Stepnet Micro Module STL RoHS

Control Modes DIGITAL DRIVE

for stepper MOTORS
Indexer, Point-to-Point, PVT
Camming, Gearing
Position, Velocity, Torque [Servo Mode]
Position (Microstepping)

Command Interface
CANopen
ASCII and discrete I/O
Stepper commands
PWM velocity/torque command
Master encoder [Gearing/Camming]

Communications
CANopen
RS-232

Feedback
Digital Quad A/B encoder
I/O - Digital
12 inputs, 4 outputs
MODEL Ic Ip VDC
Dimensions: mm [in]
64 x 41 x16 [2.5 x 1.6 x 0.6] STL-055-04 3 4.5 55
STL-075-03 2 3 75

description
Stepnet Micro Module is a stepper motor driver in a 4 Profile Position Mode does a complete motion index on
in2 pc-board mounting package that combines CANopen command with S-curve acceleration & deceleration, top
networking with 100% digital control of stepper motors. speed, and distance programmable. In PVT mode, the
Power output is compatible with most NEMA 17 and 23 size controller sends out a sequence of points each of which
stepper motors. The small footprint is well-suited for desktop is an increment of a larger, more complex move than
instrumentation and enables motor drive, interface, power that of a single index or profile. Profile Velocity mode has
supply, and control circuits to be combined on a single PC acceleration, deceleration, and velocity control without a
board. position setpoint. Homing mode is configurable to work
Stepnet Micro Module can also operate as a stand-alone with a combination of limit and home switches such that the
driver taking incremental position commands from step- driver moves the motor into a position that has an absolute
motor controllers in Step/Direction or CU/CD format, as well reference to some part of the machine.
as A/B quadrature commands from a [Link] One logic input [IN1] is dedicated for the driver Enable
to motor position ratio is programmable for electronic function. The other eleven are programmable as CAN
gearing. address, limit & home switches, stepper pulse inputs, A/B
When fitted with an incremental encoder a stepper motor master encoder, motor feedback encoder, reset, motion
can be operated as a brushless servo motor using Stepnet abort, or motor-temperature. There are four programmable
Micro Modules Servo Mode feature, or as a conventional logic outputs for reporting a driver fault, or other status
stepper with stall detection. indications. When operating as a CAN node, inputs and
Set up is fast and simple using CME 2 software operating outputs can be used as general-purpose I/O with no link to
under Windows and communicating with Stepnet Micro amplifier functions.
Module via an RS-232 link. CAN address selection is by An Aux HV input is provided for keep alive power that
digital inputs or can be programmed into driver flash preserves the driver data (e.g. current position) and
memory. CANopen operation if +HV has been removed as in an
As a CANopen node Stepnet Micro Module operates as a emergency-stop situation. This enables the control system
Motion Control Device under the DSP-402 protocol of the to monitor drive status and to enable an orderly recovery
CANopen DS-301 V4.01 (EN 50325-4) application layer. without a full system reset, and homing of all axes.
DSP-402 modes supported include: Profile Position, Profile Operation from transformer-isolated DC power supplies
Velocity, Interpolated Position (PVT), and Homing. When in saves cost in multi-axis systems.
Servo Mode, operating the stepper as a servo motor with
encoder feedback, Profile Torque mode is available.

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 Stepnet Micro Module STL RoHS

GENERAL SPECIFICATIONS
Test conditions: Load = 1mH per phase, ambient temperature = 25 C. +HV = HVmax

MODEL STL-055-04 STL-075-03

Output Power
Peak Current 4.5 (3.2) 3 ( 2.1) Apeak (Arms, sinusoidal)
Peak time 1 1 s
Continuous current 3 (2.1) 2 (1.4) Apeak (Arms, sinusoidal)
INPUT POWER
HVmin to HVmax +20 to +55 +20 to +75 Vdc, transformer-isolated
Ipeak 5.0 3.5 Adc (1 sec)
Icont 3.5 2.5 Adc
Aux HV +20 to +55 +20 to +75 Vdc
current control
Current loop update rate 15 kHz (66.7 s)
Position loop update rate 3 kHz (333 s)
PWM outputs Dual MOSFET H-bridges, 15 kHz center-weighted PWM, space-vector modulation
PWM ripple frequency 30 kHz
HV Compensation Changes in HV do not affect current-loop bandwidth
Reference inputs
CANopen bus control Operating Modes Profile Position, Profile Velocity, Profile Torque (Note 2)
Interpolated Position and Homing
Velocity Modes Profile Velocity
Digital position reference (Note 1) Pls/Dir, CW/CCW Stepper commands (2 MHz maximum rate)
Quad A/B Encoder 2 Mline/sec, (8 Mcount/sec after quadrature)
Digital torque & velocity reference (Note 1) PWM & Polarity PWM = 0~100%, Polarity = 1/0
(only available in Servo Mode) PWM PWM = 50% +/-50%, no polarity signal required
PWM frequency range 1 kHz minimum, 100 kHz maximum
PWM minimum pulse width 220 ns
DIGITAL inputs (Note 1)
Number 12
Enable [IN1] Dedicated input for driver enable
GP [IN1,2,3,4,5] General Purpose inputs with 33 s (22 s for [IN5]) RC filters and programmable functions
HS [IN6,7,8,9,10,11,12] High-Speed Inputs with 100 ns RC filters and programmable functions
All inputs 74HC14 Schmitt trigger operating from +5.0 V with RC filter on input, 10 k pull-up to +5 Vdc
RC time-constants assume active drive on inputs and do not include 10 k pull-ups.
Input sample time 333 s, inputs are sampled at each position loop cycle
Logic levels Vin-LO < +1.35 Vdc, Vin-HI > +3.65 Vdc, Maximum input voltage = +10 Vdc
Minimum pulse width 1 ms
digital outputS
Number 4
Type Current-sinking MOSFET open-drain outputs with
1 k pullup to +5 Vdc through diode, 300 mAdc sink max, +30 Vdc max.
Functions Programmable with CME 2
Active Level Programmable to either HI (off, pull-up to +5 Vdc) or LO (on, current-sinking) when output is active
DC POWER OUTPUT
+5 Vdc 250 mA maximum. Directly connected to amplifier internal circuits.
L-C filter required to isolate internal and external circuits
RS-232 PORT
Signals RxD, TxD, Gnd
Mode Full-duplex, serial communication port for amplifier setup and control, 9,600 to 115,200 baud
Protocol ASCII or Binary format
Multi-drop ASCII interface from single RS-232 port to control multiple amplifiers (Xenus, Accelnet, Stepnet)
Amplifier with serial connection acts as master for bi-directional data flow to other amplifiers
using CAN connections in daisy-chain from amplifier to amplifier
CANopen COMMUNICATION PORT
Signals CANH, CANL, Gnd. 1 Mbit/sec maximum
Protocol CANopen Application Layer DS-301 V4.01
Device DSP-402 Device Profile for Drives and Motion Control
motor connections
Motor A+,A-,B+,B- Outputs to 2-phase stepper motor, bipolar drive connected
Motemp Motor temperature sensor or switch. Any input [IN2~IN12] can be programmed for this function
Brake Any digital output can be programmed for motor brake actuation
protections
HV Overvoltage > +56, +91 Vdc Driver outputs turn off until +HV is < overvoltage (for 55, 75 Vdc models)
HV Undervoltage < +20 Vdc Driver outputs turn off until +HV >= +20 Vdc
Driver over temperature PC Board > 90 C. Driver latches OFF until driver is reset, or powered off-on
Short circuits Output to output, output to ground, internal PWM bridge faults
2
I T Current limiting Programmable: continuous current, peak current, peak time
Latching / Non-Latching Programmable
Notes
1. [IN1] is not programmable and always works as driver Enable. Other digital inputs are programmable.
2. Profile Torque mode is only available when operating in Servo Mode.

