Faster Moves and Settling Time
The speed of moves within a machine to a given accuracy is affected by three variables: (1) the power available at the motor shaft (or forcer), (2) the control bandwidth and fidelity and, (3) the smoothness of the commanded profile. The vector closed-loop torque control provides the absolute maximum power at the motor shaft from the input power (voltage and current) available regardless of speed or the torque required. WorldServo’s hi-efficiency, rare earth motors further enhance the power available at the shaft.
In addition, the advanced compensator features listed below facilitate the superior control fidelity of SST servo drives. This fidelity is further enhanced by the lowest Total Servo Phase Delay (TSPD) on the market. This provides you with state-of-the-art position (and velocity) tracking and end-point position settling in your application.
The "smoothness" of the command profile provided by SST servo drive’s Regressive Auto Spline (RAS) feature actively limits abrupt torque/force demands during the move. By limiting these abrupt changes, excitation of the mechanics is reduced which subsequently reduces the settling time.

 Adaptive Inertia Matching Technology (IMT)

Excellent Tracking Accuracy
For applications such as CNC machinery, automatic dispensing equipment, or machines using "soft" cams, tracking accuracy is of utmost importance. Tracking accuracy and disturbance rejection is primarily a product of control bandwidth and fidelity.
The SST servo drive’s advanced PIV compensator, usable feed-forward gains, low TSPD, and vector closed-loop torque control provide excellent "small signal" response (greater than 300 Hz velocity bandwidth response to small disturbances). The SST servo drive’s internal algorithms use complete information about all of the control loops—torque, velocity, and position to "synergistically" limit the effect of large scale disturbances. ("Large" meaning requiring large currents and/or voltages to correct).
Of specific note in this regard is the Adaptive Inertial Matching Technology (IMT). The IMT uses neural/fuzzy adaptive control techniques to minimize overshoot due to large disturbances while simultaneously maintaining high stiffness. These and other features work to make the tracking accuracy of SST servo drives superior to competing positioning drives or controller board solutions.

Increased Throughput: Tight Machine Synchronization
In a typical automated machine, the throughput is limited by how fast moves can be executed reliably to a desired precision and how fast the completion of the moves can be detected. The advanced PIV compensator, low TSPD, vector closed-loop torque control and Adaptive Inertia Matching Technology (IMT) features listed below facilitate the superior system bandwidth and fidelity of SST servo drives to allow you to make fast precise moves for improved throughput.
The Real-time Monitor Port built into the SST servo drives provides a rapid means to adjust your system for optimum performance. In addition, the Real-time Monitor Port also gives you an independent window into your machine’s timing, showing you how moves relate to other machine events. This feedback allows you to highlight delays caused by the moves themselves, software overhead, mechanical propagation and/or sensor latency. This insight can help you increase throughput by showing you what to work on without having to rely on the control software to report these delays (which can be error prone).
When absolute certainty of move completion is required to trigger other machine operations, the MoveDone output provides a convenient, reliable interlock signal. Typically this can increase throughput substantially because extra settling time delay margin can be removed from your control software. The SST servo drive will robustly signal that the move is complete to your pre-configured specifications with sub-millisecond accuracy. Because this signal is closed-loop it will be robust even in the presence of mechanical wear, power "brown-outs", and external disturbances during the move.

Precision Mechanical Clamping
If your application needs to control the torque at the end of a move for clamping purposes, the SST servo drives can provide this mode automatically using one of the features listed below. These features operate seamlessly and eliminate considerable custom programming and testing when compared to competing servo solutions.

Hi-Performance Drop-in Replacement for Stepper Motors
In virtually all applications, you can drop in an SSt servo system in place of a stepper motor system and quickly reap the benefits of increased machine throughput, improved machine reliability and smoother/quieter motion.
One of the key design objectives for the SST servo systems was to make them truly a drop-in replacement for stepper motors. Features such as Hard Stop Homing allow simple homing sequences that previously could only be done with a stepper motor. The Regressive Auto Spline (RAS) feature allows low resolution stepper motor controllers the ability to smoothly control the SST servo systems even at high speeds. The MoveDone Torque Fold-Back feature allows the SST servo drives to drop into existing stepper motor applications with inexpensive mechanics that cause other servo systems to have problems.
Combined with mechanical and electrical compatibility, these features make the drop-in replacement of stepper motors easy and productive.

