with Stepper suite. It also contains an oscilloscope
function to help set the servo control gains.
• Download the Stepper Suite from the MOONS’website and install it.
• Launch the software by clicking Start-----Programs ----MOONS’----Stepper Suite
• Connect the drive to PC by USB Mini-B cable. Please see the section below entitled
“Choosing the Right USB Port”.
• Connect the drive to the Power Supply.
• Connect the motor to the drive.
• Power up the drive.
• The software will recognize your drive, display the model and firmware version and be ready
for action.
The connectors and other points of interest are illustrated below:
EtherCAT Input
EtherCAT Output
USB
Communication Interface
LED
I/O Connector
Motor ConnectorPower Connector
Ground Screws

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2.4 Connecting the EtherCAT
Dual RJ-45 connectors accept standard Ethernet cables and are categorized as 100BASE-TX
(100 Mb/sec) ports. CAT5 or CAT5e (or higher) cables should be used. The IN port connects to a
master, or to the OUT port of an upstream node. The OUT port connects to a downstream node.
If the drive is the last node on a network, only the IN port is used. No terminator is required on the
OUT port.
EtherCAT Status Indicator LEDs
The LEDs are used for indicating status of the EtherCAT. There are two Link/Activity LEDs (one for
each RJ-45 Ethernet connector) and two status LEDs (RUN and ERR).
L/A OUT
ERR
L/A IN
RUN
LED Color Status Description
Link / Activity Green
OFF no Ethernet connection
ON Ethernet is connected
Flickering activity on line
RUN Green
OFF initialization state
Blinking pre-operational state
Single Flash safe-operational state
ON operational state
ERR Red
OFF no error
Blinking general error
Single Flash sync error
Double Flash watch dog error
Notes:
• Flickering: Rapid flashing with a period of approximately 50ms (10Hz)
• Bl i nki ng: Fl ashi ng wi t h equal on and o� per i ods of 200ms ( 2. 5Hz)
• Si ngl e Fl ash: Repeat i ng on f or 200ms and o� f or 1s
• Doubl e Fl ash: Two flashes wi t h a per i od of 200ms f ol l owed by o� f or 1s
2.5 Setting the EtherCAT Node ID
When the drive’s ID is configured to be assigned by master controller in Stepper Suite software,
the master controller can set the EtherCAT node Alias ID to address 0004h of SII (Slave
Information Interface) EEPROM. The drive can get this ID value from SII EEPROM address
0004hafter power up.
2.6 Connecting the Motor
Connect the outgoing wires of the motor to the driver. For MOONS’stepping motors, please
connect the black, green, red and blue wires to the MA+, MA-, MB+, MB- of the driver in
sequence.
(NOTE: Do not damage or drag the cables on the motor.)
11
2
33
4
Motor Connector

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3 Inputs and Outputs
STF - 4X inputs and outputs include：
• 5 Optically isolated digital inputs, 5 - 24VDC logic
• 2 Optically isolated, Open Collector, 30V/100 mA max
• 1 Brake direct drive control signal output, 30V/1 A max
X3
X4
X5
X7
X8
XCOM
Y1
Y3
YCOM
24V+
BRAKE
24V-
3.1 Digital Inputs
STF - 4X series drive has 5 digital optically isolated inputs, the function of every input can be
configurated by Stepper Suite software.
Signal Pin No. Function
X3 2
Available function：
CW limit sensor input
Homing sensor input
General purpose
X4 4
Available function：
CCW limit sensor input
Homing sensor input
General purpose
X5 6 General purpose
X7 8
Available function：
Touch probe input
Homing sensor input
General purpose
X8 10
Available function：
Emergency stop
General purpose
XCOM 12 The common voltage of X3/X4/X5/X7/X8

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Because the input is an optically isolated circuit, a 5-24V power supply is needed. For example,
you can use the power supply of the PLC when you are using a PLC control system, but if you
want to connect a relay or mechanical switch to the input, you must need a power supply.
