www.applied-motion.com STAC6 High Performance Stepper Drive Description The STAC6 represents the latest developments in stepper drive technology, incorporating features that will derive the highest performance from today s stepper motors. Its Anti-Resonance and Waveform Damping control algorithms make it a clear market leader. Features Current Output 0.5 to 6.0 A 90-135 VAC Input 165V Bus Configurator TM configuration software Configurable Idle Current reduction External control options Pulse and Direction Analog Command Signal Host command via RS232/485. Integral control options - Si Programmer TM - intuitive easy to use graphical programming language. Q - comprehensive high level language with options for control of all drive features. Advanced Features Self Test and Auto Setup Measures and Configures motor parameters automatically Anti-resonance Eliminates midrange instability Demand Signal Smoothing Reduces extraneous system resonances Torque Ripple Smoothing Adjusts current waveform to reduce low speed torque ripple
Drive Models ST S STAC6-S Basic drive; Analog, digital and host command input. pulse & direction with electronic gearing encoder following with electronic gearing CW and CCW pulse multi-axis Si programming if used with a SiNet Hub Host commands for real time control from a host PC or PLC using RS-232 or RS-485 serial communication. Configurable Oscillator function for running at fixed speeds or with joystick. Features Summary STAC6-Si STAC6-Si can be programmed for stand-alone operation with the easy to use Si Programmer Windows software with integrated tuning (software and programming cable included). ST Si Graphical point and click format combines motion, I/O, and operator interface functionality for simple machine sequencing Easily integrates with other devices on the machine (Sensors, PLCs etc). ST STAC6-Q Q programming. Comprehensive programming language with options for downloading, storing and executing multiple programs. Q Programming environment Register manipulation Conditional processing Math functions Multi-tasking pulse & direction with electronic gearing encoder following with electronic gearing CW and CCW pulse Host interface while executing internal programs. STAC6-S STAC6-Si STAC6-Q Hub 4 4 Command Inputs Pulse and Direction 4 CW and CCW Pulse 4 Master Encoder 4 Command Modes Host Command Language 4 4 Si Indexer 4 Q Programming 4 Logic Input Functions Enable 4 4 Limit Switches 4 4 4 Alarm Reset 4 4 Logic Output Functions Alarm 4 4 4 Brake 4 4 4 In Position 4 4 4 Analog Inputs 4 4 Digital Inputs 7* 15 7* Digital Outputs 3* 7 3* *Note - Digital I/O on S and Q models can be increased to 15 inputs and 7 outputs with optional Expansion I/O kit.
STAC6 Technical Specifications POWER AMPLIFIER SECTION AMPLIFIER TYPE... MOSFET, Dual H-Bridge, 4 Quadrant CURRENT CONTROL... 4 state PWM at 20 Khz OUTPUT CURRENT... 0.5 6.0 in 0.01 amp increments (6A Peak) POWER SUPPLY... Line Operated Nominal 120 VAC, 50/60 Hz DC BUS VOLTAGE... Nominal 165 VDC AC INPUT VOLTAGE... 94 135VAC, 50/60Hz PROTECTION... Over-Voltage, Under voltage, Over-Temp, External Output Shorts (Phase to- Phase, Phase-to-Ground), Internal Amplifier Shorts IDLE CURRENT REDUCTION... Reduction to any integer percent of full-current after delay selectable in milliseconds. MOTOR REGENERATION... Built in regeneration circuit - 25watts max. CONTROLLER SECTION NON-VOLATILE STORAGE... Configurations are saved in FLASH memory aboard the DSP. STEP AND DIRECTION INPUTS... Optically Isolated: 5-12 Volt. Minimum pulse width = 200 ns. Maximum pulse frequency = 2 MHz SPEED RANGE... Depends upon selected resolution. Amplifier is suitable for speeds up to 133 rps RESOLUTION... Software selectable from 200-to-51200 steps/rev in increments of 1 steps/rev ANTI RESONANCE... Raises the system damping ratio to eliminates midrange instability allowing stable operation to 50 rps or greater. TORQUE SMOOTHING... Allows for fine adjustment of phase current waveform harmonic content to reduce low-speed torque ripple in the range 0.25 1.5 rps. AUTO SETUP... Measures motor parameters and configures tuning and observer parameters SELF TEST... Identifies the presence of an encoder and determines resolution. Diagnoses miswires and open phases. MICROSTEP EMULATION... Performs low resolution stepping by synthesizing fine microsteps from course steps. DYNAMIC SMOOTHING... Software configurable filtering (4th order, elliptic) for use in removing spectral components from the command sequence. Reduces jerk and excitation of extraneous system resonances. ENCODER OPTION... Employs encoder (hi or low resolution) to provide failsafe stall detect and perform position maintenance. INTERFACE... RS-232 and RS-485 Bus ENCODER... Differential line receivers suitable for 200 KHz or greater AMBIENT TEMPERATURE... 0 to 55 o C (32-158 o F) HUMIDITY... 90% non-condensing
STAC6 Special Functions MicroStep Emulation With Microstep Emulation, systems that have a need to use low step resolutions can still provide smooth motion. The drive takes the step count and creates microsteps which are fed to the motor. As an example this could be used on a retrofit system where the controller resolution is fixed at a low value and cannot easily be changed. Demand Signal Smoothing Dynamic smoothing can soften the effect of immediate changes in velocity and direction, making the motion of the motor less jerky. An added advantage is that it can reduce the wear on mechanical components. Torque Ripple Smoothing All step motors have an inherent low speed torque ripple that can effect the motion of the motor. By analysing this torque ripple the system can apply a negative harmonic to negate this effect, this gives the motor much smoother motion at low speed. Anti-Resonance Another disadvantage of the step motor is a tendency to resonate at some frequency. By entering some system data this natural frequency can be calculated and a damping term entered into the control algorithm. This significantly improves the midrange stability and allows the motor to achieve higher speeds and make more use of the motors available torque. Self Test At start-up the drive measures the motor parameters, including the resistance and inductance, then uses this information to optimize the system performance. It also compares this information from the last start-up and checks to see if the motor data has changed (this could indicate a fault or system change). The drive can also detect open and short circuits, and incorrect motor wiring. Encoder Feedback Functions With the addition of an encoder on the motor the STAC6 can provide additional functions. Stall Detect- The drive detects if the motor has stalled and triggers the fault output. Position Maintenance - when the motor is stopped the drive will hold it in position, even if external forces are trying to move the motor out of position. Stall Prevention - Even if the motor stalls, the drive will continue to try to end the move with new parameters.
