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STAC6 Stepper Drive
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 Waveform Damping control algorithms make it a clear market leader.

Versions
Programming/Set-up Software
Technical Specifications
STAC6 Functions
Recommended Motors
Manuals


Self Test and Auto Setup
Measures and Configures motor parameters automatically more


Anti-resonance
Eliminates midrange instability more


Demand Signal Smoothing
Reduces extraneous system resonances more


Torque Ripple Smoothing
Adjusts current waveform to reduce low speed torque ripple more

Features

  • Current Output 0.5 to 6.0 A
  • 90-135 VAC Input
  • 165V Bus
  • ConfiguratorTM configuration software
  • Configurable Idle Current reduction
  • External control options
  • Pulse and Direction
  • Analog Command Signal
  • Host command via RS232/485.
  • Integral control options -
  • Si ProgrammerTM - intuitive easy to use graphical programming language.
  • Q - comprehensive high level language with options for control of all drive features.

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Versions

STAC6-S/SE

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.

STAC6-Q/QE

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-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).

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Programming Software
STAC6-S / SE
 STAC6-Q / QE STAC6-Si
Configurator Q Programmer Si Programmer

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Inputs and Outputs
STAC6-S STAC6-SE STAC6-Q STAC6-QE STAC6-Si
7 inputs

3 Outputs

 15 Inputs

7 Outputs

 7 Inputs

3 Outputs

 15 Inputs

7 Outputs

15 Inputs

7 Outputs

Technical Specifications

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 2 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.
DEMAND SIGNAL 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 oC (32- 158 oF)
HUMIDITY 90% non-condensing

STAC6 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 affect, 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.

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Dimensions

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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 from a drop down menu. The Configurator also allows the user to create a custom motor configuration.

ver 38(25Mb)

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.

MANUALS - The STAC6 does not have a printed manual but printable pages are available from within the help files. To download the printed pages go here.

Recommended Motors

[Size 23 motors] [ Size 34 motors]

Size 23 Step Motors

Specifications
Holding Torque
Rated Current
Resistance
Inductance
Rotor

Inertia
Model
oz-in
A
Ohms
Mh
oz-in2
HT23-548
52
1.4
3.4
5.6
0.66
HT23-549
118
1.4
4.2
12.8
1.64
HT23-550
180
1.4
5.1
15.2
2.62

Torque Curves

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)

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Size 34 Step Motors

Specifications
Holding Torque
Rated Current
Resistance
Inductance
Rotor

Inertia
Model
oz-in
A
Ohms
Mh
oz-in2
HT34-488
650
5.1
0.76
5.2
7.8
HT34-489
1200
5.1
1.08
8.8
14.6
HT34-490
1845
5.1
1.08
9.6
21.9

Dimensions

Model Length “L” Dia “D”
HT34-488D 3.11” (79mm) 0.5” (12.7mm)
HT34-489D 4.63” (117.6mm) 0.5” (12.7mm)
HT34-490D 6.14” (155.9mm) 0.625” (15.875)

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Printed Pages

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