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Summary of Contents for Parker Compumotor ZETA6 Series
- Page 1 (217) 352-9330 | Click HERE Find the Parker / Compumotor ZETA6104 at our website:...
- Page 2 ZETA6xxx Indexer/Drive Installation Guide Z - Z - I / O I / O Compumotor Division Parker Hannifin Corporation p/n 88-017277-01A October 1998 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.
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Page 4: Table Of Contents
A B O U T T H I S G U I D E Chapter 1. Installation Configuring Active Damping ..........36 Configuring Electronic Viscosity (EV) ........ 38 What You Should Have (ship kit)..........2 Record Your System’s Configuration......... 40 Before You Begin ................3 Recommended Set-up Program Elements ...... - Page 5 Related Publications • 6000 Series Software Reference, Parker Hannifin Corporation, Compumotor Division; part number 88-012966-01 • 6000 Series Programmer’s Guide, Parker Hannifin Corporation, Compumotor Division; part number 88-014540-01 • Current Parker Compumotor Motion Control Catalog • Schram, Peter (editor). The National Electric Code Handbook (Third Edition). Quincy, MA: National Fire Protection Association This manual (in Acrobat PDF format) is available from our web site: http://www.compumotor.com...
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Page 6: 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 ZETA6xxx • General specifications table • Optional pre-installation alterations - DIP switch settings – motor current, device address, autobaud feature - Changing the COM 2 port from RS-232C to RS-485 •... -
Page 7: What You Should Have (Ship Kit)
What You Should Have (ship kit) Part Part Number ZETA6108 standard product (with ship kit)………………………………………..…………………………………ZETA6108 ZETA6112 standard product (with ship kit)………………………………………………………………………….ZETA6112 ZETA6104-240 standard product (with ship kit)…………………………………………………………………….ZETA6104-240 Ship kit: This user guide (ZETA6xxx Indexer/Drive Installation Guide) …….………………………………………………………..88-017277-01 6000 Series Software Reference .…………………………………………………………………………..88-012966-01 6000 Series Programmer's Guide …………………………………………………... -
Page 8: Before You Begin
Before You Begin WARNINGS The ZETA6xxx is used to control your system’s electrical and mechanical components. Therefore, you should test your system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel. Always remove power to the ZETA6xxx before: •... -
Page 9: General Specifications
General Specifications Parameter Specification Power AC input............95-132VAC, 50/60Hz, single-phase (95-264VAC for ZETA6104-240) (refer to page 25 for peak power requirements, based on the motor you are using) Status LEDs/fault detection......Refer to Diagnostic LEDs on page 46 Environmental Operating Temperature ........32 to 113°F (0 to 45°C) Storage Temperature........ - Page 10 Motor Specifications Size 23 O Motors Size 34 R Motors Size 42 R Motors (170 VDC winding) (170 VDC winding) (170 VDC winding) Parameters OS2HB OS21B OS22B RS31B RS32B RS33B RS42B RE42B Static Torque** oz-in 1907 (0.30) (0.58) (1.09) (0.93) (1.87) (2.74) (6.90)
- Page 11 Motor Specifications Size 34 T Series Size 42 T Series Size 34 R Series Size 42 R Series (170 VDC winding) (170 VDC winding) (340 VDC winding) (340 VDC winding) Parameters TS31B TS32B TS33B TS41B TS42B TS43B RS31C RS32C RS33C RS42C RE42C RS43C Static Torque**...
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Page 12: Pre-Installation Adjustments
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Page 13: 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 ZETA6xxx’s port is factory configured for RS-232C COM 2 communication (use the left-hand pin descriptions). If you do not need to use RS-485 communication, you may ignore this section and proceed to the Mounting instructions. -
Page 14: Mounting The Zeta6Xxx
Mounting the ZETA6xxx Before you mount the ZETA6xxx 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 ZETA6xxx chassis. •... - Page 15 Environmental Temperature. Operate the ZETA6xxx in ambient Considerations temperatures between 32°F (0°C) and 113°F (45°C). Provide a minimum of 1 inch (25.4 mm) of unrestricted air-flow space around the ZETA6xxx chassis (see illustration). The ZETA6xxx will shut itself down if its internal sensor reaches 122°F (50°C).
