Applied Motion Products STAC6 Series Hardware Manual
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Applied Motion Products STAC6 Series Hardware Manual

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STAC6
STAC6-S
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STAC6-Q
•
STAC6-QE
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STAC6-Si
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STAC6-C
•
920-0029 Rev. B
11/19/2010
STAC6-S-220
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STAC6-Q-220
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STAC6-QE-220
•
STAC6-Si-220
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STAC6-C-220
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Summary of Contents for Applied Motion Products STAC6 Series

  • Page 1 STAC6 STAC6-S STAC6-S-220 • • STAC6-Q STAC6-Q-220 • • STAC6-QE STAC6-QE-220 • • STAC6-Si STAC6-Si-220 • • STAC6-C STAC6-C-220 • • 920-0029 Rev. B 11/19/2010...

  • Page 2: Table Of Contents

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Contents Safety Instructions..........................4 Over-Current Protection ........................5 Block Diagrams ..........................6 Motion Control Options ........................9 Getting Started ..........................11 Connecting to the PC using RS-232 ....................12 Connecting to the PC using RS-485 ....................13 Connecting to the CANopen Network .....................16 Connecting AC Power ........................18 Connecting the Motor ........................19 Connecting Other Motors .......................20...
  • Page 3 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 (This page intentionally left blank)

  • Page 4: Safety Instructions

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Safety Instructions Only qualified personnel are permitted to transport, assemble, commission, and maintain this equipment. Properly qualified personnel are persons who are familiar with the trans- port, assembly, installation, commissioning and operation of motors, and who have the appropriate qualifications for their jobs.

  • Page 5: Over-Current Protection

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 • Never pull out or plug in the product while the system is live. There is a danger of electric arcing and danger to persons and contacts. • After powering down the product, wait at least ten minutes before touching live sections of the equipment or undoing connections (e.g., contacts, screwed connections).

  • Page 6: Block Diagrams

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Block Diagrams Block Diagram - STAC6-Si, STAC6-Si-220 160 VDC** 120 VAC* Power Supply Regeneration Clamp Circuit X1/STEP Internal Status Logic X2/DIR Supply X3/ENABLE MOSFET X4/ALMRST motor Optical Power X6/CCWLIM Isolation Amplifier X7/CWLIM Digital Y1/FAULT Signal Y2/MOTION...
  • Page 7 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Block Diagram - STAC6-S, STAC6-Q, STAC6-QE, STAC6-S-220, STAC6-Q-220, STAC6- QE-220 160 VDC** 120 VAC* Power Supply Regeneration Clamp Circuit Internal X1/STEP Status Logic X2/DIR Supply X3/ENABLE MOSFET X4/ALMRST motor Optical Power X6/CCWLIM Isolation Amplifier X7/CWLIM Digital...
  • Page 8 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Block Diagram - STAC6-C and STAC6-C-220 160 VDC** 120 VAC* Power Supply Regeneration Clamp Circuit Internal X1/STEP Status Logic X2/DIR Supply X3/ENABLE MOSFET X4/ALMRST motor Optical Power X6/CCWLIM Isolation Amplifier X7/CWLIM Digital Y1/FAULT Signal Y2/MOTION Processor...

  • Page 9: Motion Control Options

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Motion Control Options STAC6-S Control Options Basic drive: Analog, digital and host command input. • Pulse & Direction, A/B Quadrature, CW/CCW Pulse. • Velocity (Oscillator) Mode. • Host command execution of SCL commands for control from a host PC or PLC using RS-232 or RS- 485 serial communication.
  • Page 10 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 STAC6-C Control Options CANopen Node. • Compliant to CANopen standards DS301 • Supports the following DSP402 operating modes: • Profile Position Mode • Profile Velocity Mode • Homing Mode • Additionally, supports stand-alone Q Programming with CANopen execution...

  • Page 11: Getting Started

    11/19/2010 Getting Started This manual describes the use of STAC6 series of step motor drives. What you need to know and what you must have depends on the drive model. For all models, you’ll need the following: • 120VAC or 220VAC single phase power.

  • Page 12: Connecting To The Pc Using Rs-232

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting to the PC using RS-232 • Locate your computer within 8 feet of the drive. • Your drive was shipped with a communication cable. Plug the large end into the serial port of your PC and the small end into the PC/MMI jack on your drive.

