Moons' STM23C User manual

STM23C
Integrated Motor
User Manual
Rev. 1.0
AMP & MOONS’Automation

2
Rev. 1.0
2010/11/03
STM23C User Manual
Contents
1 Introduction................................................................................ 4
1.1 Features.............................................................................................4
1.2 Block Diagram ...................................................................................5
1.3 Safety Instructions .............................................................................6
2 Getting Started........................................................................... 7
2.1 Installing Software .............................................................................7
2.2 Mounting the Hardware .....................................................................7
2.3 Choosing a Power Supply .................................................................8
2.3.1 Voltage ..................................................................................................8
2.3.2 Current ...................................................................................................9
3 Installation/Connections......................................................... 12
3.1 Connecting the Power Supply .........................................................12
3.2 Connecting the STM23C Communications......................................13
3.2.1 Node ID ................................................................................................13
3.2.2 Setting the Bit Rate ..............................................................................13
3.3 Inputs and Outputs ...........................................................................14
3.3.1 Connector Pin Diagram ........................................................................14
3.3.2 IN1 & IN2 Inputs ...................................................................................14
3.3.3 IN3 Input...............................................................................................15
3.3.4 Programmable Output ..........................................................................16
4 Conguration ........................................................................... 18
4.1 Congurator Menus .........................................................................18
4.1.1 File Menu..............................................................................................18
4.1.2 Drive Menu ...........................................................................................18
4.1.3 Help Menu ............................................................................................19
4.2 Drive/Revision..................................................................................19
4.3 Motor (Integrated Motor)..................................................................20
4.3.1 Running Current ...................................................................................20
4.3.2 Accel/Decel Current..............................................................................20
4.3.3 Idle Current...........................................................................................20
4.3.4 Idle Current Delay ................................................................................21
4.3.5 Load Inertia ..........................................................................................21
4.3.6 Electronic Damping/Anti-Resonance....................................................21
4.3.7 Waveform Smoothing ...........................................................................21

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4.4 I/O ....................................................................................................22
4.5 Encoder (optional) ...........................................................................23
4.6 CANopen .........................................................................................24
4.7 Uploading /Downloading..................................................................24
5 Simple Operation..................................................................... 25
6 Troubleshooting ...................................................................... 27
7 Reference Materials................................................................. 28
7.1 Mechanical Outlines ........................................................................28
7.2 Technical Specications...................................................................29
7.3 Torque-Speed Curves......................................................................31
7.4 SCL Command Reference ..............................................................32
7.5 Drive/Motor Heating.........................................................................34
8 Contacting MOONS’ ................................................................ 36
The information in this manual applies to the following products:
Model Optional
Encoder
STM23C-2CN
STM23C-2CE 
STM23C-3CN
STM23C-3CE 

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1 Introduction
Thank you for selecting the MOONS’ STM23C Integrated Motor. The STM23 Series Integrated
Step Motors incorporate DSP driver technology and integrate the drive electronics with the motor.
This provides smooth, precise motion along with ease of set-up and con guration, all at a low
cost. We hope our commitment to performance, quality and economy will result in a successful
motion control project.
1.1 Features
• Programmable, micro-stepping digital step motor and driver in an integrated package
• Operates from a 12 to 70 volt DC power supply
• Modes of Operation (as de ned in CiA DSP402)
• Pro le Position
• Pro le Velocity
• Homing
• Q Programming
• Communications: CANopen Network
• Optional encoder feedback
• Available torque
STM23C-2 up to 0.9 N.m
STM23C-3 up to 1.5 N.m
• I/O
Digital Input  ltering both hardware and software
3 optically isolated digital inputs, 5 to 24 volts
1 optically isolated digital output, 30V 100mA
• Technological advances
Mid-band anti-resonance
Sequential Programming through Q Programmer software
Multi-Tasking
Conditional Branching
Math and Data Register manipulation

