Parker Compumotor ZETA6 Series Installation Manual Download

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Chapter 1. Installation

Motor Specifications

Size 23 O Motors

Size 34 R Motors

Size 42 R Motors

Parameters

(170 VDC winding)

OS2HB

OS21B

OS22B

RS31B

RS32B

RS33B

RS42B

RE42B

Static Torque**

oz-in
(N-m)

43
(0.30)

82
(0.58)

155
(1.09)

133
(0.93)

267
(1.87)

392
(2.74)

985
(6.90)

1907
(13.35)

Rotor Inertia

oz-in

(kg-cm

)

0.39
(0.07)

0.66
(0.12)

1.39
(0.25)

3.02
(0.55)

6.56
(1.20)

9.65
(1.77)

61.76
(11.30)

Drive Current (Apk)(Arms)**

Series

Parallel

1.5 (1.0)
3.0 (2.1)

1.8 (1.3)
4.0 (2.8)

2.2 (1.5)
4.0 (2.8)

2.3 (1.6)
4.6 (3.3)

2.8 (2.0)
5.6 (4.0)

3.4 (2.4)
6.9 (4.9)

6.1 (4.3)
12.0 (8.5)

3.4 (2.4)
7.2 (5.1)

Phase Inductance (mH)***

Series

Parallel

8.6
2.2

12
3

16.6
4.2

9.4
2.4

11.6
2.9

9.6
2.4

8.2
2.1

42.6
10.7

Drive Bus Voltage (VDC)

170

Detent Torque

oz-in

(Nm)

2.5
(0.02)

4.0
(0.03)

7.0
(0.05)

8.8
(0.06)

18.0
(0.13)

27.0
(0.19)

41.7
(0.35)

81.0
(0.57)

Bearings Information

Thrust load

lb
(kg)

Radial load

lb
(kg)

End play

(Reversing load

equal to 1 lb)

(mm)

Radial play

(Per 0.5 lb load)

(mm)

13
(5.9)

20
(9.1)

0.001
(0.025)

0.0008
(0.02)

13
(5.9)

20
(9.1)

0.001
(0.025)

0.0008
(0.02)

13
(5.9)

20
(9.1)

0.001
(0.025)

0.0008
(0.02)

180
(81.6)

35
(15.9)

0.001
(0.025)

0.0008
(0.02)

180
(81.6)

35
(15.9)

0.001
(0.025)

0.0008
(0.02)

180
(81.6)

35
(15.9)

0.001
(0.025)

0.0008
(0.02)

400
(182)

140
(63.6)

0.001
(0.025)

0.0008
(0.02)

400
(182)

140
(63.6)

0.001
(0.025)

0.0008
(0.02)

Motor Weight

(Motor+Cable+Connector)

(kg)

1
(0.5)

1.5
(0.7)

2.5
(1.1)

3.2
(1.5)

5.3
(2.4)

7.6
(3.5)

18.2
(8.3)

Certifications

UL Rec.
CE (LVD)
CE (LVD

EMC)*

Pending
Yes
No

Yes
Yes
*

Speed/Torque Curves

------ Refer to page 15 ------

-- Refer to page 15 ------

Dimensions

------ Refer to page 33 ------

------ Refer to page 34 ------

-- Refer to page 34 ------

*EMC is a system compliance. To comply with EMC and low-noise (C15PR22/EN55022 Class B or FCC Class B
emissions) standards, the following items are required:

•

ZETA4-240, ZETA8, or ZETA12 Drive

•

CE(LVD) motor for LVD. Compumotor recommends a terminal board (NPS) motor construction for easier
EMC installation

•

C10 motor accessory (LVD/EMC cable kit)

•

ZETA EMC Kit

**Values shown in speed-torque curves

***Small signal values

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Summary of Contents for Compumotor ZETA6 Series

Page 1: ...underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Ready to ship TAR certified secure asset solutions Expert team I Trust guarantee I 100 satisfaction All trademarks brand names and brands appearing herein are the property of their respective o...

Page 2: ...P MOTOR FAULT MOTOR FAULT ZETA ZETA Rx Rx Tx Tx GND GND SHLD SHLD 5V 5V GND GND Rx Rx Tx Tx SHLD SHLD Rx Rx Rx Rx Tx Tx Tx Tx GND GND SHLD SHLD GND GND Z Z Z Z B B B B A A A A 5V 5V GND GND HOM HOM NEG NEG POS POS TRG A TRG A TRG B TRG B OUT A OUT A GND GND P CUT P CUT 5V 5V OUT P OUT P IN P IN P AUX P AUX P V_I O V_I O COM 1 COM 2 ENCODER LIMITS I O PROGRAMMABLE I O Artisan Technology Group Quali...

