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Moons' APPLIED MOTION PRODUCTS STAC6 Hardware Manual

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STAC6
STAC6-Q-H
920-0109 Rev C
4/18/2023

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Summary of Contents for Moons' APPLIED MOTION PRODUCTS STAC6

  • Page 1 STAC6 STAC6-Q-H 920-0109 Rev C 4/18/2023...

  • Page 2: Table Of Contents

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Contents Safety Instructions ..........................5 Over-Current Protection ........................7 Block Diagram - STAC6-Q-H ..............................8 Motion Control Options ........................9 STAC6-H Control Options ..............................9 Getting Started..........................10 Connecting to the PC using RS-232 ................... 11 Connecting to the PC using RS-485 ................... 12 Converting USB to RS-485 ..............................
  • Page 3 920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Technical Specifications ......................... 37 Mating Connectors and Accessories ..................40 Accessories ............................41 Alarm Codes ............................42...
  • Page 4 920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 (This page intentionally left blank)

  • Page 5: Safety Instructions

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 transport, assembly, installation, commissioning and operation of motors, and who have the appropriate qualifications for their jobs.
  • Page 6 920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Be alert to the potential for personal injury. Follow the recommended precautions and safe operating practices. Safety notices in this manual provide important information. Read and be familiar with these instructions before attempting installation, operation, or maintenance. The purpose of this section is to alert users to possible safety hazards associated with this equipment and the precautions that need to be taken to reduce the risk of personal injury and damage to the equipment.

  • Page 7: Over-Current Protection

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Over-Current Protection The STAC6 has hardware over-current detection circuits that protect the drive against “phase to ground” and “phase to phase” motor shorts. These circuits directly disable the amplifier in a rapid fashion to prevent damage to the driver circuitry. Typically, the over-current circuitry will react to an over-current condition in 3 to 5 micro- seconds.

  • Page 8: Block Diagram - Stac6-Q-H

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Block Diagram - STAC6-Q-H 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 Y3/BRAKE encoder...

  • Page 9: Motion Control Options

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Motion Control Options STAC6-H Control Options • 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: Getting Started

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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: •...

  • Page 11: Connecting To The Pc Using Rs-232

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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. Secure the cable to the PC with the screws on the sides.

  • Page 12: Connecting To The Pc Using Rs-485

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 13: Usb-Comi-M Switch Settings

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 The USB-COMi-M from www.byterunner.com is an excellent choice for USB to RS-485 conversion. For four wire RS-485, set SW1,3,4 to ON and SW2 to OFF. On the USB-COMi-M screw terminal connector: USB-COMi-M STAC6 Drive pin 1 pin 2 pin 3...

  • Page 14: Connecting Ac Power

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Connecting AC Power Using the connector supplied connect to the AC supply per the diagram below. Use solid or stranded copper wire, minimum -50°C to 125°C 250V, 16 AWG - 12 AWG, 1 conductor per terminal, stripping length 7 mm, tightening torque 0.5 Nm - 0.6 Nm.

  • Page 15: Connecting The Motor

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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. Connection diagrams are shown below for industry standard wire colors. If the wire colors of your motor do not match these diagrams, please consult the factory.
  • Page 16 920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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.

  • Page 17: Connecting An Encoder

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 connector on the STAC6, and a mating con- nector on the other end that connects directly to the encoder.

  • Page 18: Encoder Feedback Options

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Encoder Feedback Options The following encoder feedback options are configured and enabled using the ST Configura- tor™ software. 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.

  • Page 19: Wiring Inputs And Outputs

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 20: Connecting Digital Inputs On The In/Out1 Connector

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Connecting Digital Inputs on the IN/OUT1 connector High Speed Digital Inputs All STAC6 drives include two high speed inputs called STEP and DIR. They accept 5 volt single-ended or differential inside drive signals, up to 2 MHz. Normally these inputs connect to an external controller that provides step &...
  • Page 21 920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 22: Using High Speed Inputs With 12-24 Volt Signals

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 23: Standard Digital Inputs

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 24: What Is Com

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 25 920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 26: Connecting Limit Switches To The Stac6 Drive

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 27: Wiring A Limit Sensor

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 28: Connecting Digital Outputs On The In/Out1 Connector

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 29 920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 30: Connecting Analog Inputs On The In/Out1 Connector

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 31: Basic Specifications

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 32: Differential Inputs

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Differential Inputs The IN/OUT2 connector also includes two differential, optically isolated input circuits that can be used with sourcing or sinking signals, 12 to 24 volts. They are labeled IN7 and IN8. These inputs allow connection to PLCs, sensors, realys and mechanical switches. Because the input circuits are isolated, they require a source of power.
  • Page 33 920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 STAC6 output Power Proximity Supply Sensor – – Connecting an NPN Proximilty Sensor to a Differential Input output Power Proximity Supply Sensor STAC6 – – Connecting a PNP Proximilty Sensor to a Differential Input...

  • Page 34: Mounting The Drive

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 35: Electrical Ratings

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Electrical Ratings: Input Power: 120Vac, 1 Phase, 1.67A (rms) Output Power: 120Vdc, 1 Phase, 4.24A (rms), Continuous Duty Rating Input/Output Signal Connections: 5/12Vdc, 10/100mA, electrically isolated Markings: II 3 G Ex ec nC IIB Gc DEMKO 15 ATEX 1505U IECEx UL 15.0067U -40°C <...

  • Page 36: Mechanical Outline

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 37: Technical Specifications

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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) POWER SUPPLY STAC6 Line Operated Nominal 120 VAC, 50/60 Hz...
  • Page 38 920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 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 39 920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Mating Connectors and Accessories Mating Connector Manufacturer and P/N Required Wiring (Type) Motor (5-position, screw terminal) Phoenix Contact 1757048 (included) solid or stranded CU, minimum -50°C to 125°C 250V wire, 14 AWG -12 AWG, 1 conductor per terminal, stripping length 7 mm, tightening torque 0.5 Nm - 0.6 Nm.

  • Page 40: Mating Connectors And Accessories

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Accessories Breakout Box for DB-25 Connectors BOB-1, includes cable, connects to IN/OUT 1 Screw Terminal Connectors that mate directly to the DB-25 connector on the front panel of the drive: Phoenix Contact P/N 2761622 This connector is not available from Applied Motion.

  • Page 41: Alarm Codes

    920-0109 Rev C STAC6-Q-H Hardware manual 4/18/2023 Alarm Codes In the event of an error, the green LED on the main board will flash one or two times, fol- lowed by a series of red flashes. The pattern repeats until the alarm is cleared. Code Error solid green...

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