Tolomatic STAC6 Bedienungsanleitung
STAC6 Drives and
Microstepping Motors
LINEAR SOLUTIONS MADE EASY
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
© 2022 Tolomatic
Tolomatic, Incorporated. All rights reserved.
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
Inhaltsverzeichnis
