Compumotor
The ZETA Family Microstepping Drive & Drive/Controller
Catalog 8170/USA (Supplement to Catalog 8000-2/USA)
Automation
THE ZETA SERIES Major Concerns of Open Loop Systems are Solved When the torque demand on a step motor system exceeds the torque available, the motor can lose synchronization; this is known as stalling. Stalling occurs normally when a step motor is commanded to do a move which it cannot perform. In some cases, however, a step motor can stall even when it is capable of making the move. In these cases, the step motor system vibrates so dramatically that the available torque is not adequate to overcome the vibration and make the move. When operating the step motor near a system resonance point, the likelihood of a stall due to vibration is higher. To minimize the likelihood of a system stalling, step motors require damping. To dampen means to decrease oscillation. The more damping, the faster the oscillation decreases. A step motor with a high damping ratio will be able to perform to the utmost of its capability. The ZETA Series provides damping electronically, with no additional devices or wires to connect. Compumotor’s electronic damping is configurable, so it can change if the application changes. ZETA Series Benefits: • Stalling is minimized without the additional expense and inertia of a damper • Higher acceleration • Higher performance
Torque vs. Speed Chart
Increased Efficiency and Reduced Settling Time
Total Speed Torque Curve
ZETA
ZETA Drive's Usable Torque Conventional Stepper Motor System's Usable Torque
Conventional Stepper
Compumotor’s innovative Active Damping electronically damps motor vibration. By eliminating vibration, the safety margin for reserved torque can now be used to do useful work. This can provide as much as a 50% increase in usable torque. ZETA Series Benefits: • Decreased motor vibration • Reduced audible noise • Increased usable shaft power In conventional step motor systems, the speed-torque curves represent the motor’s total shaft power, not the usable shaft power. As a result of Active Damping, Compumotor’s ZETA system has greater usable shaft power. This higher usable shaft power results in higher torque at all speeds compared to conventional stepper systems.
50% Torque Margin Curve
V Speed
V1
Throughput V
0
Traditional Stepper Drive
Wasted Time Required to Settle Before Next Move
V
0
ZETA Drive
Increased Throughput The figure to the right shows an example of a repetitive move profile in an indexing, pick and place, or similar type of application requiring some type of action to occur between moves (i.e., scanning, probing, measuring, etc.). It is sometimes critical for the machine to be settled within a given tolerance before the action can occur. The conventional step motor system requires a significant amount of time (wasted time) to settle. The ZETA Series improves machine throughput by decreasing settling time and allowing the motor’s torque to
2 Automation
Reserved Torque to Overcome Mechanical Vibration
T Torque
be used for greater acceleration instead of overcoming the step motor system’s vibration. With conventional stepper systems, the shaft oscillates around its commanded final position before settling after each move. This results in increased settling time that translates into wasted time. Compumotor’s patentable Electronic Viscosity damps the ringing of the motor system when decelerating the load. ZETA Series Benefits: • Decreased settling time • Increased production time Parker Hannifin Corporation Compumotor Division Rohnert Park, California
The ZETA Family offers a full range of power for your motion control needs. The ZETA Series
Compumotor’s Leadership Incorporated in 1979, Compumotor earned its reputation for innovation by pioneering microstepping drive techniques to improve the smoothness and resolution of the step motor control system. Compumotor’s innovative leadership continued with the ZETA Series. The ZETA Series incorporates patentable techniques known as Active Damping and Electronic Viscosity. The result is higher throughput by reducing settling time and decreasing motor vibration. The user has selectable damping to optimize performance, and reduce audible noise.
The ZETA Series The ZETA Series provides a user-friendly system that delivers high performance and reliability in eight versions – the ZETA4, ZETA4-240, ZETA8 and ZETA12 drives and the ZETA6104, ZETA6104-240, ZETA6108 and ZETA6112 drive/ indexers. The entire series incorporates the breakthrough techniques known as Active Damping and Electronic Viscosity (patents pending). This family of products incorporates the latest developments in ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array) technology.
flexibility to build any product in any quantity (based on demand) without relying on a third-party vendor to build our boards.
