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EVA Robotics Evodrive ST-17
Stepper Servo Controller
A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .
• C r i t i c a l a n d e x p e d i t e d s e r v i c e s
• I n s t o c k / R e a d y - t o - s h i p
Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate, representative, or authorized distributor for any manufacturer listed herein.
$
995
.00
In Stock
Qty Available: 1
New From Surplus Stock
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https://www.artisantg.com/95936-2
• We b u y y o u r e x c e s s , u n d e r u t i l i z e d , a n d i d l e e q u i p me n t
• F u l l - s e r v i c e , i n d e p e n d e n t r e p a i r c e n t e r

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Summary of Contents for EVA EvoDrive ST-17

  • Page 1 EVA Robotics Evodrive ST-17 Stepper Servo Controller In Stock Qty Available: 1 New From Surplus Stock Open Web Page https://www.artisantg.com/95936-2 A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .
  • Page 2 EvoDrive ST-17 INTEGRATION MANUAL EVA Robotics | FW-UM002 Rev E | December 2013 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 4 EVA Robotics Pty Ltd reserves the right to revise the content of this manual without obligation to notify any person or organisation of such revision or changes.
  • Page 5 The EvoDrive is not intended for use in explosive environments. Rev E | December 2013 www.evarobotics.com Page 4 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 6 Mechanical Hazard. This safety label will be used to warn the reader of a mechanical hazard. Rev E | December 2013 www.evarobotics.com Page 5 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 7 In this situation the stepper motor and EvoDrive casing temperatures can both exceed 60 Rev E | December 2013 www.evarobotics.com Page 6 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 8 10. Binary Command Format Tool ...... 53 11. Specifications .......... 54 11.1 Mechanical Specifications ....... 57 Rev E | December 2013 www.evarobotics.com Page 7 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 9 EvoDrive ST-17 into your design. This manual should be read and understood together with the EvoDrive Programmers Manual. The EvoDrive ST-17 represents a paradigm shift in how stepper motors are controlled, and therefore how they can be used. As an open-loop controller the EvoDrive ST-17 provides the equivalent of 512 micro-step accuracy with exceptionally smooth current control.
  • Page 10 · Design aids are available for download from www.evarobotics.com. The EvoDrive ST-17 can operate in a closed-loop mode using any incremental encoder with a resolution of 2048 PPR or better (8192 counts after quadrature). The default encoder is an optical 16,384 count encoder.
  • Page 11 This section shows some possible configurations for mounting the EvoDrive ST-17 directly to a stepper motor. Note that the EvoDrive ST-17 control module does not need to be mounted directly to the stepper motor. The encoder (if fitted) should be mounted directly to the motor shaft, or via a rigid coupling.
  • Page 12 EvoDrive ST-17 Encoder M3 machine screw Motor Shaft 2 off, opposite corners Mates with Encoder Extra length extends through EvoDrive ST-17 Stepper Motor EvoDrive with Encoder, Single Shaft Motor EvoDrive ST-17 M3 machine screw 2 off, opposite corners Stepper Motor...
  • Page 13 EvoDrive ST-17 Integration Manual Mounting Pattern When mounting to a panel, bracket, or other component, the same mounting holes can be used. The hole pattern on the EvoDrive ST-17 Controller is shown below. All connectors are accessible from the top of the EvoDrive.
  • Page 14 EvoDrive to fail. 8. Remove the plastic spacer. Rev E | December 2013 www.evarobotics.com Page 13 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 15 12. Tighten the two M3x45 cap screws to hold the PCB and encoder casing securely. Rev E | December 2013 www.evarobotics.com Page 14 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 16 6. Remove the spacer and the press tool. Rev E | December 2013 www.evarobotics.com Page 15 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 17 11. The entire encoder assembly can now be removed and replaced without disassembly of the locking collet. Rev E | December 2013 www.evarobotics.com Page 16 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 18 Connectors This section will detail the connectors used for the motor drive, power supply, communications and I/O available on the EvoDrive ST-17. All connectors are rated for Extra Low Voltage (SELV) applications. If greater voltages than those specified in section 10 are applied, the safety of the final product may be compromised.