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 Stepnet Micro Module STL RoHS

GENERAL SPECIFICATIONS (CONTD)

MECHANICAL & ENVIRONMENTAL
Size 2.50 in (63.5 mm) X 1.60 in (40.6 mm) X 0.71 in (18 mm)
Weight 1.3 oz (0.037 kg)
Ambient temperature 0 to +45C operating, -40 to +85C storage
Humidity 0 to 95%, non-condensing
Vibration 2 g peak, 10~500 Hz (sine), IEC60068-2-6
Shock 10 g, 10 ms, half-sine pulse, IEC60068-2-27
Contaminants Pollution degree 2
Environment IEC68-2: 1990
Cooling Forced air cooling required for continuous power output
agency standards conformance
In accordance with EC Directive 2004/108/EC (EMC Directive)
EN 55011: 2007 CISPR 11:2003/A2:2006
Industrial, Scientific, and Medical (ISM) Radio Frequency Equipment
Electromagnetic Disturbance Characteristics Limits and Methods of Measurement
Group 1, Class A
EN 61000-6-1: 2007 Electromagnetic Compatibility (EMC) Part 6-1: Generic Standards
Immunity for residential, Commercial and Light-industrial Environments
In accordance with EC Directive 2006/95/EC (Low Voltage Directive)
IEC 61010-1:2001 Safety Requirements for Electrical Equipment for Measurement, Control and Laboratory Use
Underwriters Laboratory Standards
UL 508C, 3rd Ed.: 2008 UL Standard for Power Conversion Equipment

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 Stepnet Micro Module STL RoHS

FEATURES
Stepnet is a DSP based driver for two-phase step motors that operates as a node on a CAN bus or as a stand-alone driver that takes step
motor pulses to command motor position. It operates from line-isolated DC power supplies.
As a CAN node it operates under the CANopen protocol DSP-402 for motion control devices. The functions supported include Profile
Position, Profile Velocity, Interpolated Position, and Homing Modes. In Profile Position Mode a single PDO (Process Data Object) can
command a position profile with programmable acceleration, deceleration, maximum speed, and target position. The acceleration can be
trapezoidal or S-curve. Interpolated Position Mode works with multiple PDOs each of which specifies position, velocity, and time. For this
reason this mode is sometimes called PVT (Position, Velocity, Time) mode. The driver uses a cubic-interpolation algorithm to connect the
PVT points such that the motor satisfies the PVT parameters at each point while moving along a path that connects the points smoothly.
In PVT mode long moves of complex shapes can be performed. Profile Velocity mode has controlled acceleration, deceleration, and
maximum velocity for speed control application with no defined positions.
Multiple axes can be synchronized so that moves are coordinated. This emulates the functions normally performed by motion-controller
cards or chips which can now be eliminated in many cases reducing cost and system complexity.
Stepnet also operates as a stand-alone driver taking pulses from controllers that output pulses in the Step/Direction or Count-Up/Count-
Down mode. Electronic gearing is supported when the position commands come from a quadrature encoder. The ratio of encoder counts
at the inputs to microsteps at the motor is programmable.

MICROSTEPPING
Step motors can be viewed as brushless motors with a large number of poles, or electrical
cycles per revolution. The two windings are spaced at 90 electrical degrees. Reversing the
currents in each winding produces a 180 degree phase shift. The result is full-stepping. This
kind of operation can be noisy and the large angular change per step excites the rotor to
produce undesirable vibrations. In microstepping, the phase currents are sinusoidal and the
change in electrical angle per step can be programmed such that the motor moves with less
noise and vibration.

