High performance Compact, cost effective stepper drives ... · High performance Compact, cost...
Transcript of High performance Compact, cost effective stepper drives ... · High performance Compact, cost...
Specifications
High performance Compact, cost effective stepper drives with advanced features & control options.
AC5
Si compatibility ▪Si Programmer with built-in Configurator ▪Point-and-click indexing software ▪User Friendly GUI ▪Excellent I/O and motion programming ▪MMI-01 compatibility ▪
Pulse & Direction ▪CW/CCW Pulse ▪A/B Quadrature ▪Velocity (Oscillator) mode ▪Host commands (SCL compatible) ▪SiNet Hub compatible ▪Configurator software for setup ▪
Standalone Operation ▪Q Programmer for programming ▪Conditional Processing ▪Math Functions ▪Multi-tasking ▪Register Manipulation ▪Encoder Following ▪“Generic” HMI compatibility ▪
Models
Part Numbering
CIPC
IPCIP
CIPC
IPCIP
CIPC
IPCIP
EthernetAnti-ResonanceAdvanced Current ControlTorque Ripple SmoothingMicrostep Emulation
POWER SUPPLY:STAC5 110 VAC NominalSTAC5-220 220 VAC Nominal
OUTPUT CURRENT:STAC5 0.5 - 5.0A PeakSTAC5-220 0.5 - 2.55A Peak
PROTECTION: Over-Voltage ▪Under voltage ▪Over-Temp ▪External Output Shorts ▪Regeneration ▪
404 Westridge Dr.Watsonville, CA 95076Tel: 800-525-1609Fax: 831-761 -6544www.applied-motion.com
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Software
All application software runs on Windows Vista, XP, 2000, NT, ME & 98.
Si Programmer™Intended for use in stand-alone applications, Si Programmer™ provides a user friendly, point-and-click, graphical interface that doesn’t require any previous programming experience.
Q ProgrammerQ Programmer is used to create and edit stand-alone programs for Q-version drives. The functions of these drives include multi-tasking, math, register manipulation, encoder following, and more.
STAC ConfiguratorUsed for setup and configuration of the STAC series drives. For more information about the STAC Configurator visit the STAC5 webpage: applied-motion.com/STAC5
Help Manuals STAC5 Configurator incorporates new help menus. All the technical data, application information and advice on setting up the drive is now just a mouse click away.
STAC5-S-E-120
ControlS = Basic VersionQ = Q ProgrammerSi = Si ProgrammerC = CANopenIP = EtherNet IP
Feedback N = NoneE = Encoder Option Board
SeriesSTAC5 Step Drive
Input Voltage120 = 120VAC220 = 220VAC
CIPC
IPCIP
CANopen compatibility ▪Protocols DS301 and 402 ▪Up to 127 axis per chanel ▪
CIPC
IPCIP
Ethernet IP compatibility ▪ ▪
STAC5 technical specs. STAC5 -Torque Curves
POWER AMPLIFIER SECTIONAMPLIFIER TYPE MOSFET , Dual H-Bridge, 4 QuadrantCURRENT CONTROL 4 state PWM at 10 KhzOUTPUT CURRENT STAC5 .. 0.5— 5.0 in 0.01 amp increments (5A Peak) STAC5-220 0.5— 2.55 in 0.01 amp increments (2.55A Peak)POWER SUPPLY Line Operated Nominal 110 or 220 VAC, 50/60 Hz STAC5 .. 110VAC Nominal, 50/60Hz STAC5-220 220VAC Nominal, 50/60Hz
PROTECTION Over-Voltage, Under voltage, Over-Temp, Motor/Wiring Shorts (Phase to-Phase, Phase-to-Ground), Internal
Amplifier Shorts
IDLE CURRENT REDUCTION Reduction range of “0 – 90%” of “Running Current” after delay selectable in milliseconds.
MOTOR REGENERATION Built in regeneration circuit - 10 watts max.