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Page 16: Electrical Connections
Electrical Connections To install the ZETA6xxx so that it is LVD compliant, refer also to the supplemental instructions in Appendix C. Appendix D provides guidelines on how to install the ZETA6xxx in a manner most likely to minimize the ZETA6xxx’s emissions and to maximize the ZETA6xxx’s immunity to externally generated electromagnetic interference. -
Page 17: Serial Communication
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Page 18: Motor (Os/Rs/Ts Motors Only)
Motor (O, R and T motors only) OS, RS and TS Motors Specifications – see page 5. Speed/Torque curves – see pages 15-16. Considerations for series & parallel wiring − see pages 15-16. Current settings – see page 7. Dimensions – see pages 33-35. Cable extension –... - Page 19 Extending OS and RS Motor Cables -L10, -S10 & -P10 motors are shipped with 10 ft (3 m) cables; -FLY motor is shipped with 1 ft (0.3 m) flying leads. -NPS motor does not include cable/leads; 10-foot: use 18 AWG (0.75 mm ) wire for current levels below 10 amps and 16 AWG (1.5 mm for up to 12 amps..
- Page 20 Selecting Series or Parallel Motor Wiring Chapter 1. Installation Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
- Page 21 16 ζ ZETA6xxx Installation Guide Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 22: End-Of-Travel And Home Limit Inputs
End-of-Travel and Home Limit Inputs NOTES • CAUTION Use either the on-board terminal or an external power supply to power pull-up resistor (using both will damage the ZETA6xxx). AUX-P • Motion will not occur until you do one of the following: - Install end-of-travel ( &... -
Page 23: Encoder
Encoder CONNECTIONS & INTERNAL SCHEMATICS PIN OUTS & SPECIFICATIONS (9-pin ENCODER Connector) Pin Name In/Out Description SHLD ----- Shield—Internally connected to chassis ground (earth). ----- Isolated logic ground. Z– Specification for all encoder inputs Z– Channel signal input. Differential comparator accepts two-phase quadrature Z+ Channel signal input. -
Page 24: Trigger Inputs
Trigger Inputs Connection to a Sinking Output Device Connection to a Sourcing Output Device Connection to a Combination of Sinking & Sourcing Outputs If you will be connecting to a combination of sourcing and sinking outputs, connect to accommodate sinking output devices. Then for AUX-P +5-24V each individual input connected to a sourcing output, wire an external... -
Page 25: General-Purpose Programmable Inputs & Outputs
General-Purpose Programmable Inputs & Outputs VM50 ADAPTOR — for screw-terminal connections PIN OUTS & SPECIFICATIONS Function Internal Schematics Specifications Input #16 Inputs Inputs (MSB of inputs) Input #15 HCMOS-compatible voltage levels (low ≤ 1.00V, high ≥ 3.25V). Input #14 Input #13 Voltage range = 0-24V. - Page 26 INPUT CONNECTIONS — Connecting to electronic devices such as PLCs Connection to a Sinking Output Device PROGRAMMING TIP Connecting to a sinking output? Set the input’s active level to low with the INLVL command (Ø = active low). Connection to a Sourcing Output Connecting to a sourcing Device...
- Page 27 OUTPUT CONNECTIONS (includes OUT-A) — for electronic devices such as PLCs Connection to a Sinking Input (active high) Connection to a Sourcing Input (active low) 22 ζ ZETA6xxx Installation Guide Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
- Page 28 Connection to a Combination of Sinking & Sourcing Inputs PROGRAMMING TIP Connecting to an active- high sinking input? Set the output’s active level to high with the OUTLVL command (1 = active high). Connecting to an active- low sourcing input? Set the output’s active level to low with the OUTLVL command (0 = active low).