Compliance
standards and are manufactured with state-ofthe-art equipment. These products are designed with heatsinks that can provide full current at the industrystandard maximum ambient temperature of 50° C without a fan, interruptions or limiting your duty cycle. Like all Compumotor products, the ZETA Series is designed for manufacturability (DFM) and high reliability. Before any product reaches our customers, it must pass a rigorous set of hardware and software tests.
The ZETA drives are perfect for multi-axis applications and allows control by any standard step and direction or clockwise/counter – clockwise indexer. The ZETA6000 drive/indexers combines the power and reliability of Compumotor’s ZETA drives with the flexibility of Compumotor’s 6000 Series of indexers. This advanced design makes the ZETA6000 drive/indexer family the highest performing, single-axis system in the industry.
Quality Design & Sound Manufacturing
Compumotor has invested in capital equipment such as surface mount and automated insertion machines to guarantee a prompt response to orders. Unlike other companies, Compumotor has the
At Compumotor, producing reliable and quality products is our number one priority. Our ZETA products are designed with high-quality
The ZETA Series is UL (Underwriter Laboratory) Recognized and CE (LVD) compliant. The ZETA4-240, ZETA8 and ZETA12 were also designed to meet the Electromagnetic Compatibility [EMC (CISPR22/EN55022 Class B)] directives, making them an excellent choice for machines built in or shipped to the European Community. The EMC CISPR22/EN55011 Class B directives are the most stringent emissions and immunity standards applicable to the motion control industry (excluding medical applications) and are intended for heavy, commercial, and light industrial environments. By designing these products to meet the EMC Class B’s rigid standards, these products also meet North America’s FCC Class B emissions test making them the solution for low noise applications. While compliance with these standards is imperative for our European customers and machine builders who export to Europe, we feel our domestic customers can benefit from our compliance as well.
Offer of Sale The items described in this document are hereby offered for sale by Parker Hannifin Corporation, its subsidiaries or its authorized distributors. This offer and its acceptance are governed by the provisions stated on page 12 of this document entitled ‘Offer of Sale.’
! Warning FAILURE OR IMPROPER SELECTION OR IMPROPER
USE OF THE PRODUCTS AND/OR SYSTEMS DESCRIBED
HEREIN OR RELATED ITEMS CAN CAUSE DEATH, PERSONAL INJURY AND PROPERTY DAMAGE.
This document and other information from Parker Hannifin Corporation, its subsidiaries and authorized distributors provide product and/or system options for further investigation by users having technical expertise. It is important that you analyze all aspects of your application and review the information concerning the product or system in the current product catalog. Due to the variety of operating conditions and applications for these products or systems, the user, through its own analysis and testing, is solely responsible for making the final selection of the products and systems and assuring that all performance, safety and warning requirements of the application are met. The products described herein, including without limitation, product features, specifications, designs, availability and pricing are subject to change by Parker Hannifin Corporation and its subsidiaries at any time without notice.
3 Automation
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
Features
and
(LVD) or
Performance • CE marked for LVD compliance (ZETA4) • CE marked with full EMC and LVD system compliance (ZETA4-240, ZETA8, ZETA12) • UL recognized • Standard step-and-direction input or CW/CCW input • Torque from 43 oz-in (0.30 N-m) to 3480 oz-in (24.4 N-m) • Active Damping (patent pending) benefits: – Damping ratios of up to 0.5 – Higher acceleration than conventional step systems – Decrease motor vibration – Increase shaft power – Higher performance • Electronic Viscosity (patent pending) benefits: – Reduce settling time • Anti-resonance eliminates mid-range instability and provides damping ratios of up to 0.2. Protection Circuit • Motor short circuits (phase-to-phase and phase-to-ground) • Overtemperature • Undervoltage • Power dump (dissipates excess energy caused by load regeneration) Physical • For 120VAC operation, fifteen motors available in size 23, 34 and 42 frame sizes. For 240VAC operation, six motors available in size 34 and 42 frame sizes. • Drive status indicators: power, step input, over temperature and motor fault • 120VAC (170VDC bus voltage) for ZETA4, ZETA4-240, ZETA8, and ZETA12 • 240VAC (340VDC bus voltage) for ZETA4-240 • Removable connectors for easy installation • Selectable damping for optimized performance • Optional EMC drive kit and EMC Cable kit consisting of AC mains filter and cabling to allow complete EMC or low noise system compliance for ZETA4-240, ZETA8, and ZETA 12.
