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ZETA6104 Installation Guide

Record Your SystemÕs Configuration

You may wish to record your configuration information in the chart below.

Axis Name

Motor Size

Motor Inductance Setting (DMTIND)

Motor Static Torque Setting (DMTSTT)

Waveform Setting (DWAVEF)

Electronic Viscosity Setting (DELVIS)

Active Damping Setting (DACTDP)

Anti-Resonance Enabled? (DAREN1)

Current Standby Enabled? (DAUTOS1)

COM 1 Serial Port Function

COM 2 Serial Port Function

RS-485 Resistor Values

Yes

RS-232

RP240

RS-232

Terminate

Bias

RP240

RS-485

DIP Switch Settings

OFF

1 2 3 4 5 6 7 8 9 10 11 12

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.

This chart is repeated, along with other facts, on the

magnetic

information label located on the

side of the ZETA6104 chassis. You can leave the label on the ZETA6104, or you can remove it
and place it in a convenient location near the ZETA6104 (e.g., on an equipment cabinet door).

Use a marker or pen to write configuration information in the spaces at the bottom of the label.
If you have multiple ZETA6104s, you can remove the labels and stack them on top of each
other, with the bottom edge of each visible. This shows information about all axes at a glance.

Recommended Set-up Program Elements

N O T E

In most applications,
the factory default
settings are adequate.

Most of the software configuration commands (see table below) are not saved in non-volatile
memory and therefore must be executed every time the ZETA6104 is powered up or reset.
Therefore, you may wish to include the software configuration commands in the

set-up

program.

The set-up program is automatically executed when the ZETA6104 is powered up or reset; in it,
you place the configuration commands that establish the operational readiness you require for
your particular application. A sample set-up program is provided below. For more detailed
information on creating a set-up program, refer to the

6000 Series ProgrammerÕs Guide

Command

Function

Factory Default Setting

DACTDP

Enable/disable active damping. Active damping is automatically inhibited at or
below 3 rps. If active damping is enabled, anti-resonance is automatically
inhibited. (See set-up procedure on page 26.)

DACTDP¯

(disabled)

DAREN

Enable/disable anti-resonance. Anti-resonance is automatically inhibited at or
below 3 rps, and it is inhibited if active damping is enabled.

DAREN1

(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.

DAUTOS¯

(disabled)

DELVIS

Enable/disable electronic viscosity. Electronic viscosity is automatically inhibited
above 3 rps. (See set-up procedure on page 29.)

DELVIS¯

(disabled)

DMTIND

Match the inductance of your motor (used only for active damping).

DMTIND1

(

20 MH) *

DMTSTT

Match the motorÕs static torque (used only for active damping).

DMTSTT1

(0.26-0.72 N-m; 36-100 Oz-in) *

DRPCHK

Establish the type of check for an RP240. In general, this command is necessary
only if you are using RS-485, which forces the RP240 to be connected to the

COM

connector, instead of being connected to the

COM 2

connector.

DRPCHK3

DWAVEF

Match the motor waveform (required for matching the motor to the ZETA6104).

DWAVEF1

(-4% 3rd harmonic)

ECHO

Enable/disable echoing of characters. If communicating over RS-232 to the
master ZETA6104 in an RS-485 multi-drop, see setup requirements on page 36.

ECHO1