STALL DETECTION
Adding an encoder to the motor gives position feedback to the driver.
When the measured movement of the motor differs from the com-
manded position by an amount that is programmable a motor stall is
indicated. The driver can then signal the control system that a motor
stall has occurred, or can send a message over the CAN bus with the
same effect. In this mode the stepper is operated in open-loop mode
where the driver changes the phase currents based on the commanded
position of the motor.

SERVO MODE
The stepper motor is now operated as a brushless servo
motor. Motor phase currents are adjusted dynamically in
response to the difference between commanded position
and motor position as fed back by the encoder. Field-ori-
ented control (vector control) of the motor currents gives
a wider range of motor speeds without the possibility of
stalling. If the load exceeds motors capability excess
following error can be detected and driver programmed
to take appropriate action.

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 Stepnet Micro Module STL RoHS

CME 2 SOFTWARE
Driver setup is fast and easy using CME 2 software. All of the operations needed
to configure the driver are accessible through this powerful and intuitive program.
Motor data can be saved as .ccm files. Driver data is saved as .ccx files that contain all driver
settings plus motor data. This eases system management as files can be cross-referenced to
ampifiers. Once an driver configuration has been completed systems can be replicated easily
with the same setup and performance.

RS-232 communication
Stepnet is configured via a three-wire, full-duplex RS-232 port that operates from 9,600 to
115,200 Baud. CME 2 software provides a graphic user interface (GUI) to set up all of
Stepnet features via a computer serial port. Once configured, Stepnet can be used in stand-
alone mode, or as a networked driver on a CAN bus.

CANopen communication
Stepnet Micro Module uses the CAN physical layer signals CANH, CANL, and GND for con-
nection, and CANopen protocol for communication. The electrical interface is a TJA1050
high-speed CAN transceiver.
Before connecting Stepnet Micro Module to the CAN network, it must be assigned a CAN
address. This can be done via the RS-232 port, or by using logic inputs for the CAN address
bits. The CAN address is a combination of an internal address stored in flash memory, and an
address derived from the logic inputs. A maximum of 127 CAN devices are allowed on a CAN
bus network, so this limits the input pins used for this purpose to a maximum of seven, leav-
ing five inputs available for other purposes. Most installations will use less than the maximum
number of CAN devices, in which case the number of inputs used for a CAN address can be
less than seven, leaving more inputs available for other functions.
When inputs are used for the CAN address bits, the internal address is added to the binary
value that results from the inputs. If all the inputs are used as logic inputs, then the CAN ad-
dress in flash memory is the driver CAN address.

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 Stepnet Micro Module STL RoHS

Stand-Alone Mode POSITION-CONTROL Inputs

Stepnet works with motion controllers that output pulses to command position. These formats are supported:
Step/Direction
CU/CD
A/B Quadrature Encoder
In Step/Direction mode, a pulse-train controls motor position, and the direction is controlled by a DC level at the Direction input.
CU/CD (Count-Up/Count-Down) signals command the motor to move CW or CCW depending on which input the pulse-train is directed to.
The motor can also be operated in an electronic gearing mode by connecting the inputs to a quadrature encoder on another motor.
In all cases the ratio between input pulses and motor revolutions is programmable.

Step/Direction Inputs Count-up/Count-down Inputs QUAD A/B Encoder Inputs

[IN9] [IN9]
Step Count Up

[IN10] [IN10]
Direction Count Down

[IN9]
Stand-Alone Mode Torque & Velocity Inputs (SERVO MODE ONLY) PWM
[IN10]
A digital PWM signal controls magnitude, and a DC signal controls polarity.
Polarity

DIGITAL INPUTS
There are twelve digital inputs to Stepnet Micro Module, eleven of which can be programmed to a selection of functions. The Enable input
which controls the on/off state of the PWM outputs is fixed to [IN1] as a safety measure so that a driver cannot be programmed in such
a way that, once installed, it could not be shut down by the controller. Two types of RC filters are used: GP (General-purpose) and HS
(High Speed). The input time-constants apply when driven by active sources (CMOS, TTL, etc). All inputs have 10 k pull-up resistors to
+5 Vdc. Input functions such as Step/Direction, CountUp/CountDown, Quad A/B must be wired to inputs having the HS filters, and inputs
with the GP filters can be used for general purpose logic functions, limit switches, and the motor temperature sensor. When more than
one input is programmed to the same function all must be active to assert the function. In addition to the selection of functions, the active
level for each input is individually programmable.
GP input functions HS input functions
Drive enable Step/Direction, or CountUp/CountDown step motor control commands
CAN address Quad A/B master encoder position commands
Positive Limit switch Motor-mounted feedback encoder
Negative Limit switch
Home switch
Driver Reset
Motor temperature sensor input
Motion abort

Driver reset takes place on transitions of the input and is programmable to 1/0 or 0/1. The motor temp sensor function will disable the
driver if a switch in the motor opens or closes when the motor overheats.

GP Inputs 1,2,3,4 GP Input 5 HS Inputs 6,7,8,9,10,11,12

+5.0V +5.0V +5.0 V

[IN6]
74HC14 74HC14 [IN7] 74HC14
[IN1] * 10k 10k 10k
[IN8]
[IN2]
[IN5] [IN9]
[IN3]
10k 10k [IN10] 1k
[IN4]
[IN11]
3.3nF 2.2 nF 100 pF
[IN12] HS Inputs
GP Inputs GP Inputs
* Not programmable

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 Stepnet Micro Module STL RoHS

digital OUTPUTS
Digital outputs [OUT1~4] are open-drain MOSFETs with 1 k pull-up resistors +5V
in series with a diode to +5 Vdc. They can sink up to 100 mAdc from external
loads operating from power supplies to +30 Vdc. The outputs are typically
configured as drive fault and motor brake. Additional functions are program-
mable. As a drive fault output, the active level is programmable to be HI or 1k
LO when a fault occurs. As a brake output, it is programmable to be either [OUT1]
HI or LO to release a motor brake when the drive is enabled. When driving [OUT2]
inductive loads such as a relay, an external fly-back diode is required. A diode [OUT3]
in the output is for driving PLC inputs that are opto-isolated and connected [OUT4]
to +24 Vdc. The diode prevents conduction from +24 Vdc through the 1 k
resistor to +5 Vdc in the drive. This could turn the PLC input on, giving a false
indication of the drive output state.