  • Page 13: Connecting To The Pc Using Rs-485

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting to the PC using RS-485 RS-485 allows you to connect more than one drive to a single host PC, PLC, HMI or other computer. It also allows the communication cable to be long (more than 1000 feet). But the device to which you connect must have an RS-422 or RS-485 port.
  • Page 14 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 STAC6 drives include a “transmit delay” parameter that can be adjusted to compensate for a host that is slow to disable its transmitter. This adjustment can be made over the network using the TD command, or it can be set using the STAC Configurator™...
  • Page 15 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 USB-COMi-M Switch Settings 4 Wire 2 Wire RS-232 RS-485 RS-485 2 3 4 2 3 4 2 3 4 Note: Prolific-based USB serial adapters do not work with Vista 64 or Windows 7 64 bit operating systems. Suggested adapters are Byterunner USB-COMi-M or Byterunner USB-COM-CBL.

  • Page 16: Connecting To The Canopen Network

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting to the CANopen Network CAN_L SHLD CAN_H CANopen Connector The CANopen connector is a 4-pin spring lock type connector. The CANopen network should be connected in a daisy-chain fashion, with a 120 ohm terminating resistor at each end of the network. Please see the CANopen manual for more information.
  • Page 17 CANopen network. The table below shows the various bitrates supported by Applied Motion Products, and their corresponding switch settings. Please note, any changes to the bitrate require either a powercycle or a CANopen reset command to take effect.

  • Page 18: Connecting Ac Power

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting AC Power Using the connector supplied connect to the AC supply per the diagram below. Use 16 AWG wire for Line (L) and Neutral (N). Use 14 AWG for Earth Ground (G). Care should always be taken when working with high voltages.

  • Page 19: Connecting The Motor

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting the Motor Never connect or disconnect the motor while the power is on. Note: it is highly recommended that you use a motor with a shielded cable with the STAC6. The recommended Applied Motion motors for the STAC6 include shielded cables. See the Recommended Motors section for a list of part numbers.

  • Page 20: Connecting Other Motors

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting Other Motors We can’t stress enough the wisdom in using one of the recommended motors. We’re not just trying to make money here, we want your application to be successful and the odds of that are highest when you have a high quality motor whose torque, rotor inertia and harmonic waveform content are precisely known.
  • Page 21 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Eight lead motors can also be connected in two ways: series and parallel. As with six lead motors, series operation gives you less torque at high speeds, but may result in lower motor losses and less heating. In series operation, the motor should be operated at 30% less than the unipolar rated current.

  • Page 22: Connecting An Encoder

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting an Encoder The motors recommended for use with STAC6 drives are available with rear-shaft mounted encoders. Note: remember to always order a double-shaft motor if you need an encoder option. The mating cables available for these encoders come with an HD-15 connector on one end that connects directly to the Encoder connec- tor on the STAC6, and a mating connector on the other end that connects directly to the encoder.
  • Page 23 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 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.

  • Page 24: Wiring Inputs And Outputs

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Wiring Inputs and Outputs The STAC6 drives come with a number of inputs and outputs for interfacing to external control hardware: • High speed digital inputs for step & direction commands or encoder following, 5V logic. These inputs, X1/STEP and X2/DIR, are available on all models.

