EvoDrive
Stepper Motor Controllers
Unlock the hidden potential in your stepper motors
Unlock the
hidden potential in
your stepper
motors.
Smooth Current Control
Quieter motion
Greater torque
Less resonance
Lower EM emissions
The EvoDrive range of stepper motor
controllers represent an innovative and
long awaited change in stepper motor
drive technology.
Stepper motors are reliable, cheap and
extremely torque-dense. They produce
greatest torque at low speed which
makes them perfect for the stop-start
motion typically found in robotics.
Traditionally, stepper motors are also
noi
s
y
,i
neffic
i
ent (
hot
)a
nd c
a
n ea
s
‐
ily loose position (syncronisation loss).
EvoDrive removes these drawbacks,
while enhancing the stepper motors
strengths.
Advanced Closed-Loop Control
True torque control
Torque feedback
Actively maintain position
No ‘cogging’ at low speeds
Si
gni
fic
a
nt
l
yi
nc
r
ea
s
edeffic
i
enc
y
Easy to Integrate
Use your own motor and/or encoder
Intuitive command sets
Standard interface options incl. RS232, USB
Digital control inputs (pulse/dir, CW/CCW)
Customisable
Integrate your own application features
Create a unique and distributed control
solution.
www.evarobotics.com
EvoDrive Downloads. Manuals, Software,
Whitepapers and CAD models.
Integration Support.
FAQ’s, Forums, and expert advice.
The EvoDrive
Evolves Control
Open-Loop
As an open-loop controller the EvoDrive provides the equivalent of 512 micro-step accuracy
wi
t
hex
c
ept
i
ona
l
l
yfinec
ur
r
entc
ont
r
ol
.
Thi
sr
es
ul
t
si
ni
nc
r
edi
bl
yqui
eta
nds
moot
hmot
i
on
control.
Closed-Loop
As a closed-loop controller the EvoDrive trancends traditional drive technologies and transforms the humble stepper motor into a true servo-motor, with high dynamic bandwidth,
newmodesofc
ont
r
ol
,
a
ndexc
ept
i
ona
l
effic
i
enc
y
.
Stepper motors were once a cheap alternative to closed-loop control.
Now the “stepper-servo” is a superior closed-loop solution, without the servo-motor cost.
•
•
•
•
•
•
Actively maintain position to half the encoder resolution.
True torque control. Not just adjusting the drive current - the motor will actually generate constant torque regardless of position or load.
Torque feedback. Measure the torque being generated by the motor.
Advanced resonant damping removes vibration and ‘cogging’ at low speeds.
Ext
r
emel
yeffic
i
ent
.
Sa
t
i
s
fiesi
nc
r
ea
s
i
ngenv
i
r
onment
al
pr
es
s
ur
ef
orl
owpowerde‐
signs.
Never looses synchronisation
Not only will it satisfy our requirements
now, but offers an enormous potential for
the future development of our product lines.
The features on the EvoDrive are unique and
cannot easily be obtained from other drive
systems.
Make it Your Own
The modular EvoDrive controllers are the
only stepper motor controllers with room
for your own ideas.
The top PCB is a blank applications PCB that
can be replaced with your own custom design. Design aids are available online (or
contact us for assistance).
The applications PCB allows you to transform the EvoDrive into an entirely new device. Take advantage of the on board motor
control technology and add application spec
i
ficf
ea
t
ur
es
.
Your features might include wireless communications, custom command sets, or
legacy connectors. You can implement your
own embedded logic to create a truly modular and distributed design.
You own the technology. Customised designs can be branded and labelled according
to your requirements. The supply of spare
parts is also controlled as nobody else is able
to supply your particular customisations.
The EvoDrive
Evolves Design
The EvoDrive range of stepper motor controllers have been
designed for designers. Improve performance while reducing
your time to market.
Advanced, but accessible, technology.
EvoDrive provides the next generation in stepper motor drive
technology via a simple and intuitive commands.
A range of connectivity options allow the EvoDrive modules to
be interfaced to a microcontroller (UART, RS232, RS485, SPI)
as easily as to a PC (RS232, USB).