MOTOR CONNECTIONS
The only motor connections required for stepper operation are the motor phases. These carry the driver output currents that drive the
motor to produce motion. The feedback encoder, brake, and motor over-temperature sensors are optional. If stall-detection is desired in
stepper operation the encoder is required. When operating a stepper as a servo-motor the encoder is also required.
motor phase connections Motor Temperature Sensor Motor Brake
The driver output is a dual H-bridge that Digital input [IN5] is programmable for use Digital outputs [OUT1,2,3,4] can be pro-
converts the DC buss voltage (+HV) into with a motor overtemperature switch. The grammed to power a motor-mounted brake.
sinusoidal voltage waveforms that drive the input should be programmed as a pull-up to These brake the motor when they are in
motor phases. Cable should be sized for the +5 Vdc if the motor switch is grounded. an unpowered state and must have power
continuous current rating of the driver. Motor applied to release. This provides a fail-safe
cabling should use twisted, shielded conduc- function that prevents motor motion if the
tors for CE compliance, and to minimize system is in an unpowered (uncontrolled)
PWM noise coupling into other circuits. state. Because brakes are inductive loads,
an external flyback diode must be used
to control the coil voltage when power is
removed. The timing of the brake is pro-
grammable.

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 Stepnet Micro Module STL RoHS

Typical driver connections

AmpEnable Enable Input

3
[IN1] GPIn
PosLim Fwd Enable
4
[IN2] GPIn
NegLim Rev Enable
5 TEMP
Controller [IN3] GPIn
SENSOR
Digital
I/O 15 Signal Gnd Signal Gnd 1

16 Signal Gnd Motemp

7
GPin [IN5]
External +5 Vdc
Fault Output
17
[OUT1]
Ch. A
HSIn [IN11] 13
6 [IN4] GPIn Ch. B
Inputs [IN2] through [IN12] have FEEDBACK
programmable functions in addition HSIn [IN12] 14 ENCODER
to those shown here 9 [IN7] HSIn Ch. X
HSIn [IN6] 8
10 [IN8] HSIn
ENC
Ch. A
CU Step
11 [IN9] HSIn P1 +24V

ENC 12 [IN10] HSIn

CD Direction
Ch. B BRAKE
Brake
18
19 [OUT3] [OUT2]

20 [OUT4]
Motor B-
2 1
B-
+5 Vdc @
22 +5 Vout
250 mA + Motor B+
6 5
B+
STEP
MOTOR
2 Signal Gnd Motor A-
Signal 10 9
A-
Ground 21 Signal Gnd
Motor
A+
A+ 14 13
CANH 24 CANH
CANopen Optional: Used as keep-alive power when drive
Bus Controller CANL 23 CANL Aux HV is operated as a CAN node
Input
26 +
I/O +24 V
Gnd 27
J1 Mount external capacitor
<= 12" (30 cm) from drive
-
+HV
RxD 26 TxD Input
22 21 +
Controller Fuse
Cext
RS-232 TxD 25 RxD
I/O +HV
Gnd 28 Com
18 17 -
330 uF Minimum
per drive DC
Power

Notes
1. [IN1] always functions as Drive Enable with programmable active level
[IN2]~[IN12] have programmable functions and active level
2. HS inputs [IN6,7,8,9,10,11,12] are for high-speed signals and have 100 ns RC filters.
GP inputs [IN1,2,3, & 4] have 33 s filters, [IN5] has a 22 s filter.
RC filter time constants apply when inputs are driven by active sources and do not include the 10 k pull-up resistors.

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 Stepnet Micro Module STL RoHS

DIMENSIONS

2.50 (63.5)
Notes
0.217 (5.51) 2.06 (52.48)
1. Dimensions shown in inches (mm).
0.217 (5.51)
P1, pin 1

1.60
1.166 (29.62) (40.64)

0.38
J1, pin 2
(9.65)
0.55
(13.97)

0.27
(6.86)

COOLING REQUIREMENTS
From charts below, find power dissipation based on amplifier model, HV,
and output current. With ambient temperature known, calculate required
Thermal Resistance (C/W)
thermal resistance. Select cooling method that gives a thermal resis-
tance that is equal to, or lower than the calculated value. Convection 16
Example: Forced Air, 100 LFM 10
STL-055-04, HV = 55 Vdc, Iout = 2A Forced Air, 200 LFM 6
Power dissipation is 3.2 W
Amplifier thermal shutdown is at 90 C, ambient is 45 C
Thermal resistance required = (90 - 45) / 2.9 = 14.0
Convection cooling gives 16 C/W, so forced-air is required.

