SSt-6000-R

DSP - B as ed D i g i t al S er v o D ri v e

The SSt-6000-R is the latest in Teknic’s line of high bandwidth, digital vector servo
drives. Built on the integration of position, velocity, and torque loops pioneered in
earlier designs, this unit provides improved performance, enhanced diagnostics and
even better machine reliability.
For years, Teknic has proven the benefits of tightly integrating servo compensation
with torque control under a dedicated DSP per axis. The latest in a line of high
performance drives, the SSt-R series continues to improve the state of the art by
utilizing this topology in such a way to allow all information to be shared in real time so
all system functions cooperate in any situation. For example, if the torque loop senses
voltage saturation, this information is instantly passed upstream to the servo
compensator and the system delivers a coordinated response, maintaining elegant load
control. The result is performance superior to other digital servo drives or analog
torque amplifiers. OEMs will realize tighter tracking, faster settling, and smoother
motion—all of which yield superior machine throughput and reliability.
The SSt-6000-R improves on previous SSt versions by providing enhanced diagnostics
which significantly reduce system engineering, integration and troubleshooting time.
Mechanical or electrical troubles, as well as servo system configurations, can be easily
diagnosed with the built-in oscilloscope. Other diagnostic modes reduce
troubleshooting steps, quickly getting machines up and running with a minimum of
effort and complexity.

CUTTING EDGE SERVO CONTROL FLEXIBLE, LOW EFFORT INTEGRATION

The SSt-6000-R’s servo performance is the product of decades The SSt has OEM friendly features designed to make
of algorithm refinement capitalizing on a truly unique design upgrading performance quick and painless.
architecture. Drop-in Controller Compatibility
Superior Tracking Accuracy R-series servo drives accept analog torque, analog velocity and
Multi-derivative, state feedforward gains significantly improve digital trajectory commands that are compatible with most
tracking performance and do not create the audible noise or servo controllers or stepper indexers. This provides a simple
torque chatter of traditional implementations. performance upgrade path for servos and allows for drop-in
Zero Settling Time stepper replacement with little or no software changes.
For demanding point to point applications, the advanced Universal Motor Interface
technology of the SSt-R provides zero settling time.¹ SSt servo drives control many types of motors (such as rotary
Ultra Smooth Motion and linear brushless servomotors, brush motors, galvos or
voice coils, etc.) from virtually any manufacturer without
Teknic’s proprietary Regressive AutoSpline™ (RAS)
electrical restriction on the motor.
technology produces ultra-smooth trajectories. The profiles
are jerk and jerk-derivative limited, which reduces shock, Development/Assembly Feature Examples
vibration, noise, and wear—even in high speed machines. • Robust PIV compensator eliminates production tuning.
Adaptive Tuning • With QuickSet™ software, the SSt-6000-R provides a
The SSt utilizes an adaptive control algorithm (IMT) based on wealth of diagnostics to pinpoint failures due to assembly
neural fuzzy logic. The IMT virtually eliminates any inertia errors and allow for quick troubleshooting.
matching concerns and allows for large and varying loads. • Simplified blink codes easily identify the origin and type
of problems, reducing overall troubleshooting time.
Anti-Hunt™
• QuietDesign™ EMI reduction system eliminates shield
The SST-6000-R uses small-signal, sliding-mode, automatic
clamps, ferrite slugs and other components required to
gain modulation to eliminate hunting even with extreme gains.
meet regulatory requirements such as CE.
Axes will be perfectly still and have no loss of accuracy.
• OEM friendly cabling is robust, mass producible and
Ease of Performance testable. With CAD drawings available at no charge, they
Some systems are high performance and others easy to use; are also economical to build.
few are both. The SSt’s cascading PIV control structure • Automatic digital filtering on Enable, Mode, limit and
provides cutting edge performance with ease of use. Even the commutation sensor inputs improves signal reliability.
sophisticated RAS, IMT, and Anti-Hunt features are easy to
set up.

