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Products: Stepper Products: Stepper Drives: STAC6 Series Drives
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 Electronic Damping control algorithms make it a clear market leader. |
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Details
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Anti-Resonance Torque Ripple Smoothing Command Signal Smoothing Self Test & Auto Setup |
Features
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STAC6-S Basic drive. Analog, digital, and host command inputs. • 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. Software Inputs & Outputs |
STAC6-Q Q programming. Comprehensive programming language for full featured single-axis control. • 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. Software Inputs & Outputs: STAC6-Q Inputs & Outputs: STAC6-QE |
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). 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). Software Inputs & Outputs |
STAC6-C CANopen Node. CANopen compatible drive. • Adheres to CiA draft standards 301 and 402 • Supports Profile Position, Profile Velocity, and Homing modes • Supports stored Q program execution through AMP-specific object dictionary entry • Provides twenty-three AMP-specific data registers that can be accessed via both the CANopen network and a stored Q program Software Inputs & Outputs |
| Technical Specifications |
POWER AMPLIFIER SECTION |
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| AMPLIFIER TYPE | MOSFET, Dual H-Bridge, 4 Quadrant |
| CURRENT CONTROL | 4 state PWM at 20 kHz |
| OUTPUT CURRENT | STAC6: 0.5-6.0 A (peak-of-sine) in 0.01 A increments STAC6-220: 0.5-3.2 A (peak-of-sine) in 0.01 A increments |
| POWER SUPPLY | STAC6: Line-operated, nominal 120 VAC STAC6-220: Line-operated, nominal 220 VAC |
| INPUT VOLTAGE RANGE | STAC6: 94-135 VAC single-phase, 50/60 Hz STAC6-220: 94-265 VAC single-phase, 50/60 Hz |
| PROTECTION | Over-voltage, Under-voltage, Over-temp, Motor/wiring 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 - 25 Watts max. |
| AMBIENT TEMPERATURE | 0-55 °C (32-158 °F) |
| HUMIDITY | 90% non-condensing |
CONTROLLER SECTION |
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| NON-VOLATILE STORAGE | Configurations are saved in FLASH memory on board the DSP |
| MICROSTEP RESOLUTION | Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev |
| ANTI-RESONANCE Electronic Damping |
Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the speed range and improves settling time. |
| TORQUE RIPPLE 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 motor current control and anti-resonance gain settings. |
| SELF TEST | Checks internal and external power supply voltages, detects open motor phases, and detects encoder wiring and signal faults (differential encoder only). |
| MICROSTEP EMULATION | Performs high resolution stepping by synthesizing fine microsteps from course steps (Step & Direction Mode only). |
| COMMAND SIGNAL SMOOTHING | Software configurable filtering reduces jerk and excitation of extraneous system resonances (Step & Direciton Mode only). |
| DIGITAL INPUTS | All models: Two differential, 5 volt inputs for Step & Direction, CW/CCW Pulse, A/B Quadrature, Run/Stop & Direction, or general purpose. Five single-ended, 12-24 volt inputs for Enable, Alarm Reset, and/or general purpose. -QE and -Si models: Eight additional inputs for general purpose use. |
| DIGITAL OUTPUTS | All models: Three single-ended, 5-24 volt outptus for Fault, Brake, Motion, Tach, or general purpose. -QE and -Si models: Four additional outptus for general purpose use. |
| ANALOG INPUTS | All models: Two single-ended or one differential analog input. Range is software selectable: 0-5V (10 bits), ±5V (11 bits), 0-10V (11 bits), or ±10V (12 bits). Configurable offset, deadband, and filtering. -QE and -Si models: One additional analog input for general purpose use (not supported by Si Programmer™). |
| ENCODER INTERFACE | Employs incremental encoder to provide Stall Detection and Stall Prevention with static Position Maintenance. Differential line receivers suitable to rates of 2 MHz |
| COMMUNICATION INTERFACE | STAC6-S: RS-232 for configuration, serial commands, and connection to a SiNet Hub; RS-485 port for serial commands/networking STAC6-Q, QE: RS-232 for configuration, serial commands, and programming; RS-485 for serial commands/networking STAC6-Si: RS-232 for configuration, serial commands and programming; RS-485 port for serial commands STAC6-C: RS-232 for configuration and programming; CANopen port for communications and control |