XCOM is an electronics term for a single-ended signal connection to a common voltage. If you are
using a sourcing (PNP) input signal, you need to connect XCOM to the ground (power supply -), if
you are using a sinking (NPN) input signal, the XCOM need to connect to the power supply +.
The diagrams below show how to connect the X3, X4, X5, X7 and X8 to various commonly used
devices:
5 - 24V
Power Supply
Connecting a switch or relay to an input
XCOM+
-
Switch or Relay
(Closed: logic low)
STF
STF
STF
X3/X4/X5/X7/X8
5 - 24V
Power Supply
+
-
+
-output
Connecting a NPN type output to an input
NPN type
output
XCOM
X3/X4/X5/X7/X8
5 - 24V
Power Supply
+
-
+
-
output
Connecting a PNP type output to an input
NPN type
output
XCOM
X3/X4/X5/X7/X8
3.2 Digital Outputs
STF-4X series drive has several digital optically isolated outputs, the function of every output can
be configurated by Stepper Suite software.
Signal Pin No. Function
Y1 1
Available function：
Alarm output
General purpose
Y3 3
Available function：
Tach out output
Timing out output
YCOM 5 The common voltage of Y1/Y3
Y1、Y3: Optically isolated, 5-24VDC, Maximum pulse frequency = 10KHz.

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The chats below show how to connect to the output:
(NOTE: Do not connect the outputs to more than 30VDC power supply.
And the current of each output terminal must not exceed 100mA.)
+ –
YCOM
YCOM
YCOM
YCOM
Y1/Y3
Y1/Y3
Y1/Y3
Y1/Y3
CLP
+ –
IN
COM
PLC
+
–
COM
IN
+ –
relay
Connecting a sourcing output to load
Connecting a sourcing output to PLC's input
Driving a relay
Connecting a sinking output to PLC's input
STF
STF
STF
STF
5 - 24V
Power Supply
5 - 24V
Power Supply
5 - 24V
Power Supply
5 - 24V
Power Supply
Load
1N4935 suppression diode

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3.3 Y2 Brake Output
Y2: Brake direct drive, photoelectric isolation, 24V, 1A
Y2 brake signal output wiring method：
(Warning: Do not connect the output terminal to a DC voltage above 24V, and the current
flowing into the output terminal shall not exceed 1A)
Y2 brake signal output wiring
STF 5-24 VDC
Power Supply
V+
24V+_BR
BRAKE
24V-_BR
BR
V-

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4 Mounting the Drive
Use the M3 or M4 screw to mount the SSDC series drive. The drive should be securely fastened
to a smooth, flat metal surface will help conduct heat away from the chassis. If this is not possible,
forced airflow from a fan maybe required to prevent the drive from overheating.
• Never use the drive in a place where there is no air flow or the surrounding air is
more than 40℃.
• Never put the drive where it can get wet or where metal or other electrically
conductive particle particles can get on the circuitry.
• Always provide air flow around the drive. When mounting multiple SSDC drives near
each other, maintain at least 2cm of space between drives
5 Alarm Code
Code Error
Solid green No alarm, motor disabled
Flashing green No alarm, motor enabled
1 red, 1 green
Position limit
1 red, 2 green Move while disabled
2 red, 1 green CCW limit
2 red, 2 green CW limit
3 red, 1 green
Drive over temperature
3 red, 2 green
Internal voltage out of range
3 red, 3 green
Blank Q segment
4 red, 1 green
Power supply over voltage
4 red, 2 green Power supply under voltage
5 red, 1 green
Over current
5 red, 2 green Current foldback
6 red, 1 green
Open winding
6 red, 2 green
Bad encoder
7 red, 1 green Communication error
NOTE: Items in bold italic represent drive faults, which automatically disable the motor.

