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Applied Motion Products
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STAC5-IP-E120
Hardware Manual
34 pgs2.83 Mb0
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Applied Motion Products STAC5-S-E220, STAC5-S-N120, STAC5-Q-E120, STAC5-Q-N120, STAC5-Q-N220 Hardware Manual

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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
• STAC5-S-120 • STAC5-S-220
• STAC5-Q-120 • STAC5-Q-220
• STAC5-IP-120 • STAC5-IP-220
920-0026 Rev. B 4/22/2011
920-0026 Rev. B 4/22/2011
STAC5 Hardware manual
Contents
Introduction................................................................................................................................................................................................ 3
Features ..................................................................................................................................................................................................... 3
List of STAC5 Model Numbers ...................................................................................................................................................................3
Block Diagram (-S Models)........................................................................................................................................................................ 4
Block Diagram (-Q and -IP Models) ........................................................................................................................................................... 5
Getting Started ........................................................................................................................................................................................... 6
Connecting the Drive to Your PC using Ethernet ........................................................................................................................................ 7
Addresses, Subnets, and Ports ............................................................................................................................................................. 7
Option 1: Connect a Drive to Your Local Area Network ........................................................................................................................8
Option 2: Connect a Drive Directly to Your PC .................................................................................................................................. 10
Option 3: Use Two Network Interface Cards (NICs) ........................................................................................................................... 11
Connecting AC Power .............................................................................................................................................................................. 12
Fusing ................................................................................................................................................................................................ 12
Line Filter ........................................................................................................................................................................................... 12
Connecting the Motor .............................................................................................................................................................................. 13
Connecting Other Motors ......................................................................................................................................................................... 13
Connecting an Encoder (Requires the Encoder Feedback option) ............................................................................................................ 15
IO Functions (-S model)........................................................................................................................................................................... 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, OUT2 or OUT3 ................................................................................................................................... 25
Sourcing Output Using Y1, Y2 or OUT4 ............................................................................................................................................. 25
Driving a Relay OUT1, OUT2 or OUT3 ................................................................................................................................................ 25
Driving a Relay Using Y1, Y2, or OUT4 .............................................................................................................................................. 25
Recommended Motors (120V Models) .................................................................................................................................................... 26
Recommended Motors (220V Models) .................................................................................................................................................... 26
Torque-Speed Curves............................................................................................................................................................................... 27
Motor Heating .......................................................................................................................................................................................... 29
Drive Heating ........................................................................................................................................................................................... 30
Mounting the Drive .................................................................................................................................................................................. 31
Mechanical Outline .................................................................................................................................................................................. 31
Technical Specifications ........................................................................................................................................................................... 32
Mating Connectors and Accessories ........................................................................................................................................................ 33
Alarm Codes ............................................................................................................................................................................................ 34
Connector Diagrams ................................................................................................................................................................................ 34
920-0026 Rev. B
STAC5 Hardware manual
4/22/2011

Introduction

Thank you for selecting an Applied Motion Products motor control. We hope our dedication to performance, quality and economy will make your motion control project successful.
If there’s anything we can do to improve our products or help you use them better, please call or fax. We’d like to hear from you. Our phone number is (800) 525-1609, or you can reach us by fax at (831) 761-6544. You can also email support@applied-motion.com.

Features

• Programmable, microstepping digital step motor driver in compact package
• STAC5-120 models operate from 120VAC
• STAC5-220 operates from 220VAC
• Ethernet 100 MBit communication
• Optional Ethernet/IP protocol communication
• 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 optically isolated digital outputs
• ±10 volt analog input for speed and position control. Can also be congured for 0 to 10V, ±5V or 0 to 5V signal ranges.

List of STAC5 Model Numbers

STAC5-S-N120 STAC5-S-E120 STAC5-S-N220 STAC5-S-E220 STAC5-Q-N120 STAC5-Q-E120 STAC5-Q-N220 STAC5-Q-E220 STAC5-IP-N120 STAC5-IP-E120 STAC5-IP-N220 STAC5-IP-E220
An “E” in the model number indicates the inclusion of the optional Encoder Feedback connector. An “N” in the model number indicates no encoder feedback connector on the drive.
920-0026 Rev. B 4/22/2011

Block Diagram (-S Models)

120 VAC*
Internal
Logic
Supply
INPUT X1 INPUT X2 INPUT X3 INPUT X4
OUT Y1 OUT Y2
ANALOG IN
Optical
Isolation
DSP
Status
STAC5 Hardware manual
MOSFET
PWM
Power
Amplifier
Option Card
ARM
motor
encoder
100MBit
Ethernet
eeprom
*220 VAC for STAC5-220
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 purpose (controlled by SCL commands)
For more details, see page 12
STAC5 Hardware manual
motor
encoder
120 VAC*
INPUT X1 INPUT X2 INPUT X3 INPUT X4
INPUT 1 INPUT 2 INPUT 3 INPUT 4 INPUT 5 INPUT 6
INPUT 7/CWLIM
INPUT 8/CCWLIM
OUT Y1 OUT Y2
OUT 1 OUT 2 OUT 3 OUT 4
ANALOG IN
*220 VAC for -220 models
DSP
Optical
Isolation
Option Card
MOSFET
PWM
Power
Amplifier
Internal
Logic
Supply
Status
eeprom
100MBit
Ethernet
ARM