- Page 29 THUMBWHEEL CONNECTIONS — for entering BCD data Connection to your own Thumbwheel Module 24 ζ ZETA6xxx Installation Guide Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 30: Rp240 Remote Operator Panel
RP240 Remote Operator Panel Input Power Peak Power Ratings The amount of power the ZETA Drive requires from your AC power source depends upon the motor you use, whether it is wired in series or parallel, and upon your specific application. The next table shows peak power requirements. -
Page 31: 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 32: 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 33 Connections Test Procedure Response Format (left to right) End-of-travel TLIM response: NOTE: If you are not using end-of-travel limits, issue the Disable Limits (LHØ) command and ignore the first two bits in each response field. bit 1= POS (positive travel) Home Limits 1.
- Page 34 1. Cycle power to the ZETA6xxx. RP240 ASSUMPTIONS 2. If the RP240 is connected properly, the RP240’s status LED should be green and • RP240 connected to COM 2 one of the lines on the computer or terminal display should read *RP24Ø CONNECTED.
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Page 35: Matching The Motor To The Zeta6Xxx (Optional)
Matching the Motor to the ZETA6xxx (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 ZETA6xxx to your specific motor. You will also select the best current waveform to use with your motor. The ZETA6xxx’s pots are located behind the removable metal cover on top of the chassis. - Page 36 These values are for use with ZETA6108, ZETA6112 or ZETA6104-240 at 120 VAC. Motor Offset Adjust (rps) Balance Adjust (rps) Waveform Adjust (rps) OS2HB(S) 4.52 2.26 1.13 OS2HB(P) 4.52 2.26 1.13 OS21B(S) 4.49 2.24 1.12 OS21B(P) 4.49 2.24 1.12 OS22B(S) 4.51 2.26 1.13...
- Page 37 Step 3 Run your motor at the resonant speed listed in the Offset Adjust column. Vary the speed slightly until you find the resonance point. To initiate motion, type these commands (followed by a carriage return) to the ZETA6xxx 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 38: 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 motor’s 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 39 Size 34 Frame, R Series Size 42 Frame, R Series Size 34 Frame, T Series 34 ζ ZETA6xxx Installation Guide Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 40: Coupling The Motor
Size 42 Frame, T Series Motor Temperature & Cooling The motor’s face flange is used not only for mounting; it is also a heatsink. Mount the face flange to a large thermal mass, such as a thick steel plate. This is the best way to cool the motor. Heat will be conducted from inside the motor, through the face flange, and dissipated in the thermal mass. -
Page 41: Optimizing System Performance (Optional)
Optimizing System Performance (OPTIONAL) The ZETA6xxx is equipped with three damping circuits that minimize resonance and ringing, and thus enhance stepper performance: • Anti-Resonance – General-purpose damping circuit. The ZETA6xxx ships from the factory with anti-resonance enabled (see page 7 ). No configuration is necessary. Anti-resonance The ZETA6xxx provides aggressive and effective damping at speeds greater than 3 revolutions per second automatically... - Page 42 3. Verify that the Active Damping Rotary Switch is at Zero 4. Calculate the Maximum Rotary Switch Setting To do this, first calculate your system inertia. Be sure to include the motor's rotor inertia. Then consult the table of inertia ranges below. Find the switch setting that corresponds to your system inertia.
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Page 43: Configuring Electronic Viscosity (Ev)
6. Turn On Active Damping Turn the active damping rotary switch to position 1. This turns on active damping at its lowest setting, and disables anti-resonance. You can change the rotary switch setting "on the fly." You do not have to cycle power each time you change the switch setting. - Page 44 Step 2 Make a baseline move with EV disabled. This is your baseline move. Notice the sound, amount of motor vibration, perceptible ringing, etc. This move shows how your system operates with EV disabled. Each time you adjust the DELVIS setting (in steps 3 & 4), you will compare results against this baseline move.
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Page 45: Record Your Systems Configuration
Record Your Systems Configuration You may wish to record your configuration information in the chart ← COM port functions set with internal jumpers and the PORT and DRPCHK commands. ← RS-485 resistors are selected with internal DIP switches, or connected externally. Much of this chart is repeated, along with other facts, on the magnetic information label located on the side of the ZETA6xxx chassis. - Page 46 DAREN** Enable/disable anti-resonance. Anti-resonance is automatically inhibited at or below 3 rps, and it is inhibited if active damping is enabled. DAUTOS** Enable/disable automatic current standby mode in which current to the motor is reduced to 50% if no pulses are commanded for 1 second. Full current is restored upon the next pulse command.
