Applied Motion Products STAC5 Series Hardware Manual Download Page 15

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STAC5 Hardware manual

920-0026 Rev. B

4/22/2011

Connecting an Encoder (Requires the Encoder Feedback option)

The motors recommended for use with STAC5 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 optional encoder connector on the STAC5, and a mating connector on the other end that connects

directly to the encoder. Simply connect the cable between the encoder and the drive and you’re done. For applications where you might

use your own encoder, you’ll need to connect to the STAC5 drive’s encoder connector using the pin assignments below.

If you are using an encoder with single ended outputs, shame on you. Differential connections are far less sensitve to electrical interfer-

ence and life is too short to waste time deciphering the bizarre problems that can occur with a poor quality encoder. That said, single

ended encoders should be connected to the A+ and B+ terminals. Leave A- and B- unconnected. They are internally biased to the proper

voltage for best results. You’ll also need to select the “single ended” box in the encoder button of

STAC Configurator™

or the drive will

think you have a broken encoder wire. That’s another good reason to use a differential encoder, the STAC5 can detect a broken wire or bad

signal and alert you to the problem.

The encoder connections use a HD-15 connector, which you must connect to your encoder as shown below. Recommended mating con-

nectors are listed at the back of the manual.

Pin Assignments (facing drive)

encoder Z+ (5)

do not connect (10)

encoder B- (4)

do not connect (9)

encoder B+ (3)

do not connect (13)

do not connect (14)

shield (15)

(12) do not connect

(11) do not connect

(6) encoder Z-

(1) encoder A+

(7) +5VDC 200mA

(2) encoder A-

(8) GND

Front View

Internal Circuit

inside drive

A-

A+

GND

+5V

HD-15 Connector

B-

B+

Z-

Z+

12.5K

8.3K

12.5K

8.3K

+5V

12.5K

8.3K

Summary of Contents for STAC5 Series

Page 1: ... STAC5 Q 120 STAC5 Q 220 STAC5 IP 120 STAC5 IP 220 920 0026 Rev B 4 22 2011 STAC5 Sold By Servo Systems Co 53 Green Pond Road Suite 2 Rockaway NJ 07866 973 335 1007 Toll Free 800 922 1103 Fax 973 335 1661 www servosystems com ...

Page 2: ...16 IO Functions Q and IP models 17 Connecting Input Signals 18 Connector Pin Diagrams High Speed Digital Inputs 19 Lower Speed Differential Digital Inputs 20 Single Ended Digital Inputs 22 What is COM 22 Analog Input 23 Connecting a Potentiometer to the Analog Input 23 Programmable Outputs 24 Sinking Output Using OUT1 OUT2 or OUT3 24 Sinking Output Using Y1 Y2 or OUT4 24 Sourcing Output Using OUT1...

Page 3: ...cation Operates in velocity or position mode Accepts analog signals digital signals and Ethernet commands Optional encoder feedback STAC5 120 provides motor current up to 5 amps phase peak of sine STAC5 220 provides motor current up to 2 55 amps phase peak of sine S four optically isolated digital inputs two optically isolated digital outputs Q IP twelve optically isolated digital inputs six optic...

Page 4: ...ply Status eeprom 100MBit Ethernet ARM Input and Output Functions IN OUT1 Connector X1 X2 X3 X4 Y1 Y2 Step Direction Alarm Reset Speed Change Fault Brake CW Pulse CCW Pulse Enable Motor GP GP Motion A Quadrature B Quadrature GP Tach Run Stop GP CW Limit CCW Limit CW Jog CCW Jog GP GP Notes I O functions are configured using STAC Configurator software and or SCL commands GP indicates general purpos...

Page 5: ...y Status eeprom 100MBit Ethernet ARM Input and Output Functions IN OUT1 Connector X1 X2 X3 X4 Y1 Y2 Step Direction Alarm Reset Speed Change Fault Brake A Quadrature B Quadrature Enable Motor GP GP Tach CW Pulse CCW Pulse GP GP Run Stop GP GP IN OUT2 Connector OPT2 IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 OUT1 OUT2 OUT3 OUT4 CW Jog CCW Jog GP GP GP GP CW Limit CCW Limit Motion GP GP GP GP GP GP Notes I O fu...

Page 6: ... motion com software For Q drives download and install the STAC Configurator and Q Programmer 2 Launch the software by clicking Start Programs Applied Motion 3 Connect the drive to your PC using Ethernet and set the IP address see Connecting to the PC 4 Connect the drive to the AC power see Connecting AC Power 5 Connect the drive to the motor see Connecting the Motor 6 Apply power to the drive 7 S...

Page 7: ... mask is set to 255 255 255 0 a common setting known as a Class C subnet mask then your machine can only talk to another network device whose IP address matches yours in the first three octets The numbers between the dots in an IP address are called octets For example if your PC is on a Class C subnet and has an IP address of 192 168 0 20 it can talk to a device at 192 168 0 40 but not one at 192 ...