Block Diagram (-Q and -IP Models)

920-0026 Rev. B
4/22/2011
Input and Output Functions
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
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
Notes
I/O functions are configured using STAC Configurator software and/or SCL & Q commands. GP indicates general purpose (controlled by SCL or Q commands) For more details, see page 13
IN/OUT1 Connector
IN/OUT2 Connector (OPT2)
GP GP GP
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STAC5 Hardware manual

Getting Started

This manual describes the use of four different drive models. 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 power.
• a compatible step motor (see page 25)
• a small at blade screwdriver for tightening the connectors (included).
• a personal computer running Microsoft Windows 98, 2000, NT, Me, XP, Vista or 7 with an Ethernet port.
• A CAT5 Ethernet cable (not included).
If you’ve never used a STAC5 drive before you’ll need to get familiar with the drive and the set up software before you try to deploy the system in your application. We strongly recommend the following:
1. For -S and -IP drives, download and install the STAC Configurator™ software application from www.applied-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. Set the IP address of the software to match the drive.
The connectors and other points of interest are illustrated below. Depending on your drive model and application, you’ll need to make connections to various parts of the drive. These are detailed later in the manual.
DB-25 connector
-Q , -IP only
HD-15 connector
• optional encoder feedback
screw terminal connector
• motor
• AC power
DB-15 connector
• 4 digital inputs
• 2 digital outputs
• analog input
LEDs
• status & error codes
• 8 digital inputs
• 4 digital outputs
4
5
3
6
2
7
1
8
0
9
F
A
B
E
C
D
RJ45 connector
• Ethernet
Rotary Switch
• IP address and/or configuration select
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STAC5 Hardware manual
4/22/2011

Connecting the Drive to Your PC using Ethernet

This process requires three steps
• Physically connect the drive to your network (or directly to the PC)
• Set the drive’s IP address
• Set the appropriate networking properties on your PC.
Note: the following pages are an excerpt from the “eSCL Communication Reference Guide”. For more information, please read the rest of the guide.

Addresses, Subnets, and Ports

Every device on an Ethernet network must have a unique IP address. In order for two devices to communicate with each other, they must both be connected to the network and they must have IP addresses that are on the same subnet. A subnet is a logical division of a larger network. Members of one subnet are generally not able to communicate with members of another unless they are connected through special network equipment (e.g. router). Subnets are defined by the choices of IP addresses and subnet masks. If you want to know the IP address and subnet mask of your PC, select Start…All Programs…Accessories…Command Prompt. Then type “ipconfig” and press Enter. You should see something like this:
If your PC’s subnet 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
192.168.1.40. If you change your subnet mask to 255.255.0.0 (Class B) you can talk to any device whose first two octets match yours. Be sure to ask your system administrator before doing this. You network may be segmented for a reason.
Your drive includes a 16 position rotary switch for setting its IP address. The factory default address for each switch setting is shown in the table to
the right.
Settings 1 through E can be changed using the STAC Configurator software (use Quick Tuner for servo drives). Setting 0 is always “10.10.10.10”, the universal recovery address. If someone were to change the other settings and not write it down or tell anyone (I’m not naming names here, but you
IP Address*
0 10.10.10.10 1 192.168.1.10 2 192.168.1.20 3 192.168.1.30 4 192.168.0.40 5 192.168.0.50 6 192.168.0.60 7 192.168.0.70 8 192.168.0.80 9 192.168.0.90 A 192.168.0.100 B 192.168.0.110 C 192.168.0.120 D 192.168.0.130 E 192.168.0.140 F DHCP
4
5
3
E
D
C
6
B
7
8
9
A
2
1
0
F
920-0026 Rev. B 4/22/2011
know who I’m talking about) then you will not be able to communicate with your drive. The only way to “recover” it is to use the universal recovery address.
Setting F is “DHCP”, which commands the drive to get an IP address from a DHCP server on the network. The IP address automatically assigned by the DHCP server may be “dynamic” or “static” depending on how the administrator has configured DHCP. The DHCP setting is reserved for advanced users.
Your PC, or any other device that you use to communicate with the drive, will also have a unique address.
On the drive, switch settings 1 through E use the standard class B subnet mask (i.e. “255.255.0.0”). The mask for the universal recovery address is the standard class A (i.e. “255.0.0.0”). One of the great features of Ethernet is the ability for many applications to share the network at the same time. Ports are used to direct traffic to the right application once it gets to the right IP address. The UDP eSCL port in our drives is 7775. To send and receive com­mands using TCP, use port number 7776. You’ll need to know this when you begin to write your own application. You will also need to choose an open (unused) port number for your application. Our drive doesn’t care what that is; when the first command is sent to the drive, the drive will make note of the IP address and port number from which it originated and direct any responses there. The drive will also refuse any traffic from other IP addresses that is headed for the eSCL port. The first application to talk to a drive “owns” the drive. This lock is only reset when the drive powers down.
STAC5 Hardware manual
If you need help choosing a port number for your application, you can nd 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 protocol. UDP is simpler and more efficient than TCP, but TCP is more reliable on large or very busy networks where UDP packets might occasionally be dropped.

