Applied Motion STAC6-C - Manual (Page 23)

23
STAC6 Hardware manual 920-0029 Rev. C
5/2/2012
Encoder Feedback Options
The following encoder feedback options are configured and enabled using the STAC Configurator™ soft-
ware.
Stall Detection continuously compares the actual motor position, as reported by the encoder, against the
theoretical motor position. If the motor lag reaches 7.2 mechanical degrees behind the target position, a
position fault occurs. This includes a motor at rest being driven out of position by an external force.
Stall Prevention can prevent many stalls before they occur. The STAC6 achieves this by using the encoder to
monitor the lead angle of the motor, a measure of torque utilization. If the motion profile begins to demand
more torque than the motor can produce, the velocity is automatically reduced before the motor stalls. To
engage stall prevention, simply check the Stall Prevention box in the STAC Configurator™ software and
enter the maximum torque utilization you want to allow.
In the event that the motor cannot move at all, such as hitting a hard stop, you may want to fault the drive
after a given amount of time by checking the Hard Stop box and entering a time limit.