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6 Reference Materials
6.1 Technical Specifications
Power Amplifier
Amplifier Type Dual H-Bridge, 4 Quadrant
Output Current STF05-4X-ECX: Continuous Current 5A max
STF10-4X-ECX: Continuous Current 10A max
Operating voltage range STF05/10-4X-ECX: 24-70 VDC
Input voltage range STF05/10-4X-ECX: 18 - 75 VDC
Protection Over-voltage, under-voltage, over-temp, motor/winding shorts (phase-to-phase, phase-to-ground)
Idle Current Reduction Reduction range of 0 - 90% of running current after a delay selectable in milliseconds
Controller
Anti-Resonance Raises the system-damping ratio to eliminate midrange instability and allow stable operation throughout
the speed range of the motor
Torque Ripple
Smoothing
Allows for fine adjustment of phase current waveform harmonic content to reduce low-speed torque ripple
in the range of 0.25 to 1.5 rps
Auto Test & Auto
Setup
Auto test and setup at power on (ie. motor resistance, and capacitance) to optimize your system
performance.
Non-Volatile Storage Configuration parameters are stored in external EEPROM
Protocol CoE conform CiA 402、VoE
Modes of Operation PP, PV, PT, CSP, CSV and Homing mode
Digital Inputs
4×5 digital inputs
X3,X4,X5,X7,X8：Optically isolated, differential, 5-24VDC; Minimum pulse width = 100μs, Maximum
pulse frequency = 5KHz;
Digital Outputs
4×3 digital outputs
Y1,Y3：Optically isolated, Open Collector, 30V/100 mA max
Y2: Brake output，optically isolated，24V，1A
Communication USB for configuration
EtherCAT (Dual-port RJ45)
Physical
Ambient Temperature 0 to 40°C (32 to 104°F) when mounted to a suitable heatsink
Ambient Humidity 90% Max., non-condensing
Mass STF05/10-4X-ECX: About 569.5g
6.2 Drive Dimensions
110
67.1
6
5132
2- 4.4
110 100
4.5 132
142
40
118.3
72.7
26
36.8
Units: mm

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6.3 5.3 Recommended Motor
■Standard type step motor
Model Features Lead
number
Length Holding
Torque
Drive Current
Setting Range※
Rotor
Inertia Mass Mass Dielectric
Strength
mm N.m A g.cm2Kg
AM6HY04A0-01N Single Shaft 4 30 0.0058 0.1~0.4 5.8 0.03
500VAC
/
1Minute
AM8HY2050-01N Single Shaft 4 29.5 0.02
0.1~0.5
1.6 0.04
AM8HY2050-02N Double Shaft 4
AM8HY4043-01N Single Shaft 4 46.5 0.042 4.2 0.09
AM8HY4043-02N Double Shaft 4
AM11HS1008-07 Single Shaft 4 31 0.072
0.1~1.6
9 0.1
AM11HS3007-02 Single Shaft 4 40 0.082 12 0.15
AM11HS5008-01 Single Shaft 4 51 0.125 18 0.2
AM14HS10A0-01 Single Shaft 4 27.3 0.14
0.1~1.0
12 0.15
AM14HS10A0-02 Double Shaft 4
AM14HS30A0-01 Single Shaft 4 36 0.23 20 0.21
AM14HS30A0-02 Double Shaft 4
AM14HS50A0-01 Single Shaft 4 55.5 0.4 35 0.24
AM14HS50A0-02 Double Shaft 4
