null  null
MSSTAC5
Hardware Manual
• MSSTAC5-C-N-2V
• MSSTAC5-C-E-2V
Rev. 1.0
AMP & MOONS’ Automation
STAC5-CANopen Hardware Manual
Contents
Introduction......................................................................................................3
Features...........................................................................................................3
List of MSSTAC5 Model Numbers...................................................................3
Block Diagram..................................................................................................4
Getting Started.................................................................................................5
Installing Software ...........................................................................................5
Connecting to the PC using RS-232................................................................6
Connecting the CANopen Communications...................................................... 7
Node ID.............................................................................................................. 7
Setting the Bit Rate............................................................................................ 8
Connecting AC Power......................................................................................8
Fusing................................................................................................................ 8
Line Filter........................................................................................................... 8
Connecting the Motor.......................................................................................9
Connecting an Encoder (Requires the Encoder Feedback option)���������������10
IO Functions................................................................................................... 11
Connecting Input Signals............................................................................... 11
Connector Pin Diagrams...................................................................................11
High Speed Digital Inputs................................................................................ 12
Analog Input..................................................................................................... 13
Programmable Outputs..................................................................................14
Torque-Speed Curves ...................................................................................15
Mounting the Drive.........................................................................................16
Mechanical Outline.........................................................................................16
Technical Specifications.................................................................................17
Mating Connectors and Accessories..............................................................18
Alarm Codes..................................................................................................18
Contacting MOONS’.......................................................................................19
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STAC5-CANopen Hardware Manual
Introduction
Thank you for selecting a MOONS’ motor control product. We hope our dedication to performance,
quality and economy will make your motion control 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 (021) 52634688, or you can reach us by fax
at (021) 62968682. You can also email to [email protected]
Features
• Programmable, microstepping digital step motor driver in compact package
• MSSTAC5-2V models operate from 94-265VAC
• Accepts analog signals, digital signals
• Accept incremental encoder feedback signal. Single-ended or Differential. (Optional)
• MSSTAC5-2V provides motor current up to 2.55 amps/phase (peak of sine)
• Communications:
CANopen & RS-232
• ±10 volt analog input for speed and position control. Can also be configured for 0 to 10V, ±5V
or 0 to 5V signal ranges.
• Digital I/O
Four optically isolated digital inputs, two optically isolated digital outputs
• Support CiA301 and CiA402
List of MSSTAC5 Model Numbers
Model
MSSTAC5-C-N-2V
MSSTAC5-C-E-2V
Control
Current
Voltage
CANopen
0.5-2.55A
94-265VAC
Encoder
CANopen
√
√
√
An “E” in the model number indicates the inclusion of the models operate Encoder Feedback
connector.
An “N” in the model number indicates no encoder feedback connector on the drive.
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STAC5-CANopen Hardware Manual
Block Diagram
MSSTAC5 CANopen Step Motor Drive
Block Diagram
220 VAC*
X1
X2
X3
X4
Y1
Y2
±ANALOG IN
to Host
Internal
Logic
Supply
Optical
Isolation
RS-232
Driver
Status
MOSFET
PWM
Power
Amplifier
DSP
CURRENT CONTROL
ANTI-RESONANCE
ELEC DAMPING
TRAJECTORY
I/O CONTROL
Regen
Encoder Option Card
CAN Card
User
Program
Storage
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motor
4
encoder
CANopen
STAC5-CANopen Hardware Manual
Getting Started
This manual describes the use of all 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:
• 94-265VAC power.
• a compatible step motor
• a small flat blade screwdriver for tightening the connectors (included).
• a personal computer running Microsoft Windows XP, or windows 7
Installing Software
If you’ve never used a MSSTAC5 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 -C drives, download and install the ST Configurator software
you may also need to download and install the Q Programmer
software
RS232 Connector
• RJ11
RS485 Address
Address Display
RS
• RJ
5 Pin RS485
Connector
Ro
•R
Sta
DB-25 Connector
2. Launch the software by clicking
Start...Programs...MOONS’...ST
Configurator.