Works well with low cost controls: micro-PLCs, PC ''soft'' indexers, etc.
You can achieve state-of-the art servo control using an inexpensive stepper indexer as your control solution. Even without a high-speed indexer you will get very smooth, jerk-limited motion and high speed at the same time using the Regressive Auto Spline feature of SST servo drives. In addition, the MoveDone output, Limit switch and/or Hard Stop Homing features, and torque foldback modes virtually eliminate the need for encoder inputs on the controller. This allows the use of existing low-speed indexers, thus protecting your software investment in stepper motor upgrade applications. In new applications, high performance can be easily attained by the use of simple, low cost PLC pulse outputs, PC parallel port "soft" indexers (see the Zero-cost Controller Capability section), etc.

Reduced Material and Assembly Costs
Our design, from the ground up, guarantees value-priced digital drives and motors. The single chip design of the SST servo drive leads to lower costs for you. Complex operations such as sinewave commutation, encoder and input counters, vector PWM modulation, etc. (normally done by cost-increasing hardware) are accomplished by the SST servo drive's DSP ASIC (Digital Signal Processor/Application Specific Integrated Circuit) This ASIC is a RISC (Reduced Instruction Set) processor, with custom peripherals, optimized for the real-time and non-linear computing needs of high-performance servo control. This ASIC, in combination with rare-earth materials and highly automated manufacturing techniques used to construct the SST servo motors, gives you a fundamental way to lower the cost of servo content in your machines.
Not only are SST servo systems value-priced, their feature set actually allows you to reduce other costs within your machines. For example, the use of the Adaptive Inertia Matching Technology (IMT) feature allows you to use less expensive, smaller motors and/or eliminate the cost of gearboxes, belts, etc. in many applications. The ultra-smooth, double jerk-limited moves produced by the Regressive Auto Spline (RAS) feature allows the use of inexpensive mechanics and controllers. Resonance control can also be used to allow the use of less expensive mechanics that may be more compliant.
To further reduce costs, sensors and alignment procedures can be eliminated by the use of the SST servo drive’s Hard Stop Homing feature, the Limit Switch Homing feature, the MoveDone Torque Fold-back, and/or the MoveDone output signal.
Assembly costs are lowered by the feature of QuietDesign™ reduced-EMI. QuietDesign™ eliminates the need to purchase and install shielding clamps, EMI filters, ferrite slugs, secondary enclosures that are required with other servo systems to reduce electromagnetic interference in your system.

Reduced Wear on Mechanics
The exceedingly smooth control of SST servo drives minimizes the wear on your mechanics. By eliminating abrupt torque pulsations, the sinewave commutation and the jerk limiting provided by the Regressive Auto Spline (RAS) feature, the hammering a servo axis might otherwise take can be drastically reduced.
Two torque/force fold-back modes also allow you to easily control the torque/force used during critical times to help increase the life of your mechanics.

Easy Electrical Integration
Every effort has been made to make the installation of SST servo drives in your machine an easy, effortless task. Of particular merit is the low electrical noise generated by the unit (see the QuietDesign™ feature listed below.) The OEM style connectors with their positive latches prov ide reliable, 4-point gas tight connections for all input and output signals at low cost.
No external "logic" power is required, in fact, SST servo drives provide a courtesy 5 volt supply for powering your optical limit switches and opto-isolators on your control interface. Multiple ground and +5V pins on the connectors, and limit switch and encoder signal "pass-thru’s" to the controller connector eliminate the need for splices within the cabling. Main power daisy-chain connectors minimize wiring complexity and costs within your machine.
Mounting of the unit is accommodated on both major faces by threaded inserts, which also double as the protective grounding method. No shield clamps, conduit, ferrite slugs or external filtering are required for proper operation or EMI compliance. Safety requirements are met without the need for extra enclosures or guards.

