Applied Motion Products STAC6 Series User manual

• 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

STAC6

STAC6 Hardware manual

920-0029 Rev. B

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

Connecting an Encoder .................................................................................................................22

Wiring Inputs and Outputs .............................................................................................................24

Connecting Digital Inputs on the IN/OUT1 connector ....................................................................25

Connecting Digital Outputs on the IN/OUT1 connector..................................................................33

Connecting Analog Inputs on the IN/OUT1 connector....................................................................35

Connecting Inputs and Outputs to IN/OUT2...................................................................................37

Connecting Digital Inputs on the IN/OUT2 connector ....................................................................37

Connecting Digital Outputs on the IN/OUT2 connector..................................................................40

Connecting Analog Inputs on the IN/OUT2 connector....................................................................42

Recommended Motors...................................................................................................................43

Motor Dimensions .........................................................................................................................44

Torque-Speed Curves.....................................................................................................................46

Mounting the Drive ........................................................................................................................48

Mechanical Outline ........................................................................................................................49

Technical Speciﬁcations.................................................................................................................50

Mating Connectors and Accessories..............................................................................................52

Alarm Codes ..................................................................................................................................53

STAC6 Hardware manual 920-0029 Rev. B

11/19/2010

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STAC6 Hardware manual

920-0029 Rev. B

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. The qualiﬁed personnel must know and observe the

following standards and regulations:

IEC 364 resp. CENELEC HD 384 or DIN VDE 0100

IEC report 664 or DIN VDE 0110

National regulations for safety and accident prevention or VBG 4

To minimize the risk of potential safety problems, you should follow all applicable local and national codes

that regulate the installation and operation of your equipment. These codes vary from area to area and it is

your responsibility to determine which codes should be followed, and to verify that the equipment, installa-

tion, and operation are in compliance with the latest revision of these codes.

Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes

and standards. We do not guarantee the products described in this publication are suitable for your particu-

lar application, nor do we assume any responsibility for your product design, installation, or operation.

• Read all available documentation before assembly and commissioning. Incorrect handling of products

in this manual can result in injury and damage to persons and machinery. Strictly adhere to the technical

information on the installation requirements.

• It is vital to ensure that all system components are connected to earth ground. Electrical safety is impos-

sible without a low-resistance earth connection.

• The STAC6 contains electrostatically sensitive components that can be damaged by incorrect handling.

Discharge yourself before touching the product. Avoid contact with high insulating materials (artiﬁcial

fabrics, plastic ﬁlm, etc.). Place the product on a conductive surface.

• During operation keep all covers and cabinet doors shut. Otherwise, there are deadly hazards that could

possibility cause severe damage to health or the product.

• In operation, depending on the degree of enclosure protection, the product can have bare components that

are live or have hot surfaces. Control and power cables can carry a high voltage even when the motor is not

rotating.

STAC6 Hardware manual 920-0029 Rev. B

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). Capacitors can store dangerous voltages for

long periods of time after power has been switched off. To be safe, measure the contact points with a meter

before touching.

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.

Failure to observe these precautions could result in serious bodily injury, damage to the equipment ,or

operational difﬁculty.

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. For a

short occurring in a motor, the motor leads provide enough resistance and inductance to keep the peak

current from exceeding the peak rating of the power transistors during this time period. The recommended

motors for the STAC6 all include 10 foot cables.

In essence the motor/cable system is a part of the over-current circuitry. If the drive is

directly shorted with a very short wire, this condition may cause current conditions that

exceed the peak current rating of our power transistors and therefore could weaken or

cause failure in the drive power devices.

Repetitive short circuits also risk damage to the drive. If a short circuit fault occurs,

please power off the drive and investigate carefully before restoring power.

STAC6 Hardware manual

920-0029 Rev. B

11/19/2010

Block Diagram - STAC6-Si, STAC6-Si-220

MOSFET

PWM

Power

Amplifier

X1/STEP

X2/DIR

X3/ENABLE

X4/ALMRST

X6/CCWLIM

ANALOG IN

PC/MMI

ANALOG IN

X7/CWLIM

Y1/FAULT

Y2/MOTION

Y3/BRAKE

RS232

Digital

Signal

Processor

Si™

Programmable

Controller

eeprom

Optical

Isolation

INPUT1

INPUT2

INPUT3

INPUT4

INPUT5

INPUT6

INPUT7

INPUT8

OUT1

OUT2

OUT3

OUT4

Optical

Isolation

Internal

Logic

Supply

motor

encoder

RS485/422

Interface

Power Supply

RS485/422

Regeneration

Clamp Circuit

120 VAC* 160 VDC**

*220 VAC for STAC6-220

**320 VDC for STAC6-220

Status

Block Diagrams

STAC6 Hardware manual 920-0029 Rev. B

11/19/2010

Block Diagram - STAC6-S, STAC6-Q, STAC6-QE, STAC6-S-220, STAC6-Q-220, STAC6-

QE-220

MOSFET

PWM

Power

Amplifier

-QE ONLY

X1/STEP

X2/DIR

X3/ENABLE

X4/ALMRST

X6/CCWLIM

ANALOG IN

PC/MMI

ANALOG IN

X7/CWLIM

Y1/FAULT

Y2/MOTION

Y3/BRAKE

RS232

Digital

Signal

Processor

Optical

Isolation

INPUT1

INPUT2

INPUT3

INPUT4

INPUT5

INPUT6

INPUT7

INPUT8

OUT1

OUT2

OUT3

OUT4

Optical

Isolation

Internal

Logic

Supply

motor

encoder

RS485/422

Interface

Power Supply

RS485/422

Regeneration

Clamp Circuit

120 VAC* 160 VDC**

*220 VAC for STAC6-220

**320 VDC for STAC6-220

Status

STAC6 Hardware manual

920-0029 Rev. B

11/19/2010

Block Diagram - STAC6-C and STAC6-C-220

MOSFET

PWM

Power

Amplifier

120 VAC*

X1/STEP

X2/DIR

X3/ENABLE

X4/ALMRST

X6/CCWLIM

160 VDC**

ANALOG IN

(for Setup Only)

X7/CWLIM

Y1/FAULT

Y2/MOTION

Y3/BRAKE

RS232

Digital

Signal

Processor

Optical

Isolation

Internal

Logic

Supply

motor

encoder

Interface

Power Supply

Regeneration

Clamp Circuit

*220 VAC for STAC6-220

**320 VDC for STAC6-220

CAN2.0b CANopen

Status

STAC6 Hardware manual 920-0029 Rev. B

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.

Compatible with SiNet Hub 8 and SiNet Hub 444 for multi-axis Si programming.•

STAC6-Q, STAC6-QE Control Options

Programmable drive: Built-in Q controller.

Comprehensive single-axis programming language.•

Powerful feature set.•

Complex motion and machine control.•

Math functions.•

Multi-tasking.•

Host interrogation/interface while executing internal programs.•

STAC6-QE comes with expanded I/O.•

STAC6-Si Control Options

Programmable Drive: Built-in Si indexer.

Easy-to-use Si Programmer™ software.•

Graphical point-and-click format combines motion, I/O, and operator interface.•

Stand-alone operation.•

Integrated Conﬁgurator for motor setup, encoder setup, and alarm history.•

Easily integrates with other devices such as sensors, PLCs, etc.•

Software and programming cable included.•

STAC6 Hardware manual

920-0029 Rev. B

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•

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