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Summary of Contents for Parker Compumotor ZETA6104
- Page 1 (217) 352-9330 | Click HERE Find the Parker / Compumotor ZETA6104 at our website:...
- Page 2 ZETA6104 Indexer/Drive Installation Guide 6 1 0 I / O Compumotor Division Parker Hannifin Corporation p/n 88-014782-02B September 1997 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
- Page 3 Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and hardware mentioned therein at any time without notice.
- Page 4 Change Summary ZETA6104 Installation Guide R e v B September 1997 The following is a summary of the primary technical changes to this document. This book, p/n 88-014782-02B, supersedes 88-014782-02A and 88-014782-01B. Revision B Change Wiring diagrams (series/parallel connections) for RSxxx-xxNPS and RSxxx-xxC10 motor options have been corrected Ð...
- Page 5 LVD and EMC Installation The ZETA6104 is in compliance with the Low Voltage Directive (72/23/EEC) and the CE Guidelines Marking Directive (93/68/EEC) of the European Community. When installed according to the procedures in the main body of this installation guide, the ZETA6104 may not necessarily comply with the Low Voltage Directive (LVD).
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Page 6: Table Of Contents
¥ Mechanical motion control concepts, such as inertia, torque, velocity, distance, force. ¥ Serial communication and terminal emulator experience: RS-232C and/or RS-485 Related Publications ¥ 6000 Series Software Reference, Parker Hannifin Corporation, Compumotor Division; part number 88-012966-01 ¥ 6000 Series ProgrammerÕs Guide, Parker Hannifin Corporation, Compumotor Division;... - Page 7 LVD Installation Guidelines The ZETA6104 is in compliance with the Low Voltage Directive (72/23/EEC) and the CE Marking Directive (93/68/EEC) of the European Community. When installed according to the procedures in the main body of this installation guide, the ZETA6104 may not necessarily comply with the Low Voltage Directive (LVD). To install the ZETA6104 so that it is LVD compliant, refer to supplemental installation instructions provided in Appendix C.
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Page 8: Chapter 1. Installation
C H A P T E R O N E Installation IN THIS CHAPTER ¥ Product ship kit list ¥ Things to consider before you install the ZETA6104 ¥ General specifications table ¥ Optional pre-installation alterations - DIP switch settings Ð motor current, device address, autobaud feature - Changing the COM 2 port from RS-232C to RS-485 ¥... -
Page 9: What You Should Have (Ship Kit)
What You Should Have (ship kit) Part Name Part Number MOTORS: These are the motors that can be ordered with the ZETA6104. ZETA Motors: * ZETA6104 standard product (with ship kit)....ZETA6104 ZETA57-51 ....Size 23 single-stack (57-51) motor ZETA57-83 ....Size 23 double-stack (57-83) motor Ship kit: ZETA57-102 .... -
Page 10: General Specifications
General Specifications Parameter Specification Power AC input ..............95-132VAC, 50/60Hz, single-phase (refer to page 18 for peak power requirements, based on the motor you are using) Status LEDs/fault detection........Refer to Diagnostic LEDs on page 34 Environmental Operating Temperature .......... 32 to 113°F (0 to 45°C) Ñ over-temperature shutdown fault at 131°F (55°C) Storage Temperature.......... -
Page 11: Pre-Installation Adjustments
Pre-installation Adjustments Factory Settings May Be Sufficient (if so, skip this section): ¥ Device address is set to zero (if daisy-chaining you can automatically establish with the ADDR command). ¥ Serial communication method is RS-232C. DIP Switch Settings Ð Motor Current, Address, Autobaud Move the Cover Top View of ZETA6104... -
Page 12: Changing The Com 2 Connector From Rs-232 To Rs-485