(EMC & LVD)
ZETA Microstepping Drive Family Compumotor’s ZETA Microstepping Drive Family are a stand-alone, packaged microstepping drives that incorporate breakthrough techniques know as Active Damping and Electronic Viscosity (patent pending). The ZETA family of drives come in 4 different power versions: ZETA4, ZETA4240, ZETA8 and ZETA12. Designed for reliability, the ZETA drive family offers premier quality and performance while being easy to use and apply. The ZETA drive family meets the need for global solutions: • CE (LVD), CE(LVD and EMC) or low-noise applications • UL Recognized • 120VAC and 240VAC versions The ZETA4, ZETA8, and ZETA12 operate at 120VAC and provide 4A, 8A, and 12A respectively. The ZETA4-240, ZETA8, and ZETA12 comply with the Low Voltage [LVD (EN61010)] and Electromagnetic Compatibility [EMC (CISPR22/EN55022 Class B)] directives making it an excellent choice for machines built in or shipped to the European community. By designing the drive to meet the EMC Class B’s rigid standards, the ZETA4-240, ZETA8, and ZETA12 also meets North America’s FCC Class B emissions test making it the solution for low-noise applications. The ZETA4-240, ZETA8, and ZETA12 has also received UL approval.
50
Conventional Chopper Amplifier
EN55022A
dBuV/m
FCC15A
40
EN55022B FCC15B
30
The ZETA4-240 can be used for low- and high-power applications. For low-power applications, the ZETA 4-240 operates at 120VAC to provide the same performance as the ZETA4. For high-power applications, the ZETA4-240 runs off 240VAC to provide the same performance of an 8A drive.
ZETA8 ZETA12 ZETA4-240 Low Noise Linear Amplifier
20 3
4
5
6 7 8 910 2
2
3
4
5 6 7 8 9 103
Frequency (MHz)
4 Automation
Radiated Emission Spectra at 10 Meters
60
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
Specifications – ZETA4, ZETA8, ZETA12, and ZETA4-240 Parameter Power AC Power Input Motor Current (Apk) Bus Voltage
Performance Accuracy
Repeatability Hysteresis Resolution Waveform Speed/Torque Motors Type Breakdown Voltage (HIPOT) Number of Leads Accuracy Grade Inductance Dimensions Amplifier Type Number of Phases Dimensions Protection* Short Circuit Brownout Over-temperature Auto Standby Automatic Test Function Step Input Direction Input CW/CCW Input Shutdown Input Reset Input Fault Output Environmental Operating Drive Motor Storage Humidity Certification UL Recognized CE (LVD) CE(LVD & EMC) (EMC for CISPR22/EN55022 Class B)**
Low Noise (FCC Class B)**
Value ZETA4 ZETA8 ZETA12 ----------- 95-132VAC Single Phase, 50/60Hz ----------0-4 Amps 0-8 Amps 0-12 Amps --------------------- 170 VDC nominal ---------------------
ZETA4-240 95-264VAC Single Phase, 50/60Hz 0-4 Amps @120VAC: 170VDC nominal, @240VAC: 340VDC nominal
±5 arc min (0.0833°) typical. Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different absolute accuracy. ±1 arc min (0.0167°) Loaded-in addition to unloaded accuracy, per each frictional load equal to 1% rated torque. ±5 arc sec (0.0014°) typical. Unloaded-one revolution returning to start point from same direction. Less than 2 arc min (0.0334°) unloaded-bidirectional. 16 selectable choices: 200, 400, 1000, 2000, 5000, 10000, 12800, 18000, 20000, 21600, 25000, 25400, 25600, 36000, 50000, 50800 Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine; -4%, -6%, -10% 3rd harmonic. Refer to speed-torque curves on pages 6 & 7. 2-phase hybrid permanent magnet, 1.8 degree. 1,150VDC @ 120VAC input; 1,900VDC @ 240VAC input 4, 6 or 8 3% 0.5 mH minimum; 5 to 50 mH recommended range; 100 mH max Refer to dimensional drawings on pages 10 & 11. 20 kHz fixed frequency, variable duty cycle PWM (pulse width modulated). Current controlled, bipolar type.MOSFETconstruction. 