Page 3: ...pment and or serious injury to personnel North America and Asia Compumotor Division of Parker Hannifin 5500 Business Park Drive Rohnert Park CA 94928 Telephone 800 358 9070 or 707 584 7558 Fax 707 584 3793 FaxBack 800 936 6939 or 707 586 8586 BBS 707 584 4059 e mail tech_help cmotor com Internet http www compumotor com Europe non German speaking Parker Digiplan 21 Balena Close Poole Dorset England...

Page 4: ...cedure 52 Appendix A Resonance Ringing Damping 53 Appendix B Using Non Compumotor Motors 57 Appendix C LVD Installation Instructions 61 Appendix D EMC Installation Guidelines 63 Appendix E R or T Series Motor with C10 Cable Kit 69 Index 71 Purpose of This Guide This document is designed to help you install and troubleshoot your ZETA6xxx hardware system Programming related issues are covered in the...

Page 5: ...e European Community When installed according to the procedures in the main body of this installation guide the ZETA6xxx may not necessarily comply with the Low Voltage Directive LVD To install the ZETA6xxx so that it is LVD compliant refer to supplemental installation instructions provided in Appendix C If you do not follow these instructions the protection of the ZETA6xxx may be impaired The ZET...

Page 6: ...e motor to the ZETA6xxx Motor mounting and coupling guidelines Using the damping features to optimize performance Preparing for what to do next To install the ZETA6xxx so that it is LVD compliant refer 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...

Page 7: ...Motor CE LVD Marked RS31B nnnnn 170 VDC winding RS32B nnnnn RS33B nnnnn RS42B nnnnn RE42B nnnnn T Series Motor CE LVD Marked TS31B nnnnn 170 VDC winding TS32B nnnnn TS33B nnnnn TS41B nnnnn TS42B nnnnn TS43B nnnnn R Series Motor CE LVD Marked RS31C nnnnn 340 VDC winding RS32C nnnnn RS33C nnnnn RS42C nnnnn RE42C nnnnn RS43C nnnnn Cable Kit for LVD EMC Motor Installation 10 compatible with R T series...

Page 8: ...he ZETA6xxx s emissions and to maximize the ZETA6xxx s immunity to externally generated electromagnetic interference 1 Review the general specifications 2 Perform configuration adjustments if necessary 3 Mount the ZETA6xxx 4 Connect all electrical system components 5 Test the installation 6 Match the motor to the ZETA6xxx optional 7 Mount the motor and couple the load 8 Optimize performance using ...

Page 9: ...w 2 3 of V_I O voltage high V_I O can handle 5 24V with max current of 100mA Internal 6 8 KΩ pull ups to AUX P terminal connect AUX P to power source 5V terminal or an external 5 24V supply to source current or connect AUX P to GND to sink current AUX P can handle 0 24V with max current of 50mA Voltage range for these inputs is 0 24V Encoder Differential comparator accepts two phase quadrature inc...

Page 10: ... 5 9 20 9 1 0 001 0 025 0 0008 0 02 13 5 9 20 9 1 0 001 0 025 0 0008 0 02 13 5 9 20 9 1 0 001 0 025 0 0008 0 02 180 81 6 35 15 9 0 001 0 025 0 0008 0 02 180 81 6 35 15 9 0 001 0 025 0 0008 0 02 180 81 6 35 15 9 0 001 0 025 0 0008 0 02 400 182 140 63 6 0 001 0 025 0 0008 0 02 400 182 140 63 6 0 001 0 025 0 0008 0 02 Motor Weight lb Motor Cable Connector kg 1 0 5 1 5 0 7 2 5 1 1 3 2 1 5 5 3 2 4 7 6 ...

Page 11: ...mm Radial play in Per 0 5 lb load mm 305 139 65 30 0 001 0 025 0 0008 0 020 305 139 65 30 0 001 0 025 0 0008 0 020 305 139 110 50 0 001 0 025 0 0008 0 020 404 184 125 57 0 001 0 025 0 0008 0 020 404 184 110 50 0 001 0 025 0 0008 0 020 404 184 110 50 0 001 0 025 0 0008 0 020 180 81 6 35 15 9 0 001 0 025 0 0008 0 02 180 81 6 35 15 9 0 001 0 025 0 0008 0 02 180 81 6 35 15 9 0 001 0 025 0 0008 0 02 40...