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1.2 Block Diagram
Block Diagram
MOSFET
PWM
Power
Amplifier
12-70 VDC
External
Power Supply
Voltage
Temp
Det.
Over
Current
Det.
motor
encoder
5 Volt DC
Power Supply
DSP
Driver
Controller
3.3VDC
Internal
Logic
Supply
STM23C
Optical
Iso
I/O Connector
+
Optical
Iso
Optical
Iso
IN1+ Digital
Filter
Digital
Filter
Digital
Filter
Software
Filter
Software
Filter
Software
Filter
IN1 (5 to 24 Volts)
: CW Jog
: CW Limit
: GP
IN2 (5 to 24 Volts)
: CCW Jog
: CCW Limit
: GP
IN3 (5 to 24 Volts)
: Enable Input
: Reset Input
: GP
I/O Configurations
GP = General Purpose
Status
Optical
Iso
RS-232
CANopen
Comm
Conn
CANopen
Conn
Power
Conn
IN1-
IN2+
IN2-
IN3+
IN3-
OUT+
OUT-
RS-232
TX, RX, GND
CANopen
CANH, CANL, GND
-
OUT (30V, 100mA)
: Brake Output
: Alarm Output
: Motion Output
: GP
Optional

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1.3 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 pos-
sibly 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 difculty.

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2 Getting Started
The following items are needed:
• a 12 - 70 volt DC power supply, see the section below entitled “Choosing a Power Supply” for
help in choosing the right one
• a small at blade screwdriver for tightening the connectors (included)
• a PC running Microsoft Windows 98, 2000, NT, Me, XP, Vista, or Windows 7
• the MOONS’ CD (included)
• the included RS-232 programming cable
2.1 Installing Software
Before utilizing the STM23C Integrated Motor and ST Congurator Software in an application, the
following steps are necessary:
• Install the ST Congurator software from the CD. For applications requiring complex motion,
Q Programmer software may be used and should also be installed at this point.
• Connect the drive to the PC using the RS-232 cable.
• Connect the drive to the power supply. See instructions below.
• Launch the software by clicking Start...Programs...MOONS’.
• Apply power to the drive.
2.2 Mounting the Hardware
As with any step motor, the STM23C must be mounted so as to provide maximum heat sinking
and airow. Keep enough space around the Integrated Motor to allow for airow.
• Never use the drive where there is no airow or where other devices cause the
surrounding air to be more than 40°C (104°F).
• Never put the drive where it can get wet.
• Never use the drive where metal or other electrically conductive particles can
inltrate the drive.
• Always provide airow around the drive.

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2.3 Choosing a Power Supply
The main considerations when choosing a power supply are the voltage and current requirements
for the application.
2.3.1 Voltage
The STM23C is designed to give optimum performance between 24 and 48 Volts DC. Choosing
the voltage depends on the performance needed and motor/drive heating that is acceptable and/
or does not cause a drive over-temperature. Higher voltages will give higher speed performance
but will cause the STM23C to produce higher temperatures. Using power supplies with voltage
outputs that are near the drive maximum may signicantly reduce the operational duty-cycle.
The extended range of operation can be as low as 10 VDC minimum to as high as 75 VDC
maximum. When operating below 18 VDC, the power supply input may require larger capacitance
to prevent under-voltage and internal-supply alarms. Current spikes may make supply readings
erratic. The supply input cannot go below 10 VDC for reliable operation. Absolute minimum power
supply input is 10 VDC. If the Input supply drops below 10 VDC the low voltage alarm will be
triggered. This will not fault the drive.
Absolute maximum power supply input is 75 VDC at which point an over-voltage alarm and
fault will occur. When using a power supply that is regulated and is near the drive maximum
voltage of 75 VDC, a voltage clamp may be required to prevent over-voltage when regeneration
occurs. The RC050 Regeneration Clamp is recommended for the STM23C in this situation (see
3.1 Connecting the Power Supply
below). When using an unregulated
power supply, make sure the no-load
voltage of the supply does not exceed
the drive’s maximum input voltage of
75 VDC.
These charts show the duty cycle
of the drive at various speeds and
voltages. See also Section 7.5
on Drive/Motor Heating for more
information.
STM23X-2 Max Duty Cycle vs Speed
5 Amps @ Ambient of 40°C
162 x 162 x 6 (mm) Aluminum Plate
0
20
40
60
80
100
0 10 20 30 4 0 50
Speed (RPS)
elcyCytuD%
12V Duty Cycle
24V Duty Cycle
48V Duty Cycle
65V Duty Cycle
Maximum Duty Cycle vs Speed
STM23X-3 Max Duty Cycle vs Speed
5 Amps @ Ambient of 40°C
162 x 162 x 6 (mm) Aluminum Plate
0
20
40
60
80
100
0 10 2 0 30 4 0 50
Speed (RPS)
elcyCytuD%
12V Duty Cycle
24V Duty Cycle
48V Duty Cycle
65V Duty Cycle