AM17HD4452-02N Single Shaft 4 34.3 0.285 0.1~1.8 38 0.23
AM17HD4452-01N Double Shaft 4
AM17HD2438-02N Single Shaft 4 39.8 0.46 0.1~1.8 57 0.28
AM17HD2438-01N Double Shaft 4
AM17HD6426-06N Single Shaft 4 48.3 0.59 0.1~1.8 82 0.36
AM17HD6426-05N Double Shaft 4
AM17HDB410-01N Single Shaft 4 62.8 0.85 0.1~1.6 123 0.6
AM17HDB410-02N Double Shaft 4
AM23HS0420-01 Single Shaft 4 41 0.72 0.1~2.2 135 0.42
AM23HS0420-02 Double Shaft
AM23HS2449-01 Single Shaft 4 54 1.25 0.1~2.2 260 0.6
AM23HS2449-02 Double Shaft 4
AM23HS3454-01 Single Shaft 4 76 2.1 0.1~2.2 460 1
AM23HS3454-02 Double Shaft 4
AM23HS0421-01 Single Shaft 4 41 0.72 0.1~4.5 135 0.42
AM23HS0421-02 Double Shaft 4
AM23HS2450-01 Single Shaft 4 54 1.25 0.1~4.5 260 0.6
AM23HS2450-02 Double Shaft 4
AM23HS3455-01 Single Shaft 4 76 2.1 0.1~4.5 460 1
AM23HS3455-02 Double Shaft 4
AM23HS04A0-01 Single Shaft 4 39 0.82 0.1~2.2 105 0.4
AM23HS04A0-02 Double Shaft 4
AM23HS84A0-01 Single Shaft 4 55 1.5 0.1~2.2 215 0.6
AM23HS84A0-02 Double Shaft 4
AM23HSA4A0-01 Single Shaft 4 77 2.3 0.1~2.2 365 1
AM23HSA4A0-02 Double Shaft 4
AM23HS04B0-01 Single Shaft 4 39 0.82 0.1~4.5 105 0.4
AM23HS04B0-02 Double Shaft 4
AM23HS84B0-01 Single Shaft 4 55 1.5 0.1~4.5 215 0.6
AM23HS84B0-02 Double Shaft 4
AM23HSA4B0-01 Single Shaft 4 77 2.3 0.1~4.5 365 1
AM23HSA4B0-02 Double Shaft 4
AM23HS04B0-03 Single Shaft 4 39 0.82 0.1~4.5 105 0.4
AM23HS04B0-04 Double Shaft 4
AM23HS84B0-03 Single Shaft 4 55 1.5 0.1~4.5 215 0.6
AM23HS84B0-04 Double Shaft 4
AM23HSA4B0-03 Single Shaft 4 77 2.3 0.1~4.5 365 1
AM23HSA4B0-04 Double Shaft 4
AM24HS2402-08N Single Shaft 4 54 1.57 0.1~4.5 450 0.83
AM24HS2402-11N Double Shaft 4
AM24HS5401-10N Single Shaft 4 85 3.2 0.1~4.5 900 1.4
AM24HS5401-24N Double Shaft 4
AM34HD0404-08 Single Shaft 4 66.5 3.7 0.1~7.0 1100 1.6
AM34HD0404-09 Double Shaft 4
AM34HD1404-06 Single Shaft 4 96 6.7 0.1~7.0 1850 2.7
AM34HD1404-07 Double Shaft 4
AM34HD2403-07 Single Shaft 4 125.5 9.4 0.1~7.0 2750 3.8
AM34HD2403-08 Double Shaft 4
AM34HD3402-01 Single Shaft 4 156 11.5 0.1~7.0 4400 5.2
AM34HD3402-02 Double Shaft 4
※The current value of the driver is the sinusoidal peak.

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■IP65 type motor
Model Features Lead
number
Length Holding
Torque
Drive Current
Setting Range※
Rotor
Inertia Mass Mass
Dielectric
Strength
mm N.m A g.cm2Kg
AM23HS2450-03 IP65 4 61.7 1.25 0.1~4.5 260 0.6
500VAC
/
1Minute
AM23HS3455-05 IP65 4 83.7 2.2 0.1~4.5 460 1
AM24HS5401-44N IP65 4 94.5 3.2 0.1~4.5 900 1.4
AM34HD1404-13 IP65 4 98 6.7 0.1~7.0 1850 2.7
AM34HD2403-13 IP65 4 127.5 9.4 0.1~7.0 2750 3.8
※The current value of the driver is the sinusoidal peak.