STL-055-04 Dissipation (W) STL-075-03 Dissipation (W)

Iout (Adc) HV (Vdc) Iout (Adc) HV (Vdc)
15 35 55 15 45 75
0 2.3 2.2 2.4 0 2.4 2.3 2.6
1 2.4 2.4 2.6 1 2.6 2.6 2.9
2 2.8 2.9 3.2 2 3.1 3.2 3.7
3 3.6 3.6 4.1 3 4.1 4.2 4.9
4 4.7 4.7 5.2

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 Stepnet Micro Module STL RoHS

POWER Supplies GROUNDING CONSIDERATIONS For CE compliance driver cables should

Stepnet Micro Module operates typically Power and control circuits in Stepnet share be shielded. Motor phase currents are bal-
from transformer-isolated, unregulated DC a common circuit-ground (Gnd on J1-4, anced, but currents can flow between the
power supplies. These should be sized Signal Ground on J3-7 & 25 and J4-3 & 4). PWM outputs, and the motor cable shield.
such that the maximum output voltage under Input logic circuits are referenced to Signal
high-line and no-load conditions does not Ground, as are power GND, digital outputs, Signals from controller to driver are refer-
exceed the drivers maximum voltage rating. and encoder. For this reason, driver Gnd enced to +5 Vdc, and other power supplies
Power supply rating depends on the power terminals should connect to the users com- in user equipment. These power supplies
delivered to the load by the driver. mon ground system so that signals between should also connect to system ground and
driver and controller are at the same common earth at some point so that they are at same
Operation from regulated switching power potential, and to minimize noise. The system potential as the driver circuits. The final
supplies is possible if a diode is placed be- ground should, in turn, connect to an earthing configuration should embody three cur-
tween the power supply and driver to prevent conductor at some point so that the whole rent-carrying loops. First, the power supply
regenerative energy from reaching the output system is referenced to earth. currents flowing into and out of the driver at
of the supply. If this is done, there must be the +HV and Gnd pins on J1. Second the
external capacitance between the diode and Because current flow through conductors driver outputs driving currents into and out
driver. The minimum value required is 330 F produces voltage-drops across them, it is of the motor phases, and motor shield cur-
per driver mounted no more than 12 inches best to connect the driver HV GND to system rents circulating between the A+, A-, B+, &
from the driver. earth, or circuit-common through the shortest B- outputs and HV common. And, lastly, logic
path, and to leave the power-supply floating. and signal currents connected to the driver
In this way, the power supply (-) terminal control inputs and outputs.
+HV (+) connects to ground at the driver HV Return
Switching terminals, but the voltage drops across the
StepNet
Power cables will not appear at the driver ground,
Driver but at the power supply negative terminal
Gnd (-) Supply
where they will have less effect.

AUX HV (Optional)
CANopen communications with Stepnet
Micro Module can be maintained when +HV
is turned off by using the Aux HV input. The
voltage has the same range as +HV, and can
be greater or less than +HV.

In operation, the Aux HV keeps the driver

logic and control circuits active so it is al-
ways visible as a node on a CAN bus. The
current-position data is maintained making
homing unnecessary after system power is
re-enabled. If Stepnet Micro Module is oper-
ating as a stand-alone driver, Aux HV is not
necessary but can be useful if the controller
is monitoring driver digital outputs.

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 Stepnet Micro Module STL RoHS

MOUNTING AND COOLING

Stepnet Micro Module mounts on PC boards
using two, dual-row, 0.1 female headers.
is a minimum value, with a voltage rating practice. Motor signals should also be routed
These permit easy installation and removal
of the driver without soldering. Threaded appropriate to the driver model and power close together. Output pairs (A & /A, B & /B)
standoffs swaged into the PC board provide supply. should be routed as closely as possible to
positive retention of the driver and permit form a balanced transmission path. Keeping
mounting in any orientation. Cooling is by 2. Connect J1 signals (A+,A-,B+,B- outputs, these traces as closely placed as possible
convection, or external fan-supplied forced +HV, and +HV Common) in pin-groups for will again minimize noise radiation due to
air. current-sharing. The signals on J1 are all motor phase currents. Stepnet Micro Module
higher-current types. To carry these currents circuit grounds are electrically common, and
(up to 3 Adc peak) the pins of J1 must be connect internally. However, the J1 signals
PC BOARD DESIGN used in multiples to divide the current and carry high currents while the grounds on P1
The peak voltage between adjacent traces keep the current carrying capacity of the (signal ground) carry low currents. So, P1
will be equal to +HV. Trace width and cop- connectors within specification. The diagram signals should be routed away from, and
per plating thickness should support the on page 9 shows the pin groups that must be never parallel to the signals on J1.
driver peak and continuous output current inter-connected to act as a single connection
ratings. point for pc board traces.
Printed circuit board layouts for Stepnet 3. Follow IPC-2221 rules for conductor thick-
Micro Module drivers should follow some ness and width of J1 signals.
simple rules: Minimum trace width, and copper plating
thickness should follow industry-standards
1. Install a low-ESR electrolytic capacitor not (IPC-2221). The width and plating should
more than 12 inches from the driver. PWM depend on the model of driver used, the
drivers produce ripple currents in their DC maximum voltage, and maximum current
supply conductors. Stepnet Micro Module expected to be used for that model. Power
drivers do not use internal electrolytic capaci- supply traces (+HV, +HV Common) should
tors as these can be easily supplied by the be routed close to each other to minimize
printed circuit board. In order to provide a the area of the loop enclosed by the driver
good, low-impedance path for these currents DC power. Noise emission or effects on
a low-ESR capacitor should be mounted nearby circuitry are proportional to the area
as close to the driver as possible. 330 F of this loop, so minimizing it is good layout

+5 Vdc OUTPUT 50~100 H

The amplifier internal +5 Vdc power is made available at P1-22. The output current is
250 mA maximum. This power should be used with care as there is no linear regulator +5 Vdc @
22 250 mA
between the amplifier internal power supply and the external circuits as in other Copley +
amplifiers with +5 Vdc outputs. When using this power an L-C filter is required. This con- P1
4.7 F
sists typically of a ferrite-core inductor and an electrolytic capacitor. A typical value for the 27 (typical)
capacitor would be 4.7 F. The inductor can be 50~150 H and should be rated for DC
current of 250 mA minimum. The capacitor should have a return path to amplifier power
ground (J1-17, 18).