  • Page 25: Connecting Digital Inputs On The In/Out1 Connector

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting Digital Inputs on the IN/OUT1 connector High Speed Digital Inputs All STAC6 drives include two high speed inputs called STEP and inside drive DIR. They accept 5 volt single-ended or differential signals, up to 2 MHz.
  • Page 26 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 DIR+ DIR+ Indexer STAC 6 DIR- DIR- with Differential IN/OUT 1 STEP+ STEP+ Outputs STEP- STEP- Connecting to Indexer with Differential Outputs (Many high speed indexers have differential outputs) STEP+ STEP- Master DIR+ Encoder DIR- Wiring for Encoder Following...
  • Page 27 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Using High Speed Inputs with 12-24 Volt Signals Most PLCs don’t use 5 volt logic. You can connect signal levels as high as 24 volts to the STEP and DIR inputs if you add external dropping resistors, as shown below. For 12 volt logic, add 820 ohm, 1/4 watt resistors For 24 volt logic, use 2200 ohm, 1/4 watt resistors WARNING: The maximum voltage that can be applied directly to a high speed input terminal...
  • Page 28 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 DIR+ direction switch +24VDC STAC6 DIR- Power 2200 Drive Supply run/stop switch STEP+ 2200 (closed=run) STEP- Using Mechanical Switches at 24 Volts. Standard Digital Inputs As we mentioned above, the high speed STEP and DIR inputs are configured for five volt logic. All other digital inputs are designed for operation between 12 and 24 volts DC.
  • Page 29 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 What is COM? “Common” is an electronics term for an electrical connection to a common voltage. Sometimes “common” means the same thing as “ground”, but not always. In the case of the STAC6, if you are using sourcing (PNP) input signals, then you will want to connect COM to ground (power supply -).
  • Page 30 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 12-24 X COM STAC6 Power output output X3...X7 Supply Proximity Proximity Sensor Sensor IN/OUT1 – – Connecting an NPN Type Proximity Sensor to an input (When prox sensor activates, input goes low). output output 12-24 X3..X7...
  • Page 31 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting Limit switches to the STAC6 Drive The X7/CW LIMIT and X6/CCW LIMIT inputs are used for connecting end of travel sensors. These inputs are differential, which allows you to use signals that are sinking (NPN), sourcing (PNP) or differential (line driver).
  • Page 32 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Wiring a Limit Sensor Some systems use active limit sensors that produce a voltage output rather than a switch or relay closure. These devices must be wired differently than switches. If your sensor has an open collector output or a sinking output, wire it like this: X COM STAC6 Stepper...

  • Page 33: Connecting Digital Outputs On The In/Out1 Connector

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting Digital Outputs on the IN/OUT1 connector IN/OUT 1 Front View � Analog IN+ � � Y1 / BRAKE � Analog IN- � � Y2 / MOTION � X7 / CW Limit � � Y3 / FAULT �...
  • Page 34 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Diagrams of different connections follow. Do not connect the outputs to more than 30VDC. The current through each output terminal must not exceed 100 mA. 5-24 VDC Power Supply – Load Y1..Y3 STAC6 YCOM 5-24 VDC Power Supply...

  • Page 35: Connecting Analog Inputs On The In/Out1 Connector

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting Analog Inputs on the IN/OUT1 connector IN/OUT 1 Front View � � � Analog IN+ � Y1 / BRAKE Analog IN- � � Y2 / MOTION � X7 / CW Limit � � Y3 / FAULT �...
  • Page 36 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Basic Specifications: • The analog input can accept ±10 Volts. • The input has an impedance of 20K ohms. • Because of the nature of the design, the input will exhibit a 1.4V offset when not driven by an analog source.

  • Page 37: Connecting Inputs And Outputs To In/Out2

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting Inputs and Outputs to IN/OUT2 The IN/OUT2 connector is present as standard on the Si version of the drive. It is also standard on the QE version. Q versions can have the IN/OUT 2 connector board added at a later date , converting the drive to a QE version.
  • Page 38 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 inside IN/OUT2 2200 2200 2200 2200 2200 CWJOG 2200 CCWJOG Connecting an Input to a Switch or Relay 12-24 STAC6 switch or relay Power (closed=logic low) Supply Use normally open momentary switch to trigger drive using Wait Input instruction. Use single throw switch for parameter selection using If Input instruction.
  • Page 39 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting another Si Drive 12-24 Power OUT+ Supply OUT– (When output closes, drive input goes low). Connecting an NPN Type Proximity Sensor to an input 12-24 Power output Proximity Supply Sensor IN/OUT2 – (When prox sensor activates, drive input goes low).

  • Page 40: Connecting Digital Outputs On The In/Out2 Connector

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting Digital Outputs on the IN/OUT2 connector IN/OUT 2 IN 8- Out 4- IN 8+ Out 4+ IN 7- Out 3- IN 7+ Out 3+ IN 6 Out 2- Out 2+ IN 5 Out 1- IN 4 Out 1+...
  • Page 41 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Do not connect the outputs to more than 30VDC. The current through each output terminal must not exceed 100 mA. 12-24 VDC Power Supply STAC6-Si STAC6-QE – OUT+ OUT- Connecting output as a sourcing output. 5-24 VDC Power Supply –...