2 Refer to dimensional drawings on pages 12 & 13 of this brochure. Phase-to-phase, phase-to-ground. If AC supply drops below 85VAC. Over-temperature shutdown fault at 131°F (55°C) If selected, motor current ramps to 50% of preset value if no step pulses are received for 1 second. Current levels are resumed upon receipt of next step pulse. This feature (used primarily for testing and verification of correct wiring) rotates the motor at approximately 1 rps in the negative (CCW) direction. High-going pulse, 200 nsec min. width; max. pulse rate is 2 MHz. Logic High = positive (CW) rotation. Logic Low = negative (CCW) rotation. Direction input may change polarity, coincident with first step pulse. Dip switch selectable. High-going pulse, 200 nsec min width; max pulse rate is 2 MHz. Logic High = amplifier disable. Logic Low = normal operation. Logic High = drive held in reset. Logic Low = normal operation. Conducting = normal operation. Not Conducting = drive fault 32°F to 122°F (0°C to 50°C) Maximum allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow restricted. 212°F (100°C) maximum motor case temperature. Actual temperature rise is duty-cycle dependent. -40°F to 185°F (-40°C to 85°C) 0-95%, non-condensing ZETA4, ZETA4-240, ZETA8, ZETA12 ZETA4, ZETA4-240, ZETA8, ZETA12 ZETA4-420, ZETA8, ZETA12 provided the following items are used and installed properly: • CE(lvd) motor. Compumotor recommends a terminal board (NPS) motor construction for easier installation • C10 motor cable accessory (LVD/EMC cable kit) • ZETA EMC KIT ZETA4-420, ZETA8, ZETA12 provided the following items are used and installed properly: • Compumotor recommends a terminal board (NPS) motor construction for easier installation • C10 motor cable accessory (LVD.EMC cable kit) • ZETA EMC KIT
* Drive shuts down in conditions listed ** System compliance
5 Automation
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
Features Performance • One axis package drive/indexers – ZETA6104: 4Apk, 120VAC (170VDC Bus) – ZETA6104-240: 4Apk, 120VAC (170VDC Bus) or 4Apk, 240VAC (340VDC Bus) – ZETA6108: 8Apk, 120VAC (170VDC Bus) – ZETA6112: 12Apk, 120VAC (170VDC Bus) • Active Damping (patent pending) benefits: – Damping ratios of up to 0.5 – Higher acceleration than conventional step systems – Decrease motor vibration – Increase shaft power – Higher performance • Electronic Viscosity (patent pending) benefits: – Reduce settling time – Increase slower speed smoothness (reduce velocity ripple) – Reduce audible noise • Anti-resonance eliminates mid-range instability and provides damping ratios of up to 0.2. Protection Circuit • Motor short circuits (phase-to-phase and phase-to-ground) • Overtemperature of internal drives and power supply • Overvoltage (protects against overvoltage from regeneration) • Power dump (dissipates excess voltage caused by load regeneration) I/O • Encoder channels configurable as hardware up/down counters • Incremental encoder input • POS and NEG end-of-travel limit inputs • Home limit input • Two fast (trigger) inputs for position capture, registration, etc. • 16 programmable inputs (Opto-22 compatible) • 8 programmable outputs (Opto-22 compatible) • One auxiliary programmable output Language • 150,000 bytes of non-volatile memory for storing programs and paths • Interrupts program execution on error conditions • Encoder and motor position capture (using the trigger inputs) • Registration (using the trigger inputs) • Selectable damping (programmable) to optimize performance for changing loads • Variable storage, conditional branching and math capability • Program