Page 12: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 13: ...xxx s COM 2 port is factory configured for RS 232C 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 14: ... are not connecting multiple ZETA6xxx units in an RS 232C daisy chain or an RS 485 multi drop use the factory setting If you need to change this setting refer to page 7 for instructions Select serial communication method jumpers DIP switches If you are using RS 232C to communicate with the ZETA6xxx use the factory settings If you need to change these settings i e for RS 485 refer to page 8 for ins...

Page 15: ... ZETA6xxx will shut itself down if its internal sensor reaches 122 F 50 C Humidity Keep below 95 non condensing Airborne Contaminants Liquids Particulate contaminants especially electrically conductive material such as metal shavings and grinding dust can damage the ZETA6xxx and the Zeta motor Do not allow liquids or fluids to come in contact with the ZETA6xxx or its cables Artisan Technology Grou...

Page 16: ... to externally generated electromagnetic interference Grounding System Pulse Cut Off P CUT Emergency Stop Switch CAUTION You must select either the on board 5V terminal or an external power supply to power the AUX P pull up resistor for the P CUT HOM NEG POS TRG A and TRG B inputs Connecting AUX P to the 5V terminal and an external supply will damage the ZETA6xxx The same rule applies to the IN P ...

Page 17: ...12 ζ ZETA6xxx Installation Guide Serial Communications Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 18: ...able on following page Non Compumotor Motors If you intend to use a non Compumotor motor refer to Appendix B for connection instructions and current selection Auto Current Standy Mode Reduces motor current by 50 when step pulses from the ZETA6xxx have stopped for one second CAUTION torque is also reduced Full current is restored upon the first step pulse See page 11 for details Artisan Technology ...

Page 19: ... RS32B S 3 10 20 0 50 18 0 75 RS32B P 5 81 18 0 75 14 2 50 RS33B S 3 48 18 0 75 16 1 50 RS33B P 6 97 16 1 50 14 2 50 RS42B S 6 19 16 1 50 14 2 50 RS42B P 12 00 14 2 50 12 4 00 RE42B S 3 48 18 0 75 16 1 50 RE42B P 7 35 16 1 50 14 2 50 TS31B S 3 48 18 0 75 16 1 50 TS31B P 6 97 16 1 50 14 2 50 TS32B S 3 10 20 0 50 18 0 75 TS32B P 6 19 16 1 50 14 2 50 TS33B S 5 81 18 0 75 14 2 50 TS33B P 12 00 14 2 50...

Page 20: ...Chapter 1 Installation 15 Selecting Series or Parallel Motor Wiring 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 ...

Page 22: ...ame In Out Description Specification for all limit inputs GND HOM NEG POS IN IN IN Isolated ground Home limit input Negative direction end of travel limit input Positive direction end of travel limit input Powered by voltage applied to V_I O terminal switching levels Low 1 3 of V_I O voltage High 2 3 of V_I O voltage V_I O can handle 5 24V with max current of 100mA Internal 6 8 KΩ pull ups to AUX ...

Page 23: ...ith differential recommended or single ended outputs Max frequency is 1 6 MHz Minimum time between transitions is 625 ns TTL compatible voltage levels Low 0 4V High 2 4V Maximum input voltage is 5VDC Requirements for Non Compumotor Encoders Use incremental encoders with two phase quadrature output An index or Z channel output is optional Differential outputs are recommended It must be a 5V 200mA e...

Page 24: ...t to flow from the device when the output is active PROGRAMMING TIP Connecting to a sinking output Set the trigger input s active level to low with the INLVL command Ø active low default setting Connecting to a sourcing output Set the trigger input s active level to high with the INLVL command 1 active high Thus when the output is active the TIN status command will report a 1 indicates that the in...

Page 25: ...oth Sinking Current On the I O connector connect IN P to GND STATUS Check with TIN or INFNC Active level Default is active low but can be changed to active high with the INLVL command Outputs including OUT A Open collector output Pull up connection on I O connector Connect OUT P to 5V or to an external 5 24VDC power supply but not to both Outputs will sink up to 300mA or source up to 5mA at 5 24VD...