Option 1: Connect a Drive to Your Local Area Network

If you have a spare port on a switch or router and if you are able to set your drive to an IP address that is compatible with your network, and not used by anything else, this is a simple way to get connected. This technique also allows you to connect multiple drives to your PC. If you are on a corporate network, please check with your system administrator before connecting anything new to the network. He or she should be able assign you a suitable address and help you get going.
PC NIC
SWITCH
LAN DRIVE
or
ROUTER
If you are not sure which addresses are already used on your network, you can find out using “Angry IP scanner”, which can be down-
loaded free from http://www.angryip.org/w/Download. But be careful: an address might appear to be unused because a computer or
other device is currently turned off. And many networks use dynamic addressing where a DHCP server assigns addresses “on demand”. The address you choose for your drive might get assigned to something else by the DHCP server at another time. Once you’ve chosen an appropriate IP address for your drive, set the rotary switch according the address table above. If none of the
920-0026 Rev. B
STAC5 Hardware manual
default addresses are acceptable for your network, you can enter a new table of IP addresses using Configurator. If your network uses ad­dresses starting with 192.168.0, the most common subnet, you will want to choose an address from switch settings 4 through E. Another common subnet is 192.168.1. If your network uses addresses in this range, the compatible default selections are 1, 2 and 3. If your PC address is not in one of the above private subnets, you will have to change your subnet mask to 255.255.0.0 in order to talk to your drive. To change your subnet mask:
1. On Windows XP, right click on “My Network Places” and select properties. On Windows 7, click Computer. Scroll down the left
pane until you see “Network”. Right click and select properties. Select “Change adapter settings”
2. You should see an icon for your network interface card (NIC). Right click and select properties.
3. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button. On Windows 7 and Vista,
look for “(TCP/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.
4/22/2011
Using DCHP
If you want to use your drive on a network that where all or most of the devices use dynamic IP addresses supplied by a DHCP server, set the rotary switch to “F”. When the drive is connected to the network and powered on, it will obtain an IP address and a subnet mask from the server that is compatible with your PC. The only catch is that you won’t know what address the server assigns to your drive. Ethernet Configurator can find your drive using the Drive Discovery feature, as long as your network isn’t too large. With the drive con­nected to the network and powered on, select Drive Discovery from the Drive menu.
You will see a dialog such as this:
Normally, Drive Discovery will only detect one network interface card (NIC), and will select it automatically. If you are using a laptop and have both wireless and wired net­work connections, a second NIC may appear. Please select the NIC that you use to connect
920-0026 Rev. B 4/22/2011
to the network to which you’ve connected your drive. Then click OK. Drive Discovery will notify you as soon as it has detected a drive.
If you think this is the correct drive, click Yes. If you’re not sure, click Not Sure and Drive Discovery will look for additional drives on you network. Once you’ve told Drive Discovery which drive is yours, it will automatically enter that drive’s IP address in the IP address text
box so that you are ready to communicate.
STAC5 Hardware manual

Option 2: Connect a Drive Directly to Your PC

It doesn’t get much simpler than this:
1. Connect one end 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” and select properties.
b. On Windows 7, click Computer. Scroll down the left pane until you see “Network”. Right click and select properties. Select
“Change adapter settings”
4. You should see an icon for your network interface card (NIC). Right click and select properties.
a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button.
b. On Windows 7 and Vista, look for “(TCP/IPv4)”
10
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STAC5 Hardware manual
5. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give your PC an IP address that is
on the same subnet as the drive. Windows will know to direct any traffic intended for the drive’s IP address to this interface card.
6. Next, enter the subnet mask as “255.255.255.0”.
7. Be sure to leave “Default gateway” blank. This will prevent your PC from looking for a router on this subnet.
8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will annoy you with a small message
bubble in the corner of your screen saying “The network cable is unplugged.”
4/22/2011

Option 3: Use Two Network Interface Cards (NICs)

This technique allows you to keep your PC connected to your LAN, but keeps the drive off the LAN, preventing possible IP conicts or
excessive traffic.
1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it directly to the drive using a CAT5 cable. You
don’t need a special “crossover cable”; the drive will automatically detect the direct connection and make the necessary physical layer changes.
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 until you see “Network”. Right click and select properties. Select
“Change adapter settings”
5. You should see an icon for your newly instated NIC. Right click again and select properties.
a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties button. b. On Windows 7 and Vista, look for “(TCP/IPv4)”
6. Select the option “Use the following IP address”. Then enter the address “10.10.10.11”. This will give your PC an IP address that is
on the same subnet as the drive. Windows will know to direct any traffic intended for the drive’s IP address to this interface card.
7. Next, enter the subnet mask as “255.255.255.0”. Be sure to leave “Default gateway” blank. This will prevent your PC from looking
for a router on this subnet.
8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will annoy you with a small message
bubble in the corner of your screen saying “The network cable is unplugged.”
11
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STAC5 Hardware manual

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 (
Care should always be taken when working with high voltages.
In regions where the single-phase supply is higher, 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 line filter is required in series with the AC input.
To Line (Hot)
To Neutral
To Earth Ground
LINE FILTER
SURGE PROTECTOR
FUSE
12
920-0026 Rev. B
A+
A–
B+ B–
8
lead
motor
8 Leads Series Connected 8 Leads Parallel Connected
8
lead
motor
White
Orange
Brown
Green
Red
Yellow
Blue
Black
White
Brown
Orange
Green
Red
Blue
Yellow
Black
B+
A+
A–
B–
STAC5 Hardware manual
4/22/2011