Changing the COM 2 Connector from RS-232 to RS-485 RS-232C Users The ZETA6104Õs port is factory configured for RS-232C COM 2 RxÐ communication (use the left-hand pin descriptions). If you do not TxÐ need to use RS-485 communication, you may ignore this section SHLD and proceed to the Mounting instructions. -
Page 13: Mounting The Zeta6104
Mounting the ZETA6104 Before you mount the ZETA6104 Check the list below to make sure you have performed all the necessary configuration tasks that require accessing internal components (DIP switches, potentiometers, and jumpers). You may, however, be able to adjust DIP switches and pots after mounting, if you allow access to the top of the ZETA6104 chassis. ¥... -
Page 14: Electrical Connections
Electrical Connections To install the ZETA6104 so that it is LVD compliant, refer also to the supplemental instruc- tions in Appendix C. Appendix D provides guidelines on how to install the ZETA6104 in a manner most likely to minimize the ZETA6104Õs emissions and to maximize the ZETA6104Õs immunity to externally generated electromagnetic interference. -
Page 15: Serial Communication
Serial Communication RS-232C Connections RS-232C Daisy-Chain Connections* Unit 0 Unit 1 Unit 2 SHLD SHLD SHLD Daisy Chain to a Computer or Terminal SHLD RxÐ Serial Port Connection Unit 0 Unit 1 Unit 2 TxÐ SHLD 9-Pin COM Port: 25-Pin COM Port: Pin 2 (Rx) Pin 2 (Tx) SHLD... -
Page 16: Motor (Zeta And Os/Rs Motors Only)
Motor (ZETA and OS/RS motors only) ZETA, OS and RS Motors Motor Connector Specifications Ð see page 3. Speed/Torque curves Ð see page 10. Considerations for series & parallel wiring Ð see page 10. Current settings Ð see page 4. Dimensions Ð see page 24. INTERLOCK Cable extension Ð... - Page 17 Selecting Series or Parallel Motor Wiring Use series wiring if your Zeta Motor Curves O & R Motor Curves = Torque = Torque = Power = Power application permits. ZETA motors come from the factory oz-in (N-m) Power oz-in (N-m) Power ZETA57Ð51 OS2HB...
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Page 18: End-Of-Travel And Home Limit Inputs
End-of-Travel and Home Limit Inputs N O T E S ¥ CAUTION Use either the on-board terminal or an external power supply to power pull-up resistor (using both will damage the ZETA6104). AUX-P ¥ Motion will not occur until you do one of the following: - Install end-of-travel ( &... -
Page 19: Encoder
Encoder CONNECTIONS & INTERNAL SCHEMATICS ENCODER Connector Internal Schematic Shield Shield Shield SHLD Ground Black Black Chassis Ground Max. Cable Length is 100 feet. Isolated Ground Z Channel Ð Orange/White (n/a) Use 22 AWG wire. Z Channel + Orange Blue Same Circuit +1.8VDC B Channel Ð... -
Page 20: Trigger Inputs
Trigger Inputs ENCODER Connector Internal Schematic TRG-A/B connected to GND SHLD (normally-open switches). The active level (default is active low) can be changed with the Chassis Ground INLVL command. These inputs are like the general-purpose inputs on the 50-pin header. The differences are (1) the triggers are pulled up via the AUX-P pull-up terminal and powered by the voltage applied to the V_I/O terminal;... -
Page 21: General-Purpose Programmable Inputs & Outputs
General-Purpose Programmable Inputs & Outputs VM50 ADAPTOR Ñ for screw-terminal connections Color stripe (pin #1) 2-Foot Cable (provided with VM50) Pin outs on the VM50 are identical to the pin outs for the 50-pin connectors (only if the cable is Color stripe connected as illustrated). - Page 22 INPUT CONNECTIONS Ñ Connecting to electronic devices such as PLCs Connection to a Electronic ZETA6104 Sinking Output Device D e v i c e ISO GND +5VDC Pulled up to +5V The output should IN-P (sourcing) be able to sink at least 1mA of current.
- Page 23 OUTPUT CONNECTIONS (includes OUT-A) Ñ for electronic devices such as PLCs Connection to a Sinking Input (active high) Connection to a Sourcing Input (active low) External Supply External Supply Electronic ZETA6104 Electronic ZETA6104 (up to 24VDC) (up to 24VDC) Ð Ð...