Easy, Repeatable Setup During Machine Manufacture
The all-digital nature of SST servo drives is a major benefit for OEM machine manufacturers who want to eliminate variability in production. Once a configuration is defined for a particular axis, it can be downloaded rapidly during production into each axis for repeatable performance.
The inherent robustness of the SST’s advanced servo compensator removes the need to tweak the settings for normal manufacturing variability in mechanics. No motor or drive adjustments are required during manufacture: no potentiometers need to be tweaked, no jumpers need to be inserted or DIP switches to be set. In addition, your customers’ technicians will not be able to "improve" the servo configuration/tuning without the QuickSet™ software, removing yet another possible opportunity for failure at your customers’ site.

System Reliability
The reliability of your machine is affected by two factors: (1) the cumulative reliability of all the components used to build the machine and, (2) the often overlooked reliability of the interfaces between components. SST servo drives have been designed to offer high reliability in both these regards. First, the internal hardware has been designed with reliability in mind. That’s why all SST servo drives come with a three year standard warranty—the longest in the industry.
Even more importantly, the features of SST servo drives work to improve your machine’s total reliability by improving the "interface reliability" of your system. As examples:
  1. True RMS torque protection makes it virtually impossible to burn up a motor, despite cable failures, excessive demands from the controller or mechanical problems (excessive  friction from wear, etc.).
  2. SST servo drives will flag and shutdown if faulty motor cables are detected (if a faulty encoder sequence or a commutation sensor wiring fault is found).
  3. Electrical connections are all made with highly reliable, gas-tight, 4-point contact crimp-style terminals.
  4. All inputs are filtered for noise rejection, the command input and the encoder feedback are also digitally filtered.
  5. Electrical isolation between the control signals and the power signals (input power and  motor phases) prevents ground loop induced noise in your machine.
  6. Encoder based commutation prevents system runaway—loss of any encoder signal stops the system dead.
  7. If your system is carrying vertical or large inertial loads, complete "failsafe"  brake operation may be added by connecting just two solid-state relays to an SSt servo drive.
  8. MoveDone Torque Fold-back prevents motor overheating when driving loads with high stiction.
  9. QuietDesign™ prevents troublesome electromagnetic noise from being generated by the SST servo Drive.
  10. The ability of the SST servo drive to run linear motors can reduce the likelihood of mechanical failure by drastically reducing the number of moving parts.

Reduced Acoustical Noise
Several features within SST servo drives combine to provide you with the quietest running servo system on the market. Because the input to an SSt servo drive is digital, the effect of electrical noise, which can exacerbate servo hunting (jitter) in a servo using analog input drives, is eliminated.
Anti-hunt™ and resonance control allow the use of optimum (high) gains while quelling the normally resultant noise. Sinewave commutation eliminates noise resulting from abrupt motor commutation.
Jerk limiting of profiles with the Regressive Auto Spline (RAS) feature reduces the "bangs" normally heard at the beginning and end of moves.
When the SSt servo drives are used with linear motors, the high speed feedback input allows use of sub-micron scales which reduce quantization induced noise.

Cooler Running Motors
The SST’s vector closed-loop torque control uses an internal servo loop to minimize heating in the motor, regardless of speed or the torque/force command.
The combined effect of the Regressive Auto Spline, Usable feed-forward gains and MoveDone Torque Fold-back typically reduce the required RMS torque/force required in an application by between 20% to 40% by improving the "finesse" of the motion, reducing the temperature rise by a corresponding amount.
The inherent high efficiency of the rare earth brushless motors that are typically bundled at a discount with SST servo systems further minimizes motor heating.

Simplified Control Software Development
By using one or more of the features listed below, your software development time can be reduced. This is because SST servo drives will facilitate automatic functions such as applying an accurate force to clamp objects, or accurately finding a home position. Using SST features, the need for certain software control sequences, like end-of-move verification or actuating a brake, can be eliminated. And the SST can notify your code about events automatically. For example, a move is complete, a hard stop has been hit or the tracking accuracy has exceeded some limit.
As an example, by using the features listed below, you could eliminate code that reads limit switches, reads and processes encoder data, qualifies the end of move, and disables drives at the end of moves (e.g., for allowing pin registration).
As a debugging aid during development, the Real-time Monitor Port also gives you an independent window into your machine’s timing, showing you how moves relate to software events. This feedback allows you to highlight inappropriate or sluggish behavior of the control software without having to write any special debug code.

