Moons' STF-Multi axis Series User manual

Version 1.0
11/14/2023
STF-Multi axis
Series
Step-Servo System
Hardware Manual
SHANGHAI AMP&MOONS’ AUTOMATION CO.,LTD
STF-2XU-ECX/STF-2XU-ECX-S
STF-4X-ECX/STF-4X-ECX-S
STF-4XU-ECX/STF-4XU-ECX-S

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1 Introduction ......................................................................................................................3
1.1 Features ................................................................................................................3
1.2 Safety Instructions.................................................................................................7
2 Getting Started.................................................................................................................8
2.1 Choose a Power Suppl..........................................................................................8
2.1.1 Voltage ..................................................................................................8
2.1.2 How to use the Connector......................................................................9
2.2 Connect the Power..............................................................................................10
2.3 Installing Software...............................................................................................12
2.4 Connecting the EtherCAT....................................................................................15
2.4.1EtherCAT Status Indicator LEDs ............................................................15
2.5 Setting the EtherCAT Node ID ............................................................................15
2.6 LED panel display ...............................................................................................16
2.7 Connect to the motor...........................................................................................16
3 Inputs and Outputs.........................................................................................................17
3.1 Digital Inputs........................................................................................................19
3.2 Digital Outputs.....................................................................................................20
3.3 Y2 Brake Out.......................................................................................................21
3.4 STO Function（Only –S Type）..........................................................................21
3.4.1 Advantages of STO functionality ...........................................................21
3.4.2 STO standard .......................................................................................21
3.4.3 STO function precautions .....................................................................22
3.4.4 STO function pin denition ...................................................................22
3.4.5 Logical relationship between STO function and input signal.................23
4 Mounting the Drive.........................................................................................................23
5 Alarm Code ....................................................................................................................23
6 Reference Materials.......................................................................................................24
6.1 Technical Specications ......................................................................................24
6.2 Drive Dimensions ................................................................................................26
6.3 Recommended Motor..........................................................................................28
6.4 Torque Curves .....................................................................................................31
7 Accessories ...................................................................................................................33
7.1 Standard Accessories（Included）......................................................................33
7.2 Optional Accessories (Sold separately)...............................................................33
7.2.1 Bus Communication .............................................................................33
7.2.2 RC-880 Regeneration Clamp ...............................................................33
8 Contacting MOONS’.......................................................................................................34

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1 Introduction
Thank you for choosing MOONS’STF Multi-axis Step-Servo motor driver.
The STF Multi-axis series is a high-performance bus-controlled 2 - or 4-axis Step-Servo motor
driver that integrates the functionality of an intelligent motion controller to run as a standard
EtherCAT slave station with support for CANopen over EtherCAT (CoE).
EtherCAT® is a registered trademark licensed by Beckho󰀨 Automation GMBH.
1.1 Features
• Programmable digital Step-Servo drive
• In-line IO connector for easy wiring
• Input voltage DC:
STF05 24-70VDC
STF10 24-70VDC
• Supports CANopen over EtherCAT (CoE), which complies with CiA 402 standards. Based
on 100BASE-TX cable, 100Mbps baud rate, full duplex mode, high transmission speed, high
reliability communication
• Supports Vendor over EtherCAT (VoE) and bus product upgrades
• Supports Prole Position, Prole Velocity, Cyclic Synchronous Position, Cyclic Synchronous
Velocity, and Homing modes
• A Dual-port RJ45 connector is used for EtherCAT communication
• The USB mini-B(horizontal)/Type-C(vertical) port is used to congure drive parameters

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• Output current:
STF05-2XU Continuous output current 2x5A
STF10-2XU Continuous output current 2x10A
STF05-4X/4XU Continuous output current 4x5A
STF10-4X/4XU Continuous output current 4x10A
• I/O
STF05/10-2XU/4XU:
3 optically isolated input,5~24V
1 optically isolation digital output: maximum withstand voltage 30V, maximum output current
100mA
1 brake direct drive control signal output: maximum withstand voltage 24V, maximum current
1A
STF05/10-4X:
5 optically isolated digital signal input,5~24V
2 optically isolation of digital signal output: maximum withstand voltage 30V, maximum output
current 100mA
1 brake direct drive control signal output: maximum withstand voltage 24V, maximum current
1A
• Digital, red and green LED display
• STO function (optional)

