Tolomatic STAC6 Manuale utente

STAC6 Drives and

Microstepping Motors

LINEAR SOLUTIONS MADE EASY

User Manual

STAC6 DRIVES AND

MICROSTEPPING MOTORS

are DISCONTINUED.

Replacements are not

available. For legacy

STAC6 drives and

Microstepping Motors use

this manual for reference

only.

3600-4645_02_AMPSTEP-OBS

Tolomatic and Excellence In Motion are registered

trademarks of Tolomatic Incorporated. All other

products or brand names are trademarks of their

respective holders.

202204130849

STAC6 Drives and Microstepping Motors: User Manual (Discontinued Product)

• i •

Contents

Contents............................................................................................................... i

List of Figures.................................................................................................ii -iii

Overview

Technical Speciﬁcations .................................................................................iv - vi

Control Options...................................................................................................vii

Block Diagram ...................................................................................................viii

Drive Dimensions ................................................................................................ ix

Chapter 1: Hardware

Safety Instructions.................................................................................... 1.1 - 1.2

Introduction.......................................................................................................1.3

Getting Started .................................................................................................1.4

Error Codes / Status LED..................................................................................1.5

RS 232 Communications ..................................................................................1.6

RS 485 Communications ......................................................................... 1.7 - 1.8

RS 422 Wiring............................................................................................1.9

RS 485 Wiring..........................................................................................1.10

Connecting AC Power.....................................................................................1.11

Connecting the Motor .....................................................................................1.12

Connecting the Encoder ...................................................................... 1.13 - 1.15

Connecting to In/Out 1....................................................................................1.16

Wiring Digital Inputs to In/Out 1 .................................................... 1.16 - 1.24

Wiring Digital Outputs to In/Out 1 ................................................. 1.25 - 1.26

Wiring Analog Signals to In/Out 1 ................................................. 1.27 - 1.28

Connecting to In/Out 2....................................................................................1.29

Wiring Digital Inputs to In/Out 2 .................................................... 1.29 - 1.32

Wiring Digital Outputs to In/Out 2 ................................................. 1.33 - 1.35

Wiring Analog Signals to In/Out 2 ................................................. 1.36 - 1.37

Regeneration Clamp ............................................................................ 1.38 - 1.39

Chapter 2: Recommended Motors

General Motor Data...........................................................................................2.1

Size 23 Motors..................................................................................................2.1

Size 34 Motors..................................................................................................2.2

Rec. Motor Dimensions............................................................................ 2.4 - 2.5

Chapter 3: Conﬁguration

STAC6 Conﬁgurator Software .................................................................. 3.1 - 3.3

Conﬁguring the Motor .............................................................................. 3.4 - 3.7

Input and Outputs.................................................................................. 3.8 - 3.10

Status Monitor ................................................................................................3.11

Chapter 4: Standard Accessories & Options

Breakout Box for In/Out Connectors .................................................................4.1

HUB [SiNET™ HUB 444] Multi-Axis Motion Hub with I/O ............................. 4.2 - 4.13

Chapter 5: Contacting Tolomatic....................................................................5.1

STAC6 Drives and Microstepping Motors: User Manual (Discontinued Product)

• ii •

Figure Description Page

1 DS[STAC6-S] and SI[STAC6-Si] Block Diagram ............................................................viii

2 DS[STAC6-S] and SI[STAC6-Si] Drive Mounting Dimensions ...........................................ix

1.1 STAC6 Applied Motion Products (Motor Control) ..........................................................1.3

1.2 STAC6 Error Codes....................................................................................................1.5

1.3 422 Wiring................................................................................................................1.9

1.4 485 Wiring..............................................................................................................1.10

1.5 AC Connection ........................................................................................................1.11

1.6 Motor Cable Wiring..................................................................................................1.12

1.7 HD 15 Pinouts.........................................................................................................1.13

1.8 Encoder Dialog........................................................................................................1.14

1.9 Connections In/Out 1...............................................................................................1.16

1.10 Step Source............................................................................................................1.17

1.11 Step Sink................................................................................................................1.17

1.12 Step Differential ......................................................................................................1.17

1.13 Connecting the Master Encoder ...............................................................................1.18

1.14 Connecting to PLC with Sourcing (PNP) Outputs........................................................1.18

1.15 PLC Sinking ............................................................................................................1.19

1.16 Mechanical Switches...............................................................................................1.19