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 STAC5. Always connect the
cable drain wire to the drive’s
The recommended Applied Motion motors for the STAC5 include shielded cables. See the Recommended Motors section for a list of part numbers. The recommended motors should be connected to 120V drives in parallel, and to 220V drives in series, according to the diagram below.
Be sure to connect the cable shield for safety and to minimize electrical interference.
terminal (next to the A+ terminal)

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. Furthermore, our motors include shielded cables to reduce electrical emissions. If you do want to connect other motors , here is some information that will help
Four lead motors can only be connected one way. Please follow the sketch at the right.
13
A+
A–
Red
Blue
Yellow
4 Leads
4
lead
motor
White
B+ B–
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STAC5 Hardware manual
Six lead motors can be connected in series or center tap. In series mode, motors produce more torque at low speeds, but cannot run as fast as in the center tap configuration. In series operation, the motor should be operated at 30% less than the rated current to prevent overheating. Winding diagrams for both connection methods are shown below. NC means not connected.
Grn/Wht
A–
White
NC
Green
A+
Red
B–
6 Leads Series Connected 6 Leads Center Tap Connected
lead
motor
Black
6
NC
Red/
Wht
B+
A–
A+
NC
Grn/Wht
White
Green
Red
motor
Black
6
lead
B+B–
Red/
Wht
NC
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. The wiring diagrams for eight lead motors without shielded cables are shown below.
Orange
A+
Org/Wht
8
Blk/Wht
lead
Blk/Wht
A–
Black
Red
8 Leads Series Connected 8 Leads Parallel Connected
motor
Red/
B+ B–
Wht
Yel/ Wht
A–
Yellow
A+
Org/
Wht
Orange
Black
Red
B+
Yel/ Wht
8
lead
motor
Red/Wht
Yel low
B–
14
920-0026 Rev. B
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
inside drive
A-
A+
2
GND
8
1
+5V
7
HD-15 Connector
B-
B+
4
3
Z-
Z+
6
5
5K
12.5K
8.3K 5K
12.5K
8.3K 5K
+5V
+5V
12.5K
8.3K
STAC5 Hardware manual
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 interfer­ence 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 con­nectors are listed at the back of the manual.
Pin Assignments (facing drive)
Internal Circuit
15
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STAC5 Hardware manual

IO Functions (-S model)

Pulse & Direction mode (control mode 7)
IN/OUT1 Connector
X1 X2 X3 X4 Y1 Y2
Step Direction Alarm Reset Fault Brake CW Pulse CCW Pulse Enable Motor Motion A Quadrature B Quadrature Tach
Velocity (Oscillator) mode (control modes 11-18)
IN/OUT1 Connector
X1 X2 X3 X4 Y1 Y2
Run/Stop Direction Alarm Reset Speed Change Fault Brake
Enable Motor Motion
Tach
Streaming Commands (SCL) mode (control modes 21-24)
IN/OUT1 Connector
X1 X2 X3 X4 Y1 Y2
CW Limit CCW Limit Alarm Reset Speed Change Fault Brake CW Jog CCW Jog Enable Motor GP GP Motion GP GP GP Tach
GP
Notes
I/O functions are configured using STAC Configurator software and/or SCL commands. GP indicates general purpose (controlled by SCL commands) 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 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 enabled by the DL command or by STAC Configurator
Additional I/O details:
IN/OUT1 Connector
X1 X2 X3 X4 Y1 Y2
Voltage range 5 to 24 5 to 24 5 to 24 5 to 24 30 max 30 max Speed range 2 MHz 2 MHz Low Low Low Low Digital lter option Y Y Y Y N/A N/A
16
STAC5 Hardware manual

IO Functions (-Q and -IP models)

Pulse & Direction mode (control mode 7)
IN/OUT1 Connector
X1 X2 X3 X4 Y1 Y2
Step Direction Alarm Reset Fault Brake A Quadrature B Quadrature Enable Motor CW Pulse CCW Pulse
IN/OUT2 Connector (OPT2)
IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 OUT1 OUT2 OUT3 OUT4
CW Limit CCW Limit Motion
Tach
Velocity (Oscillator) mode (control modes 11-18)
IN/OUT1 Connector
X1 X2 X3 X4 Y1 Y2
Run/Stop Direction Alarm Reset Speed Change Fault Brake A Quadrature B Quadrature Enable Motor
920-0026 Rev. B
4/22/2011
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 OUT2 OUT3 OUT4
CW Jog CCW Jog GP GP GP GP CW Limit CCW Limit Motion GP GP GP
GP GP Tach
GP
Q Program 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
continued on next page
17
920-0026 Rev. B 4/22/2011
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 Tach
STAC5 Hardware manual
GP
Additional I/O details:
IN/OUT1 Connector
X1 X2 X3 X4 Y1 Y2
Voltage range 5 to 24 5 to 24 5 to 24 5 to 24 30 max 30 max Speed range 2 MHz 2 MHz Low Low Low Low Digital lter option Y Y Y Y N/A N/A
IN/OUT2 Connector (OPT2)
IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 OUT1 OUT2 OUT3 OUT4
Voltage range 5-24 5-24 12-24 12-24 12-24 12-24 5-24 5-24 30 max 30 max 30 max 30 max Speed range Low Low Low Low Low Low Low Low Low Low Low Low
Digital lter
option
Y Y N N N N Y Y N/A N/A N/A N/A
Notes
I/O functions are configured using STAC Configurator software and/or SCL commands. GP indicates general purpose (controlled by SCL or Q commands) 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 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 enabled by the DL command or by STAC Configurator