■With brake type motor
Model Features Lead
number
Length Holding
Torque
Drive Current
Setting Range※
Rotor
Inertia Mass Mass
Dielectric
Strength
mm N.m A g.cm2Kg
AM17HD4452-BR01 Brake Motor 4+2 60.3 0.285 0.1~1.8 38 0.38
500VAC
/
1Minute
AM17HD2438-BR01 Brake Motor 4+2 65.8 0.46 0.1~1.8 57 0.43
AM17HD6426-BR01 Brake Motor 4+2 74.3 0.59 0.1~1.8 82 0.51
AM17HDB410-BR01 Brake Motor 4+2 88.8 0.85 0.1~1.6 123 0.75
AM23HS04B0-BR01 Brake Motor 4+2 80 0.82 0.1~4.5 105 1.5
AM23HS84B0-BR01 Brake Motor 4+2 96 1.5 0.1~4.5 215 1.5
AM23HSA4B0-BR01 Brake Motor 4+2 118 2.3 0.1~4.5 365 1.5
AM24HS2402-BR01 Brake Motor 4+2 95 1.57 0.1~4.5 450 1.03
AM24HS5401-BR01 Brake Motor 4+2 126 3.2 0.1~4.5 900 1.6
AM34HD0404-BR01 Brake Motor 4+2 118.5 3.7 0.1~7.0 1100 2.2
AM34HD1404-BR01 Brake Motor 4+2 148 6.7 0.1~7.0 1850 3.3
AM34HD2403-BR01 Brake Motor 4+2 177.5 9.4 0.1~7.0 2750 4.4
※The current value of the driver is the sinusoidal peak.
■Encoder type motor
Model Features Lead
number
Length Holding
Torque
Drive Current
Setting Range※Rotor Inertia Mass Mass Dielectric
Strength
mm N.m A g.cm2Kg
AM17HD4452-F1000D External Encoder Motor 434.3 0.285 0.1~2.1 38 0.24
500VAC
/
1Minute
AM17HD2438-F1000D External Encoder Motor 439.8 0.46 0.1~2.1 57 0.29
AM17HD6426-F1000D External Encoder Motor 448.3 0.59 0.1~2.1 82 0.37
AM17HDB410-F1000D External Encoder Motor 462.8 0.85 0.1~1.9 123 0.61
AM23HS04A0-F1000D External Encoder Motor 439 0.82 0.1~2.5 105 0.41
AM23HS84A0-F1000D External Encoder Motor 455 1.5 0.1~2.5 215 0.61
AM23HSA4A0-F1000D External Encoder Motor 477 2.3 0.1~2.5 365 1.01
AM23HS04B0-F1000D External Encoder Motor 439 0.82 0.1~5.2 105 0.41
AM23HS84B0-F1000D External Encoder Motor 455 1.4 0.1~5.2 215 0.61
AM23HSA4B0-F1000D External Encoder Motor 477 2.3 0.1~5.2 365 1.01
AM24HS2402-F1000D External Encoder Motor 454.0 1.57 0.1~5.6 450 0.84
AM24HS5401-F1000D External Encoder Motor 485.0 3.2 0.1~5.6 900 1.41
AM34HD0404-F1000D External Encoder Motor 466.5 3.7 0.1~8.9 1100 1.61
AM34HD1404-F1000D External Encoder Motor 496.0 6.7 0.1~8.9 1850 2.71
AM34HD2403-F1000D External Encoder Motor 4125.5 9.4 0.1~7.9 2750 3.81
AM34HD3402-F1000D External Encoder Motor 4156 11.5 0.1~7.9 4400 5.21
※The current value of the driver is the sinusoidal peak.