debug tools – single-step and trace modes, breakpoints, error messages and simulation of I/O Software Provided • Motion Architect, Microsoft Windows-based application development software • Dynamic Link Library (DLL) provided for use with Microsoft Windows and Microsoft Windows NT software development kits Optional Software • Motion Toolbox library of LabVIEW® virtual instruments (VIs) for icon-based programming of Compumotor’s 6000 Series controllers • Dynamic Data Exchange (DDE) server available allowing data exchange between different Windows software applications • Motion Builder provides a visual-development environment for graphical icon-based programming of the 6000 Series product Interface Capabilities • Direct interface to RP240 Remote Operator Panel • Operates stand-alone or interfaces to PCs, PLCs and thumbwheels • Communication with PC or dumb terminal via 3-wire RS-232C interface • One RS-232C communication port • One RS232C/485 configurable port Physical • Stand-alone indexer/drive package • Status/fault LEDs to confirm proper operation (four diagnostic LEDs) • Removable connectors for easy installation • 120VAC (170VDC bus voltage) for ZETA6104, ZETA6104-240, ZETA6108, ZETA6112 • 240VAC (340VDC bus voltage) for ZETA6104-240
ZETA6000 Series Packaged Drive/Indexer Systems Compumotor’s ZETA6000 Series products are stand-alone, single-axis drive/indexer systems. The ZETA6000 Series products come in 4 different power versions: ZETA6104, ZETA6104-240, ZETA6108 and ZETA6112. These ZETA6000 products pack all the power and reliability of the 6000 family of controllers and ZETA drives into one convenient package. All of the I/O points, RS-232C/RS485 control, operator interface options and following capabilities for single-axis applications are included. The following package can perform phase shifts, electronic gearbox, and flying cutoff functionality with ease. The ZETA6000 Series package was made for easy and reliable installation. The connections are on removable screw terminals and a standard 50-pin header allowing simple installation and cable routing without having to cut off and reattach a connector. The ZETA6000 Series is designed to solve single-axis applications cleanly and completely. For multiple-axis applications, up to 99 ZETA6000 Series can be daisy chained (32 ZETA6000 Series can be multi-dropped using RS-485) to work together. In order to speed your application development, the ZETA6000 Series comes standard with Motion Architect, a Microsoft Windows-based development packages. Motion Architect contains many tools which allow you to easily create and implement motion programs. The ZETA6000 Series is also compatible with Motion Toolbox™, DDE6000 Server, and Motion Builder software packages. The ZETA6000 Series uses the 6000 Series command language. This popular language is powerful enough to implement complex motion control applications and simple enough to not overwhelm the novice programmer. The ZETA6000 Series is your single-axis solution.
6 Automation
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
Specifications – ZETA6104, ZETA6108, ZETA6112, and ZETA6104-240 Parameter
Value
Power AC Power Input Motor Curent (Apk) Bus Voltage
ZETA6104 ZETA6108 ZETA6112 ----------- 95-132VAC Single Phase, 50/60Hz ----------0-4Amps 0-8 Amps 0-12 Amps ---------------------- 170 VDC nominal ----------------------
Performance Position range Velocity range Acceleration range Motion Algorithm Update Rate Speed/Torque
±2,147,483,648 steps 1 to 2,000,000 steps/sec 1 to 24,999,975 steps/sec 2 2 ms Refer to Speed/Torque curves on pages 6 & 7; CE motors located on pages 8 & 9.