IMPORTANT: WHEN USING AMPLIFIER IN THE DEVEL-

OPMENT KIT, REMOVE JUMPER JP9-D BEFORE CON-
NECTING EXTERNAL +5V POWER TO J8-1. FAILURE
TO DO SO WILL DAMAGE AMPLIFIER!!

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Web: [Link] Page 11 of 20
 Stepnet Micro Module STL RoHS

DRIVER PC BOARD CONNECTORS Top View Driver viewed from above looking down on the pc
board on which it is mounted.
Pin 1 Pins shown in grey are unused locations in PC board
socket

P1: Signal
J1: +HV, Gnd, & Motor Outputs
Dual row, 0.1 centers
Dual row, 0.1 centers
28 position female header
26 position female header
Samtec: SSW-114-01-S-D
Samtec: SSW-113-01-S-D

Pin 26 Pin 28

SIGNALS P1 Pin SIGNALS

SIGNALS J1 Pin SIGNALS Signal Ground 2 1 Signal Ground
Motor B- 2 1 Motor B-
[IN2] 4 3 [IN1]
4 3
[IN4] 6 5 [IN3]
Motor B+ 6 5 Motor B+
[IN6] 8 7 [IN5]
8 7
[IN8] 10 9 [IN7]
Motor A- 10 9 Motor A-
[IN10] 12 11 [IN9]
12 11
Motor A+ 14 13 Motor A+ [IN12] 14 13 [IN11]

16 15 Signal Ground 16 15 Signal Ground

HV COMMON 18 17 HV COMMON [OUT2] 18 17 [OUT1]

20 19 [OUT4] 20 19 [OUT3]
+HV 22 21 +HV +5 Vdc @ 250 mA 22 21 Signal Ground
24 23 CANH 24 23 CANL
Aux HV 26 25 Reserved3
RS-232 TxD 26 25 RS-232 RxD
Signal Ground 28 27 Signal Ground

Notes
1. Grey-shaded signal are N.C. (No Connection)
2. Signals are grouped for current-sharing on the power connector. When laying out pc board art-
works, all pins in groups having the same signal name must be connected.
3. Do not connect to this pin. Function is reserved.

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 Stepnet Micro Module STL RoHS

PC BOARD MOUNTING FOOTPRINT

Top View
Dimensions in inches (mm)

Stepnet Micro Module Mounting Hardware:

Qty Description Mfgr Part Number Remarks
1 Socket Strip Samtec SSW-113-01-S-D J1
1 Socket Strip Samtec SSW-114-01-S-D P1
2 Standoff 4-40 X 1/2 PEM KFE-440-16-ET

Notes
1. J1 pins with the same signal name must be connected for current-sharing.
2. To determine copper width and thickness for J1 signals refer to specification IPC-2221.
(Association Connecting Electronic Industries, [Link]
3. Standoffs should be connected to etches on pc board that connect to frame ground for
maximum noise suppression and immunity.

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 Stepnet Micro Module STL RoHS

Development Kit

DESCRIPTION
The Development Kit provides mounting and connectivity for a Stepnet
driver. Solderless jumpers ease configuration of inputs and outputs to
support their programmable functions. Switches can be jumpered to
connect to digital inputs 1~6 so that these can be toggled to simulate
equipment operation. Four LEDs provide status indication for the digital
outputs. A differential line receiver converts motor encoder outputs to
single-ended signals for position feedback. Dual CAN bus connectors
make daisy-chain connections possible so that other CANopen devices
such as Copleys Accelnet or Xenus amplifiers can easily be connected
to build mixed stepper and servo multi-axis systems.

RS-232 CONNECTION
The RS-232 port is used to configure Stepnet for stand-alone applications, or for configuration
before it is installed into a CANopen network. CME 2 software communicates with Stepnet
over this link and is then used for complete amplifier setup. The CAN address that is set by
the rotary switch can be monitored, and an address offset programmed as well. This will add
to the switch address to produce a working CAN address that can be from 1 to 127.
The RS-232 connector, J4, is a modular type that uses a 6-position plug, four wires of which
are used for RS-232. A connector kit is available (SER-CK) that includes the modular cable,
and an adaptor to interface this cable with a 9-pin RS-232 port on a computer.

CAN CONNECTIONS
Connectors J6 & J7 are Sub-D male and female 9-position types that conform to the CAN DS-102 Physical Layer specification. The male-
female configuration supports a single cable type with male and female connectors that can be daisy-chained from device to device along
a CANopen network.
Stepnet uses only the CAN_H, CAN_L, and CAN_GND signals. The CAN_GND is connected to the circuit ground on the development
kit. This ground is also shared by the amplifier power supply, accessory +5V (for encoders), and the RS-232 link. Other DS-102 signals
are wired-through for use by products that might support them.
The table below lists the signals and pins on J6 & J7. Signals in ( ) are those that have no connection on the development kit and which
are connected pin-to-pin between J6 & J7.

CANL
PIN SIGNALS
CAN Bus
Connector * 1 (Reserved)
J6 J7
121 Important!
2 CAN_L Install JP4 only if
Signals
5

1
1

3 CAN_GND development kit is the

last node on a CAN
* These signals * 4 (Reserved) JP4
9
6

bus
connect through * 5 (CAN_SHLD)
from J6 to J7 with 6 No connection
no connection to CANH
Development Kit PC 7 CAN_H
board.
* 8 (Reserved)

* 9 (Reserved)

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18
 Stepnet Micro Module STL RoHS

Development Kit
CAN ADDRESS SELECTION
Rotary switch SW7, labeled CAN ADDR connects to IN7, IN8, IN9, and IN10 of the amplifier. These are programmable inputs which
default to CAN address bits. The switch will select CAN addresses 0x01~0x0F (dec 1~15) . Address 0 is reserved for network manage-
ment devices. The CAN standard permits up to 127 devices, so if the amplifier must have a address beyond 0x0F(dec 15), this is done
by programming an address offset into the amplifier before it is installed into a CAN environment or by programming logic inputs as CAN
address bits. See the Stepnet datasheet for more details on CAN address setup.