CONFIGURATOR - Configuration Software The new CONFIGURATOR software simplifies the setup and configuration of the STAC6. Click on the icon representing the aspect of the drive that needs changing and an intuitive dialog box will open. Configuration data for AMP recommended motors is available form a drop down menu. The Configurator also allows the user to create a custom motor configuration. Computer Based Help The CONFIGURATOR incorporates a new on-line help menus. All the technical data, application information and advice on setting up the drive is now just a mouse click away.
Size 23 Step Motors Specifications Holding Torque Rated Current Resistance Inductance Rotor Inertia Model oz-in A Ohms Mh oz-in 2 HT23-548D 84 1.4 2.8 5.6 0.66 HT23-549D 167 1.4 3.6 12.8 1.64 HT23-550D 255 1.4 4.5 15.2 2.62 series connection rating Torque Curves 0.5 1 2 4 6 8 10 15 20 30 40 50 Note - Performance achieved with motor mounted on 8 x 8 x 0.25 aluminum plate. Dimensions Model Length L Dia D HT23-548D 1.7 (43.8mm) 0.25 (6.35mm) HT23-549D 2.16 (54.8mm) 0.25 (6.35mm) HT23-550D 3.05 (77.47mm) 0.25 (6.35mm) 6
Size 34 Step Motors Specifications Torque Curves Holding Torque Rated Current Resistance Inductance Rotor Inertia Model oz-in A Ohms Mh oz-in2 HT34-488D 650 5.1 0.76 5.2 7.8 HT34-489D 1200 5.1 1.08 8.8 14.6 HT34-490D 1845 5.8 1.08 9.6 21.9 series connection rating 0.5 1 2 4 6 8 10 15 20 30 40 50 Note - Performance achieved with motor mounted on 10 x 10 x 0.5 aluminum plate. Dimensions Dimensions in mm. Model Length L Dia D HT34-488D 3.11 (79mm) 0.5 (12.7mm) Length L HT34-489D 4.63 (117.6mm) 0.5 (12.7mm) HT34-490D 6.14 (155.9mm) 0.625 (15.875) Diameter D
STAC6 Outline Drawings STAC6 Connections Analog IN+ Analog IN- X7 / CW Limit X6 / CCW Limit X5 X4 / Alarm Reset X3 / Enable X COMMON X2 / DIR- X2 / DIR+ X1 / STEP - X1 / STEP + RX+ RX- TX+ TX- RS-485/422 IN / OUT 2 Status PC/MMI IN / OUT 1 7.36 (187mm) IN/OUT 1 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1 2 2 2 3 2 4 2 5 Front View Y1 / BRAKE Y2 / MOTION Y3 / FAULT Y COMMON +5V OUT +5V OUT +12V OUT 4.657 (252mm) Accesories ST Si G N L 2.31 (60mm) Encoder AC Power IN 8- IN 8+ IN 7- IN 7+ IN 6 COM IN 5 IN 4 COM IN 3 IN 2 COM IN 1 IN/OUT 2 13 12 11 10 9 8 7 6 5 4 3 2 1 25 24 23 22 21 20 19 18 17 16 15 14 Out 4- Out 4+ Out 3- Out 3+ Out 2- Out 2+ Out 1- Out 1+ Ain Com N/C Ain 1 +5V Note - this connector is standard on Si version and only on S and Q versions with expanded I/O. When Purchasing your STAC6 Stepper Drive you will be supplied with software and programming cables. Applied Motion Products 404 Westridge Dr. Watsonville, CA 95076 Tel: 831-761-6555 Fax: 831-761 -6544 www.applied-motion.com Applied Motion offers a range of 6 qualified stepper motors for use with the STAC6, these motors are fitted with a 10ft cable and connector for quick connection. Distributed by: Version 8/04/05