Parker Compumotor ZETA6104, Руководство по установке

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Chapter 1. Installation
3
General Specifications
P a r a m e t e r S p e c i f i c a t i o n
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............................................... -22 to 185
°
F (-30 to 85
°
C)
Humidity ................................................................... 0 to 95% non-condensing
Performance
Position Range & Stepping Accuracy ..................... Position range:
±
2,147,483,648 steps; Stepping accuracy:
±
0 steps from preset total
Velocity Range, Accuracy, & Repeatability............ Range: 1-2,000,000 steps/sec; Accuracy:
±
0.02% of maximum rate;
Repeatability:
±
0.02% of set rate
Acceleration Range.................................................. 1-24,999,975 steps/sec
2
Motion Algorithm Update Rate................................ 2 ms
Serial Communication RS-485 requires internal jumper and DIP switch configuration (see page 5).
Connection Options.................................................. RS-232C, 3-wire; RS-485 (default is 4-wire; for 2-wire move JU7 to position 1);
Change internal jumpers JU1-JU6 to position 1 to select RS-485 communication
Maximum units in daisy-chain or multi-drop......... 99 (use DIP switch or
ADDR
command to set individual addresses for each unit)
Communication Parameters................................... 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 jumper JU6 to position 1)
Inputs All inputs are optically isolated from the microprocessor (not from the other inputs).
HOM
,
POS
,
NEG
,
TRG-A
,
TRG-B
,
P-CUT
.................. Powered by voltage applied to
V_I/O
terminal (switching levels:
£
1/3 of
V_I/O
voltage = low,
³
2/3 of
V_I/O
voltage = high).
V_I/O
can handle 5-24V with max. current of 100mA. Internal
6.8 K
W
pull-ups to
AUX-P
terminalÑconnect
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 incremental encoders with differential
(recommended) or single-ended outputs.
Maximum voltage = 5VDC. Switching levels (TTL-compatible): Low
£
0.4V, High
³
2.4V.
Maximum frequency = 1.6 MHz. Minimum time between transitions = 625 ns.
16 General-Purpose Programmable ..................... HCMOS compatible* with internal 6.8 K
W
pull-ups to
IN-P
terminalÑconnect
IN-P
to power
source (
+5V
pin #49 or an external 5-24V supply) to source current or connect
IN-P
to
GND
to
sink current;
IN-P
can handle 0-24V with max. current of 100 mA. Voltage range = 0-24V.
Outputs All outputs are optically isolated from the microprocessor (not from the other outputs).
9 Programmable (includes
OUT-A
)......................... Open collector output with 4.7 K
W
pull-ups. Can be pulled up by connecting
OUT-P
to power
source (
+5V
terminal or an external 5-24V supply);
OUT-P
can handle 0-24V with max.
current of 50mA. Outputs will sink up to 300mA or source up to 5mA at 5-24VDC.
8 general-purpose outputs on the
Programmable I/O
connector,
OUT-A
on the
I/O
connector.
+5V Output................................................................ Internally su5VDC.
+5V
terminals are available on the
COM2
,
ENCODER
and
I/O
connectors. Load limit (total load for all I/O connections) is 0.5A.
* HCMOS-compatible switching voltage levels: Low
£
1.00V, High
³
3.25V.
TTL-compatible switching voltage levels: Low
£
0.4V, High
³
2.4V.
Motor Specifications
Size 23 ZETA Motors Size 34 ZETA Motors Size 23 OS Motors Size 34 RS Motors
ZETA
57-51 ZETA
57-83 ZETA
57-102 ZETA
83-62 ZETA
83-93 ZETA
83-135
OS2HB OS21B OS22B RS31B RS32B RS33B
Static Torque
oz-in
(N-m) 65
(0.46) 125
(0.88) 148
(1.05) 141
(1.00) 292
(2.11) 382
(2.70) 43
(0.30) 82
(0.58) 155
1.09) 141
(1.00) 292
(2.06) 382
2.70)
Rotor Inertia
oz-in 2
(kg-m
2
x 10
Ð6
)
0.546
(9.998) 1.1
(20.1 ) 1.69
(30.9) 3.47
(63.4) 6.76
(124) 10.47
(191) 0.386
(0.070) 0.656
(0.119) 1.390
(0.253) 3.204
(0.583) 6.563
(1.195) 9.652
(1.757)
Bearings
Thrust load
lb
(kg)
Radial load
lb
(kg)
End play
(Reversing load
in
equal to 1 lb)
(mm)
Radial play
in
(Per 0.5 lb load)
(mm)
25
(11.3)
15
(6.8)
0.005
(0.13)
0.0008
(0.02)
25
(11.3)
15
(6.8)
0.005
(0.13)
0.0008
(0.02)
25
(11.3)
15
(6.8)
0.005
(0.13)
0.0008
(0.02)
50
(22.6)
25
(11.3)
0.005
(0.13)
0.0008
(0.02)
50
(22.6)
25
(11.3)
0.005
(0.13)
0.0008
(0.02)
50
(22.6)
25
(11.3)
0.005
(0.13)
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)
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)
Weight
lb
(Motor+Cable+Connector)
(kg)
1.6
(0.7) 2.4
(1.1) 3.2
(1.5) 3.8
(1.7) 5.1
(2.3) 8.3
(3.8) 1.0
(0.45) 1.5
(0.68) 2.5
(1.14) 3.2
(1.45) 5.3
(2.41) 7.6
(3.45)
Certifications
UL Rec.
CE (LVD)
CE (LVD
& EMC)
No
No
No No
No
No No
No
No No
No
No No
No
No No
No
No No
Yes
No No
Yes
No No
Yes
No Yes
Yes
w/C10 & EMC kit
Yes
Yes
w/C10 & EMC kit
Yes
Yes
w/C10 & EMC kit
Speed/Torque Curves
------ Refer to page 10 ------ ------ Refer to page 10 ------ ------ Refer to page 10 ------ ------ Refer to page 10 ------
Dimensions
------ Refer to page 24 ------ ------ Refer to page 24 ------ ------ Refer to page 24 ------ ------ Refer to page 24 ------
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