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Type Power
Supply
Output
Current Input Output Communication Conguration
Port STO
STF05-2XU-ECX
24-70VDC
2x5A max
(peak of sin)
2x3 optical
isolation input
2x2 optical isolated digital
output:
2x1 Brake direct
drive,control signal output
EtherCAT USB Type-C NO
STF10-2XU-ECX
2x10A max
(peak of sin)
2x3 optical
isolation input
2x2 optical isolated digital
output:
2x1 Brake direct
drive,control signal output
EtherCAT USB Type-C NO
STF05-2XU-ECX-S
2x6A max
(peak of sin)
2x3 optical
isolation input
2x2 optical isolated digital
output:
2x1 Brake direct
drive,control signal outpu
EtherCAT USB Type-C Support
STF10-2XU-ECX-S
2x10A max
(peak of sin)
2x3 optical
isolation input
2x2 optical isolated digital
output:
2x1 Brake direct
drive,control signal outpu
EtherCAT USB Type-C Support
STF05-4X-ECX
4x6A max
(peak of sin)
4x5 optical
isolation input
4x3 optical isolated digital
output:
4x1 Brake direct
drive,control signal output
EtherCAT USB mini-B NO
STF10-4X-ECX
4x10A max
(peak of sin)
4x5 optical
isolation input
4x3 optical isolated digital
output:
4x1 Brake direct
drive,control signal output
EtherCAT USB mini-B NO
STF05-4X-ECX-S
4x6A max
(peak of sin)
4x5 optical
isolation input
4x3 optical isolated digital
output:
4x1 Brake direct
drive,control signal output
EtherCAT USB mini-B Support
STF10-4X-ECX-S
4x10A max
(peak of sin)
4x5 optical
isolation input
4x3 optical isolated digital
output:
4x1 Brake direct
drive,control signal output
EtherCAT USB mini-B Support
STF05-4XU-ECX
4x6A max
(peak of sin)
4x3 optical
isolation input
4x2 optical isolated digital
output:
4x1: Brake direct drive
control signal output
EtherCAT USB Type-C NO
STF10-4XU-ECX
4x10A max
(peak of sin)
4x3 optical
isolation input
4x2optical isolated digital
output:
4x1: Brake direct drive
control signal output
EtherCAT USB Type-C NO
STF05-4XU-ECX-S
4x6A max
(peak of sin)
4x3 optical
isolation input
4x2 optical isolated digital
output:
4x1: Brake direct drive
control signal output
EtherCAT USB Type-C Support
STF10-4XU-ECX-S
4x10A max
(peak of sin)
4x3 optical
isolation input
4x2 optical isolated digital
output:
4x1: Brake direct drive
control signal output
EtherCAT USB Type-C Support

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STF05/10-4X-ECX;STF05/10-4X-ECX-S
STF05/10-4XU-ECX;STF05/10-4XU-ECX-S
STF05/10-2XU-ECX;STF05/10-2XU-ECX-S

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1.2 Safety Instructions
Only qualied personnel should transport, assemble, install, operate, or maintain this equipment.
Properly qualied personnel are persons who are familiar with the transport, assembly, installation,
operation, and maintenance of motors, and who meet the appropriate qualications 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 qualied 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 di󰀩culty

