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STAC6
STAC6 FamilyOverviewSTAC6/BLUAC/BLUDC match upSTAC6/Si5580/PDO5580 match up“Under the hood”P7000 some +’s & -’sCONFIGURATORMotor 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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OVERVIEWThe 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; SiProgrammer, SCL and Q are seamlessly integrated into the design
A brand new, non-legacy application named CONFIGURATOR simplifies set-up ELECTROMATE
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FEATURE COMPARISON
HOW DOES THE STAC6 COMPARE Against BLUAC?Against BLUDC?Against PDO5580/ Si5580?
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STAC6Transformerless, light (2 lbs), small167vdc BUSExcellent step motor tuning3 versions; S, Q, SiCompatible with HUBSPreconfigured motor filesDigital I/O; 7/3 or 15/7Analog ins; (2) 12 bit resolution,+/-10vList $795, $895, $995
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BLUAC5
Transformerless, light, small167vdc or 330 vdc BusExcellent servo tuning3 versions; S, Q, SiCompatible with HUBSPreconfigured motor filesDigital I/O; 7/3 or 15/7Analog ins; (2) 12 bit resolution,+/-10vList $800,$1025,$1325
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BLUDC
Light, small24vdc or 48 vdc BUSExcellent servo tuning3 versions; S, Q, SiCompatible with HUBSPreconfigured motor filesDigital I/O; 7/3 or 15/7Analog ins; (2) 12 bit resolution,+/-10vList $535, $610, $680
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PDO5580/Si5580
Stepdown transformer, heavy (8lbs), big80vdc BUSNo resonance suppression2 versions; PDO, SiCompatible with HUBSNo preconfigured motor filesDigital I/O; 8/3Analog ins; (1) 0 to 5 voltList $750 PDO $980 Si
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What the comparison shows
STAC6,BLUAC,BLUDC have identical flavors ie: S, Q, SiSTAC6,BLUAC,BLUDC have identical digital I/O’sSTAC6,BLUAC,BLUDC have identical analog inputsSTAC6,BLUAC,BLUDC have identical hub compatibilityRESULT: Choose the best primemover 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 reduction4th 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 solutionDsp engine is running a model
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Mid range resonance
Mid range resonance occurs in the 4 to 15 rev/sec rangeOccurs at speeds when the drive is not capable of supplying full current Occurs in natural resonant bandsHalf stepping or microstepping often helpType of coupling is important
Some compliance was useful
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Mid range resonance
Amount of load inertia is a factorSloppy gear boxes/backlash are badViscous damping often helps
Heavy grease in gearbox
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Mid range resonanceMathematical 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 frequencyFreq = 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 windingsOn power up the drive verifies the inductance of the windings
The drive therefore needs this dataFile motors- no problemNon standard motors- You must enter
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Under the hood - VERIFY
AMP has offered position verification on 3540i – very successful
STAC6 offers morePosition verificationStall 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 insulationClass B means 130C winding temperature limitClassical approach to determine current rating
Suspend motor in free airAdjust 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 plate6” x 6” x .25” for NEMA 2310” x 10” x .375” for NEMA 34
Verify motor winding temp. remains at or below 130C in a 40C environmentNOTE: 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 speed10% reduction in running current causes a 21% reduction in temp rise.
MOTOR HEATING
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STAC 6 with Step MotorsThermal aspects are important now
Motors in indexing applications with some rest time (idle current reduction on) will exhibit Si5580 type temperature risesMotors in constant speed applications willrun hotter and need the mechanical mount to absorb some of the heat energy.
MOTOR HEATING
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STAC6
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STAC6NoTransf. light (2 lbs), small
167vdc BUSExcellent step motor tuning3 versions; S,Q,SiCompatible with HUBSPreconfigured motor filesDigital I/O; 7/3 or 15/7Analog ins; (2) 12 bit resolutionList $795, $895, $995 ELECTROMATE
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PDO5580/Si5580Transformer, heavy (8lbs), big80vdc BUSNo reasonance suppression2 versions; PDO, SiCompatible with HUBSNo preconfigured motor filesDigital I/O; 8/3Analog ins; (1) 0 to 5 voltList $750 PDO $980 Si
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BLUDCLight, small24vdc or 48 vdc BUSExcellent servo tuning3 versions; S, Q, SiCompatible with HUBSPreconfigured motor filesDigital I/O; 7/3 or 15/7Analog ins; (2) 12 bit resolutionList $535, $610, $680
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BLUAC5Transformerless,light,small167vdc or 330 vdc BusExcellent servo tuning3 versions; S,Q,SiCompatible with HUBSPreconfigured motor filesDigital I/O; 7/3 or 15/7Analog ins; (2) 12 bit resolutionList $800,$1025,$1325 ELECTROMATE
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