  • Page 42: Connecting Analog Inputs On The In/Out2 Connector

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Connecting Analog Inputs on the IN/OUT2 connector IN/OUT 2 IN 8- Out 4- IN 8+ Out 4+ IN 7- Out 3- IN 7+ Out 3+ IN 6 Out 2- Out 2+ IN 5 Out 1- IN 4 Out 1+...

  • Page 43: Recommended Motors

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Recommended Motors Applied Motion offers 12 recommended motors for use with the STAC6, 6 for the 110V version and 6 for the 220V version. These motors have their characteristics stored in the STAC Configurator software making it easy to setup and configure them.

  • Page 44: Motor Dimensions

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Motor Dimensions HT23 Motors "L" .197 .063 Ø1.50 120” MIN Ø.250 .591 4 x Ø.205 Ø.250 2 x 1.856 .228 FLAT 1.11 .630 .928 .787 2 x 2.22 2 x #4-40 UNC ON Ø1.82 BCD 2X 2-56 UNC TAP THRU 180°...
  • Page 45 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 HT34 Motors (cont) Shaft Detail 1 - motor with 0.5” shaft 1.25±.02 Ø.500+.0000 .125 .555 .875±.010 Shaft Detail 2 - motors with 0.625” shaft 1.25±.02 Ø.6250+.0000 .1875 .875±.010 .705...

  • Page 46: Torque-Speed Curves

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Torque-Speed Curves Note: all torque curves were measured at 20,000 steps/rev. STAC6 110, NEMA 23 Motors HT23-548 HT23-549 HT23-550 Series connection, rated current, �/��� step resolution ��� ��� ��� ��� �� � � ��...
  • Page 47 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 STAC6 110, NEMA 34 Motors HT34-488 HT34-489 HT34-490 Series connection, rated current �/��� step resolution ���� ���� ���� ���� ��� ��� ��� ��� � � �� �� �� �� �� STAC6 220, NEMA 34 Motors HT34-495 HT34-496 HT34-497...

  • Page 48: Mounting The Drive

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Mounting the Drive You can mount your drive on the wide or the narrow side of the chassis using #6 screws. If possible, the drive should be securely fastened to a smooth, flat metal surface that will help conduct heat away from the chassis.

  • Page 49: Mechanical Outline

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Mechanical Outline .150 .300 .120 .300 .76 TYP .50 TYP 6.345 6.925 7.345 .300 4.66 .180 2.31 1.76...

  • Page 50: Technical Specifications

    920-0029 Rev. B STAC6 Hardware manual 11/19/2010 Technical Specifications POWER AMPLIFIER SECTION AMPLIFIER TYPE MOSFET , Dual H-Bridge, 4 Quadrant CURRENT CONTROL 4 state PWM at 20 Khz OUTPUT CURRENT STAC6 0.5— 6.0 amps in 0.01 amp increments (6A peak of sine) STAC6-220 0.5—...
  • Page 51 920-0029 Rev. B STAC6 Hardware manual 11/19/2010 INPUTS AND OUTPUTS IN / OUT 1 connector - All Drives 7 Inputs X1, X2 Optically Isolated, Differential, 5 Volt. Minimum pulse width = 250ns. Maximum pulse, frequency = 2 MHz Function: Step & Direction, Encoder Following, Sensor, Home or Branch Select Optically isolated, 12 - 24V, sourcing or sinking.

  • Page 52: Mating Connectors And Accessories

    Recommended CANopen USB Adapter (-C drives only) Kvaser LeafLight HS This adapter is not available from Applied Motion Products Note: Prolific-based USB serial adapters do not work with Vista 64 or Windows 7 64 bit operating systems. Suggested adapters are Byterunner USB-COMi-M or Byterunner USB-COM-CBL or USB-COMi. (USB)

  • Page 53: Alarm Codes

    6 red, 2 green bad encoder signal (optional encoder only) 7 red, 1 green serial communication error 7 red, 2 green flash memory error 8 red, 1 green internal voltage out of range Applied Motion Products, Inc. 404 Westridge Drive Watsonville, CA 95076 Tel (831) 761-6555 (800) 525-1609 Fax (831) 761-6544 www.appliedmotionproducts.com...

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