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2.3.2 Current
The maximum supply currents required by the STM23C are shown in the charts below at different
power supply voltage inputs. The STM23C power supply current is lower than the winding currents
because it uses switching ampliers to convert a high voltage and low current into lower voltage
and higher current. The more the power supply voltage exceeds the motor voltage, the less
current will be required from the power supply.
It is important to note that the current draw is signicantly different at higher speeds depending
on the torque load to the motor. Estimating how much current is necessary may require a good
analysis of the load the motor will encounter.
STM23-2 12V Power Supply Current
0
0.1
0.3
0.4
0.6
0.7
0.8
1.0
0 1 0 2 0 3 0 4 0 5 0
Speed (RPS)
Torque ( )
0 .0 0
0 .5 0
1 .0 0
1 .5 0
2 .0 0
2 .5 0
3 .0 0
Amps
Torque
S upply
C urrent
S upply
C urrent
No Load
N m
.
7
N m
.
STM23-2 24V Power Supply Current
0 1 0 2 0 3 0 4 0 5 0
Speed (RPS)
0 .0 0
0 .5 0
1 .0 0
1 .5 0
2 .0 0
2 .5 0
3 .0 0
3 .5 0
Amps
Torque
S upply
C urrent
S upply
C urrent
No Load
0
0.1
0.3
0.4
0.6
0.7
0.8
1.0
Torque ( )
N m
.
7
N m
.

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STM23-2 70V Power Supply Current
0 1 0 2 0 3 0 4 0 5 0
Speed (RPS)
0 .0 0
0 .5 0
1 .0 0
1 .5 0
2 .0 0
2 .5 0
3 .0 0
3 .5 0
Amps
Torque
S upply
C urrent
S upply
C urrent
No Load
0
0.1
0.3
0.4
0.6
0.7
0.8
1.0
Torque ( )
N m
.
7
N m
.
STM23-3 12V Power Supply Current
0 1 0 2 0 3 0 4 0 5 0
Speed (RPS)
0 .0 0
0 .5 0
1 .0 0
1 .5 0
2 .0 0
2 .5 0
3 .0 0
3 .5 0
Amps
Torque
Supply
C urrent
Supply
C urrent
No Load
0
0.4
0.7
1.4
1.8
Torque ( )
N m
.
7
1.1
N m
.
STM23-2 48V Power Supply Current
0 1 0 2 0 3 0 4 0 5 0
Speed (RPS)
0 .0 0
0 .5 0
1 .0 0
1 .5 0
2 .0 0
2 .5 0
3 .0 0
Amps
Torque
S upply
C urrent
S upply
C urrent
No Load
0
0.1
0.3
0.4
0.6
0.7
0.8
1.0
Torque ( )
N m
.
7
N m
.

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STM23-3 48V Power Supply Current
0 1 0 2 0 3 0 4 0 5 0
Speed (RPS)
0 .0 0
0 .5 0
1 .0 0
1 .5 0
2 .0 0
2 .5 0
3 .0 0
3 .5 0
Amps
Torque
Supply
C urrent
Supply
C urrent
No Load
0
0.4
0.7
1.4
1.8
Torque ( )
N m
.
7
1.1
N m
.
STM23-3 24V Power Supply Current
0 1 0 2 0 3 0 4 0 5 0
Speed (RPS)
0 .0 0
0 .5 0
1 .0 0
1 .5 0
2 .0 0
2 .5 0
3 .0 0
3 .5 0
Amps
Torque
Supply
C urrent
Supply
C urrent
No Load
0
0.4
0.7
1.4
1.8
Torque ( )
N m
.
7
1.1
N m
.
STM23-3 70V Power Supply Current
0 1 0 2 0 3 0 4 0 5 0
Speed (RPS)
0 .0 0
0 .5 0
1 .0 0
1 .5 0
2 .0 0
2 .5 0
3 .0 0
3 .5 0
4 .0 0
Amps
Torque
S upply
C urrent
S upply
C urrent
No Load
0
0.4
0.7
1.4
1.8
Torque ( )
N m
.
7
1.1
N m
.