RS-232C Interface Connections Max number of daisy chained ZETA6104s Address settings Communication parameters RS-485 Interface Connections Max number of multi-dropped ZETA6104s Address settings Communication parameters Protection Short Circuit Brownout Over-temperature
ZETA6104-240 95-264VAC Single Phase, 50/60Hz 0-4 Amps @120VAC: 170VDC nominal, @240VAC: 340VDC nominal
3-wire (Rx, Tx, and GND) connection to the COM1 and/or COM2 connectors. Up to 99 units Selectable (see optional DIP switch setting and ADDR command). 9,600 baud (auto-band option – see optional DIP switch & jumper settings); 8 data bits, 1 stop bit, no parity bit, full duplex. 2-wire or 4-wire (Rx+, Rx-, Tx+, Tx-) connection to the COM2 connector (COM2 needs to be configured to RS-485 Interface). Up to 99 units Selectable (see optional DIP switch setting and ADDR command). 9,600 baud, 8 data bits, 1 stop bit, no parity bit, half duplex. Phase-to-phase, phase-to-ground AC supply drops below 85VAC Over-temperature shutdown fault at 131°F (55°C)
Inputs (see also I/O pinouts & circuit drawing) 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, ≥ 2/3 of V_I/O voltage = high). V_I/O can handle 5–24V with max current of 100 mA. 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 power source (+5V terminal or an external 5–24V supply) to source current or connect AUX-P to GND to sink current; AUXP can handle 0–24V with max current of 50 mA. Voltage range for these inputs is 0–24V. Encoder Differential comparator accepts two-phase quadrature incremental encoders with differential (recommended) or single-ended outputs. Max voltage = 5VDC. Switching levels (TTL-compatible); Low ≤0.4V, High ≥ 2.4V. Maximum frequency = 1.6 MHz. Minimum time between transitions = 625 ns. 16 General Purpose Programmable HCMOS compatible* with internal 6.8 KΩ pull-up to IN-P terminal—connect IN-P to power (+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 9 Programmable (includes OUT-A)
+5V Output
Open collector output with 4.7 kΩ 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 50 mA. Outputs will sink up to 300 mA or source up to 5 mA at 5-24VDC. 8 general purpose outputs on the Programmable I/O connector, OUT-A on the I/O connector. Internally supplied +5VDC. +5V terminals are available on the COM2, ENCODER and I/O connectors. Load limit (total load for all I/O connections) is 0.5A.
Environmental Operating Drive Motor Storage Humidity
32°F to 122°F (0°C to 50°C) Maximum allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow restricted. 212°F (100°C) maximum motor case temperature. Actual temperature rise is duty-cycle dependent. -40°F to 185°F (-40°C to 85°C) 0-95%, non-condensing
Diagnostic LEDs
Power/drive on, step pulses, drive over-temperature, and motor short circuit
Certification UL Recognized CE (LVD)