Page 26: ...he type of output that is connected Details on setting the active level and checking the input status are provided in the 6000 Series Programmer s Guide Refer also to the INLVL and TIN command descriptions in the 6000 Series Software Reference NOTE If you will be connecting to a combination of sourcing and sinking outputs connect IN P to 5V or to an external 5 24VDC supply to accommodate sinking o...

Page 27: ...T CONNECTIONS includes OUT A for electronic devices such as PLCs Connection to a Sinking Input active high Connection to a Sourcing Input active low Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 28: ...OUTLVL command 0 active low Thus when the ZETA6xxx s output is activated current will flow through the attached input and the TOUT status command will report a 1 indicates that the output is active regardless of the type of input that is connected Details on setting the active level and checking the output status are provided in the 6000 Series Programmer s Guide Refer also to the OUTLVL and TOUT ...

Page 29: ... ZETA6xxx Installation Guide THUMBWHEEL CONNECTIONS for entering BCD data Connection to your own Thumbwheel Module Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 30: ...uires 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 Power required for your application may be less Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 31: ...minimum wire size of 22 AWG Use twisted pair shielded cables and connect the shield to a SHLD terminal on the ZETA6xxx Leave the other end of the shield disconnected Do not route I O signals in the same conduit or wiring trays as high voltage AC wiring or motor cables Reducing noise on limit trigger and P CUT inputs If you are experiencing noise problems try adding resistors to reduce noise sensit...

Page 32: ...d to the motor make sure that you can move the load without damaging equipment or injuring personnel Test Setup NOTE The test procedures below are based on the factory default active levels for the ZETA6xxx s inputs and outputs Verify these settings with the following status commands Command Entered Response Should Be INLVL INLVLØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØ HOMLVL HOMLVLØ LHLVL LHLVLØØ OUTLVL OUTLVLØØØØ...

Page 33: ... set the encoder position to zero Enter the TPE command to determine the encoder position The response should be TPE Ø encoder is at position zero If the encoder is coupled to the motor shaft Enter the D4ØØØ command followed by the GO command The encoder and motor will move one revolution 4000 counts in the clockwise direction viewed from the flange end If the encoder is not coupled to the motor s...

Page 34: ... RP240 screen should display the following COMPUMOTOR 6XXX INDEXER DRIVE RUN JOG STATUS DRIVE DISPLAY ETC ASSUMPTIONS RP240 connected to COM 2 COM 2 PORT2 configured for RP240 To verify type these commands PORT2 cr DRPCHK cr The system response should report DRPCHK3 Pulse Cut 1 Open the P CUT switch or turn off the device driving the P CUT input 2 Enter the TINO command note the condition of the 6...

Page 35: ...e load because the characteristics you are matching are those only of the drive motor combination Apply AC power when necessary to perform the steps below Step 1 Apply power to the ZETA6xxx and allow it to reach a stable operating temperature This may take up to 30 minutes For optimum results perform the matching procedure at the same ambient temperature at which your application will operate Step...

Page 36: ...5 0 73 TS41B S 2 82 1 41 0 71 TS41B P 2 78 2 50 1 39 1 25 0 70 0 63 TS42B S 2 94 1 47 0 74 TS42B P 2 57 2 35 1 29 1 18 0 64 0 59 TS43B S 2 74 1 37 0 69 TS43B P 2 56 2 21 1 28 1 11 0 64 0 55 Note Use secondary value after slash when being run with ZETA8 only 8 amps These values are for use with ZETA6104 240 at 240 VAC Motor Offset Adjust rps Balance Adjust rps Waveform Adjust rps RS31C S RS31C P 2 ...

Page 37: ...lightly until you find the resonance point Step 6 Adjust the balance pot until you find the setting that provides minimum motor vibration and smoothest operation Step 7 Repeat steps 3 6 Step 8 Run the motor at the resonant speed listed in the Waveform Adjust column Vary the speed slightly until you find the resonance point Step 9 Choose the current waveform that provides minimum motor vibrations a...

Page 38: ...orque is not evenly distributed around the motor case When a foot mount is used for example any radial load on the motor shaft is multiplied by a much longer lever arm The motors can produce very high torque and acceleration If the mounting is inadequate this combination of high torque high acceleration can shear shafts and mounting hardware Because of shock and vibration that high accelerations c...