Connecting Input Signals

The STAC5 drives have four types of inputs.
• High speed digital inputs for step & direction commands or encoder following, 5-24 volt logic. These inputs, X1/STEP and X2/DIR are
available on all models. They can also be used to connect sensors and other types of devices. The connection can be sourcing, sinking or differential.
• Lower speed digital inputs for other signals, 5 - 24 volt logic, accepting sourcing, sinking of differential signals. All drives contains at least two of these inputs: X3/EN and X4. -Q and -IP models include four additional lower speed, differential inputs, IN1, IN2, IN7 and
IN8.
• 12-24V lower speed single ended inputs which accept sourcing or sinking inputs. These four inputs, IN3-IN6 are only present on -Q
models.
• Analog input for analog speed and positioning modes, included on all drives. Can be congured for 0-10V, 0-5V, ±10V or ±5V, with or
without offset.
18
STAC5 Hardware manual
OUT1+ OUT2+ OUT3+ OUTCOM +5V OUT, 100mA MAX GND OUT4+ OUT4­IN7+ IN7­IN8+ IN8-
N/C N/C N/C
IN6 IN5 IN4 IN3
INCOM
IN2-
IN2+
IN1­IN1+ 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.
IN/OUT 1
COM
X2/DIR-
DIR X2/DIR+
X1/STEP-
STEP X1/STEP+
Indexer
with
Sourcing
Outputs
IN/OUT 1
+5V OUT
X2/DIR+
DIR X2/DIR-
X1/STEP+
STEP X1/STEP-
Indexer
with
Sinking
Outputs
IN/OUT 1
920-0026 Rev. B
4/22/2011
X1/STEP+ X1/STEP
X2/DIR+ X2/DIR
X3/EN+ X3/EN
GND
+5V OUT
1
-
-
-
2 3 4 5 6 7 8
9 10 11 12 13 14 15
X4+
-
X4 Y1+ Y1
-
Y2+
-
Y2 ANALOG IN
100mA MAX
This connector is included

High Speed Digital Inputs

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 Sensor, Seek Home and other such commands.
Connection diagrams follow.
1
X1/STEP+
2
X1/STEP
3
X2/DIR+
4
X2/DIR
DB-15 Connector
inside drive
-
-
Connecting to indexer with Sourcing Outputs
Connecting to Indexer with Sinking Outputs
19
920-0026 Rev. B
IN/OUT 1
Master
Encoder
GND
X2/DIR-
X2/DIR+
X1/STEP-
X1/STEP+
GND
B-
B+
A-
A+
IN/OUT 1
DIR+
X2/DIR+
DIR- X2/DIR-
X1/STEP+
STEP-
STEP+
X1/STEP-
Indexer
with
Differential
Outputs
4/22/2011
STAC5 Hardware manual
Connecting to Indexer with Differential Outputs
(Many high speed indexers have differential outputs)
Wiring for Encoder Following
(Encoder power can be supplied from the +5V OUT terminal on IN/OUT 1 if the
encoder requires no more than 100mA)

Lower Speed, Differential Digital Inputs

All STAC5 drives include two lower speed inputs called X3/EN and X4. 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 normally used for end of travel limit switches, but can be used for registration sensors, etc.
Connection diagrams follow.
-
inside drive
5
X3/EN+
6
X3/EN
7
X4+
8
X4
DB-15 Connector
-
20
12
IN1+
11
IN1
-
10
IN2+
9
IN2
-
22
IN7+
23
IN7
-
24
DB-25 Connector
IN8+
25
IN8
-
inside drive
STAC5 Hardware manual
+
5-24
VDC
SUPPLY
-
Connecting a Mechanical Switch to Low Speed Differential Inputs
+
DC
Power
Supply
–
NPN
Proximity
Sensor
920-0026 Rev. B
4/22/2011
IN+
STAC5
IN-
IN+
+
output
–
STAC5
IN-
Connecting an NPN Proximilty Sensor to Low Speed Differential Inputs
+
DC
Power
Supply
–
+
PNP
Proximity
Sensor
–
output
IN+
STAC5
IN-
Connecting a PNP Proximilty Sensor to Low Speed Differential Inputs
21
920-0026 Rev. B
IN/OUT2
switch or relay
(closed=logic low)
IN3..IN6
INCOM
12-24
VDC
Power
Supply
-
+
IN/OUT2
IN3..IN6
INCOM
Another Drive
OUT+
OUT–
12-24
VDC
Power
Supply
-
+
4/22/2011
STAC5 Hardware manual

Single Ended Digital Inputs

-Q and -IP drives include four single ended, optically isolated input circuits
The that can be used with sourcing or sinking signals, 12 to 24 volts. This allows connection to PLCs, sensors, relays and mechanical switches. Because the input circuits are isolated, they require a source of power. If you are connecting to a PLC, you should be able to get power from the PLC power supply. If you are using relays or mechanical switches, you will need a 12-24 V power supply. This also applies if you are connecting the inputs to the programmable outputs of an Si product from Applied Motion.
8
COM
IN3
7 6
IN4
5
IN5
DB-25 Connector
4
IN6
inside drive
2200
2200
2200
2200