Thefir
mwa
r
ei
mpl
ement
a
t
i
onoft
hec
ont
r
ols
y
s
t
em me
a
ns
there is no compromise on usability. You are not required to
manipulate registers or interpret a complicated syntax.
No restrictions on design.
You are not restricted to any particular stepper motor or encoder. Use any motor you like. EvoDrive will get the most out
of any stepper motor.
You choose where and how to mount the EvoDrive. It can be
stacked with a NEMA frame motor or mounted remotely.
Our steppers are running far quieter
than before. We even found we didn’t
need the encoder. Even in open loop
mode the EvoDrive is significantly
better than our previous controllers.
Which EvoDrive is For You?
EvoDrive ST-17
The EvoDrive ST-17 is designed to mount directly
to a NEMA frame 17 stepper motor.
Available as a controller module, or pre-assembled with encoder and our own high-torque
stepper motor, the EvoDrive ST-17 is designed for
high-performance, precision applications. Perfect
for bench-top robotics and medical devices.
EvoDrive ST-23
The EvoDrive ST-23 is designed to mount directly
to a NEMA frame 23 stepper motor.
Optimised for high-torque applications, the
EvoDrive ST-23 is available as a controller module,
or pre-assembled with encoder and our own hightorque stepper motor.
Perfect for CNC and high-torque automation.
EvoDrive ST-PCB
The EvoDrive ST-PCB is a PCB mounted controller,
for high-volume, multi-axis applications.
The EvoDrive ST-PCB provides exactly the same
level of performance as the integrated controllers
above, but with interfaces more suited to embedded controllers.
Perfect for high-volume production.
I have reviewed the ST-17 and find it to be a
remarkable product.
Congratulations on the quantum leap in
size/performance for an intelligent drive.
Very impressive!
ST‐17 and ST‐34 Accessories
1: Screw Terminal PCB
This accessory PCB replaces the top cover of the
EvoDrive. It breaks out the EvoDrive standards I/O
header to conventional screw terminals.
Also, each digital input has a button that allows the
user to trigger any input manually to assist in
debugging and commissioning.
Each digital input also has an LED to indicate the state
of the output.
2: EvoDuino Controller Card
This accessory PCB replaces the top cover of the EvoDrive with an
Arduino open source controller.
It provides additional I/O including PWM outputs, analogue
inputs, SPI and I2C. It has a dedicated processor which will accept
and run Arduino programs and is linked directly to the EvoDrive.
EvoDuino allows you to write your own multi‐line, multi‐function
programs in C with virtually no limitations on functionality or size.
The program has access to all the EvoDrive functions and will run
stand‐alone as part of the EvoDrive controller.
The program is written and compiled in the standard Arduino
environment which is designed for C programming. Arduino is a
very popular programming environment for embedded projects
and hobby level programming, yet it uses standard C language
which ensures you have support, portability and expansion.
EvoDrive
Development Kits
All EvoDrive modules are available in a development kit
which includes everything you need to develop and
debug EvoDrive applications.
The development kit includes:
- The EvoDrive Module
- A high-torque stepper motor
- Standard resolution encoder module
- Breakout cables/PCB’s for power and I/O
- 24V DC power supply
- EvoLink software for control
a
ndc
onfigur
a
t
i
on
- All documentation
EvoDrive ST-17
Stepper Motor Controller
Designed for Designers
The EvoDrive ST-17 has been designed with the product design
engineer in mind. The ST-17 is perfect for bench-top robotics
and precision automation.
The ST-17 combines easy integration with uncompromising
per
f
or
ma
nc
e.I
ti
sa
l
s
ov
er
yflexi
bl
e,s
uppor
t
i
ngawi
der
a
nge
of motors and the ability to incorporate your own custom custom designs.
ST-17 Stepper Servo
The ST-17 is available as a fully integrated Stepper-Servo. The ST-17 is combined
with our own 16,384 count encoder and high-torque motor.