Page 39: ...34 ζ ZETA6xxx Installation Guide Size 34 Frame R Series Size 42 Frame R Series Size 34 Frame T Series Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 40: ...t may be unavoidable The type of misalignment will affect your choice of coupler Single Flex Coupling Use for angular misalignment only One only one of the shafts must be free to move in the radial direction without constraint Do not use a single flex coupling with parallel misalignment this will bend the shafts causing excessive bearing loads and premature failure Double Flex Coupling Use wheneve...

Page 41: ...ngs Anti Resonance SW2 2 switch in OFF position Inductance SW2 7 8 set for your motor Static Torque SW2 9 12 set for your motor 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 provides aggressive and effective damping at speeds greater than 3 revolutions per second rps If you are ...

Page 42: ...15 14 13 12 11 13 31 31 86 86 161 161 264 264 410 1324 3084 3084 8606 8606 16084 16084 26390 26390 41029 75 169 169 471 471 879 879 1443 1443 2243 10 9 8 7 6 410 559 559 755 755 944 944 1210 1210 1444 41029 55894 55894 75528 75528 94411 94411 121041 121041 144362 2243 3056 3056 4129 4129 5162 5162 6618 6618 7893 5 4 3 2 1 1444 1769 1769 2143 2143 2391 2391 2673 2673 3095 144362 176935 176935 21432...

Page 43: ...tor current during transients which can cause increased motor heating Higher curent also increases motor torque resulting in sharper accelerations than can jerk or stress the mechanics in your system If you ramp up through each intermediate switch position you can evaluate the effects on your mechanics as you gradually increase damping Configuring Electronic Viscosity EV Before You Start If you co...

Page 44: ...tance to 250 000 steps equal to 10 revs GO initiate the move NOTE To stop a move in progress issue the S command To repeat the move issue the GO command To reverse direction issue the D command and the GO command Step 3 Make a move with EV enabled Compare the results with the baseline move 1 Issue the DELVIS1 command to enable EV 2 Make a move that is representative of your application Use the sam...

Page 45: ...onnector DRPCHK3 DWAVEF Match the motor waveform required for matching the motor to the ZETA6xxx DWAVEF1 4 3rd harmonic ECHO Enable disable echoing of characters If communicating over RS 232 to the master ZETA6xxx in an RS 485 multi drop see setup requirements on page 50 ECHO1 enabled but if using RS 485 COM 2 is changed to ECHOØ by default PORT Identify the COM port to be affected by subsequent s...

Page 46: ... 2 serial port DEF SETUP Begin definition of the program called setup DWAVEF1 Select 4 3rd harmonic waveform Active damping value set to 9 for a total system inertia of 4 SW2 6 set to OFF for lower inertia range Motor inductance set for 11 6 SW2 7 OFF SW2 8 ON Motor static torque set for 267 SW2 9 OFF SW2 10 OFF SW2 11 ON SW2 12 OFF Anti resonance enabled SW 2 OFF DELVIS2 Enable electronic viscosi...

Page 47: ...amming tools provided in Motion Architect for Windows found in your ship kit Additional powerful programming and product interface tools are available see below Motion Architect Motion Architect is a Microsoft Windows based 6000 product programming tool included in your ship kit Motion Architect provides these features refer to the Motion Architect User Guide for detailed information System config...

Page 48: ...s that support the dynamic data exchange DDE protocol NetDDE compatible Motion Toolbox TM A library of LabVIEW virtual instruments VIs for programming and monitoring the ZETA6xxx Available for the Windows environment Other Software Tools Available To Order these software packages contact your local Automation Technology Center ATC or distributor Artisan Technology Group Quality Instrumentation Gua...

Page 49: ...44 ζ ZETA6xxx Installation Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 50: ...iagnostic LEDs Test options Technical support Solutions to common problems Resolving serial communication problems Product return procedure C H A P T E R T W O Troubleshooting Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 51: ...l 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 externally generated electromagnetic interference Diagnostic LEDs POWER On green if 120VAC ...

Page 52: ...n house application engineers please contact us at the numbers listed on the inside cover of this manual These numbers are also provided when you issue the HELP command NOTE Compumotor maintains a BBS that contains the latest software upgrades and late breaking product documentation a FaxBack system and a tech support email address Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Page 53: ...ring 2 Encoder slipping 3 Encoder too hot 4 Electrical noise 5 Encoder frequency too high 1 Check wiring 2 Check and tighten encoder coupling 3 Reduce encoder temperature with heatsink thermal insulator etc 4 a Shield wiring 4 b Use encoder with differential outputs 5 Peak encoder frequency must be below 1 6MHz post quadrature Peak frequency must account for velocity ripple Erratic operation 1 Ele...