Page 8: ...on to talk to a drive owns the drive This lock is only reset when the drive powers down If you need help choosing a port number for your application you can find a list of commonly used port numbers at http www iana org assignments port numbers One final note Ethernet communication can use one or both of two transport protocols UDP and TCP eSCL commands can be sent and received using either protoc...

Page 9: ... IPv4 4 If the option Obtain an IP address automatically is selected your PC is getting an IP address and a subnet mask from the DHCP server Please cancel this dialog and proceed to the next section of this manual Using DHCP 5 If the option Use the following IP address is selected life is good Change the subnet mask to 255 255 0 0 and click OK Using DCHP If you want to use your drive on a network ...

Page 10: ...of a CAT5 Ethernet cable into the LAN card NIC on your PC and the other into the drive You don t need a special crossover cable the drive will automatically detect the direct connection and make the necessary physical layer changes 2 Set the IP address on the drive to 10 10 10 10 by setting the rotary switch at 0 3 To set the IP address of your PC a On Windows XP right click on My Network Places a...

Page 11: ...2 If you use a laptop and only connect to your LAN using wireless networking you can use the built in RJ45 Ethernet connection as your second NIC 3 Set the IP address on the drive to 10 10 10 10 by setting the rotary switch at 0 4 To set the IP address of the second NIC a On Windows XP right click on My Network Places and select properties b On Windows 7 click Computer Scroll down the left pane un...

Page 12: ...er an auto transformer can be used to drop the voltage to the correct level Fusing The STAC5 120 contains an internal 8A fast acting fuse The STAC5 220 contains an internal 3 5A fast acting fuse If an external fuse is desired we recommend a 6A fast acting fuse for the 120V STAC5 and a 3 amp fast acting fuse for the 220V version Line Filter For applications requiring CE EMC compliance a Corcom 6ET1...

Page 13: ...e electrical interference 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 harmon ic waveform content are precisely known Furthermore our motors include shielded cables t...

Page 14: ...h 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 The wiring diagrams for eight lead motors without shielded cables are shown below A A NC B B NC 6 lead motor Red Black Red Wht Green Grn Wht White A A NC B B NC 6 lead motor Grn Wht ...

Page 15: ...is too short to waste time deciphering the bizarre problems that can occur with a poor quality encoder That said single ended encoders should be connected to the A and B terminals Leave A and B unconnected They are internally biased to the proper voltage for best results You ll also need to select the single ended box in the encoder button of STAC Configurator or the drive will think you have a br...

Page 16: ...ds X1 functions as Step or CW Pulse or A Quadrature in Pulse Direction mode control mode 7 X1 functions as Step or CW Pulse or A Quadrature in control mode 21 when FE command is active X1 functions as Run Stop in some velocity modes control modes 12 14 16 and 18 X2 functions as Direction or CCW Pulse or B Quadrature in control mode 7 X2 functions as Direction or CCW Pulse or B Quadrature in contro...

Page 17: ...un Stop Direction Alarm Reset Speed Change Fault Brake A Quadrature B Quadrature Enable Motor IN OUT2 Connector OPT2 IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 OUT1 OUT2 OUT3 OUT4 CW Limit CCW Limit Motion Tach Streaming Commands SCL mode control modes 21 24 IN OUT1 Connector X1 X2 X3 X4 Y1 Y2 GP GP Alarm Reset GP Fault Brake Enable Motor GP GP GP IN OUT2 Connector OPT2 IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 OUT1 O...

Page 18: ...drature in control mode 7 X2 functions as Direction or CCW Pulse or B Quadrature in control mode 21 when FE command is active X2 is the direction input for all velocity modes X4 is the speed change input for some velocity modes control modes 13 14 17 and 18 Jog inputs are active in control mode 21 when using the WI command if enabled by the JE command Limits are active in control modes 21 24 if en...

Page 19: ...puts All STAC5 drives include two high speed inputs called STEP and DIR They accept 5 24 volt single ended or differential signals up to 2 MHz Normally these inputs connect to an external controller that provides step direction command signals You can also connect a master encoder to the high speed inputs for following applications Or you can use these inputs with Wait Input If Input Feed to Senso...

Page 20: ...4 They accept 5 24 volt single ended or differential signals but only at lower speeds than STEP and DIR You can use these inputs with Wait Input If Input Feed to Sensor Seek Home and other such commands Q models include four additional differential inputs on the IN OUT2 OPT2 connector called IN1 IN2 IN7 and IN8 IN1 and IN2 can be used for connection to sensors and other devices IN7 and IN8 are nor...

Page 21: ...Differential Inputs Connecting an NPN Proximilty Sensor to Low Speed Differential Inputs Connecting a PNP Proximilty Sensor to Low Speed Differential Inputs STAC5 5 24 VDC SUPPLY IN IN STAC5 DC Power Supply NPN Proximity Sensor output IN IN STAC5 DC Power Supply PNP Proximity Sensor output IN IN ...

Page 22: ...Applied Motion 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 STAC5 drives if you are using sourcing PNP input signals then you will want to connect COM to ground power supply If you are using sinking NPN signals then COM must connect to power supply Note If current is flow...