- Page 24 THUMBWHEEL CONNECTIONS Ñ for entering BCD data Connection to the Compumotor TM8 Module TM8 Thumbwheel Module +5 GND I5 I4 I3 I2 I1 O5 O4 O3 O2 O1 ZETA6104 Programmable Input #1 Programmable Input #2 Programmable Input #3 Programmable Input #4 Programmable Input #5 Pin #49 (+5VDC) Pin #48 (GND)
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Page 25: Rp240 Remote Operator Panel
RP240 Remote Operator Panel RP240 Connections when using RS-485 RP240 Back Plane SHLD SHLD RxÐ RxÐ TxÐ SHLD TxÐ SHLD If you will use RS-485 serial communication, SHLD ZÐ you must connect the RP240 to the COM 1 BÐ connector (and connect the RP240's +5V lead AÐ... -
Page 26: Lengthening I/O Cables
Lengthening I/O Cables Bear in mind that lengthening cables increases noise sensitivity. (The maximum length of cables is ultimately determined by the environment in which the equipment will be used.) If you lengthen the cables, follow the precautions below to minimize noise problems. ¥... -
Page 27: Testing The Installation
Testing the Installation WARNING This test procedure allows you to control I/O and produce motion. Make sure that exercising the I/O will not damage equipment or injure personnel. We recommend that you leave the motor uncoupled from the load, but if you have coupled the load to the motor, make sure that you can move the load without damaging equipment or injuring personnel. - Page 28 Connections Test Procedure Response Format (left to right) End-of-travel NOTE: If you are not using end-of-travel limits, issue the Disable Limits (LH¯) command TLIM response: and ignore the first two bits in each response field. bit 1= POS (positive travel) limit Home Limits 1.
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Page 29: Matching The Motor To The Zeta6104 (Optional)
Matching the Motor to the ZETA6104 (OPTIONAL) Due to slight manufacturing variations, each motor has its own particular characteristics. In the procedure below, you will adjust three potentiometers (pots), to match your ZETA6104 to your specific motor. You will also select the best current waveform to use with your motor. If you purchased a ZETA6104 and ZETA motor system (not applicable to OS and RS motors), the ZETA6104 and the ZETA motor were matched to each other at the factory. - Page 30 Run your motor at the resonant speed listed in the Offset Adjust column. Vary the speed Step 3 slightly until you find the resonance point. To initiate motion, type these commands (followed by a carriage return) to the ZETA6104 from the terminal emulator: MC1 (This command makes the motion run continuously until you issue a !S command.) (This command sets the velocity to n .
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Page 31: Mounting & Coupling The Motor
Mounting & Coupling the Motor WARNINGS ¥ Improper motor mounting and coupling can jeopardize personal safety, and compromise system performance. ¥ Never disassemble the motor; doing so will cause contamination, significant reduction in magnetization, and loss of torque. ¥ Improper shaft machining will destroy the motorÕs bearings, and void the warranty. Consult a factory Applications Engineer (see phone number on inside of front cover) before you machine the motor shaft. -
Page 32: Coupling The Motor
R Series, 23 Frame 0.003 ( 0.077 ) -A- 3.38 4 x ¯0.218 (5.46) thru R 1.72 End Bell Construction (NPS) (85.85) equally spaced on a (43.69) L max. 2.02 ¯3.875 (98.43) B.C. (51.31) 2 x 45¡ max. Model Lmax 0.0000 RS31B- 3.62 (n n 91.95) -
Page 33: Optimizing System Performance (Optional)
Optimizing System Performance (OPTIONAL) The ZETA6104 is equipped with three damping circuits that minimize resonance and ringing, and thus enhance stepper performance: ¥ Anti-Resonance Ð General-purpose damping circuit. The ZETA6104 ships from the factory with anti-resonance enabled (see DAREN command). No configuration is necessary. Anti-resonance provides aggressive and effective damping at speeds greater than 3 The ZETA6104 revolutions per second (rps). - Page 34 Establish appropriate inductance and static torque settings. If you ordered a Step 2 ZETA6104 and a ZETA motor together as a ÒsystemÓ, these settings were made at the factory (OS and RS motors may not be ordered as a ÒsystemÓ). Use the DMTIND command to set the inductance, and use the DMTSTT command to set the static torque (see table below).
- Page 35 Make a baseline move with active damping disabled. This is your baseline move. Step 4 Notice the sound, amount of motor vibration, etc. This move shows how your system operates with anti-resonance enabled, and active damping disabled. Each time you adjust the DACTDP setting (in steps 5-7), you will compare results against this baseline move.