The result is a true closed-loop servo motor with all the advantages of a stepper
motor.
eva@evarobo.com | www.evarobo.com
ST‐
1
7Cont
r
ol
l
erSpec
i
fic
a
t
i
ons
Motor Driver
Minimum
Nominal
Maximum
Power Supply Voltage
12V DC
24V DC
28V DC
Peak Motor Current
0.01 A
1.7 A
3.0 A
102400 steps / rev
Maximum Resolution
33.3 KHz
PWM Frequency
2-Phase Bipolar Stepper Motors
Any step size (0.9o to 7.2o)
Motor Compatability
Motor Speed (RPM)
Accuracy
Minimum
Nominal
Maximum
0.00352 (102400 steps/rev)
Open-loop accuracy
2048
(8192)
Dependent on load
1 motor step
4096
(16384)
25600
(102400)
4096
(16384)
Standard Encoder Resolution
CPR (After Quad)
0.04395o (Encoder/2)
Standard Closed-loop Accuracy
Four-Quadrant Servo Control
Closed-loop Control Mode
Communications
3000 RPM
o
Open-loop step size
Closed-loop Encoder Resolution
CPR (After Quad)
Motor dependent
Minimum
Nominal
Comms Interfaces
Channel 1
RS232
Virtual RS232 over USB
Comms Interfaces
Channel 2
RS485
UART
Maximum
RS232 BAUD Rate
9600
9600
115200
RS485 BAUD Rate
9600
115200
230400
34
RS485 Max nodes
Command Protocols
Both Channels
Stacked ASCII Commands
Non-Stacked Binary commands
128 Characters
Max Command Length
Digital I/O
Minimum
Nominal
General Purpose Inputs
4 Logic Inputs (weak pull-down)
General Purpose Outputs
4 NPN Outputs (Switch to GND)
Digital Input Voltage
0V DC
Digital Output Voltage
0V DC
5V DC
200mA
Power Rails Available
3.3V DC (100mA max)
5.0V DC (250mA max)
Digital Control Modes
Step/Dir
CW/CCW
Triggered Programs
Triggered Program Length
Digital Output Status
24V DC
5V DC
Digital Output Current
(Active, Sinking current to GND)
Triggered Programs
Maximum
10 single-line programs which can be triggered by:
Each Input (Pos or Neg Edge), Driver Startup, Encoder Index Pulse
64 Characters
E
a
c
hout
putc
a
nbes
e
tt
or
e
fle
c
toneof8mot
ors
t
a
t
e
s
:
(Driver Enabled, Motor Busy, Motor Moving, Motor Moving CW, Motor Moving
CCW,
An
yE
r
r
orF
l
a
g
,
Col
l
i
s
i
onE
r
r
orF
l
a
g
,
S
oL
i
mi
tF
l
a
g
)
eva@evarobo.com | www.evarobo.com
EvoDrive ST-23
Stepper Motor Controller
Strong yet Flexible...
The EvoDrive ST-23 is perfect for light CNC and heavy product
automation. It can be mounted directly to a frame 23 stepper
mot
ororoni
t
’
sown.
The ST-23 combines easy integration with astounding strength.
I
ti
sa
l
s
ov
er
yflex
i
bl
e,
s
uppor
t
i
ngawi
der
a
ngeofmot
or
sa
nd
the ability to incorporate your own custom designs.
ST-23 Stepper Servo
The ST-23 is available as a fully integrated Stepper-Servo. The ST-23 is combined
with our own 16,384 count encoder and high-torque motor.
The result is a true closed-loop servo motor with all the advantages of a stepper
motor.