1 ≤1 msec (assuming mechanical system bandwidth ≥ required move bandwidth)

TEKNIC, INC (585)784-7454 WWW.TEKNIC.COM VERSION 1.1

SSt-6000-R 2

ADDITIONAL SPECIFICATIONS
CAPABILITIES…
GENERAL Dimensions, in (mm): 8.93 (227) x 5.56 (141) x 3.15 (80).
Software Scope
Weight, oz (g): 71.8 (2035).
Now engineers and technicians can
view, configure and troubleshoot ENVIRONMENTAL Temperature: 0-40 Degrees C.
the entire motion system using Humidity: 0-95%, non-condensing.
nothing but QuickSet software. A
built-in oscilloscope enables quick COMPLIANCE Electrical safety: EN 61010, UL508C.
troubleshooting by providing EMI: EN 50081-2, EN 50082-2.
detailed information about servo
drive performance. Advanced Machine safety: EN 954-1, with proper power control.
triggering modes allow you to OUTPUT POWER Current: 23 Amps Peak (3 seconds).
capture data related to the start or 9 Amps RMS vertical on metal surface.
finish of a move or even a safety 12 Amps RMS with mounted fan cooling.
shutdown event. View any monitor PWM ripple frequency: 28kHz, center balance vector type.
port variable (tracking error, actual
torque, etc.) alongside specific COMPENSATOR TSPD (Total Servo Phase Delay): 35 µS.
move status (in-range, move done, Position/Velocity control: Enhanced PIV with proprietary velocity,
etc.), drive status (shutdowns, acceleration and jerk estimators, Inertia
limits, saturation, etc.) or Mode line Matching Technology (IMT), Regressive
status (torque foldback, gear shift, AutoSpline (RAS) and Anti-Hunt. Provides
etc.). This easy-to-use tool provides velocity, acceleration, jerk, and friction feed-
an effective method for system forward gains.
evaluation, configuration and Synchronous vector with DQ decoupling,
Torque control:
diagnosis. SmartSaturation, and auto calibration.
Electronic Gear Shift
ENCODER Interface: Single-ended or differential, user selectable.
A feature developed for OEMs that
require high speed motion in Max count rate: 15MHz.
addition to extremely high accuracy Features: Bad sequence detection, digital filtering.
positioning. This feature provides a
MOTOR COMPATIBILITY Requirements: Any permanent magnet motor of any type.
single input to switch between high
speed/low resolution and low LIMIT INPUTS Interface: TTL with 1kΩ pull-up; digitally filtered.
speed/high resolution motion. Now
OEMs can provide the best of both HALL SENSOR INPUTS Specifications: Optically isolated; 1kΩ pull-up to +5V.
worlds even with controller step Features: Digitally filtered; used for setting torque
output rate limitations. vector upon initialization only; drive can run
Shutdown History in hall-less mode.
Quickly discover the root cause of DEDICATED INTERFACE Outputs: Drive ready; move done, in-range, all-
machine problems: A historical INPUTS/OUTPUTS systems-go; encoder and limit pass-through,
view of recent fault activity is +5V.
captured which allows engineers
Inputs: Enable motor; Mode (engage/disengage
and technicians to retrace a series of
safety shutdowns in a machine. drive features, such as torque foldback,
hardstop homing, electronic gear shift etc.);
Low Total Servo Phase Delay Digital pulse and direction; ±10V torque,
The total time from the moment ±10V velocity, encoder, limits, etc.
the position feedback is read to the REAL-TIME MONITOR Features: Configurable filtering, sync pulse at move
time torque is updated at the motor PORT start, wide scaling/high zoom, non-volatile.
is fully deterministic and the fastest
in the industry (35µs). Output variables: Position error, actual velocity, commanded
velocity, velocity error, commanded torque,
Extremely Fast Torque actual torque, SGN velocity, SGN position,
Response Time measured position, jerk commanded,
Sinewave commutation with vector acceleration commanded, max phase voltage.
feed-forward and DQ decoupling
PROTECTION & SAFETY Drive protection: Short circuit (phase-to-phase, phase-to-
provides near-zero torque response
time at any speed. FUNCTIONS ground), over temp, over voltage, over
current, protected for open windings, fused.
Elimination of Motor Burn-out
Motor protection: True RMS torque limiting, automatic speed
Motor burn-out is eliminated using
limit, motor jam detection, over temp.
true RMS limiting and no added
wiring or sensors. It is much faster Mechanical safeguards: Hardstop detection, limit switch servoing,
and more effective than I²t or adjustable tracking error limits and shutdown
thermostats. thresholds, adjustable torque and speed limit.
Hardstop and Limit Homing ± 10V ANALOG MODE Format: Differential input, ±10V range, >10kΩ
Upgrading from stepper motors impedance, 10% of peak per volt scale.
may require you to initialize axes INPUT SUPPLY Input voltage: 90-240 VAC (50-60Hz) or 128-340 VDC.
without using home sensors. The
servo drive can accurately detect a COUNTRY OF ORIGIN Manufactured in: USA.
hardstop and then automatically
capture its position and ramp down
torque; homing without sensors.

TEKNIC, INC (585)784-7454 WWW.TEKNIC.COM VERSION 1.1