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2 Getting Started
You need to make the following preparations:
• A power supply suitable for the drive, please read the section titled “Choosing the Right power
Supply” below to help you choose the right power supply.
• A stepper servo motor that matches the drive, read the “Recommended Motors” section below.
• A small at-head screwdriver.
• A computer with Windows 7 / Windows 8 / Windows 10 (32-bit or 64-bit) operating system.
• One USB communication cable for drive parameter conguration.
• One network cable is used to connect the driver to the controller, or the driver to the driver.
• Install the Stepper Suite software (includes USB drivers and can be downloaded from the
MOONS’ website).
• Optional motor extension cord (available separately) • Optional encoder extension cable
(available separately)
2.1 Choose a Power Suppl
The main considerations when choosing a power supply are the voltage and current requirements
of the application.
2.1.1 Voltage
STF Stepper-servo drivers and motors perform best when powered with 24 to 48V DC voltage.
The choice of voltage depends on the desired performance and acceptable heating of the motor
and drive (not to trigger self-overtemperature protection of the drive or damage to the motor due to
overheating). Higher power supply voltage can improve the high-speed performance of the motor,
but it will also increase the heat output. Therefore, the closer the selected power supply voltage is
to the nominal upper limit of the driver, the smaller the operating duty cycle (the proportion of time
between running and stopping) that the user is allowed to use, that is, the less time the customer
is allowed to continuously run the motor, otherwise the drive will overheat and self-protection.
The maximum allowable operating voltage range of STF05/10 multi-axis series drivers is 18~75V
DC voltage. When the supply voltage is below 18V, the STF05/10 driver may not work reliably. Do
not operate the STF05/10 drive at a DC voltage lower than 18V, otherwise the drive will give a low
voltage alarm, which may stop the drive.
When the STF05/10 driver uses a regulated power supply and the power supply voltage is
close to 75V, it is recommended to take voltage clamp measures at the power input to avoid the
situation that the power supply voltage is higher than 75V and the driver overvoltage alarm will
stop the driver. When the driver uses an unregulated power supply, ensure that the no-load output
voltage value of the power supply is not higher than 75V DC.

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2.1.2 How to use the Connector
STF stepper motor drivers are used in combination with di󰀨erent Stepper-servo, and the
recommended power supply current capacity at di󰀨erent supply voltages is shown in the table
below. Under normal circumstances, the input current of the driver power supply is smaller than
the current of the drive motor, because the driver itself realizes the energy conversion function,
that is, the driver amplies a high-voltage and small-current signal into a low-voltage and high-
current signal through the power switch. The rated voltage of the motor winding is often very
small, and the higher the power supply voltage of the driver is than the rated voltage of the motor
winding, the smaller the power input current required by the driver.
At the same time, the size of the power input current is also related to the speed and load of the
motor during operation, so for specic applications, users need to carry out specic analysis and
estimation.
Due to the particularity of multi-axis products, several points need to be considered when selecting
the power supply current:
1. Please nd the corresponding power supply current capacity according to the motor connected
to each shaft
2. Calculate the input current required by each shaft according to the actual running speed and
load of each shaft
3. The input current calculated by each shaft is added to the input power current required by the
entire drive
Drive Motor Voltage Current（each axis）Drive Motor Voltage Current（each axis）
STF05
AM8 24V 1.0A以上
STF10
AM23
24V 3.0A以上
AM11 24V 1.0A以上 48V 4.0A以上
AM14 24V 1.0A以上 70V 4.0A以上
AM17
24V 1.5A以上
AM24
24V 4.5A以上
48V 1.5A以上 48V 4.5A以上
AM23
24V 3.0A以上 70V 4.5A以上
48V 4.0A以上
AM34
24V 6.0A以上
AM24
24V 4.5A以上 48V 6.0A以上
48V 4.5A以上 70V 6.0A以上

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2.2 Connect the Power
The STF multi-axis series comes with a power connector.
The rst part on the left side of the connector is the V+ of the power supply, and the second part is
the V- of the power supply.
(Note: Please power on the drive after all the wiring is complete!)
V+ V-
V+
V-
STF05/10-4X-ECX
STF05/10-4X-ECX-S
STF05/10-4XU-ECX
STF05/10-4XU-ECX-S
STF05/10-2XU-ECX
STF05/10-2XU-ECX-S
V+
V-
STF multi-axis series product operating voltage range 24-70VDC
Please read the section entitled “Choose a Power Supply” above to help you choose the right
power supply.
(Note: Do not reverse connect the power supply, please power on the driver after all wiring is
complete!)