Rotary Switch
-Q-A only
• RS232 Baud Rate
Status LED
• 8 digital inputs
• 4 digital outputs
3. Connect the drive to the PC using the programming cable.
4. Connect the drive to the motor (see Connecting the Motor).
H/L RS485 Address - SW3
Internal Terminated Resistor - SW4
DB-15 Connector
• 4 digital inputs
DB
•4
•2
•1
• 2 digital outputs
5. Connect the drive to the AC power (see Connecting AC Power).
• 1 analog input
HD-15 Connector
• optional encoder feedback
6. Apply power to the drive.
HD-15 Connector
• optional encoder feedback
7. The software will recognize the drive and display the model and firmware version. At this point,
Screw Terminal
it is ready for use.
Connector
• motor
• AC power
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.
Sc
Co
•m
•A
RS485 Version
RS232 Version
CANopen Bit Rate
E
•
RS232 Connector
• RJ11
Rotary Switch
RS232 baud rate setting
Status LED
CANopen Node ID
DB-15 Connector
• 4 digital inputs
• 2 digital outputs
• 1 analog input
HD-15 Connector
• optional encoder feedback
DB-25 Connector
-Q-A/IP only
• 8 digital inputs
• 4 digital outputs
HD-15 Connector
• optional encoder feedback
Screw Terminal
Connector
• motor
• AC power
CANopen Version
5
Ethernet Version
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STAC5-CANopen Hardware Manual
Connecting to the PC using RS-232
A special cable designed to work with the serial port for configuration is included. The
MSSTAC5-C is configured using a combination of rotary switches and an RS-232 serial link,
and then may be deployed on a distributed CANopen network. The RS-232 interface is used for
configuration, tuning, node ID setting and Q programmer downloading. Locate the MSSTAC5 C
within 2.5 meters of the PC. Plug the DB9 connector of the communication cable that came with
the drive into the serial port of the PC. Plug the small end into the PC jack on the MSSTAC5 C .
Secure the cable to the PC with the screws on the DB9 connector.
RX (to PC TX)
ground (to PC ground)
TX (to PC RX)
No connection
Pin Assignments of the PC Port
(RJ11 connector)
Never connect a drive to a telephone circuit. It uses the same connectors and cords as
telephones and modems, but the voltages are not compatible.
Note: If the PC does not have an RS-232 serial port, a USB Serial Converter will be needed.
You can contact MOONS’ to buy a USB to RS-232 converter.
The RS-232 circuitry does not have any extra electrical “hardening” and care should be taken
when connecting to the RS-232 port as hot plugging could result in circuit failure.
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STAC5-CANopen Hardware Manual
Connecting the CANopen Communications
MOONS’ MSSTAC5-C drive uses a four-pin spring connector, shown in Figure below,
and conforms to DR303 specification. The connector should be wired in a daisy-chain
configuration, as shown in Figure below, with a 120 ohm resistor used to terminate each
end. Other wiring topologies, such as star networks, are not recommended due to wave
reflection problems. Please reference specific hardware manuals for your drive’s wiring
configuration.
GND
CAN_L
SHLD
CAN_H
The CANopen network should be connected in a daisy-chain fashion, with a 120 ohm terminating
resistor at each end of network.
R termination*
120 ohm nominal
CAN_L
CAN_GND
CAN_SHLD
CAN_H
DSUB9 Female
CAN_H
CAN_SHLD
CAN_L
CAN_GND
CAN_BUS
R termination*
120 ohm nominal
4
3
2
1
4
3
2
1
n*
CAN_H
CAN_SHLD
CAN_L
CAN_GND
1
2
3
4
5
6
7
8
9
.1” Spacing Spring Plug
.1” Spacing Spring Plug
n:
Cable may be made with up to 127 drive
connectors. Termination is only required
at each end.
R termination:
Network must be terminated at each
end with a 120 ohm resistor.
Node ID
Each node ID on a CANopen network must have a unique Node ID.
The Node ID is configured using a sixteen position switch to set
the lower four bits of the Node ID while the upper three bits are
configured by using ST Configurator. CANopen Node IDs are
seven bits long, with a range of 1 - 127, or 0x01 - 0x7F in
hexadecimal notation. Node ID 0x00 is reserved in accordance
with the CiA 301 specification.
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STAC5-CANopen Hardware Manual
Setting the Bit Rate
The CANopen network bitrate is set by the octal rotary switch on the front of the drive. The bit
rate must be the same for all nodes on the CANopen network. Any changes to the bit rate require
either a power cycle or a CANopen reset command to take effect.
