Parker Compumotor ZETA6104, Installation Manual

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ZETA6104 Installation Guide
Optimizing System Performance (OPTIONAL)
The ZETA6104 is equipped with three damping circuits that minimize resonance and ringing,
and thus enhance stepper performance:
The ZETA6104
automatically
switches between
the damping
circuits, based
upon the motorÕs
speed.
¥ 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
revolutions per second (rps). If you are using a high-inductance motor (not applicable to
ZETA, OS or RS motors), you should disable anti-resonance with the
DAREN¯
command.
¥ Active Damping Ð Extremely powerful damping circuit at speeds greater than 3 rps.
The ZETA6104 ships from the factory with active damping disabled. To enable active
damping and optimize it for a specific motor size and load, refer to the
Configuring
Active Damping procedure below.
¥ Electronic Viscosity Ð Provides passive damping at lower speeds (from rest to 3 rps).
The ZETA6104 ships with electronic viscosity disabled. To enable electronic viscosity
and optimize it for a specific application, refer to the
Configuring Electronic Viscosity
procedure below.
For a theoretical discussion about these three circuits and how they minimize resonance and
ringing, refer to Appendix A.
NOTE: You need to "match the motor to the ZETA6104Ó before you can configure active
damping or electronic viscosity. Refer to the matching procedure on page 22.
Configuring Active Damping
Before You Start
¥ Couple the motor to the load (see pages 24-25 for details). Active damping must be
configured under the normal mechanical operating conditions for your application.
¥ Record the setup command settings. The procedure below helps you identify the
appropriate set-up commands (
DMTIND
,
DMTSTT
, and
DACTDP
) that will prepare your system
for optimized performance. These commands are saved in non-volatile memory. However,
you may still want to record these values so you can later place them in a set-up program (a
set-up program executes user-specified commands that establish power-up operational
defaults for your application). Page 31 shows an example of how to place these commands
in a set-up (
STARTP
) program.
Step 1
Verify correct motor-to-ZETA6104 matching. See Matching the Motor to the
ZETA6104 on page 22. To be fully effective, the active damping circuit requires proper
matching. If you are replacing a component (new ZETA6104 or motor in an existing
application), you must rematch your system.
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