  • Page 19 Pin 6 Pin 2 Ch B 3.3V Pin 1 Pin 5 Index Ch A Rev E | December 2013 www.evarobotics.com Page 18 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 20 PC or laptop. It is also used for firmware upgrades. Mating Connector USB Mini-B Rev E | December 2013 www.evarobotics.com Page 19 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 21 EvoDrive ST-17 Integration Manual Standard Encoder – FW-A009 (16,384) count The 16,384 count encoder can be stacked with the EvoDrive ST-17 or mounted separately. For stacked mounting, interface cables are available from EVA Robotics (FW-C002) Mating Connector Molex C-Grid Housing 5057-9405...
  • Page 22 EvoDrive ST-17 Integration Manual Digital I/O The EvoDrive ST-17 has 4 digital inputs and outputs available for general use. They are provided on the I/O header as shown. For a full pin-out of the I/O header, including voltage and ground rails, refer to the previous section.
  • Page 23 This may permanently damage the output. Rev E | December 2013 www.evarobotics.com Page 22 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 24 EvoDrive ST-17 Integration Manual Serial Control The EvoDrive ST-17 is typically controlled via commands sent from a Host controller, on one of three serial interfaces, RS232, RS485, or USB (Virtual COM Port). See the EvoDrive Programmers Manual for more information about the communications interfaces and the serial commands available.
  • Page 25 EvoDrive ST-17 Integration Manual The pin-out for an RS232 connection to a PC is shown below. The development breakout cable, FW-C001, available from EVA Robotics, also provides this connection. To PC Female 9-pin Sub-D Pin Assignment EvoDrive 9-pin Sub-D Signal...
  • Page 26 RS485 host to ensure valid levels are always present. USB (Virtual COM Port) The easiest way to connect the EvoDrive ST-17 to a PC or laptop is via a USB cable as shown below. Any standard USB-A to USB-Mini B cable can be used.
  • Page 27 EvoDrive ST-17 Integration Manual Digital Control Triggered Programs The EvoDrive ST-17 can be controlled via its digital inputs rather than serial communications. Each digital input can be configured to perform a short (1 line) program, such as starting and stopping the motor, homing the motor, or moving to predefined positions.
  • Page 28 (by retrying a move or disabling the motor) the output is opened. Digital Input Step Control (CNC Control) The EvoDrive ST-17 can be configured to follow standard Step/Dir or CW/CCW digital signals used by most CNC motion controllers.
  • Page 29 EvoDrive out of any error state (e.g. Collision alarm etc). Rev E | December 2013 www.evarobotics.com Page 28 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 30 Input 4 is wired as an emergency stop. Rev E | December 2013 www.evarobotics.com Page 29 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 31 EMF and allow margin for this. See the discussion on Back EMF below. The maximum input voltage of the EvoDrive ST-17 is 28VDC, so the recommended supply voltage for most applications is 24VDC.
  • Page 32 Rev E | December 2013 www.evarobotics.com Page 31 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 33 EvoDrive. The TVS should be rated for as much power as possible (several KW at least). Rev E | December 2013 www.evarobotics.com Page 32 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 34 EvoDrive end. Rev E | December 2013 www.evarobotics.com Page 33 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 35 EvoDrive. The shield should continue as an unbroken conductor along the entire daisy chain. Rev E | December 2013 www.evarobotics.com Page 34 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 36 EvoDrive ST-17 Integration Manual Motor Selection The EvoDrive ST-17 can drive any bipolar or unipolar stepper motor with up to 3 amps winding current. Obviously your application will place size and power constraints on the stepper motor selection and that will normally determine the motor you will use.
