The document provides an overview of the STAC6 step motor driver. It compares the STAC6 to other AMP drives like the BLUAC, BLUDC, PDO5580, and Si5580. The STAC6 uses sophisticated software to reduce torque ripple and resonance. It also discusses the STAC6's features like preconfigured motor files, I/O options, and a new configuration tool. The document then goes into more detail on how the STAC6 suppresses mid-range resonance through mathematical modeling and injection of correction signals. It also addresses motor heating considerations with the STAC6.

1. STAC6
ASP PRESENTATION
STAC6 Family
Overview
STAC6/BLUAC/BLUDC match up
STAC6/Si5580/PDO5580 match up
“Under the hood”
P7000 some +’s & -’s
CONFIGURATOR
Motor temperature rise
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
1

2. STAC6
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
2

3. STAC6
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
3

4. STAC6
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
4

5. STAC6
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
5

6. OVERVIEW
The STAC6 is a compact 6 amp/phase step motor
driver with a 167 vdc bus (no transformer)
It uses sophisticated software to “tame”
inherent problems with open loop drives
Existing AMP application software ie; Si
Programmer, SCL and Q are seamlessly
integrated into the design
A brand new, non-legacy application named
CONFIGURATOR simplifies set-up
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
6

7. FEATURE COMPARISON
HOW DOES THE STAC6 COMPARE
Against BLUAC?
Against BLUDC?
Against PDO5580/ Si5580?
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
7

8. STAC6
Transformerless, light (2 lbs), small
167vdc BUS
Excellent step motor tuning
3 versions; S, Q, Si
Compatible with HUBS
Preconfigured motor files
Digital I/O; 7/3 or 15/7
Analog ins; (2) 12 bit resolution,+/-10v
List $795, $895, $995
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
8

9. BLUAC5
Transformerless, light, small
167vdc or 330 vdc Bus
Excellent servo tuning
3 versions; S, Q, Si
Compatible with HUBS
Preconfigured motor files
Digital I/O; 7/3 or 15/7
Analog ins; (2) 12 bit resolution,+/-10v
List $800,$1025,$1325
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
9

10. BLUDC
Light, small
24vdc or 48 vdc BUS
Excellent servo tuning
3 versions; S, Q, Si
Compatible with HUBS
Preconfigured motor files
Digital I/O; 7/3 or 15/7
Analog ins; (2) 12 bit resolution,+/-10v
List $535, $610, $680
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
10

11. PDO5580/Si5580
Stepdown transformer, heavy (8lbs), big
80vdc BUS
No resonance suppression
2 versions; PDO, Si
Compatible with HUBS
No preconfigured motor files
Digital I/O; 8/3
Analog ins; (1) 0 to 5 volt
List $750 PDO $980 Si
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
11

12. What the comparison shows
STAC6,BLUAC,BLUDC have identical
flavors ie: S, Q, Si
STAC6,BLUAC,BLUDC have identical
digital I/O’s
STAC6,BLUAC,BLUDC have identical
analog inputs
STAC6,BLUAC,BLUDC have identical
hub compatibility
RESULT: Choose the best prime
mover for the application, let the
electronics selection followSold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
12

13. STAC6
Let’s go under the hood
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
13

14. Under the hood
Low speed torque ripple reduction
4th harmonic added to distort sine wave
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
14

15. Torque ripple reduction
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
15

16. Mid range resonance
Here comes the heavy artillery
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
16

17. Under the hood
Mid range resonance solution
Dsp engine is running a model
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
17

18. Mid range resonance
Mid range resonance occurs in the 4 to
15 rev/sec range
Occurs at speeds when the drive is not
capable of supplying full current
Occurs in natural resonant bands
Half stepping or microstepping often help
Type of coupling is important
Some compliance was useful
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
18

19. Mid range resonance
Amount of load inertia is a factor
Sloppy gear boxes/backlash are bad
Viscous damping often helps
Heavy grease in gearbox
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
19

20. Mid range resonance
Mathematical analysis shows insufficient
“damping” is the culprit
How do you add damping without a
feedback device?
Answer: Create a “model” of the plant and
let it run in the background. Compare
actual currents and the model currents.
Inject a small “correction” signal from the
model to raise the damping in the actual.
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
20