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Page 47: Whats Next
Whats Next? By now, you should have completed the following tasks, as instructed earlier in this chapter: 1. Review the general specifications — see page 4 2. Perform configuration/adjustments, as necessary — see pages 7-8 3. Mount the ZETA6xxx — see page 9 4. - Page 48 Other Software Motion Builder . A Windows-based iconic programming interface that Tools Available removes the requirement to learn the 6000 programming language. DDE6000 . Facilitates data exchange between the ZETA6xxx and To Order these Windows™ applications that support the dynamic data exchange (DDE) software packages, protocol.
- Page 49 44 ζ ZETA6xxx Installation Guide Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 50: 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 51: Troubleshooting Basics
Refer to the guidelines on page 26. General information on reducing electrical noise can be found in the Engineering Reference section of the Parker Compumotor/Digiplan catalog. Appendix D (page 63) provides guidelines on how to install the ZETA6xxx in a manner most likely to minimize the ZETA6xxx’s emissions and to maximize the ZETA6xxx’s immunity to... -
Page 52: Technical Support
Technical Support If you cannot solve your system problems using this documentation, contact your local Automation Technology Center (ATC) or distributor for assistance. If you need to talk to our in-house application engineers, please contact us at the numbers listed on the inside cover of this manual. -
Page 53: 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 communication protocol. - Page 54 Programmable 1. Output connected such that it must 1. Outputs are open-collector and can only sink current -- change wiring. outputs not working. source current (pull to positive voltage). 2. Connect OUT-P to the +5V terminal or to an external supply of up to 2.
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Page 55: Troubleshooting Serial Communication Problems
1. Power up the computer or terminal and launch the terminal emulator. 2. Power up the ZETA6xxx. A power-up message (similar to the following) should be displayed, followed by a prompt (>): ∗PARKER COMPUMOTOR 6000 Series – SINGLE AXIS INDEXER/DRIVE ∗RP240 CONNECTED >... - Page 56 Problem Remedy (based on the possible causes) No Response • COM port not enabled for 6000 language communication. If RS-232 connected to COM 1: issue “PORT1” and “DRPCHKØ” commands. If RS-232 connected to COM 2: issue “PORT2” and “DRPCHKØ” commands. If RS-485 connected to COM 2: issue “PORT2”...
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Page 57: Product Return Procedure
Product Return Procedure Step 1 Obtain the serial number and the model number of the defective unit, and secure a purchase order number to cover repair costs in the event the unit is determined by the manufacturers to be out of warranty. Step 2 Before you return the unit, have someone from your organization with a technical understanding of the ZETA6xxx system and its application include answers to the following questions:... -
Page 58: 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 — 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 59 a stop. In any of these cases, ringing causes error in rotor for a specific motor size and load (see procedure on position. page 36). Electronic Viscosity – Provides passive damping at Ringing is a transient phenomenon (unlike resonance, lower speeds. The ZETA6xxx ships with electronic which occurs during steady state operations).
- Page 60 Anti-Resonance (AR) will then modify the motor current command to damp the ringing. Anti-resonance monitors the ZETA6xxx’s motor terminals, and looks at power exchange between the DIP switches on top of the ZETA6xxx set the amount of ZETA6xxx and motor. From this, it extracts information motor current during normal operations;...
- Page 61 Recommendations We recommend that you configure active damping and electronic viscosity. Even if you believe resonance and ringing will not cause problems in your system, you may find that the ZETA6xxx’s damping circuits provide increased smoothness, reduced audible noise, and better performance.
- Page 62 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 ZETA6xxx. If you use a non- Compumotor motor, it must meet the following requirements: •...
- Page 63 7. Repeat the procedure as outlined in step 6 for the Terminal Connections three leads labeled is the center B CENTER TAP After you determine the motor’s wiring configuration, tap lead for Phase B of the motor). connect the motor leads to the ZETA6xxx’s 7-pin MOTOR 8.