Page 54: ...r as well as other system wiring 2 Check power connection POWER LED should be on 3 Check LED status see Diagnostic LEDs above 4 Enable drive with the DRIVE1 command 5 If more torque is needed at rest disable standby mode DAUTOSØ command Trigger home end of travel or P CUT inputs not working 1 If external power supply is used the grounds must be connected together 2 Improper wiring 1 Connect extern...

Page 55: ... and connect DSR to DTR usually pins 6 and 20 RS 485 Make sure the internal DIP switches and jumpers are configured as instructed on page 8 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 3 Type TRE...

Page 56: ...r shorts or opens Is the cable or computer terminal bad Here s a test 1 Disconnect the serial cable from the ZETA6xxx end only 2 Connect the cable s Rx and Tx lines together this echoes the characters back to the host 3 Issue the TREV command If nothing happens the cable or computer terminal may be faulty The controller may be executing a program Issue the K command or the ctrl K command to kill t...

Page 57: ...w long did it operate Did any other items fail at the same time What was happening when the unit failed e g installing the unit cycling power starting other equipment etc How was the product configured in detail Which if any cables were modified and how With what equipment is the unit interfaced What was the application What was the system environment temperature enclosure spacing contaminants etc...

Page 58: ...shows a typical case as motor speed increases resonances of varying levels occur Usually the motor can accelerate through the resonance point and run smoothly at a higher speed However if the resonance is extreme the rotor can be so far out of position that it causes the motor to stall Resonance is affected by the load Some loads are resonant and can make motor resonance worse Other loads can damp...

Page 59: ...mely powerful damping circuit The ZETA6xxx ships from the factory with active damping disabled You must use the Active Damping rotary switch to enable active damping and optimize it for a specific motor size and load see procedure on page 36 Electronic Viscosity Provides passive damping at lower speeds The ZETA6xxx ships with electronic viscosity disabled You must use the DELVIS command to enable ...

Page 60: ... error in rotor position It will then modify the motor current command to damp the ringing DIP switches on top of the ZETA6xxx set the amount of motor current during normal operations this current is constant To damp ringing the active damping circuit can cause the ZETA6xxx to produce up to twice as much current as is set by the DIP switches The extra current is only applied during damping oscilla...

Page 61: ... ZETA6xxx s damping circuits provide increased smoothness reduced audible noise and better performance Refer to the configuration procedures beginning on page 36 If you choose not to use active damping and electronic viscosity at least use anti resonance The ZETA6xxx is shipped from the factory with anti resonance enabled SW2 2 OFF Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Page 62: ...his section that applies to your configuration 4 Lead Motor 1 Label one motor lead A 2 Connect one lead of an ohmmeter to the A lead and touch the other lead of the ohmmeter to the three remaining motor leads until you find the lead that creates continuity Label this lead A 3 Label the two remaining leads B and B Verify that there is continuity between the B and B leads 4 Proceed to the Terminal C...

Page 63: ...ENTER TAP 3 Relabel the A1 lead A 4 Relabel the A4 lead A 5 Relabel the B1 lead B 6 Relabel the B4 lead B 7 Proceed to the Terminal Connections section below Parallel Configuration Procedure 1 Connect motor leads A1 A3 together and relabel this common point A 2 Connect motor leads A2 A4 together and relabel this common point A 3 Connect motor leads B1 B3 together and relabel this common point B 4 ...

Page 64: ... current as a unipolar rating use the following formula to convert the unipolar current rating to the correct bipolar rating Unipolar Current 0 707 Bipolar Current After you make the conversion use the values shown for current in the DIP switch table to set the motor current 8 Lead Motors Manufacturers generally use either a unipolar rating or a bipolar rating for motor current in 8 lead motors Un...

Page 65: ...60 ζ ZETA6xxx Installation Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 66: ... need to be added to protect the transformer and associated wiring If the live wire cannot be readily identified fuse both phase conductors The value of fuse required is given by 1 5 x VA supply volts amps Fuse types should be anti surge HBC WARNING Safety Ground Earth Ground should never be fused Providing a Protective Earth Connection for Motors You must provide a connection from the motor to a ...