CONTROLLER SECTIONNON-VOLATILE STORAGE Configurations are saved in FLASH memory aboard the DSP.STEP AND DIRECTION INPUTS Optically Isolated: 5-24 Volt. Minimum pulse width = 200 ns. Maximum pulse frequency = 2 MHzRESOLUTION Software selectable from 200-to-51200 steps/rev in increments of 2 steps/revANTI RESONANCE (Electronic Damping) Raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the
speed range and improves settling time.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 ( Differential only) . Diagnoses mis-wires and open phases.MICROSTEP EMULATION Performs high resolution stepping by synthesizing fine microsteps from coarse steps (Step & Direction Mode
Only) .COMMAND SIGNAL SMOOTHING Software configurable filtering for use in removing spectral components from the command sequence. Re-
duces jerk and excitation of extraneous system resonances.ENCODER OPTION Employs encoder (hi or low resolution) to provide fail safe stall detect and perform stall prevention and posi-
tion maintenance.INTERFACE Ethernet 100 Base T - functionality dependent on model.ENCODER Differential line receivers suitable for line rates up to 2Mhz.AMBIENT TEMPERATURE 0 to 50 oC (32- 122 oF) with adequate ventilation.HUMIDITY 90% non-condensingdd
INPUTS AND OUTPUTS
IN / OUT 1 connector - All Drives
7 Inputs
X1, X2 Optically Isolated, Differential, 5-24 Volt. Minimum pulse width = 250ns. Maximum pulse frequency = 2 MHz
Function: Step & Direction, Encoder Following, Sensor, Home or Branch Select
X3 Optically isolated, 5 - 24V, sourcing or sinking. Function: Motor Enable, Sensor, Home or Branch Select
X4 Optically isolated, 5 - 24V, sourcing or sinking. Function: Alarm Reset, Sensor, Home or Branch Select
2 Output
Y1 /Y2 Optical darlington, 30V, 80mA max, NPN/sinking OR Sourcing. Function: General purpose programmable/
Fault/Brake.
Analog Input
Software selectable: 0-5V , ±5V, 0-10V, ±10V
Resolution: 12 bits (with ±10V signal range)
11 bits (with 0-10V or ±5V signal range)
10 bits (with 0-5V signal range)
IN / OUT 2 connector - Q and Si models
8 digital Inputs
IN1-IN8 Optically isolated, 5-24V (4) /12 - 24V (4). Function; general Purpose Input.
4 DigitalOutputs
OUT 1-4 Optical darlington, 30V, 80mA max, sinking or sourcing. Function: general purpose programmable
150
200
250
n
STAC5 110 , NEMA 23 MotorsConnection: Parallel , 110 VAC Drive settings: rated, 1/100 step resolution
HT23-548 HT23-549 HT23-550
0
50
100
0 10 20 30 40 50
oz-in
rps
1000
1200
1400
1600
n
STAC6 110 , NEMA 34 MotorsConnection: Parallel , 110 VAC Drive settings: rated, 1/100 step resolution
HT34-488 HT34-489 HT34-490
0
200
400
600
800
0 5 10 15 20 25 30 35 40
oz-in
rps
200
250
300
n
STAC5 220 , NEMA 23 MotorsConnection: Parallel , 220 VAC Drive settings: rated, 1/100 step resolution
HT23-552 HT23-553 HT23-554
0
50
100
150
0 10 20 30 40 50
oz-
in
rps
1000
1200
1400
1600
n
STAC5 220 , NEMA 34 MotorsConnection: Parallel , 220 VAC Drive settings: rated, 1/100 step resolution
HT34-495 HT34-496 HT34-497
0
200
400
600
800
0 5 10 15 20 25 30 35 40
oz-
in
rps
Connections
T1
LN
A+A-B+B-
MO
TOR
120
VAC
4 3 2 1 0FEDCB
A98765
5.5
1.98
4.5
Self Test & Auto SetupAt start-up the drive measures motor parameters, including the resistance and inductance, then uses this information to optimize the system performance. It also compares this information to the last configuration 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.
Command Signal SmoothingCommand Signal smoothing can soften the effect of immediate changes in velocity and direction, making the motion of the motor less jerky. An added advantage is that it can reduce the wear on mechanical components.
Torque Ripple SmoothingAll step motors have an inherent low speed torque ripple that can affect the motion of the motor. By analyzing this torque ripple the system can apply a negative harmonic to negate this effect, which gives the motor much smoother motion at low speed.
Micro Step EmulationWith Microstep Emulation, low resolution systems can still provide smooth motion. The drive can take low-resolution step pulses and create fine resolution motion.
1.8° Steps
SynthesizedMicrosteps
Step motor systems have a natural tendency to resonate at certain speeds. The ST drives automatically calculate the system’s natural frequency and apply damping to the control algorithm. This greatly improves midrange stability, allows higher speeds and greater torque utilization, and also improves settling times.