Enhanced Design Flexibility
A key "meta-feature" of SST servo drives is their versatility. This enhances your design flexibility by limiting constraints that other servo systems have. SST servo drives can drive virtually any three-phase brushless motor with ease: linear or rotary. They can also drive brush-type motors and other single-phase devices such as voice coils and galvanometers. Setup and configuration for non-WorldServo motors is done simply by changing parameters using the QuickSet™ configuration software.
Unlike other servos that are intolerant of all but conservatively designed mechanics, SST servo systems can operate well with less than ideal mechanics: compliant belts, large inertia mismatches, a high degree of stiction, etc. So if your application does not require rapid accelerations you can use Adaptive Inertia Matching Technology to facilitate using a small motor. If extreme accuracy at the load is not a priority, you can use a belt drive with plain bearings and use MoveDone torque fold-back to eliminate problems. If you need to use a flexible shaft to bend around a corner, go ahead, just take advantage of the SST servo drive’s resonance control. All of these above design choices could limit your ultimate performance, but you won’t need to avoid them just to make the servo operate properly.

Reduced Motor Size
Two major methods contribute to reduced motor size requirements in your application: (1) the efficiency of power transfer within the motor and, (2) the finesse with which the power is used to control the load. SST servo drives excel in both of these categories.
The inherent high efficiency of the rare earth brushless motors bundled with SST servo drives is complemented by the vector closed-loop torque control. This torque control method actually uses an internal servo loop to minimize losses in the motor, regardless of speed or the torque/force command.
The Regressive Auto Spline (RAS) feature and usable feed-forward gains reduce the required RMS torque/force required in an application by between 20% to 40% by improving the "finesse" of the motion. This finesse effectively increasing the usable output of the motor for a given size when compared to competing motors/drives with identical ratings.
The Adaptive Inertial Matching Technology (IMT) feature drastically increases the robustness of the control when handling large inertial loads. This frees you significantly from inertia matching concerns—so when you don’t need rapid acceleration you are often free to use a small motor with a large load.
True RMS torque/force protection assuredly prevents motor burnout while providing an accurate trip point for protection. (The trip point accurately mimics the wire temperature limit inside the motor). When compared to other inaccurate torque protection schemes that are prone to both false tripping and motor destruction, your effective usable continuous torque for a given motor is increased. Because you can set the RMS torque limit accurately with an SSt servo drive, you can often use a smaller motor without danger of overheating.

 Adaptive Inertia Matching Technology (IMT)

Easy System Debug/Configuration
A hallmark capability of SST servo drives is its suite of debugging tools. QuickSet™ software, the Real-time Monitor Port, and other features provide for superior diagnostics, both in the engineering lab and in the field.
QuickSet™ is a Windows-based configuration program that allows you to set up all configuration parameters within an SSt servo system as well as store and retrieve configurations from files. QuickSet™ has been developed specifically with an eye toward speeding your development cycle and reducing use errors. Accelerator keys, pulse-stretching display indicators, and numerous "one-click" features like the A/B tuning configuration swap button, speed your development process. Events and variables are displayed on QuickSet’s™ screens including the RMS motor load, amplifier saturation, actual position and velocity, limit switch actuation, move status, etc. Extensive, context-driven help within QuickSet™ helps you get the most out of an SSt servo system.
The Real-time Monitor Port is a "soft probe" system that can display, in real time, any of the full suite of internal variables (tracking accuracy, velocity, actual torque, etc.) at a wide range of user-definable scale factors.
To aid you in measuring your move times, the MoveDone signal will show you exactly how long a move takes including settling to your criteria.
To help make your testing complete, the SST servo drives have a built-in step-response signal generator that you can use to simulate the effect of worst-case disturbances in your machine. This signal generator can also be used with the Real-time Monitor Port to help measure key parameters like reflected inertia and friction.
Using QuickSet™, the Real-time Monitor Port and the built in signal generator, you can manually tune an axis to a high degree of robustness in just a few moments.
In short, the SST servo system excels in not only configuring and tuning the servo system, but also debugging your machine.