Switch Setting
Resultant Bit Rate
0
1 Mbps
1
800 kbps
2
500 kbps
3
250 kbps
4
125 kbps
5
50 kbps
6
20 kbps
7
12.5 kbps
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 MSSTAC5-2V contains an internal 6.3A fast acting fuse. If an external fuse is desired, we
recommend a 3A fast acting fuse for the MSSTAC5 .
Line Filter
For applications requiring CE EMC compliance, a line filter is required in series with the AC input.
Here are two choices.
1.
Vendor: Tyco Electronics Corcom
Part Number: 6ET1
2.
Vendor: LCR Electronics, inc.
Part Number: 092.00721.00
To Line (Hot)
To Neutral
To Earth Ground
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LINE FILTER
SURGE PROTECTOR
FUSE
8
STAC5-CANopen Hardware Manual
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
MSSTAC5. Always connect the cable drain wire to the drive’s
terminal (next to the A+
Terminal
The recommended MOONS’ motors for the MSSTAC5 include shielded cables. See the
Recommended Motors section for a list of part numbers.
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. 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 below.
Black A
4 LEAD
MOTOR
Green C
Red B
Blue D
4 Leads
Eight leads motors can also be connected in series. As with eight leads motor, series operation
gives you less torque at high speeds, but may result in lower motor losses and less heating.
Parallel operation is not recommend for 220VAC power.
White A
Brown
8 LEAD
MOTOR
Green
Yellow C
Gray B
Pink
Blue
Red D
8 Leads Series Connected
Eight leads motors can also be connected in parallel. As with eight leads motor, parallel operation
gives you much more torque at high speeds, but may also result in much more heat generated
that can cause danger to both motor and drive. You should contact us for more technical details of
using parallel operation, make sure it will be safe in your application.
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STAC5-CANopen Hardware Manual
Connecting an Encoder (Requires the Encoder Feedback option)
The motors recommended for use with MSSTAC5 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 MSSTAC5, 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 MSSTAC5 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 ST Configurator or the drive will think you have a broken encoder wire. That’s another
good reason to use a differential encoder, the MSSTAC5 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.
inside drive
7
encoder B+ (3)
do not connect (9)
encoder B- (4)
do not connect (10)
encoder Z+ (5)
(8) GND
(2) encoder A(7) +5VDC 200mA
(1) encoder A+
(6) encoder Z-
1
A+
2
HD-15 Connector
shield (15)
do not connect (14)
do not connect (13)
+5V
(11) do not connect
(12) do not connect
A-
+5V
3
B+
4
B-
+5V
5
Front View
Z+
6
Pin Assignments (facing drive)
Z8
GND
Internal Circuit
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STAC5-CANopen Hardware Manual
IO Functions
Basic I/O details:
Standard IN/OUT1 Connector
X1
X2
X3
X4
Y1
Y2
Voltage range
5 - 24V
5 - 24V
5 - 24V
5 - 24V
30V max
30V max
Speed range
2MHz
2MHz
2MHz
2MHz
5KHz
5KHz
Digital filter option
Yes
Yes
Yes
Yes
N/A
N/A
Notes:
I/O functions are configured using ST Configurator software and/or SCL commands.
Connecting Input Signals
The MSSTAC5 drives have two types of inputs: High speed digital input and Analog input.
• High speed digital inputs, 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.
High speed digital inputs for enable motor or alarm reset or high speed capture, 5-24 volt
logic. These inputs, X3/EN/AR and X4/Capture 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.
• Analog input for analog speed and positioning modes, included on all drives. Can be
configured for 0-10V, 0-5V, ±10V or ±5V, with or without offset.
Connector Pin Diagrams
IN/OUT 1
X1/STEP+
X1/STEPX2/DIR+
X2/DIRX3/EN+
X3/ENGND
+5V OUT
100mA MAX
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
X4+
X4Y1/FAULT+
Y1/FAULTY2+
Y2ANALOG IN
This connector is included
on all models.
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STAC5-CANopen Hardware Manual
High Speed Digital Inputs
All MSSTAC5 drives include two high speed inputs called
X3/EN/ARand X4/Capture. They accept 5-24 volt single-ended
or differential signals, You can use these inputs with Wait Input,
If Input, Feed to Sensor, Seek Home and other such
commands.