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2.2.1 How to use the Connector
1.The following diagram shows the internal structure of the connector.
2.Insert the terminal block into the connector
3.Metal shrapnel inside the connector can jam the terminals
4.When it is necessary to remove the wire harness, press the orange plastic part to pull out the
wire harness terminal

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2.3 Installing Software
Stepper Suite is a PC-based stepper server application conguration and debugging software
that can be used to congure and set various operating modes, adjust servo tuning parameters,
and test and evaluate drive performance. The software has powerful functions, user-friendly
interface and easy operation. Simple gain adjustment, a variety of control function options, I/O
function Settings, motion trajectory simulation to provide customers with the most rich application
experience.
• Download and install the Stepper Suite software from the website of MOONS ‘(please click
https://www.moons.com.cn /support-training/tools/stepper suite to download the software)
• Click on Start/All Programs/MOONS ‘/ Stepper Suite to run the software (USB driver is already
integrated in the software installation package)
• Connect the drive to the computer via the USB mini communication cable, and note that USB
port is selected in the software port
• Connect the drive to the DC power supply
• Connect drive to motor Power on the drive software will automatically recognize the drive
model and rmware version, indicating that the drive is ready. Connectors and other important
information are shown below

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EtherCAT Input
EtherCAT Output
USB
Communication Interface
LED
I/O Connector
Motor ConnectorPower Connector
Ground Screws
STF-4X-ECX
EtherCAT Input
EtherCAT Output
Motor Connector
Power Connector
Ground Screws
USB
Communication Interface
I/O Connector
LED
STF-4XU-ECX

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Ground Screws
EtherCAT Input
EtherCAT Output
I/O Connector
Motor Connector
LED
Power Connector
STF-2XU-ECX

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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.
2.4.1EtherCAT Status Indicator LEDs
The LEDs are used for indicating status of the EtherCAT. STF05/10-ECX-H included two Link/
Activity LED(the right one of every RJ-45), two EtherCAT status LED(RUN and ERR)
L/A OUT
L/A IN
ERR
RUN
LED Color Status Description Instruction
Link/Activity Green
OFF no Ethernet connection
Flickering：
reveal 50ms，drown 50ms（10Hz）。and so on.
Blinking：
reveal 200ms，drown 200ms（2.5Hz）。and so on.
Single Flash：
reveal 200ms，drown 1s。and so on.
Double Flash：
reveal 200ms，drown 200ms，reveal 200ms，drown
1s。and so on.
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
2.5 Setting the EtherCAT Node ID
When the drive’s ID is congured 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 0004h
after power up. When the master station does not support automatic host allocation, you can
set a xed EtherCAT ID address through the Stepper Suite software. Note: The 7-segment nixie
tube displays the address value in decimal notation, and only displays the lower two digits of the
address, that is, 0 to 99.

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2.6 LED panel display
The STF multi-axis series drives have two 7-segment digital tubes, LED1 and LED2, for displaying
the EtherCAT address.
When the drive is operating normally, the 7-segment digital tube displays the drive EtherCAT
address (Physical Address or EtherCAT ID).
2.7 Connect to the motor
Connect the motor outlet to the motor connector of the driver.
Note: Do not damage or pull the motor outlet line, and do not make the outlet line bear too much
force (such as pulling the line to carry the motor), placed under a heavy object or caught.
If you use MOONS’ Step motor, please connect the black, green, red and blue wires to MA+, MA-,
MB+, MB- of the driver in turn.
11
2
33
4
Motor connector on the driver
Motor connector on the driver*4 Motor connector on the driver*4 Motor connector on the driver*2
STF05/10-4X-ECX
STF05/10-4X-ECX-S
STF05/10-4XU-ECX
STF05/10-4XU-ECX-S
STF05/10-2XU-ECX
STF05/10-2XU-ECX-S
If you are using a stepper motor other than MOONS’, please refer to the wiring information in their
motor specication book to connect the motor to the drive.