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3 Installation/Connections
3.1 Connecting the Power Supply
Connect the power supply “+” terminal to the drive “+” terminal and the power supply “-” terminal to
the drive “-” terminal using 16 to 20-gauge wire. The STM23C contains an internal fuse connected
to the “+” terminal. This fuse is not user replaceable. If a user serviceable fuse is desired, install a
4 amp fast acting fuse in line with the “+” power supply lead.
Be careful not to reverse the wires. Reversing the connection may open the
internal fuse on the drive and void the warranty.
If a regulated power supply is being used, there may be a problem with regeneration. When a
load decelerates rapidly from a high speed, some of the kinetic energy of the load is transferred
back to the power supply, possibly tripping the over-voltage protection of a regulated power
supply, causing it to shut down. This problem can be solved with the use of a MOONS’ RC050
Regeneration Clamp. It is recommended that an RC050 initially be installed in an application. If
the “regen” LED on the RC050 never ashes, the clamp is not necessary.
RC050 Regen Clamp
LEDs
Green - Power
Red - Regen

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3.2 Connecting the STM23C Communications
The communications interface for the STM23C is a standard 3-pin
spring clamp. A special cable designed to work with the serial port
for conguration is included. The drives are congured using a
combination of rotary switches and an RS-232 serial link, and then
may be deployed on a distributed CANopen network. The RS-232
interface is used for drive conguration, node ID setting and Q
Program downloading. The CANopen network should be connected
in a daisy-chain fashion, with a 120 ohm terminating resistor at
each end of the network.
Locate the STM23C within 2.5 meters of the PC. Plug the large end
(DB9 connector) of the cable into the serial port of the PC. Plug the 3-pin spring clamp connector
into the appropriate connector on the STM23C. Secure the cable to the PC with the screws on the
DB9 connector.
3.2.1 Node ID
Each node ID on a CANopen network must have a unique
Node ID. The Node ID is congured using a sixteen position
switch to set the lower four bits
of the Node ID while the upper
three bits are congured by using
ST Congurator. CANopen Node
IDs are seven bits long, with a
range of 1 - 127, or 0x01 - 0x7F in
hexadecimal notation. Node ID 0x00
is reserved in accordance with the
DS301 specication.
3.2.2 Setting the Bit Rate
The CANopen network bitrate is set by the ten position switch
on the front of the drive. The bit rate must
be the same for all nodes on the CANopen
network. Any changes to the bit rate require
either a power cycle or a CANopen reset
command to take effect.
Switch Setting Resultant Bit Rate
01 Mbps
1800 kbps
2500 kbps
3250 kbps
4125 kbps
550 kbps
620 kbps
712.5 kbps
8reserved
9reserved

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3.3 Inputs and Outputs
The STM23C has three optically isolated inputs that use 5 to 24 volt logic
3.3.1 Connector Pin Diagram
3.3.2 IN1 & IN2 Inputs
IN1 and IN2 are high speed digital inputs. The diagrams below show how to connect them to
various commonly used devices like sensors, switches, relays, PLCs, etc.
Inside drive
RES
IN1+
IN1-
IN2+
IN2-
IN3+
IN3-
OUT+
OUT-
I/O Connector
STM23
Programmable
digital inputs
Output 2
Output 1
IN1+
IN2+
IN2-
+5v to +24v out
IN1-
IN3+
IN3-
Output 3
Connecting to Indexer with Sinking Outputs
Indexer
With
Sourcing
Outputs
Indexer
With
Sinking
Outputs
STM23
5-24V
High
Speed
Inputs
Output 1
IN1+
Output 2
Output 3
COM
IN1-
IN2+
IN2-
IN3+
IN3-
Connecting to Indexer with Sourcing Outputs
STM23
5-24V
High
Speed
Inputs
Output 1+
Output 1-
IN1+
IN1-
IN2+
IN2-
Output 2+
Output 2-
Output 3+
Output 3-
IN3+
IN3-
5 to 24
volt
Power
Supply
STM23
Connecting the Input to a Switch or Relay
Switch or Relay
(closed = logic low)
+
-
IN-
IN+
Connecting to Indexer with Differential Outputs
(Many high speed indexers have differential outputs)
5 to 24
volt
Power
Supply
STM23
Connecting an NPN type Proximity Sensor to an input
(when prox sensor activates, input goes low)
+
-
IN+
IN-
out
put
+
NPN
Proximity
Sensor
−
5 to 24
volt
Power
Supply
STM23
Connecting an PNP type Proximity Sensor to an input
(when prox sensor activates, input goes low)
out
put
+
PNP
Proximity
Sensor
-
+
-
IN+
IN+
Indexer
With
Differential
Outputs