Note: To use inputs 7,8,9, or 10 as logic inputs

CAN Address remove jumpers on JP6 and insert jumpers on
Switch JP3, JP7 & JP8 as shown at left.

Stepnet
Logic
Inputs

LOGIC INPUTS
Stepnet
Stepnet has twelve logic inputs. [IN1] is dedicated to the amplifier Logic
enable function, the other inputs are programmable. Inputs
The development kit is equipped with switches that can be used
to control logic inputs 1~5. To use these switches jumpers JP2-
A,B,C,D, and JP1-A must be installed.

If connecting these logic inputs to external equipment,

the same jumpers must be removed so that the switches
cannot short input signals to ground.

LOGIC OUTPUTS
Stepnet has four logic outputs that can drive controller logic inputs
or relays. If relays are driven, then flyback diodes must be con-
nected across their terminals to clamp overvoltages that occur
when the inductance of the relay coil is suddenly turned off.
As delivered, these outputs drive four LEDs. Jumpers JP1-B,C,D,
& E connect these LEDs to logic outputs. These are N-channel
MOSFETs which sink current from loads connected to positive
voltages. When the outputs are ON (Active Low), they ground the
cathode of the leds which then turn on as they are connected to
the +5Vdc supply via current-limiting resistors.
The logic outputs also connect to signal connector J3. If they are
used to drive external loads >+5Vdc, the LED jumpers must be
removed.

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18
 Stepnet Micro Module STL RoHS

Development Kit
ENCODER CONNECTIONS
The development kit has a 26C32 differential line receiver for
the motor encoder inputs. Differential-output encoders are pre-
ferred for best signal quality and noise rejection. Wiring should
be twisted-pairs, preferably with a shield for each pair. To elimi-
nate noise on the encoder signals caused by reflections on the
cables, it is good practice to terminate signal-pairs with a resistor
that matches the characteristic impedance of the cable. On the
development kit, 121 resistors are provided for this purpose.
Jumpers at JP9-A, B, and C connect these termination resistors
across the differential signals when installed.
If single-ended encoders are used, they must have active (not
open-collector) outputs. They should be connected to the A, B,
and X pins leaving the /A, /B, and /X pins open. Jumpers at JP9-A,
B, and C must be removed.

Note that [IN6] is also connected to switch SW-6. If the

encoder index (X, /X) signal is used then jumper JP2-E
must be removed so that SW-6 cannot ground the en-
coder signal from the 26C32.

POWER SUPPLIES Switching Power Supplies Aux HV

+HV Switching power supplies can also be used Not required for stand-alone operation,
Amplifier main power, +HV, is typically to power Stepnet. Unlike unregulated sup- an Aux HV power supply provides power
supplied by unregulated DC power sup- plies, these cannot accept reverse energy for the drive control circuits so that CAN
plies. These must be isolated from the flow, so an isolating diode must be placed bus communications with the drive can be
mains, and all circuits should be grounded between the power supply and J1-1 to maintained when the +HV supply is turned
to earth at some point. The +HV supply block current flow back into the power sup- off. This might occur as a result of an
connects to J1. For good wiring practice, ply. When this is done, an external storage Emergency Off condition, or for machine
the +HV wires should be twisted together capacitor must be used across J1-1 & J1-2 operator intervention. The Aux HV supply
for noise suppression, and the power because the capacitor on the Development does not power the PWM stage that drives
supply should not be grounded. Doing this Kit board is only for ripple-current control, the motor, but keeps the drive controller
ensures that the higher currents flowing in and cannot store enough energy to handle enabled as well as inputs and outputs. The
these conductors will not flow through any regeneration. Aux HV supply must be less than the +HV
circuit grounds where they might induce supply voltage and greater than the drive
noise. minimum +HV ( > 20 Vdc).
During deceleration, mechanical energy in
the motor and load is converted back into Grounding
electrical energy that must be dissipated An earthing ground connection can be
as the motor comes to a stop. While some made via a second conductor to J1-2 that
of this is converted to heat in the motor connects to the equipment frame ground.
windings, the rest of it will flow through
the amplifier into the power supply. An
external storage capacitor should be used
if the load has appreciable inertia, and Encoder +5 Vdc
this should be sized such that adding the Encoder power can be supplied from an external +5 Vdc supply or from the amplifier. To
undissipated energy from the motor will not use amplifier +5 Vdc @ 250 mA maximum, install jumper JP9-D. If more than 250 mA is
raise the voltage beyond the point at which required then this must come from an external +5V source and JP9-D must be removed
the amplifier shuts down. When this is not when this is done.
possible, an external dumper, or regen- IMPORTANT: REMOVE JP9-D BEFORE CONNECTING EXTERNAL +5V POWER
erative energy dissipater must be used TO J8-1. FAILURE TO DO SO WILL DAMAGE AMPLIFIER!!
which acts as a shunt regulator across the
+HV and Gnd terminals.