| AGENCY APPROVALS | RoHS CE UL (STAC6 only, 120 VAC input) |
| Advanced Features |
| Anti-Resonance / Electronic Damping Delivers better motor performance and higher speeds Step motor systems have a natural tendency to resonate at certain speeds. The STAC6 drives automatically calculate the system's natural frequency and apply damping to the control algorithm. This greatly improves midrange stability, allows higher speeds and greater torque utilization, and also improves settling times. |
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| Microstep Emulation Delivers smoother motion in any application With Microstep Emulation, low resolution systems can still provide smooth motion. The drive can take low resolution step pulses and create fine microstep motion. As an example, this could help on a retrofit system where the controller resolution is fixed at a low value and cannot easily be changed. |
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| Torque Ripple Smoothing Delivers smoother motion at lower speeds All step motors have an inherent low speed torque ripple that can affect the motion of the motor. By analyzing this torque ripple the system can apply a negative harmonic to negate this effect, which gives the motor much smoother motion at low speed. |
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| Command Signal Smoothing Delivers smoother system performance Command signal 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. |
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| Self Test & Auto Setup
At start-up the drive measures motor parameters, includign the resistance and inductance, then uses this information to optimize the system performance. The drive can also detect open and short circuits. |
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| Encoder Feedback Functions With the addition of an encoder on the motor the STAC6 drives can provide additional functions Stall Detection: The drive detects if the motor has stalled and triggers a fault. Stall Prevention: The drive automatically senses rotor lag and reduces motor speed to avoid stalling. This feature also includes Postion Maintenance which is used when the motor is stopped. |
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| Dimensions |
| Configuration Software |
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The STAC6 Configurator™ software simplifies the setup and configuration of the STAC6 drives. Click on the icon representing the aspect of the drive that needs changing and an intuitive dialog box will open. Configuration date for Applied Motion's recommended motors is available from a drop-down menu. Setting up non-Applied Motion motors is also supported through a custom motor dialog box.
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| Recommended Motors |
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Specifications | |||||||
| Part Number (click for PDF) |
Motor Length (in) |
Holding Torque (oz-in) |
Drive Current Setting (amps) |
Resistance (ohms) |
Inductance (mH) |
Rotor Inertia (oz-in2) |
Shaft Dia. (in) |
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| Motors for 110V STAC6 |
HT23-548 | 1.7 | 84 | 1.5 | 2.8 | 5.6 | 0.66 | 0.25 |
| HT23-549 | 2.16 | 167 | 1.5 | 3.6 | 12.8 | 1.64 | 0.25 | |
| HT23-550 | 3.05 | 180 | 1.8 | 4.5 | 15.2 | 2.62 | 0.25 | |
| Motors for 220V STAC6-220 |
HT23-552 | 1.7 | 84 | 0.75 | 5.6 | 5.6 | 0.66 | 0.25 |
| HT23-553 | 2.16 | 167 | 0.75 | 7.2 | 12.8 | 1.64 | 0.25 | |
| HT23-554 | 3.05 | 180 | 0.9 | 9 | 15.2 | 2.62 | 0.25 | |
| Torque Curves | |||||
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Specifications | |||||||
| Part Number (click for PDF) |
Motor Length (in) |
Holding Torque (oz-in) |
Drive Current Setting (amps) |
Resistance (ohms) |
Inductance (mH) |
Rotor Inertia (oz-in2) |
Shaft Dia. (in) |
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| Motors for 110V STAC6 |
HT34-488 | 3.11 | 650 | 5.1 | 0.76 | 5.2 | 7.8 | 0.5 |
| HT34-489 | 4.63 | 1200 | 5.1 | 1.08 | 8.8 | 14.6 | 0.5 | |
| HT34-490 | 6.14 | 1845 | 5.8 | 1.08 | 9.6 | 21.9 | 0.625 | |
| Motors for 220V STAC6-220 |
HT34-495 | 3.11 | 650 | 2.55 | 3.66 | 26 | 7.8 | 0.5 |
| HT34-496 | 4.63 | 1200 | 2.55 | 4.94 | 42 | 14.6 | 0.5 | |
| HT34-497 | 6.14 | 1845 | 3.2 | 4.94 | 38.4 | 21.9 | 0.625 | |
| Torque Curves | |||||
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© Applied Motion Products, Inc. 2007-2009. All rights reserved.
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