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■Gearbox type motor
Model Features Lead
number
Length Holding
Torque
Drive Current
Setting Range※
Rotor
Inertia Mass Mass Dielectric
Strength
mm N.m A g.cm2Kg
AM17HD4452-PG05 5 speed reducer motor 4 101.8 1.25 0.1~1.8 950 0.55
500VAC
/
1Minute
AM17HD4452-PG10 10 speed reducer motor 4 101.8 2.5 0.1~1.8 3800 0.55
AM17HD4452-PG20 20 speed reducer motor 4 114.8 5 0.1~1.8 15200 0.63
AM17HD2438-PG05 5 speed reducer motor 4 107.3 2 0.1~1.8 1425 0.6
AM17HD2438-PG10 10 speed reducer motor 4 107.3 4 0.1~1.8 5700 0.6
AM17HD2438-PG20 20 speed reducer motor 4 120.3 8 0.1~1.8 22800 0.68
AM17HD6426-PG05 5 speed reducer motor 4 115.8 2.5 0.1~1.8 2050 0.68
AM17HD6426-PG10 10 speed reducer motor 4 115.8 5 0.1~1.8 8200 0.68
AM17HD6426-PG20 20 speed reducer motor 4 128.8 10 0.1~1.8 32800 0.76
AM17HDB410-PG05 5 speed reducer motor 4 130.3 4.25 0.1~1.6 3075 0.92
AM17HDB410-PG10 10 speed reducer motor 4 130.3 8.5 0.1~1.6 12300 0.92
AM17HDB410-PG20 20 speed reducer motor 4 143.3 17 0.1~1.6 49200 1
AM23HS04B0-PG05 5 speed reducer motor 4 112.5 4.1 0.1~4.5 2625 1.23
AM23HS04B0-PG10 10 speed reducer motor 4 112.5 8.2 0.1~4.5 10500 1.23
AM23HS04B0-PG20 20 speed reducer motor 4 125.5 16.4 0.1~4.5 42000 1.44
AM23HS84B0-PG05 5 speed reducer motor 4 128.5 7.5 0.1~4.5 5375 1.43
AM23HS84B0-PG10 10 speed reducer motor 4 128.5 15 0.1~4.5 21500 1.43
AM23HS84B0-PG20 20 speed reducer motor 4 141.5 30 0.1~4.5 86000 1.64
AM23HSA4B0-PG05 5 speed reducer motor 4 150.5 11.5 0.1~4.5 9125 1.83
AM23HSA4B0-PG10 10 speed reducer motor 4 150.5 23 0.1~4.5 36500 1.83
AM23HSA4B0-PG20 20 speed reducer motor 4 163.5 46 0.1~4.5 146000 2.07
AM24HS2402-PG05 5 speed reducer motor 4 127.5 6 0.1~4.5 11250 1.66
AM24HS2402-PG10 10 speed reducer motor 4 127.5 12 0.1~4.5 45000 1.66
AM24HS2402-PG20 20 speed reducer motor 4 140.5 24 0.1~4.5 180000 1.87
AM24HS5401-PG05 5 speed reducer motor 4 158.5 12.5 0.1~4.5 22500 2.23
AM24HS5401-PG10 10 speed reducer motor 4 158.5 25 0.1~4.5 90000 2.23
AM24HS5401-PG20 20 speed reducer motor 4 171.5 50 0.1~4.5 360000 2.44
AM34HD0404-PG05 5 speed reducer motor 4 170.5 15 0.1~7.0 27500 3.71
AM34HD0404-PG10 10 speed reducer motor 4 170.5 30 0.1~7.0 110000 3.71
AM34HD0404-PG20 20 speed reducer motor 4 188.5 60 0.1~7.0 440000 4.21
AM34HD1404-PG05 5 speed reducer motor 4 200 25 0.1~7.0 46250 4.81
AM34HD1404-PG10 10 speed reducer motor 4 200 50 0.1~7.0 185000 4.81
AM34HD1404-PG20 20 speed reducer motor 4 218 100 0.1~7.0 740000 5.31
AM34HD2403-PG05 5 speed reducer motor 4 229.5 35.5 0.1~7.0 68750 5.91
AM34HD2403-PG10 10 speed reducer motor 4 229.5 71 0.1~7.0 275000 5.91
AM34HD2403-PG20 20 speed reducer motor 4 247.5 142 0.1~7.0 1100000 6.41
※The current value of the driver is the sinusoidal peak.