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 flowing into or out of an input, the logic state of that input is low or closed. If no current is flowing, or the input is not connected, the logic state is high or open.
The diagrams on the following pages show how to connect the inputs to various commonly used devices.
Connecting an Input to a Switch or Relay
Connecting another drive to the STAC5
(When output closes, input goes low).
22
STAC5 Hardware manual
IN/OUT2
NPN
Proximity
Sensor
IN3..IN6
INCOM
output
+
–
12-24
VDC
Power
Supply
-
+
IN/OUT2
PNP
Proximity
Sensor
IN3..IN6
output
+
–
INCOM
12-24
VDC
Power
Supply
-
+
1-10kΩ
pot
cw
ccw
IN/OUT 1
GND
AIN
+5V OUT
8
15
7
Connecting an NPN Type Proximity Sensor to an input
(When prox sensor activates, input goes low).
Connecting a PNP Type Proximity Sensor to a an input
(When prox sensor activates, input goes low).
920-0026 Rev. B
4/22/2011

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 congured 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 and filter fre­quency.
8
+5V OUT
15
AIN
7
GND
DB-15 Connector
inside drive
Signal
Conditioning

Connecting a Potentiometer to the Analog Input

23
920-0026 Rev. B
IN/OUT2
OUTCOM
OUT1/2/3
5-24 VDC
Power Supply
+ –
Load
STAC5
OUT-
OUT+
5-24 VDC
Power Supply
+ –
Load
4/22/2011
STAC5 Hardware manual

Programmable Outputs

The STAC5-S drives feature two digital outputs. These outputs can be set to automatically con­trol a motor brake, to signal a fault condition, to indicate when the motor is moving or to provide an output frequency proportional to motor speed (tach signal). Or the outputs can be turned on and off by program instructions like Set Output. -Q and -IP drives include four additional programmable outputs.
The outputs can be used to drive LEDs, relays and the inputs of other electronic devices like
11
Y1+
12
Y1-
13
Y2+
14
Y2-
DB-15 Connector
IN/OUT 1
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 current through each output terminal must not exceed 100 mA.
14
OUT1
15
OUT2
16
OUT3
17
COM
20
DB-25 Connector
OUT4+
21
OUT4
IN/OUT 2
-

Sinking Output Using OUT1, OUT2 or OUT3

Sinking Output Using Y1, Y2 or OUT4

24
STAC5 Hardware manual
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
Drive
OUT-
OUT+
1N4935 suppression diode
5-24 VDC
Power Supply
+ –
relay

Sourcing Output Using OUT1, OUT2 or OUT3

920-0026 Rev. B
4/22/2011

Sourcing Output Using Y1, Y2 or OUT4

Driving a Relay OUT1, OUT2 or OUT3

Driving a Relay Using Y1, Y2, or OUT4

25
920-0026 Rev. B 4/22/2011
STAC5 Hardware manual

Recommended Motors (120V Models)

All motors should be connected in parallel when used with the STAC5-120.
Drive
Part
Number
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 HT23-554 255 1.80 1.8 3.05 77.5 480 HT34-495 555 3.92 5.0 3.11 79 1600 HT34-496 1110 7. 8 4 5.0 4.63 1 17. 5 3200 HT34-497 1694 11.96 5.0 6.14 156 4800
Note: The “Drive Current Setting” shown here differs from the rated current of each motor because the rated current is RMS and the drive current setting 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.
Holding Torque
oz-in N-m amps in mm g-cm
Current Setting
Length Rotor Inertia
2

Recommended Motors (220V Models)

All motors should be connected in series when used with the STAC5-220.
Drive
Part
Number
HT23-552 84.4 0.60 0.75 1.71 43.8 120 HT23-553 167 1.18 0.75 2.16 54.8 300 HT23-554 255 1.80 0.90 3.05 7 7. 5 480 HT34-495 555 3.92 2.55 3.11 79 1600 HT34-496 1110 7. 8 4 2.55 4.63 117. 5 3200 HT34-497 1694 11.96 2.55 6.14 156 4800
Note: The “Drive Current Setting” shown here differs from the rated current of each motor because the rated current is RMS and the drive current setting 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.
Holding Torque
oz-in N-m amps in mm g-cm
Current Setting
Length Rotor Inertia
2
26
STAC5 Hardware manual

Torque-Speed Curves

Note: all torque curves were measured at 20,000 steps/rev.
HT23‐552/553/554,STAC5‐120
Connection:parallel.Voltage:120VAC Drivesettings:1/100(20,000s/r)
250
200
150
oz-in
100
50
920-0026 Rev. B
4/22/2011
HT23-554 1.8A HT23-553 1.5A HT23-552 1.5A
250
200
150
oz-in
100
50
0
0 10 20 30 40 50
rps
HT23‐552/553/554,STAC5‐220
Connection:series.Voltage:240VAC Drivesettings:1/100(20,000s/r)
HT23-554 0.90A HT23-553 0.75A HT23-552 0.75A
0
0 10 20 30 40 50
rps
27
920-0026 Rev. B 4/22/2011
HT34‐495/496/497,STAC5‐120
Connection:parallel.Voltage:120VAC Drivesettings:1/100(20,000s/r)
1200
1000
800
600
oz-in
400
200
0
0 10 20 30 40 50
STAC5 Hardware manual
HT34-495 5.0A HT34-496 5.0A HT34-497 5.0A
1400
1200
1000
800
oz-in
600
400
200
HT34‐495/496/497,STAC5‐220
Connection:series.Voltage:240VAC Drivesettings:1/100(20,000s/r)
rps
HT34-495 2.55A HT34-496 2.55A HT34-497 2.55A
0
0 10 20 30 40 50
rps
28
920-0026 Rev. B
e
05101520253035404550
e
0
0
05101520253035404550
e
0
0
05101520253035404550
e
0
0
05101520253035404550
STAC5 Hardware manual
4/22/2011