1.17 Inside Inputs ...........................................................................................................1.20

1.18 INP Relay................................................................................................................1.21

1.19 Si1 .........................................................................................................................1.21

1.20 INP NPN In/Out 1 ....................................................................................................1.21

1.21 INP PNP In/Out 1.....................................................................................................1.21

1.22 STAC6 Limit Input Diagram......................................................................................1.22

1.23 Mechanical Limit Switch..........................................................................................1.23

1.24 NPN Limit Sensor....................................................................................................1.23

1.25 PNP Limit Sensor ....................................................................................................1.24

1.26 Connections In/Out 1...............................................................................................1.25

1.27 STAC6 Outputs .......................................................................................................1.25

1.28 STAC6 Outsinking ...................................................................................................1.26

1.29 STAC6 Relay...........................................................................................................1.26

1.30 Connections In/Out..................................................................................................1.27

1.31 Analog Single Ended Signal .....................................................................................1.27

1.32 Analog Pot..............................................................................................................1.28

1.33 In/Out 2 Connections...............................................................................................1.29

1.34 Inputs SI[STAC6-Si] ................................................................................................1.30

1.35 Switch In/Out 2.......................................................................................................1.31

1.36 Step Source............................................................................................................1.31

1.37 NPN Proximity In/Out 2............................................................................................1.32

1.38 PNP Proximity In/Out 2 ............................................................................................1.32

1.39 In/Out 2 Connections...............................................................................................1.33

1.40 Outputs SI[STAC6-Si] ..............................................................................................1.34

(Continued)

List of Figures

STAC6 Drives and Microstepping Motors: User Manual (Discontinued Product)

• iii •

Figure Description .....................................................................................Page

1.41 Sourcing Out...........................................................................................................1.34

1.42 SI[STAC6-Si] Out Sinking ........................................................................................1.35

1.43 SI[STAC6-Si] Relay .................................................................................................1.35

1.44 In/Out 2 Connections...............................................................................................1.36

1.45 Connecting an Analog Input to an Active Signal .........................................................1.37

1.46 STAC6 Internal Regen..............................................................................................1.38

1.47 Regen Resistor Connection ......................................................................................1.39

1.48 STAC6 External Regen.............................................................................................1.39

2.1 General Motor Data Table...........................................................................................2.1

2.2 Size 23 Motors..........................................................................................................2.1

2.3 HT 23 Torque Curves.................................................................................................2.2

2.4 Size 34 Motors..........................................................................................................2.2

2.5 HT 34 Torque Curves.................................................................................................2.3

2.6 HT23 Step Motors.....................................................................................................2.4

2.7 HT34 Step Motors.....................................................................................................2.5

3.1 STAC6 Conﬁgurator...................................................................................................3.1

3.2 Motor Dialog .............................................................................................................3.4

3.3 Add New Motor Dialog...............................................................................................3.6

3.4 Lead Angle Graph......................................................................................................3.7

3.5 I/O Dialog .................................................................................................................3.8

3.6 Status Monitor ........................................................................................................3.11

4.1 HUB [SiNET™ HUB 444] .........................................................................................4.2

4.2 HUB [SiNET™ HUB 444] Features............................................................................4.5

4.3 Connecting the HUB [SiNET™ HUB 444] ..................................................................4.6

4.4 Programmable Input Circuit Schematic Diagram..........................................................4.9

4.5 Connecting an Si Drive ............................................................................................4.10

4.6 Connecting an NPN Type Prox. Sensor ......................................................................4.10

4.7 Connecting an PNP Type Prox. Sensor ......................................................................4.10

4.8 Output Circuit Schematic Diagram............................................................................4.11

4.9 Sinking Output ........................................................................................................4.11

4.10 Sourcing Output......................................................................................................4.11

4.11 Driving a Relay........................................................................................................4.12

4.12 Mechanical Outline..................................................................................................4.12

4.13 Pin Assignments .....................................................................................................4.13

LIST OF FIGURES

STAC6 Drives and Microstepping Motors: User Manual (Discontinued Product)

• iv •

Technical Speciﬁcations

POWER AMPLIFIER SECTION: DS[STAC6-S], SI[STAC6-Si]