Page 67: ...es that other components have also failed Fuses and other components should only be replaced by Compumotor or its designated repair facilities Thermal Safety The Motor May Be HOT The motor may reach high temperatures during normal operations and may remain hot after power is removed Sonic Pressure High Sound Level The sound level from some large frame step motors NEMA 34 NEMA 42 and larger may exc...

Page 68: ...ons and the following recommendations the safety regulations always take precedence Ferrite Absorbers and P Clips Ferrite Absorber Specifications The absorbers described in these installation recommendations are made from a low grade ferrite material which has high losses at radio frequencies They therefore act like a high impedance in this waveband The recommended components are produced by Parke...

Page 69: ...ts which are readily available However the full EMC test includes a simulated lightning strike which will damage the filter unless adequate surge suppression devices are fitted These are not normally incorporated into commercial filters since the lightning strike test can be destructive This test is normally carried out on the overall system and not on individual components therefore the surge pro...

Page 70: ...asing where it passes through the bulkhead of the enclosure The cable screen must not be connected to the cabinet at the point of entry Its function is to return high frequency chopping current back to the drive or controller This may require mounting the connector on a sub panel insulated from the main cabinet or using a connector having an internal screen which is insulated from the connector ho...

Page 71: ...ted pair cable shall be used No connection is made to the cable screen at the drive itself Fit a ferrite absorber close to the communications connector and run the cable down to the mounting panel as shown in Figure 3 Expose a short length of the braided screen and anchor to the panel with a P clip Avoid routing communication cables near high power lines and sources of high energy impulses Remembe...

Page 72: ...umotor 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 Note we recommend the C10H for use with motors run above 10 amperes Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 73: ...68 ζ ZETA6xxx Installation Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 74: ...8AWG 0 75 mm2 wire jumpers 4 in 100 mm long 2 required for series wiring 4 required for parallel wiring Crimp tool Open end 15 16 inch wrench Note 16 AWG 1 50 mm2 for motors operating above 10 amperes 2 Install Thread Converter and Casing Base A Remove and discard the motor s plastic thread insert CCW rotation B Remove endbell cover plate from the rear of the motor C Insert the thread converter in...

Page 75: ...t the assembly into the prepare motor and screw the dome half of the outer casing until snug Do not twist the cable 6 Wire Motor for Series or Parallel Operation See Selecting Series or Parallel Motor Wiring in Chapter 1 of this manual 7 Connect the Cable to the ZETA6xxx Indexer Drive At the drive end of the motor cable expose a short length of braiding and anchor the cable to ZETA6xxx Indexer Dri...

Page 76: ...38 matching the ZETA6xxx to the motor 30 motor current 7 recording 40 RS 485 setup 8 serial communication on COM 2 8 termination resistor selection 8 connections computer 12 27 daisy chain 12 EMC compliance guidelines 63 encoder 18 end of travel limit inputs 17 grounding 11 home limit inputs 17 lengthening cables 26 LVD compliant installation 61 motor 13 non Compumotor 58 59 wiring options 14 16 m...

Page 77: ...structions 61 M magnetic label 40 matching ZETA6xxx to motor 30 minimum air flow space 10 motion algorithm update rate 4 Motion Architect 43 Motion Builder 43 Motion Toolbox 43 motor connections 13 non Compumotor 58 59 protective earth 61 64 series or parallel 13 15 cooling 35 coupling 35 current selection 7 non Compumotor motors 59 current standby mode 13 35 dimensions 33 fault 46 modifying 33 mo...

Page 78: ...rves 15 overall list of see also back cover speed torque curves ZETA OS RS motors 15 startup STARTP program 40 static torque ZETA OS RS motor specs 5 status commands see also back cover and test on page 27 axis see TASF command limit switches see TLIM command motor faults see TASXF command P CUT input see TINOF command bit 6 programmable inputs see TIN command programmable outputs see TOUT command...

Page 79: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 80: ...or multi drop 9600 baud or use AutoBaud feature see page 7 8 data bits 1 stop bit no parity Motors Compumotor motors ZETA OS RS and TS motors Torque inertia bearings weight see pages 5 6 Speed torque curves see pages 15 16 Non Compumotor motors see page 57 Specs Differential comparator Use 2 phase quadrature encoders max frequency 1 6 MHz min time between transitions 625 ns TTL levels Low 0 4V Hig...

Page 81: ...quipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentation Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate representative or authorized distributor for any manufacturer listed herein We re here to make your life easier How...

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