High Performance Stepper DriveDescription

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.

Self Test and Auto SetupMeasures and Configures motor parameters automatically

Anti-resonanceEliminates midrange instability

Demand Signal SmoothingReduces extraneous system resonances

Torque Ripple SmoothingAdjusts current waveform to reduce low speed torque ripple

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Advanced Features

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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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AC6�ST

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STAC6 Stepper Drive

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.

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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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.

Drive Models

Features Summary

STSi

STS

ST

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.

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STAC6 Stepper Drive

POWER AMPLIFIER SECTION

AMPLIFIER TYPE..................................... ... MOSFET , Dual H-Bridge, 4 QuadrantCURRENT CONTROL................................ ... 4 state PWM at 20 KhzOUTPUT CURRENT..................................... 0.5— 6.0 in 0.01 amp increments (6A Peak)POWER SUPPLY ......................................... Line Operated Nominal 120 VAC, 50/60 HzDC BUS VOLTAGE ....................................... Nominal 165 VDCAC INPUT VOLTAGE .................................... 94—135VAC, 50/60HzPROTECTION .............................................. Over-Voltage, Under voltage, Over-Temp, External Output Shorts (Phase to-

Phase, Phase-to-Ground), Internal Amplifier ShortsIDLE 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 MHzSPEED RANGE ............................................ Depends upon selected resolution. Amplifier is suitable for speeds up to 133

rpsRESOLUTION .............................................. Software selectable from 200-to-51200 steps/rev in increments of 1 steps/revANTI 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 parametersSELF 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 ex-traneous system resonances.

ENCODER OPTION ...................................... Employs encoder (hi or low resolution) to provide failsafe stall detect and per-form position maintenance.

INTERFACE ................................................. RS-232 and RS-485 BusENCODER .................................................... Differential line receivers suitable for 200 KHz or greaterAMBIENT TEMPERATURE ........................... 0 to 55 oC (32- 158 oF)HUMIDITY ................................................... 90% non-condensing

STAC6 Technical Specifications

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STAC6 Stepper Drive

STAC6 Special FunctionsMicroStep Emulation

Demand Signal Smoothing

Anti-Resonance

Torque Ripple Smoothing

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.

Dynamic smoothing can soften the effect of immediate changes in velocity and direction, making the motion of the motor less jerky. An added advan-tage is that it can reduce the wear on mechanical components.

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.

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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STAC6 Stepper Drive

CONFIGURATOR - Configuration Software

Computer Based Help

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.

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.

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STAC6 Stepper Drive

Size 23 Step MotorsSpecifications

Dimensions

Torque Curves

Holding Torque

RatedCurrent Resistance Inductance Rotor

Inertia

Model oz-in A Ohms Mh oz-in2

HT23-548D 84 1.4 2.8 5.6 0.66HT23-549D 167 1.4 3.6 12.8 1.64HT23-550D 255 1.4 4.5 15.2 2.62

series connection rating

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)

1 2 4 86 10 15 20 30 40 500.5

Note - Performance achieved with motor mounted on 8” x 8” x 0.25” aluminum plate.

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STAC6 Stepper Drive

Size 34 Step MotorsSpecifications

Dimensions

Torque Curves

1 2 4 86 10 15 20 30 40 500.5

Length “L”

Diameter “D”

Holding Torque

RatedCurrent Resistance Inductance Rotor

Inertia

Model oz-in A Ohms Mh oz-in2HT34-488D 650 5.1 0.76 5.2 7.8HT34-489D 1200 5.1 1.08 8.8 14.6HT34-490D 1845 5.8 1.08 9.6 21.9

series connection rating

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)

Dimensions in mm.

Note - Performance achieved with motor mounted on 10” x 10” x 0.5” aluminum plate.

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STAC6 Stepper Drive

STAC6 ConnectionsSTAC6 Outline Drawings

Distributed by:Applied Motion Products404 Westridge Dr. Watsonville, CA 95076Tel: 831-761-6555 Fax: 831-761 -6544www.applied-motion.com

Version 8/04/05

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+5V

Out 1- Out 2+

Out 1+ Ain Com N/C Ain 1

IN 8-

COM IN 5

IN 6 IN 7+

IN 8+ IN 7-

IN 4

IN 1 COM IN 2

COM IN 3

Out 2- Out 3+ Out 3- Out 4+ Out 4-

IN/OUT 2

Note - this connector is standard on Si version and only on S and Q versions with expanded I/O.

Front View

X COMMON

X7 / CW Limit

X3 / Enable

X5X4 / Alarm Reset

Analog IN-Analog IN+

X2 / DIR-X2 / DIR+

X1 / STEP +X1 / STEP -

GND

GND+5V OUT Y COMMONY3 / FAULT

Y2 / MOTIONY1 / BRAKE

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X6 / CCW Limit

IN/OUT 1

+5V OUT +12V OUT

GNDGND

Accesories

When Purchasing your STAC6 Stepper Drive you will be supplied with software and programming cables.

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.

2.31”(60mm)

4.657”(252mm)

7.36”(187mm)IN

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Status

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RS-4

85/4

22RX+RX-TX+TX-GND

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