Connection diagrams follow.
Indexer
with
Sourcing
Outputs
COM
X2/DIR-
DIR
X2/DIR+
DB-15 Connector
DB-15 Connector
All MSSTAC5 drives include two high speed inputs called X1/STEP
and X2/DIR. They accept 5-24 volt single-ended or differential
signals, up to 2 MHz. Or you can use these inputs with Wait
Input, If Input, Feed to Sensor, Seek Home and other such
commands.
X1/STEP-
STEP
1
X1/STEP+
2
X1/STEP-
3
X2/DIR+
4
X2/DIR -
5
X3/EN+
6
X3/EN7
X4+
8
X4-
IN/OUT 1
X1/STEP+
Connecting to indexer with Sourcing Outputs
Indexer
with
Sinking
Outputs
+5V OUT
X2/DIR+
DIR
X2/DIR-
IN/OUT 1
X1/STEP+
STEP
X1/STEP-
Connecting to Indexer with Sinking Outputs
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inside drive
inside drive
STAC5-CANopen Hardware Manual
Analog Input
The MSSTAC5 drives feature one analog input. It can accept a signal range of 0 to 5 VDC, ±5
VDC, 0 to 10 VDC or ±10 VDC. The drive can be configured to operate at a speed or position that
is proportional to the analog signal.
DB-15 Connector
Use the ST Configurator software to set the signal range, offset, deadband and filter frequency.
8
inside drive
+5V OUT
15
AIN
Signal
Conditioning
7
GND
Connecting a Potentiometer to the Analog Input
8
1-10k Ω
pot
+5V OUT
15
AIN
ccw
7
GND
IN/OUT 1
cw
Connecting a Potentiometer to the Analog Input
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STAC5-CANopen Hardware Manual
Programmable Outputs
DB-15 Connector
The MSSTAC5-Cdrives 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 out). Or the outputs can be turned on and off by
program instructions like Set Output. MSSTAC5-C drives
include four additional programmable outputs.
11
Y1/FAULT+
IN/OUT 1
12
Y1/FAULT13
Y2+
14
Y2-
The outputs can be used to drive LEDs, relays and the inputs of
other electronic devices like PLCs and counters. For Y1and Y2, 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.
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.
5-24 VDC
Power Supply
+
–
Load
OUT+
STAC5
OUT-
Sinking Output Using Y1, Y2
5-24 VDC
Power Supply
STAC5
+
–
OUT+
COM
OUT-
IN
PLC
Sourcing Output Using Y1, Y2
5-24 VDC
Power Supply
relay
+
OUT+
Drive
1N4935 suppression diode
OUT-
Driving a Relay Using Y1, Y2
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–
STAC5-CANopen Hardware Manual
Recommended Motors
Model
Shaft
AM23HS2459-01
Wiring
Single Shaft
AM23HS3466-01
AM24HS5411-01N
Single Shaft
AM34HD0802-01
Single Shaft
AM34HD0802-02
Double Shaft
AM34HD4802-01
Single Shaft
AM34HD1802-01
Single Shaft
AM34HD1802-03
Double Shaft
AM34HD6801-01
Single Shaft
AM34HD2805-01
Single Shaft
AM34HD2805-03
Double Shaft
Holding
Torque
Length“L”
mm
N·m
54
1.1
76
1.8
85
Current
Rotor
Inertia
Resistance
2
Ω/Phase
g·cm
Kg
16.6
260
0.6
25.4
460
1.0
2.5
15.4
900
1.4
66.5
3
3.4
1100
1.6
75
3.5
3.6
1350
1.9
96
5
3.6
1850
2.7
115
6.5
4
2400
3.5
125.5
7.1
4.2
2750
3.8
4 Leads
8 Leads
Series
Connected
A/Phase
Motor
Mass
1
1.8
Dielectric
Strength
1500V AC
1 minute
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.
Torque-Speed Curves
AM23HS2459
Drive: MSSTAC5
Microstep͹10000 steps/rev
1.5
2
0.6
0.3
10
20
30
Speed(rps)
40
Drive: MSSTAC5
Microstep͹25000 steps/rev
0.4
50
20
30
Speed(rps)
40
1.0
6.0
1.5
1.0
0
0
10
20
30
Speed(rps)
Drive: MSSTAC5
Microstep͹25000 steps/rev
40
50
.