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6.4 Torque Curves
AM6HY04A0
Speed(rps)
Torque(mN·m)
5.0
4.0
3.0
2.0
1.0
00 5 10 15 20
Microstep:20000 steps/rev
Current:0.3A(Peak)
AM8HY2050
Speed(rps)
Torque(N m)
0.016
0.014
0.012
0.01
0.008
0.006
0.004
0.002
0
.
Microstep:20000 steps/rev
Current:0.5A(Peak)
0 5 10 15 20
AM8HY4043
Speed(rps)
Torque(N m)
0.040
0.035
0.030
0.025
0.020
0.015
0.010
0.005
0
0 5 10 15 20
.
Microstep:20000 steps/rev
Current:0.5A(Peak)
AM11HS1008
Speed(rps)
Torque(N·m)
0.06
0.05
0.04
0.03
0.02
0.01
001020304050
Microstep: 20000 steps/rev
Current: 1.4A(Peak)
AM11HS3007
Speed(rps)
Torque(N·m)
0.08
0.07
0.06
0.05
0.04
0.03
0.002
0.01
0
01020304050
Microstep:20000 steps/rev
Current:1.4A(Peak)
AM11HS5008
Speed(rps)
Torque(N·m)
0.1
0.08
0.06
0.04
0.02
001020304050
Microstep:20000 steps/rev
Current:1.4A(Peak)
AM11HS50A0
Speed(rps)
Torque(N·m)
0.2
0.15
0.1
0.05
00 10 20 30 40 50
Microstep:20000 steps/rev
Current:1.4A(Peak)
AM14HS10A0
Speed(rps)
Torque(N m)
0.15
0.12
0.09
0.06
0.03
001020304050
.
Microstep:20000 steps/rev
Current:1.4A(Peak)
AM14HS30A0
Speed(rps)
Torque(N m)
0.25
0.2
0.15
0.1
0.05
001020304050
.
Microstep:20000 steps/rev
Current:1.4A(Peak)
AM14HS50A0
Speed(rps)
Torque(N m)
0.5
0.4
0.3
0.2
0.1
001020304050
.
Microstep:20000 steps/rev
Current:1.4A(Peak)
AM17HD4452
Speed(rps)
Torque(N·m)
0.25
0.20
0.15
0.10
0.05
001020304050
Microstep: 20000 steps/rev
Current: 1.8A (Peak)
AM17HD2438
Speed(rps)
Torque(N·m)
0.5
0.4
0.3
0.2
0.1
001020304050
Microstep: 20000 steps/rev
Current: 1.8A (Peak)
AM17HD6426
Speed(rps)
Torque(N·m)
0.5
0.4
0.3
0.2
0.1
001020304050
Microstep: 20000 steps/rev
Current: 1.8A(Peak)
AM17HDB410
Speed(rps)
Torque(N·m)
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
01020304050
Microstep: 20000 steps/rev
Current: 1.8A(Peak)
AM23HS04A0
Speed(rps)
1
0.8
0.6
0.4
0.2
001020304050
Microstep:20000 steps/rev
Current:2.2A (Peak)
Torque(N m)
.
AM23HS84A0
Speed(rps)
1.5
1.2
0.9
0.6
0.3
001020304050
Microstep:20000 steps/rev
Current:2.2A(Peak)
Torque(N m)
.
24V 48V
Speed(rps)
2.4
2
1.6
1.2
0.8
0.4
0
01020304050
AM23HSA4A0
Microstep:20000 steps/rev
Current:2.2A(Peak)
Torque(N m)
.