ZETA6104, ZETA6104-240, ZETA6108, ZETA6112 ZETA6104, ZETA6104-240, ZETA6108, ZETA6112
Low Noise (FCC Class B)**
ZETA6104-420, ZETA6108, ZETA6112 provided the following items are used and installed properly: • CE(lvd) motor. Compumotor recommends a terminal board (NPS) motor construction for easier motor installation • C10 motor cable accessory (LVD/EMC cable kit) • ZETA EMC KIT
* HCMOS-compatible switching voltage levels: low ≤ 1.0V, high ≥ 3.25V; TTL-compatible switching voltage levels: low ≤ 0.4V; high ≥ 2.4V ** System compliance
7 Automation
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
Speed-Torque Curves (@120VAC) O Series Motors Size 23 Frame (0.42)
ZETA with OS21B
(N-m) oz-in
60
(0.08)
Series
24
50
12
Torque
Torque
75 Series (1.5A pk)
(0.17)
100
Parallel
(0.56)
80
240
(0.42)
60
180
(0.28) (0.14)
25
Series
40
120
20
(0.89) 128 (0.67)
150 Series
(0.45) (0.22)
60
200
Parallel
96 64
100 Series (2.2A pk)
32
Power (Watts)
36
250 Parallel (4.0A pk)
Power (Watts)
(0.25)
Power (Watts)
48
(1.12) 160
300 Parallel
Parallel (3.7A pk)
Parallel (3.0A pk) (0.33)
ZETA with OS22B
(N-m) oz-in
(0.70) 100
125
Torque
ZETA with OS2HB
(N-m) oz-in
50
Series (1.8A pk) 0
0
10
20
30
40
50
0
0
0
10
20
Speed-RPS
30
40
50
0
0
0
10
20
30
0 50
40
Speed-RPS
Speed-RPS
R Series Motors Size 34 Frame ZETA with RS31B 250
Parallel 200
Torque
100
Series (2.3A pk)
(0.21) 30 0
0
20
10
30
50
40
50
(1.26) 180
180
(0.84) 120
120
Series Series (2.8A pk)
(0.42) 60
0
0
0
20
10
Speed-RPS
30
50
270
(1.89) 270 (1.26) 180
180
Series Series (3.4A pk)
(0.63) 90
60
40
360
Parallel (6.9A pk)
0
0
Power (Watts)
150 Series
(0.42) 60
Power (Watts)
Power (Watts)
(0.63) 90
Parallel (5.6A pk)
Parallel
(2.52) 360
240
(1.68) 240
Torque
(0.84) 120
450
(3.15) 450
300
(2.10) 300
Parallel
Parallel (4.6A pk)
ZETA with RS33B
(N-m) oz-in
ZETA with RS32B
(N-m) oz-in
(1.05) 150
Torque
(N-m) oz-in
90
0
20
10
30
40
50
0
Speed-RPS
Speed-RPS
R Series Motors Size 42 Frame ZETA with RE42B
(N-m) oz-in
ZETA with RS42B
(N-m) oz-in (7.00) 1000
1000
(14.00) 2000
800
(11.20) 1600
700
(5.60) 800
Torque
400
(2.80) 400 Series (1.40) 200
560 Parallel (7.2A pk)
(8.40) 1200
280 Series
(2.80) 400
200
0
20
10
30
40
420
(5.60) 800
Series (6.1A pk) 0
Parallel
Power (Watts)
600
(4.20) 600
Power (Watts)
Parallel
Torque
Parallel (12.00A pk)
140
Series (3.4A pk) 50
0
0
0
20
10
30
40
50
0
Speed-RPS
Speed-RPS
T Series Motors Size 34 Frame ZETA with TS31B
(N-m) oz-in
ZETA with TS32B
(N-m) oz-in
ZETA with TS33B
(N-m) oz-in 500
(4.90) 700
500
(3.50) 500
700
(11.20) 1600
Parallel
100
Torque
(2.94) 420 (1.96) 280
200
(0.98) 140
100
0
10
20
30
Speed-RPS
40
50
0
0
0
10
20
30
Speed-RPS
8 Automation
Parallel (12.00A pk) 420
(6.72) 960
280
(4.48) 640 Series (2.24) 320
140
Series (3.1A pk)
Series (3.3A pk) 0
300
Series
560