Motor Heating

Step motors convert electrical power from the driver into mechanical power to move a load. Because step motors are not perfectly effi­cient, some of the electrical power turns into heat on its way through the motor. This heating is not so much dependent on the load being driven but rather the motor speed and power supply voltage. There are certain combinations of speed and voltage at which a motor cannot be continuously operated without damage.
We have characterized the recommended motors in our lab and provided curves showing the maximum duty cycle versus speed for each motor and drive. Please refer to these curves when planning your application.
Please also keep in mind that a step motor typically reaches maximum temperature after 30 to 45 minutes of operation. If you run the motor for one minute then let 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°C (104°F) environment with the motor mounted to an aluminum plate sized to provide a surface area consistent with the motor power dissipation. Your results may vary.
Duty Cycle HT23-552
120
100
80
%
60
Duty Cycl
40
20
0
Speed(RPS)
Duty Cycle HT23-554
120
100
80
%
60
Duty Cycl
40
120
100
80
%
60
Duty Cycl
40
2
0
120
100
80
%
60
Duty Cycl
40
Duty Cycle HT23-553
Speed(RPS)
Duty Cycle HT34-495
2
0
Speed(RPS)
2
0
Speed(RPS)
29
920-0026 Rev. B
e
0
0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
e
0
0
05101520253035404550
4/22/2011
STAC5 Hardware manual
Duty Cycle HT34-496
120
100
80
%
60
Duty Cycl
40
2
0
Speed(RPS)
120
100
80
%
60
Duty Cycl
40
2
0
Duty Cycle HT34-497
Speed(RPS)

Drive Heating

While STAC5 drivers efficiently transmit power between the AC power and motor, they do generate some heat in the process. This will cause the temperature of the drive to rise above the surrounding air temperature and may also require that the drive be mounted to a heat conducting 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 R The final drive case temperature is given by Tc = Ta + RQ* P 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 life of the product could be reduced. Drive thermal constant (with drive mounted on a 15.75” x 15.75” steel plate, .040” thick): RQ =0.87°C/W
Q
d
Max Loss vs Motor STAC5-120
Motor Current Loss (W)
HT23-552 1.5 9.61 HT23-553 1.5 8.99 HT23-554 1.8 10.34 HT34-495 5 28.2 HT34-496 5 24.5 HT34-497 5 24.5
Max Loss vs Motor STAC5-220
Motor Current Loss (W)
HT23-552 0.75 10.2 HT23-553 0.75 10.4 HT23-554 0.90 12.1 HT34-495 2.55 18.6 HT34-496 2.55 17. 6 HT34-497 2.55 20.8
30
920-0026 Rev. B
STAC5 Hardware manual
4/22/2011

Mounting the Drive

Use #6 screws to mount your drive. If possible, the drive should be securely fastened to a smooth, at metal surface that will help conduct heat away from the chassis. If this is not possible, then forced airow from a fan may be required to prevent the drive from overhea
• 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 other, maintain at least one half inch of space between drives.
ting.