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Page 36: Configuring Electronic Viscosity (Ev)
Configuring Electronic Viscosity (EV) Before You Start ¥ If you configured active damping (see procedure above), leave the DACTDP setting set at the value you chose. You do not need to disable active damping while you configure EV. ¥ Couple the motor to the load (see pages 24-25 for details). EV must be configured under the normal mechanical operating conditions for your application. -
Page 37: Record Your Systemõs Configuration
Record Your SystemÕs Configuration You may wish to record your configuration information in the chart below. Axis Name Motor Size Motor Inductance Setting ( DMTIND Motor Static Torque Setting ( DMTSTT Waveform Setting ( DWAVEF Electronic Viscosity Setting ( DELVIS Active Damping Setting ( DACTDP Anti-Resonance Enabled? (... - Page 38 Set-up Program Example Assumptions: The ZETA6104 is used with a Zeta83-93 motor wired in series. RS-232C is connected to the serial port. COM 1 An RP240 is connected to the serial port. COM 2 DEF SETUP ; Begin definition of the program called setup DWAVEF1 ;...
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Page 39: Whatõs Next
WhatÕs Next? By now, you should have completed the following tasks, as instructed earlier in this chapter: 1. Review the general specifications Ñ see page 3 2. Perform configuration/adjustments, as necessary Ñ see pages 4-5 3. Mount the ZETA6104 Ñ see page 6 4. -
Page 40: Chapter 2. Troubleshooting
C H A P T E R T W O Troubleshooting IN THIS CHAPTER ¥ Troubleshooting basics: - Reducing electrical noise - Diagnostic LEDs - Test options - Technical support ¥ Solutions to common problems ¥ Resolving serial communication problems ¥... -
Page 41: Troubleshooting Basics
Refer to the guidelines on page 19. General information on reducing electrical noise can be found in the Engineering Reference section of the Parker Compumotor/Digiplan catalog. Appendix D (page 49) provides guidelines on how to install the ZETA6104 in a manner most likely to minimize the ZETA6104Õs emissions and to maximize the ZETA6104Õs immunity... -
Page 42: Common Problems & Solutions
Common Problems & Solutions NOTE: Some software-related causes are provided because it is sometimes difficult to identify a problem as either hardware or software related. Problem Cause Solution Communication 1. Improper interface connections or 1. See Troubleshooting Serial Communication section below. (serial) not operative, communication protocol 2.a. -
Page 43: Troubleshooting Serial Communication Problems
1. Power up the computer or terminal and launch the terminal emulator. 2. Power up the ZETA6104. A power-up message (similar to the following) should be displayed, followed by a prompt (>): *PARKER COMPUMOTOR 6104 Ð SINGLE AXIS INDEXER/DRIVE *RP240 CONNECTED >... -
Page 44: Product Return Procedure
Problem/Remedy Table (continued) Problem Remedy (based on the possible causes) Garbled Characters ¥ Verify setup: 9600 baud (range is 19200-1200Ñsee AutoBaud, page 4), 8 data bits, 1 stop bit, no parity; RS-232: Full duplex; RS-485: Half duplex (change internal jumper JU6 to position 1). ¥... - Page 45 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 46: Appendix A (Resonance, Ringing & Damping)
Appendix A R e s o n a n c e , R i n g i n g & D a m p i n g Ñ D i s c u s s i o n & T h e o r y In this appendix we will discuss resonance and ringing in step motors. - Page 47 response to a sudden change that we impose on the Electronic Viscosity Ð Provides passive damping system, such as ÒAccelerate to VelocityÓ or ÒStop.Ó at lower speeds. The ZETA6104 ships with electronic viscosity disabled. You must use the DELVIS Several problems are associated with ringing. It can cause command to enable electronic viscosity, and optimize audible noise;...
- Page 48 Anti-Resonance (AR) the bandwidth down to 150ÊHz. With this lower bandwidth, the drive electronics become Òsluggish.Ó Anti-resonance monitors the ZETA6104Õs motor Ordinarily, when the rotor oscillates, it generates current terminals, and looks at power exchange between the in the motorÕs coils; but with EVÕs lower bandwidth, the ZETA6104 and motor.