eva@evarobo.com | www.evarobo.com
ST‐
2
3Cont
r
ol
l
erSpec
i
fic
a
t
i
ons
Motor Driver
Minimum
Nominal
Maximum
Power Supply Voltage
12V DC
24V DC
50V DC
Peak Motor Current
0.01 A
2.5 A
3.0 A
102400 steps / rev
Maximum Resolution
33.3 KHz
PWM Frequency
2-Phase Bipolar Stepper Motors
Any step size (0.9o to 7.2o)
Motor Compatability
Motor Speed (RPM)
Accuracy
Minimum
Nominal
Maximum
0.00352 (102400 steps/rev)
Open-loop accuracy
2048
(8192)
Dependent on load
1 motor step
4096
(16384)
25600
(102400)
4096
(16384)
Standard Encoder Resolution
CPR (After Quad)
0.04395o (Encoder/2)
Standard Closed-loop Accuracy
Four-Quadrant Servo Control
Closed-loop Control Mode
Communications
3000 RPM
o
Open-loop step size
Closed-loop Encoder Resolution
CPR (After Quad)
Motor dependent
Minimum
Nominal
Comms Interfaces
Channel 1
RS232
Virtual RS232 over USB
Comms Interfaces
Channel 2
RS485
UART
Maximum
RS232 BAUD Rate
9600
9600
115200
RS485 BAUD Rate
9600
115200
230400
34
RS485 Max nodes
Command Protocols
Both Channels
Stacked ASCII Commands
Non-Stacked Binary commands
128 Characters
Max Command Length
Digital I/O
Minimum
Nominal
General Purpose Inputs
4 Logic Inputs (weak pull-down)
General Purpose Outputs
4 NPN Outputs (Switch to GND)
Digital Input Voltage
0V DC
Digital Output Voltage
0V DC
5V DC
200mA
Power Rails Available
3.3V DC (100mA max)
5.0V DC (250mA max)
Digital Control Modes
Step/Dir
CW/CCW
Triggered Programs
Triggered Program Length
Digital Output Status
24V DC
5V DC
Digital Output Current
(Active, Sinking current to GND)
Triggered Programs
Maximum
10 single-line programs which can be triggered by:
Each Input (Pos or Neg Edge), Driver Startup, Encoder Index Pulse
64 Characters
E
a
c
hout
putc
a
nbes
e
tt
or
e
fle
c
toneof8mot
ors
t
a
t
e
s
:
(Driver Enabled, Motor Busy, Motor Moving, Motor Moving CW, Motor Moving
CCW,
An
yE
r
r
orF
l
a
g
,
Col
l
i
s
i
onE
r
r
orF
l
a
g
,
S
oL
i
mi
tF
l
a
g
)
eva@evarobo.com | www.evarobo.com
EvoDrive ST-34
Stepper Motor Controller
Graceful Grunt
The EvoDrive ST-34 combines precision servo control with unyeilding power. All in a package which can be integrated with
your motor.
The ST-34 is perfect for heavy CNC and factory automation.
Buti
si
sa
l
s
ov
er
yflexi
bl
e,s
uppor
t
i
ngawi
der
a
ngeofmot
or
s
and the ability to incorporate your own custom custom designs.
ST-34 Stepper Servo
The ST-34 is combined with our own 32,768 count encoder and a
r
a
ngeof
hi
gh‐
t
or
ques
t
e
ppe
rmot
or
st
opr
oduc
es
t
e
ppe
rs
e
r
v
o’
s
.
These are true closede-loop servo motors, taking advantage of
a
l
lt
hes
t
e
ppe
rmot
or
’
ss
t
r
e
ngt
hs
,a
nde
l
i
mi
na
t
i
ngt
he
i
rwea
k
‐
nesses.
The result is a true closed-loop servo motor with all the advantages of a stepper motor.
