Parker Compumotor ZETA6104, Installation Manual

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A B O U T T H I S G U I D E
Chapter 1. Installation
What You Should Have (ship kit) ........................................................... 2
Before You Begin ..................................................................................... 2
Recommended Installation Process ............................................. 2
Electrical Noise Guidelines ........................................................... 2
General Specifications ............................................................................ 3
Pre-installation Adjustments................................................................... 4
DIP Switch Settings Ð Motor Current, Address, Autobaud .......... 4
Changing the COM 2 Connector from RS-232 to RS-485 .......... 5
Mounting the ZETA6104.......................................................................... 6
Electrical Connections ............................................................................ 7
Grounding System.......................................................................... 7
Pulse Cut-Off (P-CUT) Ñ Emergency Stop Switch ................... 7
Serial Communication ................................................................... 8
Motor (ZETA and OS/RS motors only) ........................................ 9
End-of-Travel and Home Limit Inputs......................................... 11
Encoder ......................................................................................... 12
Trigger Inputs................................................................................ 13
General-Purpose Programmable Inputs & Outputs ................... 14
RP240 Remote Operator Panel................................................... 18
Input Power ................................................................................... 18
Lengthening I/O Cables ................................................................ 19
Testing the Installation........................................................................... 20
Matching the Motor to the ZETA6104 (OPTIONAL) ........................... 22
Mounting & Coupling the Motor ............................................................ 24
Mounting the Motor....................................................................... 24
Coupling the Motor ....................................................................... 25
Optimizing System Performance (OPTIONAL) ................................. 26
Configuring Active Damping........................................................ 26
Configuring Electronic Viscosity (EV) ........................................ 29
Record Your SystemÕs Configuration .................................................. 30
Recommended Set-up Program Elements ................................ 30
WhatÕs Next? ......................................................................................... 32
Program Your Motion Control Functions.................................... 32
Chapter 2. Troubleshooting
Troubleshooting Basics......................................................................... 34
Reducing Electrical Noise ........................................................... 34
Diagnostic LEDs........................................................................... 34
Test Options.................................................................................. 34
Technical Support......................................................................... 34
Common Problems & Solutions........................................................... 35
Troubleshooting Serial Communication Problems............................. 36
Product Return Procedure .................................................................... 37
Appendix A
(Resonance, Ringing & Damping) .......................... 39
Appendix B
(Using Non-Compumotor Motors) ......................... 43
Appendix C
(LVD Installation Instructions) ................................. 47
Appendix D
(EMC Installation Guidelines) ................................. 49
I n d e x
.................................................................................................. 53
Purpose of This Guide
This document is designed to help you install and troubleshoot your ZETA6104 hardware
system. Programming related issues are covered in the
6000 Series ProgrammerÕs Guide and
the 6000 Series Software Reference .
ÒZETA6104Ó Synonymous with Ò6104Ó
The ZETA6104 product is often referred to the as the Ò6104Ó because it is part of the 6000
family of products. The ZETA6104Õs software and the 6000 Series software documentation
(i.e., the Software Reference and the ProgrammerÕs Guide) refer to this product as the Ò6104.Ó
What You Should Know
To install and troubleshoot the ZETA6104, you should have a fundamental understanding of:
¥ Electronics concepts, such as voltage, current, switches.
¥ 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;
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
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