Fe
atu
res
Power Ratings
Option -
Anti Resonance
Input Voltage:Output Current:
STAC5110 VAC5.0A Peak
AC5
Inputs & Outputs
12 digital inputs 6 digital outputs 1 analog inputs
AC5
4 digital inputs 2 digital outputs 1 analog inputs
For more information go to www.applied-motion.com/STAC5
MMI Control Option
3rd Party Controller
ID 1ID 2ID 3ID 4ID 5ID 6
RS232
UP TO
127AXES
UP TO
32AXES
MMI
Ethernet
Each drive connectsto a port on the hub. or
UP TO
8AXES
UP TO
4AXES
RS232RS232
HUB
444
1 2 3 4
ID 1ID 2ID 3ID 4ID 5ID 6
Run/Stop (Toggle Switch)
Speed1/Speed2 (Toggle Switch)
Speed (Potentiometer)
PC or 3rd Party Controller
CANopen network
EtherNet Connection
PC or 3rd Party Controller
Step & Direction
Host Control
Stand-Alone Programmable
Oscillator / Run-Stop
MMI Control Option
3rd Party Controller
ID 1ID 2ID 3ID 4ID 5ID 6
RS232
UP TO
127AXES
UP TO
32AXES
MMI
Ethernet
Each drive connectsto a port on the hub. or
UP TO
8AXES
UP TO
4AXES
RS232RS232
HUB
444
1 2 3 4
ID 1ID 2ID 3ID 4ID 5ID 6
Run/Stop (Toggle Switch)
Speed1/Speed2 (Toggle Switch)
Speed (Potentiometer)
PC or 3rd Party Controller
CANopen network
EtherNet Connection
PC or 3rd Party Controller
Software Configuration ▪Two Speeds ▪Vary speed with analog input ▪Joystick Compatible ▪
Accepts Serial Commands from ▪ PC or PLC
Multi-axis Capable ▪
Point & Click Graphical Interface ▪Download, store & execute programs ▪MMI Option ▪
MMI Control Option
3rd Party Controller
ID 1ID 2ID 3ID 4ID 5ID 6
RS232
UP TO
127AXES
UP TO
32AXES
MMI
Ethernet
Each drive connectsto a port on the hub. or
UP TO
8AXES
UP TO
4AXES
RS232RS232
HUB
444
1 2 3 4
ID 1ID 2ID 3ID 4ID 5ID 6
Run/Stop (Toggle Switch)
Speed1/Speed2 (Toggle Switch)
Speed (Potentiometer)
PC or 3rd Party Controller
CANopen network
EtherNet Connection
PC or 3rd Party Controller
Comprehensive text based language ▪Download, store & execute programs ▪High Level Features ▪
-Multi Tasking -Conditional Programming -Math Functions
Host interface while executing ▪ internal programs
MMI Control Option
3rd Party Controller
ID 1ID 2ID 3ID 4ID 5ID 6
RS232
UP TO
127AXES
UP TO
32AXES
MMI
Ethernet
Each drive connectsto a port on the hub. or
UP TO
8AXES
UP TO
4AXES
RS232RS232
HUB
444
1 2 3 4
ID 1ID 2ID 3ID 4ID 5ID 6
Run/Stop (Toggle Switch)
Speed1/Speed2 (Toggle Switch)
Speed (Potentiometer)
PC or 3rd Party Controller
CANopen network
EtherNet Connection
PC or 3rd Party Controller
Step & Direction ▪CW & CCW Pulse ▪A/B Quadrature ( Master ▪
Encoder )
AC5
Co
ntro
l Op
tion
s
Delivers smoother system performance
Delivers smoother motion at lower speeds
Delivers smoother motion in any application
Delivers better motor performance and higher speeds
AC5
AC5
AC5
AC5
12 digital inputs 6 digital outputs 1 analog inputs
4 digital inputs 2 digital outputs 1 analog inputs
4 digital inputs 2 digital outputs 1 analog inputs
AC5AC5 AC5
AC5 AC5
+ Applied Motions CANopen drives retain the Q Programmer layer allowing users to trigger different Q program segments and read and write to Q registers over the standard CANopen connection.