21. Mid range resonance
Model runs a plant that looks like a spring
– mass combination.
Therefore we information about:
The peak torque of the motor (spring)
The total system inertia ie; Jr + Jl (mass)
Dsp engine then calculates the natural
resonant frequency
Freq = sq. rt.{50Tmax/(Jr +Jl)} / 6.28
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
21

22. Mid range resonance
Result: Choose a
motor from our
preconfigured list
and you only have
to enter the load
inertia
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
22

23. Mid range resonance
Use a non-listed motor and you
have more info to enter!!!
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
23

24. Mid range resonance
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
24

25. Under the hood - Self Test
On power-up the drive verifies the
resistance of the windings
On power up the drive verifies the
inductance of the windings
The drive therefore needs this data
File motors- no problem
Non standard motors- You must enter
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
25

26. Under the hood - VERIFY
AMP has offered position verification on
3540i – very successful
STAC6 offers more
Position verification
Stall detect
Set the error window (just like a servo with
following error)
R&D project for “Stall prevention”
riding the Torque speed curve to lower speeds.
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
26

27. Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
27

28. Configurator
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
28

29. We could have used Q.T.
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
29

30. SiProgrammer set-up
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
30

31. SiProgrammer set-up
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
31

32. Configurator
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
32

33. Select a motor
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
33

34. Use our wiring diagram
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
34

35. Select an Operating Mode
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
35

36. Oscillator mode- many
options
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
36

37. Regen Clamp
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
37

38. MOTOR HEATING
Step motors have Class B insulation
Class B means 130C winding temperature limit
Classical approach to determine current rating
Suspend motor in free air
Adjust the current for a 80C winding temp. rise in
a 40C environment (allows for 10C hot spot)
No iron losses to contribute to temp. rise
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
38

39. MOTOR HEATING
STAC6 approach (motor losses are copper
and iron)
Assumed a motor mounting plate
6” x 6” x .25” for NEMA 23
10” x 10” x .375” for NEMA 34
Verify motor winding temp. remains at or below
130C in a 40C environment
NOTE: This can result in case temperatures up
to 95C
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
39

40. MOTOR HEATING
Techniques that mitigate the temperature
rise
Idle current reduction (factory default is 90%)
Motor losses vary with speed
10% reduction in running current causes a 21%
reduction in temp rise.
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
40

41. MOTOR HEATING
STAC 6 with Step Motors
Thermal aspects are important now
Motors in indexing applications with some
rest time (idle current reduction on) will
exhibit Si5580 type temperature rises
Motors in constant speed applications will
run hotter and need the mechanical
mount to absorb some of the heat
energy.
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
41

42. STAC6
Sold & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
42

43. STAC6
NoTransf. light (2 lbs), small
167vdc BUS
Excellent step motor tuning
3 versions; S,Q,Si
Compatible with HUBS
Preconfigured motor files
Digital I/O; 7/3 or 15/7
Analog ins; (2) 12 bit resolution
Sold & Serviced By:
List $795, $895, $995 ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
43

44. PDO5580/Si5580
Transformer, heavy (8lbs), big
80vdc BUS
No reasonance suppression
2 versions; PDO, Si
Compatible with HUBS
No preconfigured motor files
Digital I/O; 8/3
Analog ins; (1) 0 to 5 volt Sold & Serviced By:
List $750 PDO $980 Si
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
44

45. BLUDC
Light, small
24vdc or 48 vdc BUS
Excellent servo tuning
3 versions; S, Q, Si
Compatible with HUBS
Preconfigured motor files
Digital I/O; 7/3 or 15/7
Analog ins; (2) 12 bit resolution
Sold & Serviced By:
List $535, $610, $680
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
45

46. BLUAC5
Transformerless,light,small
167vdc or 330 vdc Bus
Excellent servo tuning
3 versions; S,Q,Si
Compatible with HUBS
Preconfigured motor files
Digital I/O; 7/3 or 15/7
Analog ins; (2) 12 bit resolution
Sold & Serviced By:
List $800,$1025,$1325 ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
46