Spain is a party to the Schengen Agreement. This means that U.S. citizens may enter Spain for up to 90 days for tourism or business without a visa. Your passport should be valid for at least three months beyond the period of stay.
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How long can you stay in Spain without becoming a resident? The short-stay visa only allows you to reside in Spain for up to 90 days at a time out of every 180 days, or a maximum of around 180 days a year. This is fine if your trips will be no longer than three months at a time, no more than twice a year.
Therefore, you need to leave Spain (or any other Schengen country) immediately after the 90-day limit is over. You will then need to wait 90 days after leaving Spain (or Schengen) before you can enter again without a visa.
Once you have reached the 90/180 day limit, you must return to your country of origin. If you wanted to extend your stay in Spain, you would still need to return home to apply for an appropriate visa at your country's Spanish embassy, so that you can come back to Spain and obtain a residence permit for a longer stay.