24V 48V
Speed(rps)
0.6
0.5
0.4
0.3
0.2
0.1
0
01020304050
AM23HS04B0
Microstep: 20000 steps/rev
Current: 4.5A(Peak)
Torque(N m)
.
AM23HS84B0
Speed(rps)
1.5
1.2
0.9
0.6
0.3
001020304050
Microstep: 20000 steps/rev
Current: 4.5A(Peak)
Torque(N m)
.
AM23HSA4B0
Speed(rps)
2
1.6
1.2
0.8
0.4
001020304050
Microstep: 20000 steps/rev
Current: 4.5A(Peak)
Torque(N m)
.
Speed(rps)
1.2
1
0.8
0.6
0.4
0.2
0
010203040
50
AM23HS2450
Microstep: 20000 steps/rev
Current: 4.5A(Peak)24V 48V 75V
Torque(N.m)

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Speed(rps)
1.8
1.5
1.2
0.9
0.6
0.3
0
010203040
50
AM23HS3455
Microstep: 20000 steps/rev
Current: 4.5A(Peak)
24V 48V 75V
Torque(N
.
m)
Speed(rps)
1.2
1
0.8
0.6
0.4
0.2
0
010203040 50
AM24HS2402
Microstep: 20000 steps/rev
Current: 4.5A(Peak)
24V 48V 75V
Torque(N.m)
Speed(rps)
2.4
2
1.6
1.2
0.8
0.4
0
010203040 50
AM24HS5401
Microstep: 20000 steps/rev
Current: 4.5A(Peak)
24V 48V 75V
Torque(N.m)
Microstep: 20000 steps/rev
Current: 7.0A(Peak)
AM34HD0404
24V 48V 75V
Speed(rps)
3
2.5
2
1.5
1
0.5
0
010203040 50
)
mN
(euqroT
.
AM34HD1404
Microstep: 20000 steps/rev
Current: 7.0A(Peak)
Speed(rps)
Torque(N m)
5
4
3
2
1
0
01020304050
.
24V 48V 75V
Microstep: 20000 steps/rev
Current: 7.0A(Peak)
AM34HD2403
24V 48V 75V
Speed(rps)
8
7
6
5
4
3
2
1
0
01020304050
)
mN
(euqroT
.
3.5
3
2.5
2
1.5
1
0.5
0
Microstep: 20000 steps/rev
Current: 1.8A/3.6A(Peak)
AM34HM0404
24V 48V 70V
Speed(rps)
0 10 20 30 40 50
)
mN
(euqroT
.
Microstep: 20000 steps/rev
Current: 1.8A/3.6A(Peak)
AM34HM1404
24V 48V 70V
Speed(rps)
6
5
4
3
2
1
0
0 10 20 30 40 50
)
mN
(euqroT
.
Microstep: 20000 steps/rev
Current: 1.8A/3.6A(Peak)
AM34HM2403
24V 48V 70V
Speed(rps)
9
8
7
6
5
4
3
2
1
0
0 10 20 30 40 50
)
mN
(euqroT
.
Microstep: 20000 steps/rev
Current: 1.8A/3.6A(Peak)
AM34HM3402
24V 48V 70V
Speed(rps)
10
8
6
4
2
0
0 10 20 30 40 50
)
mN
(euqroT
.

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STF-4X-ECX Hardware Manual
7 Accessories
7.1 RC-880 Regeneration Clamp
■Model: RC880
RC-880 is used to limit increase in power supply voltage when the motor is decelerating under load. This is
commonly referred to as "regeneration".
RC-880 can clamp the regeneration and prevent the power supply and/or drive being damaged or destroyed.
Connect the RC-880 between the power supply and the drive.
76
45
94 85
单位：mm
85
28.6
7.2 Bus Communication
Common Type Shielded Type Length (L)
2012-030 2013-030 0.3m
2012-300 2013-300 3m
7.3 USB mini-B cable
P/N Length(L)
2620-150 1.5M
L
8 1 8 1
L