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3.3.3 IN3 Input
The IN3 digital input is designed low speed digital input operation between 5 and 24 volts DC. The
diagrams below show how to connect the input to various commonly used devices.
STM23
Programmable
digital inputs
Output 2
Output 1
IN1+
IN2+
IN2-
+5v to +24v out
IN1-
IN3+
IN3-
Output 3
Connecting to Indexer with Sinking Outputs
Indexer
With
Sourcing
Outputs
Indexer
With
Sinking
Outputs
STM23
5-24V
High
Speed
Inputs
Output 1
IN1+
Output 2
Output 3
COM
IN1-
IN2+
IN2-
IN3+
IN3-
Connecting to Indexer with Sourcing Outputs
STM23
5-24V
High
Speed
Inputs
Output 1+
Output 1-
IN1+
IN1-
IN2+
IN2-
Output 2+
Output 2-
Output 3+
Output 3-
IN3+
IN3-
5 to 24
volt
Power
Supply
STM23
Connecting the Input to a Switch or Relay
Switch or Relay
(closed = logic low)
+
-
IN-
IN+
Connecting to Indexer with Differential Outputs
(Many high speed indexers have differential outputs)
5 to 24
volt
Power
Supply
STM23
Connecting an NPN type Proximity Sensor to an input
(when prox sensor activates, input goes low)
+
-
IN+
IN-
out
put
+
NPN
Proximity
Sensor
−
5 to 24
volt
Power
Supply
STM23
Connecting an PNP type Proximity Sensor to an input
(when prox sensor activates, input goes low)
out
put
+
PNP
Proximity
Sensor
-
+
-
IN+
IN+
Indexer
With
Differential
Outputs
STM23
Programmable
digital inputs
Output 2
Output 1
IN1+
IN2+
IN2-
+5v to +24v out
IN1-
IN3+
IN3-
Output 3
Connecting to Indexer with Sinking Outputs
Indexer
With
Sourcing
Outputs
Indexer
With
Sinking
Outputs
STM23
5-24V
High
Speed
Inputs
Output 1
IN1+
Output 2
Output 3
COM
IN1-
IN2+
IN2-
IN3+
IN3-
Connecting to Indexer with Sourcing Outputs
STM23
5-24V
High
Speed
Inputs
Output 1+
Output 1-
IN1+
IN1-
IN2+
IN2-
Output 2+
Output 2-
Output 3+
Output 3-
IN3+
IN3-
5 to 24
volt
Power
Supply
STM23
Connecting the Input to a Switch or Relay
Switch or Relay
(closed = logic low)
+
-
IN-
IN+
Connecting to Indexer with Differential Outputs
(Many high speed indexers have differential outputs)
5 to 24
volt
Power
Supply
STM23
Connecting an NPN type Proximity Sensor to an input
(when prox sensor activates, input goes low)
+
-
IN+
IN-
out
put
+
NPN
Proximity
Sensor
−
5 to 24
volt
Power
Supply
STM23
Connecting an PNP type Proximity Sensor to an input
(when prox sensor activates, input goes low)
out
put
+
PNP
Proximity
Sensor
-
+
-
IN+
IN+
Indexer
With
Differential
Outputs

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3.3.4 Programmable Output
The STM23C drives feature one optically isolated digital output. This output can be programmed
to automatically control a motor brake, to signal a fault condition, to indicate when the motor is
moving or to provide an output frequency proportional to motor speed (tach signal). Or the output
can be turned on and off by program instructions like Set Output (SO). The output can be used to
drive LEDs, relays and the inputs of other electronic devices like PLCs and counters. The OUT+
(collector) and OUT- (emitter) terminals of the transistor are available at the connector. This allows
the output to be congured for current sourcing or sinking. Diagrams of various connection types
follow.
Do not connect the output to more than 30 volts. The current through the output
terminal must not exceed 100mA.
5 – 24 volt
Power Supply
+
-
Connecting a Sourcing Output
PLC
5 – 24 volt
Power Supply
+
-
Driving a Relay
1N4935 suppression diode
relay
STM23C
STM23C
OUT+
OUT+
OUT-
OUT- IN
COM
5 – 24 volt
Power Supply
STM23C
Connecting a Sourcing Output again
PLC
OUT+
OUT-IN
COM
-+
5 – 24 volt
Power Supply
Load
STM23C
+
-
Connecting a Sinking Output
OUT+
OUT-