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- Page 50 Appendix B U s i n g N o n - C o m p u m o t o r M o t o r s We recommend that you use Compumotor motors with the ZETA6104. If you use a non- Compumotor motor, it must meet the following requirements: ¥...
- Page 51 Terminal Connections 8-Lead Motor Because of the complexity involved in phasing an 8-lead After you determine the motorÕs wiring configuration, motor, you must refer to the manufacturerÕs motor connect the motor leads to the ZETA6104Õs 9-pin MOTOR specification document. You can configure the 8-lead connector according to the appropriate diagram below.
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Page 52: Appendix B (Using Non-Compumotor Motors)
Direction of Motor Rotation ¥ If you wire the motor in series, use the DIP switch tableÕs current settings and the converted value to set The procedures above do not determine the direction of the motor current. motor shaft rotation. To find out which direction the shaft ¥... - Page 53 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 54: Appendix C (Lvd Installation Instructions)
Appendix C L V D I n s t a l l a t i o n I n s t r u c t i o n s For more information about the Low Voltage Directive (LVD), see 73/23/EEC and 93/68/EEC, published by the European Economic Community (EEC). - Page 55 Mechanical Table of Graphic Symbols & Warnings The following symbols may appear in this manual, and Installing in an Enclosure: The ZETA6104 must be may be affixed to the products discussed in this manual. installed within an enclosure. The enclosureÕs interior must not be accessible to the operator.
- Page 56 DC connection, The recommended components are produced by Parker does not at all speak to the integrity of an AC (high- Chomerics (617-935-4850) and are suitable for use with frequency) connection.
- Page 57 Compumotor Motors This is usually achieved by fitting an isolator switch to the Parker Compumotor ZETA Series step motor systems door assembly. ship with motors that do not incorporate the use of a To achieve adequate screening of radiated emissions, all braided screen for the control of conducted emissions.
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Page 58: Appendix D (Emc Installation Guidelines)
Step Motors At the drive end, run the motor cable down to the mounting panel, expose a short length of braiding and It is preferable to use motors with screw terminations anchor to the panel with a P-clip. The ZETA Series whenever possible. - Page 59 Motor Cable (braided-screen) Motor Safety Earth (grn/yel) Comm- Encoder Braided-screen Cables Limits Cable I/O Cable Ferrite absorber Remove paint behind this area Ribbon Cable VM50 AC Input Filter Braided-screen Cable AC Input Cable Figure 3. EMC Connections for ZETA6104 LVD/EMC Compliance for RS Motors Motor/Encoder CompumotorÕs RS Series motors may be ordered with Cable...
- Page 60 I N D E X 3rd harmonic 23 PLC inputs 16 4-lead motor ( ) wiring 43 PLC outputs 15 non-Compumotor cables 6-lead motor ( ) wiring 43 power (VAC) input 18 non-Compumotor I/O, extending 19 5V power supply programmable inputs 15 motor 9 connections programmable outputs 16...
- Page 61 DIP switch settings mounting 24 address 4 peak power requirements 18 I/O cabling 19 autobaud feature 4 specifications 3 inductance, configuration (DMTIND) 27 bias & termination resistors 5 speed/torque curves 10 inductive load, connecting outputs to motor current 4 thermal safety 48 disassembling the ZETA6104 5 mounting inertia, and active damping 27...
- Page 62 precautions sinking output device, connecting to installation 2 13, 15 unipolar current 45 mounting 6 software, update from BBS 34 velocity accuracy 3 process of installation 2 sonic pressure 48 velocity range 3 product return procedure 37 sourcing input device, connecting to velocity repeatability 3 programmable I/O VM50 adaptor 14...
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- Page 64 ZETA6104 Indexer/Drive Automation Setup Connections See also pages 7-19 ZETA, OS & RS MOTOR CONNECTIONS (see also pages 9 & 10) I/O SPECIFICATIONS & INTERNAL SCHEMATICS Series Connection Parallel Connection C10 & NPS AC Input ..95-132VAC, 50/60Hz, single phase (factory default) Connections ......
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