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STAC6

STAC6 Family Overview STAC6/BLUAC/BLUDC match up STAC6/Si5580/PDO5580 match up “Under the hood” P7000 some +’s & -’s CONFIGURATOR Motor temperature rise

ASP PRESENTATION

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STAC6

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STAC6

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STAC6

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STAC6

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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

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FEATURE COMPARISON

HOW DOES THE STAC6 COMPARE Against BLUAC? Against BLUDC? Against PDO5580/ Si5580?

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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

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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

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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

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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

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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

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STAC6

Let’s go under the hood

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Under the hood

Low speed torque ripple reduction 4th harmonic added to distort sine wave

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Torque ripple reduction

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Mid range resonance

Here comes the heavy artillery

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Under the hood

Mid range resonance solution Dsp engine is running a model

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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

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Mid range resonance

Amount of load inertia is a factor Sloppy gear boxes/backlash are bad Viscous damping often helps

Heavy grease in gearbox

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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.

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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

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Mid range resonance

Result: Choose a motor from our preconfigured list and you only have to enter the load inertia

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Mid range resonance

Use a non-listed motor and you have more info to enter!!!

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Mid range resonance

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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

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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.

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Configurator

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We could have used Q.T.

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SiProgrammer set-up

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SiProgrammer set-up

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Configurator

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Select a motor

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Use our wiring diagram

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Select an Operating Mode

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Oscillator mode- many options

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Regen Clamp

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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

MOTOR HEATING

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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

MOTOR HEATING

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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.

MOTOR HEATING

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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.

MOTOR HEATING

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STAC6

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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

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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 List $750 PDO $980 Si

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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 List $535, $610, $680

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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