Ampliﬁer Type MOSFET, Dual H-Bridge, 4 Quadrant

Current Control 4 state PWM at 20 Khz

Output Current 0.5 — 6.0 in 0.01 amp increments

Power Supply Line Operated Nominal 120 VAC, 50/60 Hz

DC Bus Voltage Nominal 165 VDC

AC Input Voltage 94—135VAC, 50/60Hz

Protection Over-Voltage, Under voltage, Over-Temp, External Output Shorts (Phase

to-Phase, Phase-to-Ground), Inter Ampliﬁer Shorts

Idle Current Reduction Reduction to any integer percent of full-current after delay selectable in

milliseconds

POWER AMPLIFIER SECTION: DS[STAC6-S-220], SI[STAC6-Si-220]

Ampliﬁer Type MOSFET , Dual H-Bridge, 4 Quadrant

Current Control 4 state PWM at 20 Khz

Output Current 0.5 — 3.0 in 0.01 amp increments

Power Supply Line Operated Nominal 120-240 VAC, 50/60 Hz

DC Bus Voltage Nominal 330 VDC (at 240 VAC line input)

AC Input Voltage 94—265VAC, 50/60Hz

Protection Over-Voltage, Under voltage, Over-Temp, External

Output Shorts (Phase to-Phase, Phase-to-Ground),

Inter Ampliﬁer Shorts

Overview

STAC6 Drives and Microstepping Motors: User Manual (Discontinued Product)

• v •

OVERVIEW

Idle Current Reduction Reduction to any integer percent of full-current after delay

selectable in milliseconds.

CONTROLLER SECTION

Non-Volatile Storage Conﬁgurations are saved in FLASH memory

aboard the DSP.

Mode of Operation Step & Direction, CW/CCW, Encoder Following, Joystick:

Step & Direction Inputs Optically Isolated: 5-12 Volt. Minimum pulse width = 200 ns.

Maximum pulse frequency = 2 MHz

Speed Range Depends upon selected resolution. Ampliﬁer is

suitable for speeds up to 50 rps

Analog Input Range Software selectable: 0-5V, ±5V, 0-10V, ±10V

Analog Input Resolution 12 bits (with ±10V signal range)

11 bits (with 0-10V or ±5V signal range)

10 bits (with 0-5V signal range)

Microstep Resolution Software selectable from 200 to 50800 steps/rev in

increments of 200 steps/rev

Anti-Resonance Raises the system damping ratio to —0.3-to-0.5.

Eliminates midrange instability and allows stable

operation to 50 rps.

Waveform Allows for ﬁne adjustment of phase current waveform harmonic

content to reduce low-speed torque ripple in the range

0.25 to 1.5 rps

Auto Setup Measures motor parameters and conﬁgures tuning and observer

parameters

Self Test Identiﬁes the presence of an encoder and determines resolution.

Diagnoses miswires and open phases

STAC6 Drives and Microstepping Motors: User Manual (Discontinued Product)

• vi •

OVERVIEW

Microstep Emulation Performs low resolution stepping by synthesizing coarse steps from ﬁne

microsteps.

Dynamic Smoothing Software conﬁgurable ﬁltering (4th order, elliptic) for

use in removing spectral components from the

command sequence. Reduces jerk and excitation of

extraneous system resonances.

Encoder Option Employs encoder (hi or low resolution) to provide stall

detection, stall prevention and perform position

veriﬁcation and maintenance.

Interface RS-232 and RS-485 Bus

Encoder Differential line receivers suitable for 200 KHz or greater

Ambient Temperature 0 to 55°C (32 - 158°F)

Humidity 90% non-condensing

STAC6 Drives and Microstepping Motors: User Manual (Discontinued Product)

• vii •

OVERVIEW

Motion Control Options

DS[ ]

• Basic drive; analog, digital and host command input.

• Pulse & direction with electronic gearing.

• Encoder following with electronic gearing.

• CW and CCW pulse.

• Multi-axis Si programming if used with a HUB [SiNET™ HUB 444].

• "Host" commands for real time control from a host PC or

PLC using RS-232 or RS-485 serial communication.

SI[ ]

• SI[STAC6-Si] can be programmed for stand-alone operation with

the easy to use Si Programmer™ Windows software with integrated

tuning (software and programming cable included).

• Graphical point and click format combines motion, I/O,

and operator interface functionality for simple machine

sequencing.

• Easily integrates with other devices on the machine

(Sensors, PLCs etc).

STAC6 Drives and Microstepping Motors: User Manual (Discontinued Product)

• viii •

OVERVIEW

Figure 1: DS[STAC6-S], SI[STAC6-Si] Block Diagram

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