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5 – 24 volt
Power Supply
+
-
Connecting a Sourcing Output
PLC
5 – 24 volt
Power Supply
+
-
Driving a Relay
1N4935 suppression diode
relay
STM23C
STM23C
OUT+
OUT+
OUT-
OUT- IN
COM
5 – 24 volt
Power Supply
STM23C
Connecting a Sourcing Output again
PLC
OUT+
OUT-IN
COM
-+
5 – 24 volt
Power Supply
Load
STM23C
+
-
Connecting a Sinking Output
OUT+
OUT-

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4 Conguration
ST Congurator is the PC based software application that is used to congure the STM23C. It can
also upload, save, or open any saved STM23C congurations.
Motor conguration for the STM23C is rather simple as most parameters are xed. Because it is
an integrated motor/driver, the conguration generally has only three elements - the I/O, CANopen
settings, and the Motor. The optional encoder adds a fourth element.
4.1 Congurator Menus
4.1.1 File Menu
In the File Menu previously created congurations can be Opened and new or altered
congurations can be Saved. Any setup can be Printed. The Exit command will close the ST
Congurator.
4.1.2 Drive Menu
The Drive menu provides access to several features.
• Alarm History will display the last eight alarms and/or faults.
• If an alarm or fault condition is being displayed, Clear Alarm will clear it.
• Restore Factory Defaults will return the drive to its original factory conguration.
• SCL Terminal allows SCL commands to be entered to test the drive’s response, creating an
opportunity for commands to be learned before host control software is written (see section 5
on Simple Operation below).

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• Set Node ID Range brings up the same window as the CANopen button (see section 4.6 on
CANopen below.)
• Self Test rotates the motor a half revolution in alternating directions at a low speed to allow
verication that the motor is connected and functioning properly (see section 5 on Simple
Operation below).
• Status Monitor displays real time drive status including:
• State (open or closed) of all inputs
• State of output (click the HI/LO buttons to force an output)
• Motor speed
• Alarms or faults
• Status ags (enabled, motion, jogging, etc.)
The motor can be enabled or disabled from the Status Monitor by clicking the buttons at the
bottom of the display.
• Set Quick Decel Rate allows entry of a decel rate for limits and faults, entered in rev/sec/sec.
4.1.3 Help Menu
The Help Menu allows access to the help screens via Contents, gives Contact information for
MOONS’, links the user to the Website, and gives technical information About ST Congurator.
4.2 Drive/Revision
Normally the drive model and revision are automatically
detected when the STM23C is powered up while the
ST Congurator software is active and the STM23C is
connected to the PC serial port. If the box does not list
the correct model after the STM23C is powered up, please check the wired connections (including
the power supply and communications connections.) If the STM23C is intentionally not connected,
the model and revision can be chosen from the drop down list on the upper right. This will provide
the correct screen options and ofine conguration can be accomplished and saved in a le on the
PC.

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4.3 Motor (Integrated Motor)
In the Integrated Motor dialog box, operational parameters are dened and
congured. Motor Specs cannot be modied as they are xed according to
the STM23C model selected in the Drive selection box.
4.3.1 Running Current
This value is set by default to a current level that gives good performance at constant speed but
lower than the maximum current to allow the integrated motor to operate at a lower temperature.
If the application requires full torque at full speed, this value can be increased up to the Rated
Current of the integrated motor. If an application is particularly heat sensitive and there is more
torque available than needed, motor heating may be reduced by lowering the running current.
4.3.2 Accel/Decel Current
This value is set by default to the Rated Current of the integrated motor so that maximum torque
is provided during the acceleration or deceleration phase of a move prole. The purpose of the
Accel/Decel Current is to allow the integrated motor to operate at a lower current and therefore
cooler when at a constant speed while still having full torque when needed especially if the load is
high inertia. This value can be reduced for lower torque and operating temperature.
4.3.3 Idle Current
Idle Current is set as a percentage of the Running Current with a maximum setting of 90%. The
Idle Current reduces motor heating by lowering the current when the motor is at rest. In most
cases, the default value of 50% works well. Motor heating may be further reduced by lowering the
Idle Current percentage even more.