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STAC6 Hardware manual
920-0029 Rev. B
11/19/2010
Connecting an Encoder
The motors recommended for use with STAC6 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 Encoder connec-
tor on the STAC6, 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 STAC6 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 Congurator™ or the drive
will think you have a broken encoder wire. That’s another good reason to use a differential encoder, the
STAC6 can detect a broken wire or bad signal and alert you to the problem.
Encoder Feedback Options
The following encoder feedback options are configured and enabled using the STAC Configurator software.
Stall Detection continuously compares the actual motor position, as reported by the encoder, against the
theoretical motor position. If the motor lag reaches 7.2 mechanical degrees behind the target position, a
position fault occurs. This includes a motor at rest being driven out of position by an external force.
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