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Page 64: Appendix B (Using Non-Compumotor Motors)
• Use the following formula to convert the unipolar Direction of Motor Rotation current rating to the correct bipolar rating: The procedures above do not determine the direction of Unipolar Current ∗ 0.707 = Bipolar Current motor shaft rotation. To find out which direction the shaft •... - Page 65 ζ ZETA6xxx Installation Guide Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 66: 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 67 Mechanical Table of Graphic Symbols & Warnings The following symbols may appear in this manual, and Installing in an Enclosure: The ZETA6xxx must be may be affixed to the products discussed in this manual. installed within an enclosure. The enclosure’s interior must not be accessible to the operator.
- Page 68 The function of the P-clip is to provide a 360-degree The recommended components are produced by Parker metallic contact and thus a convenient means of ensuring a Chomerics (617-935-4850) and are suitable for use with proper R.F.
- Page 69 ground. When applied properly, the P-clip has been shown Filtering the AC Supply to give an adequate high-frequency contact. Introduction When installing a P-clip (see Figure 2), install as close to These recommendations are based on the use of proprietary the cable end as possible, provided a suitable ground, screen filter units which are readily available.
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Page 70: Appendix D (Emc Installation Guidelines)
motor cable is not within earthed conduit the entire length it passes through the bulkhead of the enclosure. The cable of travel, the standard motor cable should not be used. screen must not be connected to the cabinet at the point of entry. - Page 71 The level at which the I/O operates means that the signals made to the cable screen at the drive itself. Fit a ferrite are unlikely to meet EMC immunity requirements if taken absorber close to the communications connector and run outside the enclosure without proper screening.
- Page 72 LVD/EMC Compliance for RS and TS Motors Compumotor’s R and T Series motors may be used with the C10 (or C10H) cable kit for LVD/EMC compliance. The C10 cable kit is ordered separately (part number is C10)*. Instructions for assembling the cable are provided in the C10 cable kit.
- Page 73 ζ ZETA6xxx Installation Guide Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 74: Appendix E (R Or T Series Motor With C10 Cable Kit)
Appendix E R o r T S e r i e s M o t o r w i t h C 1 0 ( C 1 0 H ) Motor Connections - R or T Series Motor with C10 Option (or C10H) The C10 (C10H) option for Compumotor's R or T series motors includes a removable braided cable and all necessary hardware for making an EMC compliant... - Page 75 C. Carefully slide the brass sleeve as far under the 7. Connect the Cable to the ZETA6xxx Indexer exposed braid as possible. The sleeve must not Drive. cause the braid to bunch up or slide up under the At the drive end of the motor cable, expose a short outer jacket.
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Page 76: Index
I N D E X 3rd harmonic 32 RS-232C 12 4-lead motor (non-Compumotor) wiring RS-485 12 cables terminal 12, 27 I/O, extending 26 6-lead motor (non-Compumotor) wiring testing 27, 28 motor 13 thumbwheels 24 serial communication (max. length) 5V power supply trigger inputs 19 connections (see page for VM50 screw terminal adaptor 20... - Page 77 DWAVEF (waveform) command 32 home limit 17 internal configuration 8 part of set-up program 40 problems 48 P-CUT 11 problems 48 power (AC) 25 serial communication (see serial National Electric Code Handbook ii ECHO 40 communication) negative-travel limits 17 electrical noise 3, 47 suppressing noise 26 noise, electrical 3, 46 EMC installation guidelines 63...
- Page 78 programming tools available 43 pulse cut-off (P-CUT) specifications testing 28 motor 5 peak power requirements 25 unipolar current 59 speed/torque curves 15 velocity accuracy 4 reference documentation ii velocity range 4 overall list of (see also back cover) removing the ZETA6xxx chassis 8 speed/torque curves, ZETA &...
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- Page 80 ZETA6xxx Indexer/Drive Automation Setup Connections See also pages 11-26 ADDRESS (see also page 7) I/O SPECIFICATIONS & INTERNAL SCHEMATICS Access through the top of the ZETA6xxx chassis (loosen screws, move cover plate). AC Input .....95-132VAC (95-264 VAC for ZETA6104-240), 50/60Hz, single phase (peak power requirement - see page 25).
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