2.0
1.5
0
10
AM34HD1802
1.8A(Peak)@ 220V
2.5
0.5
0
1
0.5
20
30
40
50
Speed(rps)
T o rq u e ( N m )
1.5
1A(Peak)@ 220V
2
0
50
3.0
T o rq u e ( N m )
T o rq u e ( N m )
10
Drive: MSSTAC5
Microstep͹25000 steps/rev
3.5
.
AM34HD6801
Drive: MSSTAC5
Microstep͹25000 steps/rev
1.8A(Peak)@ 220V
5.0
4.0
3.0
2.0
1.0
0
10
20
30
Speed(rps)
40
50
40
50
0
0
10
20
30
Speed(rps)
40
50
AM34HD2805
1.8A(Peak)@ 220V
7.0
Drive: MSSTAC5
Microstep͹25000 steps/rev
1.8A(Peak)@ 220V
6.0
T o rq u e ( N m )
5.0
T o rq u e ( N m )
0
Drive: MSSTAC5
Microstep͹10000 steps/rev
1.5
AM34HD4802
1.8A(Peak)@ 220V
2.5
. 4.0
.
3.0
2.0
1.0
0
.
0.8
0
0
. 2.0
6.0
2.5
1.2
AM34HD0802
3.0
1A(Peak)@ 220V
Torque ( N m)
Torque ( N m)
Torque ( N m)
.
0.9
0
Drive: MSSTAC5
Microstep͹10000 steps/rev
1.6
1.2
.
AM24HS5411
AM23HS3466
1A(Peak)@ 220V
5.0
4.0
3.0
2.0
1.0
0
10
20
30
Speed(rps)
40
50
0
0
10
20
30
Speed(rps)
15
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STAC5-CANopen Hardware Manual
Mounting the Drive
Use M4 screws to mount your drive. If possible, the drive should be securely fastened to a
smooth, flat metal surface that will help conduct heat away from the chassis. If this is not possible,
then forced airflow from a fan may be required to prevent the drive from overheating.
• Never use your drive in a space where there is no air flow or where other devices cause the
surrounding air to be more than 40°C.
• Never put the drive where it can get wet or where metal or other electrically conductive particles can get on the circuitry.
• Always provide air flow around the drive. When mounting multiple MSSTAC5 drives near each
other, maintain at least one half inch of space between drives.
Mechanical Outline
122.5
49
38
128
140
116
2-4.5
Unit:mm
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STAC5-CANopen Hardware Manual
Technical Specifications
AMPLIFIER TYPE
Digital MOSFET, dual H-bridge, 4 quadrant
CURRENT CONTROL
4 state PWM at 16 KHz
OUTPUT CURRENT
MSSTAC5-2V: 0.5-2.55 amps/phase (peak of sine) in 0.01 amp increments
POWER SUPPLY
MSSTAC5-2V: 94-265 VAC, 50/60Hz
PROTECTION
Over-voltage, under-voltage, over-temp, motor/wiring shorts (phase-tophase, phase-to-ground), internal amplifier shorts
MOTOR
REGENERATION
Built-in regeneration circuit, 10 watts max.
IDLE CURRENT
REDUCTION
Reduction range of 0-90% of running current after delay selectable in
milliseconds
MICROSTEP
RESOLUTION
Software selectable from 200 to 51200 steps/rev in increments of
2 steps/rev
ANTI-RESONANCE
(Electronic Damping)
Raises the system damping ratio to eliminate midrange instability and
allow stable operation throughout the speed range and improves settling
time.
TORQUE RIPPLE
SMOOTHING
Allows for fine adjustment of phase current waveform harmonic content to
reduce low-speed torque ripple in the range of 0.25 to 1.5 rps.
For connecting to motor-mounted encoder. Used to provide stall detection
ENCODER INTERFACE and stall prevention with static position maintenance. Differential line
receivers, up to 2 MHz.
INPUTS/OUTPUTS
X1, X2 inputs: Optically isolated, differential, 5-24 VDC logic (2.5V
switching threshold),
minimum pulse width = 250 nsec, maximum pulse frequency = 2 MHz,
maximum current = 10 mA.