Page 23: ...or IN3 IN6 output INCOM 12 24 VDC Power Supply Connecting a Potentiometer to the Analog Input Analog Input The STAC5 drives feature one analog input It can accept a signal range of 0 to 5 VDC 5 VDC 0 to 10 VDC or 10 VDC The drive can be configured to operate at a speed or position that is proportional to the analog signal Use the STAC Configurator software to set the signal range offset deadband a...

Page 24: ...onic devices like PLCs and counters For Y1 Y2 and OUT4 the collector and emitter terminals of each transistor are available at the connector This allows you to configure each output for current sourcing or sinking OUT1 OUT2 and OUT3 can only sink current The COM terminal must be tied to power supply Diagrams of each type of connection follow Do not connect the outputs to more than 30VDC The curren...

Page 25: ...T3 IN OUT2 OUTCOM OUT1 2 3 1N4935 suppression diode 5 24 VDC Power Supply relay PLC IN OUT2 5 24 VDC Power Supply OUTCOM OUT1 2 3 IN COM PLC STAC5 5 24 VDC Power Supply OUT OUT IN COM Sourcing Output Using Y1 Y2 or OUT4 Driving a Relay Using Y1 Y2 or OUT4 Drive OUT OUT 1N4935 suppression diode 5 24 VDC Power Supply relay ...

Page 26: ...g is peak sine If you are using a motor not listed here for best results set the drive current at the motor s rated current x 1 2 Recommended Motors 220V Models All motors should be connected in series when used with the STAC5 220 Part Number Holding Torque Drive Current Setting Length Rotor Inertia oz in N m amps in mm g cm2 HT23 552 84 4 0 60 1 5 1 71 43 8 120 HT23 553 167 1 18 1 5 2 16 54 8 300...

Page 27: ... HT23 554 1 8A HT23 553 1 5A HT23 552 1 5A Connection parallel Voltage 120 VAC Drive settings 1 100 20 000 s r HT23 552 553 554 STAC5 120 0 50 0 10 20 30 40 50 rps 100 150 200 250 oz in HT23 554 0 90A HT23 553 0 75A HT23 552 0 75A Connection series Voltage 240 VAC Drive settings 1 100 20 000 s r HT23 552 553 554 STAC5 220 0 50 0 10 20 30 40 50 rps ...

Page 28: ... Connection parallel Voltage 120 VAC Drive settings 1 100 20 000 s r HT34 495 496 497 STAC5 120 0 200 0 10 20 30 40 50 rps 600 800 1000 1200 1400 oz in HT34 495 2 55A HT34 496 2 55A HT34 497 2 55A Connection series Voltage 240 VAC Drive settings 1 100 20 000 s r HT34 495 496 497 STAC5 220 0 200 400 0 10 20 30 40 50 rps ...

Page 29: ... it sit idle for one minute that is a 50 duty cycle Five minutes on and five minutes off is also 50 duty However one hour on and one hour off has the effect of 100 duty because during the first hour the motor will reach full and possibly excessive temperature The actual temperature of the motor depends on how much heat is conducted convected or radiated out of it Our measurements were made in a 40...

Page 30: ...ng metal surface For those who wish to calculate the power dissipation and temperature rise the following information is provided 1 drive power dissipation Pd versus motor see tables below drive thermal constant RQ The final drive case temperature is given by Tc Ta RQ Pd where Ta is the ambient temperature of the surrounding air The case of the drive should not be allowed to exceed 70 C or the lif...

Page 31: ...a fan may be required to prevent the drive from overheating Never use your drive in a space where there is no air flow or where other devices cause the surrounding air to be more than 40 C Never put the drive where it can get wet or where metal or other electrically conductive particles can get on the circuitry Always provide air flow around the drive When mounting multiple STAC5 drives near each ...

Page 32: ... ratio t0 eliminate midrange instability and allow stable operation throughout the speed range and improves settling time TORQUE RIPPLE SMOOTHING Allows for fine adjustment of phase current waveform harmonic content to reduce low speed torque ripple in the range of 0 25 to 1 5 rps COMMUNICATION IN TERFACE Ethernet 100BASE T supports TCP and UDP ENCODER INTERFACE For connecting to motor mounted enc...

Page 33: ...EIGHT 22 4 oz 630 g Mating Connectors and Accessories Mating Connectors Motor power supply PCD P N ELV06100 included with drive IN OUT1 DB 15 male AMP P N 5 747908 2 Shell Kit AMP P N 5 748678 2 Included IN OUT2 DB 25 male AMP P N 5 747912 2 Shell Kit AMP P N 5 748678 3 Included Optional encoder feedback HD 15 male Norcomp P N 180 015 102 001 Shell Kit AMP P N 5 748678 1 Not included Accessories B...

Page 34: ...4 IN7 IN7 IN8 IN8 N C N C N C IN6 IN5 IN4 IN3 INCOM IN2 IN2 IN1 IN1 GND 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 IN OUT 2 This connector is standard on Q and IP models Code Error solid green no alarm motor disabled flashing green no alarm motor enabled 1 red 1 green motor stall optional encoder only 1 red 2 green move attempted while drive disabled 2 red 1 green ccw limit ...

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