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Web: [Link] Page 16 of 20
18
 Stepnet Micro Module STL RoHS

Development Kit

DEVELOPMENT KIT CONNECTIONS

1 1

Signal Ground 10 12 13
A
Enc A 8
/A
11 Fault [OUT1] Enc /A 15
B
9 [IN7] Enc B 7
ENCODER
/B
21 [OUT3] Enc /B 14
X
2 [IN5] Enc X 6
/X
14 [IN8] Enc /X 13

8 [IN9]

20 [IN12]

7 [IN11] J3 J2
19 [IN10]

for Encoder + Hall

+5 & Gnd
Gnd 5
22 [OUT4]
Gnd 10

Enable Input Gnd 12

5
[IN1]
Fwd Enable /Motemp
These pins connect to 17 9
[IN2] [IN5]
the amplifier inputs as
Rev Enable +5V Out 11
shown when shorting 18
[IN3]
blocks are in place on +24V
4 [IN4] Home
JP3 and not on JP2
BRAKE
3 [IN6] Capture /Brake
6
[OUT2]
15 Signal Gnd
+5V Input 1 + ( Optional:
+5 V Remove JP9-D
16 Signal Gnd
J8 Gnd 2 - before connecting)

23 +5V Output Gnd 3

+24 V ( Optional )
RS-232 signals connect RxD Aux HV Input 4
to both J3 & J4. Controller TxD 25
Only one external RS-232
connection can be TxD
active at a time
I/O RxD 24 Motor A+ 3 A+

4 A-
Motor A-
B+ MOTOR
RS-232 6 Motor B+ 5
DTE
1 2 2 5 TxD B-
5 Motor B- 6
6 Yellow
RxD
D-Sub 9-pos

Modular Jack

Gnd
RJ-11 6P4C
Female

4
TxD
5 Fuse
5 3
3 +HV Input 1 +
Red
9 3 3 2 RxD
Gnd 2
Black
5
PC Serial 1
RJ-11
Gnd 2 -
Sub-D to
Port
D-Sub RJ-11
Modular
Cable J4 J1 DC
9-pos Adapter
Male
Power
Accelus Serial
Circuit Gnd Earth
Cable Kit

Notes:
1. CAN connectors J6 & J7 are not shown here. For details see pp. 3,6, & 10.

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18
 Stepnet Micro Module STL RoHS

Development Kit
CANopen SIGNALS PIN
(Reserved) 1
CAN_L 2
CAN_GND 3
(Reserved) 4
(CAN_SHLD) 5

IMPORTANT: REMOVE JUMPER JP9-D J7

BEFORE CONNECTING EXTERNAL
+5V POWER TO J8-1. FAILURE TO DO
SO WILL DAMAGE AMPLIFIER!!

J8 SIGNALS PIN
+5V Input 1
Gnd 2
Gnd 3
Aux HV Input 4

J8
J1 SIGNALS PIN
+HV Input 1
GND 2
Motor A+ Output 3
Motor A- Output 4
Motor B+ Output 5 J1
Motor B- Output 6

J2

J2 SIGNALS PIN PIN J2 SIGNALS

Encoder /A Input 15 8 Encoder A Input
Encoder /B Input 14 7 Encoder B Input
Encoder /X Input 13 6 Encoder X Input

Signal Ground 12 5 Signal Ground

+5V Output 11 4 N.C.

Signal Ground 10 3 N.C.

[IN5] 9
2 N.C.
1 Chassis Ground

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18
 Stepnet Micro Module STL RoHS

Development Kit

PIN CANopen SIGNALS

6 CAN_GND
7 CAN_H
8 (Reserved)
9 (CAN_V+)

CANopen Notes:
J6 1. Connector pinouts for J6 & J7 follow CAN standard DS-102.
2. Signals in ( ) are wired-through from J7 to J6 and have no other connections on the pc board.
3. CAN_GND is connected to Gnd on pc board (Stepnet signal and power ground)

PIN J5 SIGNALS
1 Fan -V
2 Fan +V
3 F

J5
PIN J4 SIGNALS
6 No Connection
5 TxD Output
4 Signal Ground
J4
3 Signal Ground
2 RxD Input
1 No Connection

J3 SIGNALS PIN
PIN J3 SIGNALS
J3 Chassis Ground 1
Motemp [IN5] 2 14 [IN8] HS Input

GP Input [IN6] 3 15 Signal Ground

16 Signal Ground
GP Input [IN4] 4
17 [IN2] POS Limit Switch
Enable Input [IN1] 5
18 [IN3] NEG Limit Switch
Output [OUT2] 6
19 [IN10] HS Input
HS Input [IN11] 7
20 [IN12] HS Input
HS Input [IN9] 8
21 [OUT3] Output
HS Input [IN7] 9
22 [OUT4] Output
Signal Ground 10
23 5 Output
Output [OUT1] 11 24 S 232 T Output
Signal Ground 12 25 S 232 Input
Signal Ground 13

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18
 Stepnet Micro Module STL RoHS

APPLICATIONS
Control stepper and servo motors over a CAN bus

Take stepper pulse signals from external motion controllers

ORDERING GUIDE Ordering Instructions

Example: Order 1 STL-055-04 driver with
PART NUMBER DESCRIPTION Development Kit, Development Kit Connector Kit, Se-
rial Cable Kit, and CME 2.
STL-055-04 Stepnet Micro Stepper Driver 3/4.5 Adc @ 55 Vdc
Qty Item Remarks
STL-075-03 Stepnet Micro Stepper Driver 2/3 Adc @ 75 Vdc 1 STL-055-04 Stepnet Micro Module driver
LDK-075-01 Stepnet Micro Development Kit 1 LDK-075-01 Stepnet Development Kit
1 LDK-CK Connector Kit for Development Kit
LDK-CK Stepnet Micro Development Kit Connector Kit
1 SER-CK Serial Cable Kit
SER-CK Serial Cable Kit (1 per compute,for use with development kit) 1 CME2 CME 2 CD
CME2 CME 2 CD (CME 2 program, manual in .pdf file format)

RoHS Compliance
Models with the green leaf symbol on the
label are RoHS compliant.

Note: Specifications subject to change without notice Rev 7.01-mo 05/04/2015

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