STAC5-220220 VAC2.55A Peak
Multi-Use Option Switch
HOLDINg TORqUE Oz-IN
RATEDCURRENT A
RESISTANCE OHmS
INDUCTANCE mH
ROTOR INERTIA Oz-IN2
mOTORLENgTH “L”
100V
m
OTO
RS
FOR
STA
C6 HT23-548 84 1.4 2.8 5.6 0.66 1.7” (43.8mm)
HT23-549 167 1.4 3.6 12.8 1.64 2.16” (54.8mm)
HT23-550 255 1.4 4.5 15.2 2.62 3.05” (77.47mm)
200V
m
OTO
RS
FOR
ST
AC6-
220
HT23-552 60 1.0 5.6 5.6 0.66 1.7” (43.8mm)
HT23-553 118 1.0 7.2 12.8 1.64 2.16” (54.8mm)
HT23-554 255 1.0 9 15.2 2.62 3.05” (77.47mm)
1.11
120” MIN
.928
"L"
2X 2-56 UNC TAP THRU 180° APART ON A Ø19.05 B.C.
4 x Ø.205
.787
.591
Ø.250
.063
2 x 2.222 x #4-40 UNC ON Ø1.82 BCD
.197
Ø1.50
.59
Ø.250
.630
2 x 1.856
.228FLAT
HOLDINg TORqUE Oz-IN
RATEDCURRENT A
RESISTANCE OHmS
INDUCTANCE mH
ROTOR INERTIA Oz-IN2
mOTORLENgTH “L”
FRONTSHAFT DIA “D”
100V
m
OTO
RS
FOR
STA
C6
HT34-488 650 5.1 0.76 5.2 7.8 3.11” (79mm) 0.5” (12.7mm)
HT34-489 1200 5.1 1.08 8.8 14.6 4.63” (117.6mm) 0.5” (12.7mm)
HT34-490 1845 5.8 1.08 9.6 21.9 6.14” (155.9mm) 0.625” (15.875)
200V
mO
TOR
SFO
R S
TAC6
-220
HT34-495 555 2.15 3.66 26 7.8 3.11” (79mm) 0.5” (12.7mm)
HT34-496 1100 2.05 4.94 42 14.6 4.63” (117.6mm) 0.5” (12.7mm)
HT34-497 1694 2.55 4.94 38.4 21.9 6.14” (155.9mm) 0.625” (15.875)
Ø 2.875
“L”
.330 .062
1.25 2X 2.74
4x Ø.218THRU
Ø .3750
1.12
See shaft detail
120" MIN
3.38
2X 2-56 UNC 5(.2) DEEP ON A Ø1.28(32.5) B.C. 2X #4-40 UNC TAP 5(.2) DEEP 180°
APART ON A Ø46.02(1.812) B.C.
STAC5 Nema 34 Motors
Notes -1) Drawing shown with optional rear shaft.2) Encoder holes only on dual shaft version.3) The data shown in this table represents the specifications for this motor when wired for the STAC6 4) These motors fitted with 10ft cable and connector
.875±.010 .705
Ø.6250+.000001.25±.02
.1875
1.25±.02
.875±.010 .555
.125
Ø.500+.0000
Shaft Detail 1
Shaft Detail 2
Notes -1) Drawing shown with optional rear shaft.2) Encoder holes only on dual shaft version.3) The data shown in this table represents the specifications for this motor when wired for the STAC6 4) These motors fitted with 10ft cable and connector
STAC5 Nema 23 Motors
OPTION CARDS
I/O BoardInstalled in the Q and Si versions adds 8 inputs and 4 outputs to the base drive
CANopen Option BoardGives the drive functionallity to be controlled by a CANopen master on the same channel as otherCANopen devices.
Encoder Feedback BoardProvides extra functionality for the drive including :- Stall dection- Postion veri�cation
Ethernet Port- S, Q and Si drives - allows con�guration and comunication - IP model - gives EthernetIP connectivity.
Selection SwitchCan be used to select a number of options- Motor Choice- Program- IP address
Error indicatorProvides details on faults and error conditions.
com
mun
icat
ions
slo
tfe
edba
ck s
lot
Multi-Use Option Selector SwitchThe selector switch has multiple used on the STAC5, it can select between
IP address• Motor Selection • Program Selection •
The setup software includes a matrix of these three parameters, the user enters the data and selects the configuration for the axis being used.
EtherNet PortThe standard Ethernet port is used for configuration and setup of the STAC5 drive using the new configurator software which can talk to the drive over a standard EtherNet connection. The Selector switch is used to set the IP address of the drive, this information is used to “find” the drive on your network and allow the new versions of Si and Q programmer to download and modify programs over the network.Users can select between the standard IP addresses or use configurator to choose their own.