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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
1
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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
6
7. FEATURE COMPARISON
HOW DOES THE STAC6 COMPARE
Against BLUAC?
Against BLUDC?
Against PDO5580/ Si5580?
Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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 follow Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
12
13. STAC6
Let’s go under the hood
Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
13
14. Under the hood
Low speed torque ripple reduction
4th harmonic added to distort sine wave
Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
14
16. Mid range resonance
Here comes the heavy artillery
Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
16
17. Under the hood
Mid range resonance solution
Dsp engine is running a model
Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
22
23. Mid range resonance
Use a non-listed motor and you
have more info to enter!!!
Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
23
24. Mid range resonance
Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
26
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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
41
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
List $795, $895, $995
Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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 Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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 Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.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
List $800,$1025,$1325
Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com
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