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3 Inputs and Outputs
Inputs and outputs of STF-2XU/4XU drivers include:
• 3 optically isolated digital signal input, 5~24V
• 1 optically isolation of digital signal output: maximum withstand voltage 30V, maximum current
100mA
• 1 brake direct drive control signal output: maximum withstand voltage 24V, maximum current
1A
I/O Connector DiagramI/O Connector Diagram
STF05/10-4XU-ECX
STF05/10-4XU-ECX-S
STF05/10-2XU-ECX
STF05/10-2XU-ECX-S
Inputs and outputs of the STF-4X drive include:
• 5 optically isolated digital signal input, high 5~24V
• 2 optically isolation of digital signal output: maximum withstand voltage 30V, maximum current
100mA
• 1 brake direct drive control signal output: maximum withstand voltage 24V, maximum current
1A

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X3
X4
X5
X7
X8
XCOM
Y1
Y3
YCOM
24V+
BRAKE
24V-
I/O Connector Diagram
STF05/10-4X-ECX
STF05/10-4X-ECX-S
Driver I/O Interface Pin Denitions
pin Signal Denition pin Signal Denition
2 X3 1 Y1
4 X4 3 Y3
6 X5 5 YCOM
8 X7 7 24V+_BR
10 X8 9 BR
12 XCOM 11 24V-_BR

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3.1 Digital Inputs
The STF multi-axis series drives contain either 3 (-2XU Series/-4XU Series) or 5 (-4X Series)
digital isolated inputs. The function of each input signal can be congured by the software Stepper
Suite. The input signal corresponds to the function as follows:
signal interface Function
X3 X3, XCOM
The following optional functions are available:
● CW/CCW direction limit switch input port
● Universal input port (default)
X4 X4, XCOM
The following optional functions are available:
● CCW/CW direction limit switch input port
● Universal input port (default)
X5
（4X series only）X5, XCOM The following functions are available as options:
● Universal input port (default)
X7 X7, XCOM
The following optional functions are available:
● Universal input port (default)
● Touch Probe1 input port
X8
(4X series only) X8, XCOM
The following optional functions are available:
● Emergency stop function input port
● Universal input (default)
Since the input circuit is an optocoupler isolation circuit, a 5-24V power supply is required. For
example, it can be used when connected to a PLC
PLC power supply; When using relays or mechanical switches, a power supply is required.
XCOM is the common end of the single-ended input signal. When connecting a source-type (PNP)
signal, XCOM needs to be grounded (the negative side of the power supply). When connecting
drain type (NPN) signals, XCOM needs to connect to the positive terminal of the power supply.
Please use Stepper Suite software to congure X3, X4，X5, X7,X8 functions
The following diagram lists several common wiring methods for the X3, X4, X5, X7, and X8 inputs:
5 - 24V
Power Supply
Connecting a switch or relay to an input
XCOM+
-
Switch or Relay
(Closed: logic low)
X3/4/5/7/8
5 - 24V
Power Supply
+
-
+
-output
Connecting a NPN type output to an input
NPN type
output
XCOM
X3/4/5/7/8
5 - 24V
Power Supply
+
-
+
-
output
Connecting a PNP type output to an input
NPN type
output
XCOM
X3/4/5/7/8
STF
STF
STF

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3.2 Digital Outputs
The STF multi-axis series drives contain either 1 (-2XU Series/4XU Series) or 2 (-4X Series)
digital isolated outputs. The function of each output signal can be congured by the software
Stepper Suite, and the output signal corresponds to the function as follows:
signa interface Function
Y1 Y1, YCOM
The following functions are available as options:
● Driver error signal output
● Driver error signal output
● Static in place signal output
● Dynamic in-place signal output
● General-purpose output (default)
Y3
（4X series only）Y3, YCOM
The following functions are available as options:
● Pulse signal output (Tach Out)
● Static in-place signal output
● Dynamic in-place signal output
● General-purpose output (default)
Please use Stepper Suite software to congure Y1,Y3 functions.
The following gure lists the common wiring methods of Y1 and Y3 output:
Warning: Do not connect the output to DC voltage above 30V, and the current owing into the output
should 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