Applied Motion Products STAC5 Series User manual

• 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
STAC5
Sold By: Servo Systems Co. • 53 Green Pond Road, Suite #2 • Rockaway, NJ 07866
[phone] • Toll Free: [phone] • Fax: [phone] • www.servosystems.com

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STAC5 Hardware manual
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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

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STAC5 Hardware manual 920-0026 Rev. B
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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 [phone], or you can reach us by fax at [phone]. You can also email [email protected].
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.

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Block Diagram (-S Models)
motor
encoder
120 VAC*
INPUT X1
INPUT X2
INPUT X3
INPUT X4
OUT Y1
OUT Y2
ANALOG IN
*220 VAC for STAC5-220
DSP
Optical
Isolation
Option Card
MOSFET
PWM
Power
Amplifier
Internal
Logic
Supply
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 purpose (controlled by SCL commands)
For more details, see page 12

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Block Diagram (-Q and -IP Models)
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
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 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

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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.
4
3
2
1
0
F
E
D
C
B
A
9
8
7
6
5
screw terminal
connector
•motor
•AC power
DB-15 connector
•4 digital inputs
•2 digital outputs
•analog input
DB-25 connector
-Q , -IP only
•8 digital inputs
•4 digital outputs
HD-15 connector
•optional encoder feedback
RJ45 connector
•Ethernet
LEDs
• status & error codes
Rotary Switch
• IP address and/or configuration select

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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
3
4
2
1
0
F
E
D
C
B
A
9
8
7
6
5

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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 com-
mands 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.
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.
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
PCNIC
SWITCH
or
ROUTER
LAN DRIVE

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default addresses are acceptable for your network, you can enter a new table of IP addresses using Configurator. If your network uses ad-
dresses 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.
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 con-
nected 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 net-
work connections, a second NIC may appear.
Please select the NIC that you use to connect

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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.
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)”

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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.”
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.”

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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
FUSE
LINE FILTER
SURGE PROTECTOR

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STAC5 Hardware manual 920-0026 Rev. B
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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 terminal (next to the A+ terminal)
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.
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 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.
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–
A+
A–
B+ B–
4
lead
motor
Red
Blue
Yellow White
4 Leads

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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.
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.
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
White
Green
Red
Red/
Wht
Black
6 Leads Series Connected 6 Leads Center Tap Connected
A+
A–
B+ B–
8
lead
motor
8 Leads Series Connected 8 Leads Parallel Connected
A+
A–
B+ B–
8
lead
motor
Orange
Org/Wht
Blk/Wht
Black
Red Red/
Wht Yel/
Wht
Yellow
Orange
Org/
Wht
Blk/Wht
Black
Red
Red/Wht
Yel/
Wht
Yel
low

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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+
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

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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

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STAC5 Hardware manual 920-0026 Rev. B
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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
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

18
STAC5 Hardware manual
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
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.

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STAC5 Hardware manual 920-0026 Rev. B
4/22/2011
X4+
X4
-
Y1+
Y1
-
Y2+
Y2
-
ANALOG IN
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
9
10
11
12
13
14
15
IN/OUT 1
This connector is included
on all models.
OUT1+
OUT2+
OUT3+
OUTCOM
+5V OUT, 100mA MAX
GND
OUT4+
OUT4-
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.
Connecting to indexer with Sourcing Outputs
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.
IN/OUT 1
COM X2/DIR-
DIR X2/DIR+
X1/STEP-
STEP X1/STEP+
Indexer
with
Sourcing
Outputs
inside drive
X1/STEP+
X1/STEP -
2
1
DB-15 Connector
X2/DIR+
X2/DIR -
4
3
Connecting to Indexer with Sinking Outputs
IN/OUT 1
+5V OUT X2/DIR+
DIR X2/DIR-
X1/STEP+
STEP X1/STEP-
Indexer
with
Sinking
Outputs

20
STAC5 Hardware manual
920-0026 Rev. B
4/22/2011
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)
IN/OUT 1
Master
Encoder
GND
X2/DIR-
X2/DIR+
X1/STEP-
X1/STEP+
GND
B-
B+
A-
A+
inside drive
DB-15 Connector
X3/EN+
X3/EN -
6
5
X4+
X4 -
8
7
inside drive
DB-25 Connector
IN2+
IN2 -
9
10
IN1+
IN1 -
11
12
IN8+
IN8 -
25
24
IN7+
IN7 -
23
22
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.
Connecting to Indexer with Differential Outputs
(Many high speed indexers have differential outputs)
IN/OUT 1
DIR+ X2/DIR+
DIR- X2/DIR-
X1/STEP+
STEP-
STEP+
X1/STEP-
Indexer
with
Differential
Outputs