X3, X4 inputs: Optically isolated, differential, 5-24 VDC logic (2.5V
switching threshold),
minimum pulse width = 250 nsec, maximum pulse frequency = 2 MHz,
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 configurable offset, deadband, and filtering.
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.
NON-VOLATILE
STORAGE
Drive configuration and Q program are stored in FLASH memory onboard
the DSP.
AGENCY APPROVALS
“RoHS
CE EN61800-3:2004
UL 508c”
HUMIDITY
90% max, non-condensing
AMBIENT
TEMPERATURE
0 to 40 ºC (32 to 104 ºF) with adequate ventilation
DIMENSIONS
122.5 x 128 x 49mm
WEIGHT
22.4 oz (630 g)
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STAC5-CANopen Hardware Manual
Mating Connectors and Accessories
Mating Connectors
Power supply: Weidmuller P/N 1526510000
Motor: Weidmuller P/N 1526710000
IN/OUT1: DB-15 male. OUPIIN P/N 7907-15MTBC00A. Shell Kit OUPIIN P/N DP-15CP. Included.
Optional encoder feedback: DB-15 male. OUPIIN P/N 7917-15MTBC00A. Shell Kit OUPIIN P/N
DP-09CP. Included.
CANopen card: Phoenix P/N 1881341
Alarm Codes
In the event of an error, the green LED on the main board will flash one or two times, followed by a
series of red flashes. The pattern repeats until the alarm is cleared.
Code
Rev. 1.0
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Error
Solid green
no alarm,motor disabled
Flashing green
no alarm,motor enabled
1 red,1 green
motor stall (optional encoder only)
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
communication error
7 red,2 green
flash memory error
18
STAC5-CANopen Hardware Manual
Contacting MOONS’
Service Center
+86-400-820-9661
Headquarters
No. 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107, P.R. China
Tel: +86(0)21-52634688
Fax: +86(0)21-62968682
E-mail: [email protected]
MOONS' Industries (America), Inc.
1113 North Prospect Avenue,Itasca, IL 60143 U.S.A.
Tel: 001-630-833-5940
Fax: 001-630-833-5946
MOONS' Industries (Europe) S.r.l.
Via Torri Bianche n.1 20059 Vimercate(MB) Italy
Tel: +39 039 62 60 521
Fax: +39 039 96 31 409
MOONS' Industries (South-East Asia) Pte Ltd.
33 Ubi Avenue 3 #08-23 Vertex Singapore 408868
Tel: +65 6634 1198
Fax: +65 6634 1138
Shenzhen Branch Office
Room 2209, 22/F, Kerry Center,No. 2008 Renminnan Road Shenzhen 518001 P. R.China
Tel: +86 (0)755 25472080
Fax: +86 (0)755 25472081
Beijing Branch Office
Room 202, Unit 2, 7th Building,Huilongsen International Science & Technology Industry Park,
No.99, Kechuang 14th Street,Beijing 101111 P. R.China
Tel: +86 (0)10 59755578
Fax: +86 (0)10 59755579
Qingdao Branch Office
Room 10E, No.73 Wangjiao Mansion, mid. Hongkong Road Qingdao 266071 P. R.China
Tel: +86 (0)532 85879625
Fax: +86 (0)532 85879512
Wuhan Branch Office
Room 3001, World Trade Tower, No.686 Jiefang Avenue, Jianghan District, Wuhan 430022 P.R.China
Tel: +86 (0)27-85448742
Fax: +86 (0)27-85448355
Nanjing Branch Office
Room 302, Building A, Tengfei Creation Center,55 Jiangjun Avenue, Jiangning District,Nanjing 211100 P. R.China
Tel: +86 (0)25 52785841
Fax: +86 (0)25 52785485
Chengdu Branch Office
Room 1917, Western Tower, No.19,4th Section of South People Road,Wuhou District,Chengdu 610041
P.R.China
Tel: +86 (0)28-85268102
Fax: +86 (0)28-85268103
Xi'an Branch Office
Room 1006, Block D, Wangzuo International City, No.1 Tangyan Road, Xi’an 710065 P.R. China
Tel: +86 (0)29 81870400
Fax: +86 (0)29 81870340
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Rev. 1.0
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