  • Page 37 Open Loop · Open loop is cheaper since there is no need for an encoder. · The EvoDrive ST-17 will implement a quiet and smooth open loop control. · Little to no tuning is required to achieve tight, accurate control.
  • Page 38 ± 1.2% and will satisfy the most demanding torque control applications. Rev E | December 2013 www.evarobotics.com Page 37 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 39 EvoDrive ST-17 Integration Manual EvoLink EvoLink is the control and diagnostics software for the EvoDrive ST-17. It can be used during product development to help develop and tune applications. It can also be used in a production or service environment for configuration or debugging.
  • Page 40 Panels can be opened or closed in any order and at any time to customise the available information. Rev E | December 2013 www.evarobotics.com Page 39 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 41 Quick Points Gauge Controls · Emergency Stop. This button will immediately disable the EvoDrive ST-17 outputs and couple the motor windings together. · Information Panels. These provide status information on the EvoDrive ST-17 including I/O states and error conditions. ·...
  • Page 42 Rev E | December 2013 www.evarobotics.com Page 41 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 43 Chart panel or to send an exact set point to the EvoDrive. Rev E | December 2013 www.evarobotics.com Page 42 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 44 EvoDrive ST-17 Integration Manual Configuration Panel The Configuration panel allows the EvoDrive ST-17 configuration to be read, modified and saved. The EvoDrive configuration is all the non-volatile drive parameters. All configuration items are set programmatically. Where a configuration item is associated with a particular command, that command is shown in brackets ().
  • Page 45 EvoDrive serial number or firmware. Once overwritten the EvoDrive configuration cannot be recovered. Rev E | December 2013 www.evarobotics.com Page 44 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 46 Send button. The reply from the EvoDrive is displayed under the Reply heading. Rev E | December 2013 www.evarobotics.com Page 45 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 47 This message must be acknowledged before continuing the script. Rev E | December 2013 www.evarobotics.com Page 46 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 48 Torque and PID Terms will be plotted against the secondary axis. Rev E | December 2013 www.evarobotics.com Page 47 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 49 At one end of each scroll bar is a small reset button which will return the axis to its original scale. Rev E | December 2013 www.evarobotics.com Page 48 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 50 Delimited) text file. This file can then be opened in Excel or other spreadsheet/graphing software for further analysis and presentation. Rev E | December 2013 www.evarobotics.com Page 49 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 51 Rev E | December 2013 www.evarobotics.com Page 50 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 52 This error will be compensated for by the EvoDrive after calibration. Rev E | December 2013 www.evarobotics.com Page 51 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 53 Otherwise, to save the new calibration values and exit, press the Close Calibration Window button. Rev E | December 2013 www.evarobotics.com Page 52 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 54 The binary protocol debug tool is a software application that allows commands to be sent to the EvoDrive ST-17 using the binary command protocol. The software displays a component breakdown of the command and the reply. It also shows the commands in both their extended ASCII and Hex formats.
  • Page 55 Channel 2 Interfaces RS485 USB V2.0 Mini-B Connector RS232 Maximum BAUD Rate 115 200 bps Rev E | December 2013 www.evarobotics.com Page 54 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 56 Quadrature Encoders Resolution of 8,192 counts after quadrature or greater. 3.3V or 5V supply. Rev E | December 2013 www.evarobotics.com Page 55 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 57 AS 61010-1:2003 IEC 61010-1:2001 EMC Certification Complies with applicable sections of IEC 61326-1:2005 Rev E | December 2013 www.evarobotics.com Page 56 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 58 All dimensions are in mm. EvoDrive (FW-A001) Rev E | December 2013 www.evarobotics.com Page 57 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 59 EvoDrive ST-17 Integration Manual Encoder (FW-A009) EvoDrive ST-17 Integrated Stepper Servo (FW-A006) Stacked EvoDrive + Encoder + High Torque Motor Rev E | December 2013 www.evarobotics.com Page 58 Copyright © EVA Robotics Pty Ltd Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...