eva@evarobo.com | www.evarobo.com
ST-34 Stepper Servo Torque Curves
Part Number
Motor Length (L )
Rated Current
FW-A303-80
80mm
5.5A
FW-A303-120
116mm
6.3A
FW-A303-160
155mm
FW-A303-80
FW-A303-120
FW-A303-160
6.5A
Holding Torque
Rotor Inertia
Weight
4.0 Nm (567 oz-in)
2
1.4 Kg.cm
2.3Kg
8.3 Nm (1175 oz-in)
2.7 Kg.cm2
4.1Kg
2
5.5Kg
10.5 Nm (1487 oz-in)
3.6 Kg.cm
ST‐
3
4Cont
r
ol
l
erSpec
i
fic
a
t
i
ons
Motor Driver
Minimum
Nominal
Maximum
Power Supply Voltage
24V DC
48V DC
60V DC
Peak Motor Current
0.03 A
7A
10 A
102400 steps / rev
Maximum Resolution
33.3 KHz
PWM Frequency
2-Phase Bipolar Stepper Motors
Any step size (0.9o to 7.2o)
Motor Compatability
Motor Speed (RPM)
Accuracy
Minimum
Nominal
Maximum
0.00352 (102400 steps/rev)
Open-loop accuracy
2048
(8192)
Dependent on load
1 motor step
4096
(16384)
25600
(102400)
8192
(32768)
Standard Encoder Resolution
CPR (After Quad)
0.02197o (Encoder/2)
Standard Closed-loop Accuracy
Four-Quadrant Servo Control
Closed-loop Control Mode
Communications
3000 RPM
o
Open-loop step size
Closed-loop Encoder Resolution
CPR (After Quad)
Motor dependent
Minimum
Nominal
Comms Interfaces
Channel 1
RS232
Virtual RS232 over USB
Comms Interfaces
Channel 2
RS485
Maximum
RS232 BAUD Rate
9600
9600
115200
RS485 BAUD Rate
9600
115200
230400
34
RS485 Max nodes
Command Protocols
Both Channels
Stacked ASCII Commands
Non-Stacked Binary commands
128 Characters
Max Command Length
Digital I/O
Minimum
Nominal
General Purpose Inputs
4 Logic Inputs (weak pull-down)
General Purpose Outputs
4 NPN Outputs (Switch to GND)
Digital Input Voltage
0V DC
Digital Output Voltage
0V DC
5V DC
250mA
Power Rails Available
5.0V DC (250mA max)
Digital Control Modes
Step/Dir
CW/CCW
Triggered Programs
Triggered Program Length
Digital Output Status
24V DC
5V DC
Digital Output Current
(Active, Sinking current to GND)
Triggered Programs
Maximum
10 single-line programs which can be triggered by:
Each Input (Pos or Neg Edge), Driver Startup, Encoder Index Pulse
64 Characters
E
a
c
hout
putc
a
nbes
e
tt
or
e
fle
c
toneof8mot
ors
t
a
t
e
s
:
(Driver Enabled, Motor Busy, Motor Moving, Motor Moving CW, Motor Moving
CCW,
An
yE
r
r
orF
l
a
g
,
Col
l
i
s
i
onE
r
r
orF
l
a
g
,
S
oL
i
mi
tF
l
a
g
)
eva@evarobo.com | www.evarobo.com
ST‐17 and ST‐34 Accessories
1: Screw Terminal PCB
This accessory PCB replaces the top cover of the
EvoDrive. It breaks out the EvoDrive standards I/O
header to conventional screw terminals.
Also, each digital input has a button that allows the
user to trigger any input manually to assist in
debugging and commissioning.
Each digital input also has an LED to indicate the state
of the output.
2: EvoDuino Controller Card
This accessory PCB replaces the top cover of the EvoDrive with an
Arduino open source controller.
It provides additional I/O including PWM outputs, analogue
inputs, SPI and I2C. It has a dedicated processor which will accept
and run Arduino programs and is linked directly to the EvoDrive.
EvoDuino allows you to write your own multi‐line, multi‐function
programs in C with virtually no limitations on functionality or size.
The program has access to all the EvoDrive functions and will run
stand‐alone as part of the EvoDrive controller.
The program is written and compiled in the standard Arduino
environment which is designed for C programming. Arduino is a
very popular programming environment for embedded projects
and hobby level programming, yet it uses standard C language
which ensures you have support, portability and expansion.
EvoDrive
Development Kits
All EvoDrive modules are available in a development kit
which includes everything you need to develop and
debug EvoDrive applications.
The development kit includes:
- The EvoDrive Module
- A high-torque stepper motor
- Standard resolution encoder module
- Breakout cables/PCB’s for power and I/O
- 24V DC power supply
- EvoLink software for control
a
ndc
onfigur
a
t
i
on
- All documentation
For further information please contact:
Motion Technologies Pty Ltd
24/22-30 Northumberland Rd
Caringbah NSW 2229
Australia
Ph: +61 (0)2 9524 4782
eva@motiontech.com.au
www.motiontech.com.au