Mechanical Outline

5.5
4
5
3
6
2
7
1
8
0
9
F
A
B
E
C
D
1.9
4.5
31
920-0026 Rev. B 4/22/2011
STAC5 Hardware manual
Technical Specifications
AMPLIFIER TYPE Digital MOSFET, dual H-bridge, 4 quadrant CURRENT CONTROL 4 state PWM at 16 KHz OUTPUT CURRENT STAC5-120: 0.5-5.0 amps/phase (peak of sine) in 0.01 amp increments
STAC5-220: 0.5-2.55 amps/phase (peak of sine) in 0.01 amp increments
POWER SUPPLY STAC5-120: 94-135 VAC, 50/60 Hz
STAC5-220: 94-245 VAC, 50/60 Hz
PROTECTION Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-to-phase, phase-
to-ground), internal amplier shorts
MOTOR INDUCTANCE STAC5-120: 5-20 mH
STAC5-220: 20-60 mH MOTOR REGENERATION Built-in regeneration circuit, 10 watts max. IDLE CURRENT REDUC-
TION MICROSTEP RESOLU-
TION MICROSTEP EMULATION Performs high resolution stepping by synthesizing ne microsteps from coarse steps.
ANTI-RESONANCE (Electronic Damping)
TORQUE RIPPLE SMOOTHING
COMMUNICATION IN­TERFACE
ENCODER INTERFACE For connecting to motor-mounted encoder. Used to provide stall detection and stall
INPUTS/OUTPUTS: S, Q and IP models
Reduction range of 0-90% of running current after delay selectable in milliseconds
Software selectable from 200 to 51200 steps/rev in increments of 2 steps/rev
Reduces jerk and extraneous system resonances. (Step & direction mode only).
Raises the system damping ratio t0 eliminate midrange instability and allow stable
operation throughout the speed range and improves settling time.
Allows for ne adjustment of phase current waveform harmonic content to reduce
low-speed torque ripple in the range of 0.25 to 1.5 rps.
Ethernet 100BASE-T, supports TCP and UDP
prevention with static position maintenance. Differential line receivers, up to 2 MHz.
X1, X2 inputs: Optically isolated, differential, 5-24 VDC logic (2.5V switching thresh-
old), minimum pulse width = 250 nsec, maximum pulse frequency = 2 MHz, 2 usec
minimum set up time for direction signal, maximum current = 10 mA.
X3, X4 inputs: Optically isolated, differential, 5-24 VDC logic (2.5V switching thresh-
old), 50 usec minimum pulse width, maximum current = 10 mA.
Y1, Y2 outputs: Optical darlington, sinking or sourcing, 30 VDC max, 100 mA max,
voltage drop = 1.2V max at 100 mA.
Analog input: Single-ended. Range is software selectable 0-5, +/-5, 0-10, or +/-10
VDC. Software congurable offset, deadband, and ltering. Resolution is 12 bits
(+/- 10 volt range), 11 bits (+/-5 or 0-10 volt range), or 10 bits (0-5 volt range). 100
kohms internal impedance.
32
STAC5 Hardware manual
920-0026 Rev. B
4/22/2011
INPUTS/OUTPUTS: Q and IP models only
NON-VOLATILE STOR­AGE
AGENCY APPROVALS “RoHS
HUMIDITY 90% max, non-condensing AMBIENT TEMPERA-
TURE DIMENSIONS 2.0 x 4.5 x 5.5 inches overall WEIGHT 22.4 oz (630 g)
Q and IP models have the same I/O as above plus the following:
IN1, IN2, IN7, IN8 inputs: Optically isolated, differential, 5-24 VDC logic (2.5V switch-
ing threshold), 50 usec minimum pulse width, maximum current = 10 mA.
IN3-IN6 inputs: Optically isolated, single-ended, shared common emitter, sinking or
sourcing, 12-24 VDC logic, 2200 ohms, maximum current = 10 mA.
OUT1-OUT3 outputs: Optical darlington, single-ended, shared common, sinking, 30
VDC max, 100 mA max, voltage drop = 1.2V max at 100 mA.
OUT4 output: Optical darlington, sinking or sourcing, 30 VDC max, 100 mA max, volt-
age drop = 1.2V max at 100 mA.
Drive conguration and Q program are stored in FLASH memory onboard the DSP.
CE EN61800-3:2004, EN61800-5-1:2003
UL 508c”
0 to 40 ºC (32 to 104 ºF) with adequate ventilation

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
Breakout Box for DB-25 Connector BOB-1, includes cable
Screw terminal connectors with housings that mate directly to the D-Sub connectors on the drive:
DB-25, Phoenix Contact P/N 2761622 DB-15, Phoenix Contact P/N 2761606 HD-15 (encoder), Phoenix Contact P/N 5604602
These connectors are not available from Applied Motion. You must purchase them from a Phoenix distributor.
Mating Cable for IN/OUT2 connector with “ying leads” Black Box P/N: BC00702
This cable is not available from Applied Motion. You must purchase it from Black Box.
Useful for custom wired applications. This shielded cable has a DB-25 connector on each end. You can cut off the female end to
create a 6 foot “DB-25 to ying lead cable”.
It’ll be easier to wire if you get the cable color chart from Black Box’s web site.
33
920-0026 Rev. B 4/22/2011
STAC5 Hardware manual

Alarm Codes

In the event of an error, the green LED on the main board will ash one or two times, followed by a series of red ashes. The pat­tern repeats until the alarm is cleared.
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 2 red, 2 green cw limit 3 red, 1 green drive overheating 3 red, 2 green internal voltage out of range 3 red, 3 green blank Q segment 4 red, 1 green power supply overvoltage or excess regen 4 red, 2 green power supply undervoltage 4 red, 3 green flash memory backup error 5 red, 1 green over current / short circuit 6 red, 1 green open motor winding 6 red, 2 green bad encoder signal (optional encoder only) 7 red, 1 green serial communication error 7 red, 2 green flash memory error

Connector Diagrams

IN/OUT 1
X1/STEP+ X1/STEP
X2/DIR+ X2/DIR
X3/EN+ X3/EN
GND
+5V OUT
100mA MAX
1
-
-
-
2 3 4 5 6 7 8
This connector is included
DB-15 I/O Connector
9
10
11
12
13
14
15
Tel (831) 761-6555 (800) 525-1609 Fax (831) 761-6544
IN/OUT 2
1 2 3 4 5 6 7 8
9 10 11 12 13
X4+
-
X4 Y1+ Y1
-
Y2+
-
Y2 ANALOG IN
N/C N/C N/C
IN6 IN5 IN4 IN3
INCOM
IN2-
IN2+
IN1­IN1+ GND
This connector is standard on
-Q and -IP models.
DB-25 I/O Connector
Applied Motion Products, Inc.
404 Westridge Drive Watsonville, CA 95076
www.appliedmotionproducts.com
14 15 16 17 18 19 20 21 22 23 24 25
OUT1+ OUT2+ OUT3+ OUTCOM +5V OUT, 100mA MAX GND OUT4+ OUT4­IN7+ IN7­IN8+ IN8-
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