(8.96) 1280
40
Power (Watts)
Series (0.70) 100
Parallel (6.2A pk)
Power (Watts)
200
(1.40) 200
Power (Watts)
300
(2.10) 300
400
(3.92) 560
400
Parallel (6.7A pk)
Torque
(2.80) 400
Parallel
Torque
Parallel
Series (5.6A pk) 50
0
0
0
10
20
30
40
50
0
Speed-RPS
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
T Series Motors Size 42 Frame ZETA with TS41B
(N-m) oz-in
700
(21.00) 3000
560
(16.80) 2400
ZETA with TS43B
(N-m) oz-in
ZETA with TS42B
(N-m) oz-in
(9.80) 1400
750
(24.50) 3500
600
(19.60) 2800
700
Parallel
140
(1.96) 280
Series 300
(8.40) 1200 (4.20)
Series (6.70A pk)
600
(14.70) 2100
Torque
Torque
280
(3.92) 560
450
(12.60) 1800
420
(9.80) 1400
280 Series
(4.90) 700
150
140
Series (6.4A pk) 0
0
20
10
560
Parallel (12.00A pk)
Parallel
Series (6.9A pk) 30
40
50
0
0
0
10
Speed-RPS
20
30
40
50
0
0
Power (Watts)
Series
Parallel
Parallel (12.0A pk)
Power (Watts)
420
(5.88) 840
Power (Watts)
Parallel (12.0A pk)
Torque
(7.84) 1120
0
10
20
30
40
50
0
Speed-RPS
Speed-RPS
Speed-Torque Curves (@240VAC) R Series Motors (C Winding) Size 34 Frame 500 (3.55)
280
400 (2.84)
140 Series (2.2A pk)
70 (0.48)
0
20
10
30
40
50
400
Parallel (4A pk)
300 (2.13)
300
200 (1.42)
Series 200
100 (0.71)
70 0
0
0
10
20
30
Series (3.5A pk) 420 (2.98)
420
280 (1.99)
Series 280 Parallel (4A pk)
140 (0.99)
0 50
40
700 Parallel 560
560 (3.98)
100
Series (2.8A pk)
Speed-RPS
700 (4.97)
0
0
10
Speed-RPS
20
30
Power (Watts)
210
ZETA4-240 with RS33C
oz-in (N-m)
Parallel 500
Power (Watts)
Series
Parallel (4A pk)
140 (0.99)
0
350
Power (Watts)
Torque
280 (1.99) 210 (1.49)
ZETA4-240 with RS32C
oz-in (N-m)
Parallel
Torque
350 (2.48)
Torque
ZETA4-240 with RS31C
oz-in (N-m)
140
40
0 50
Speed-RPS
R Series Motors (C Winding) Size 42 Frame ZETA4-240 with RS42C
ZETA4-240 with RE42C
oz-in (N-m)
1400 (9.94)
1400 Series (3.2A pk)
20
30
40
Torque
560 280 Series
10
1800
1600
1140 (8.09)
1140
1200 (8.52)
1200
Parallel (4.0A pk)
Parallel
800 (5.68) 400 (2.84)
0 50
0
800 400
0
Speed-RPS
8
16
24
Speed-RPS
32
40
Series 0
1080 (7.67) Parallel (4.0A pk)
1080 Series (4.0A pk)
720 (5.11)
720 Parallel
360 (2.56) 0
Power (Watts)
Parallel
280 (1.99)
0
1800 (12.8)
Power (Watts)
840
Parallel (4.0A pk)
Power (Watts)
Torque
1600 (11.4)
1120
560 (1.77)
0
2000 Series (3.4A pk)
1120 (7.95) 840 (5.96)
ZETA4-240 with RS43C
oz-in (N-m)
2000 (14.2)
Torque
oz-in (N-m)
360
0
10
20
30
40
50
Series 0
Speed-RPS
Drive’s Peak Current Levels ZETA4, ZETA6104 ZETA4-240, ZETA6104-240
Parallel connected motors are limited to 50% duty cycle when operated above 5 rps. For greater than 50% duty cycle above 5 rps, you must connect the motor in series. Fan cooling the motor will increase duty cycles above 5 rps.
0-4Apk
ZETA8, ZETA6108
0-8Apk
Viscous damper is not required to achieve speed-torque curves.
ZETA12, ZETA6112
0-12Apk
Note: ±10% torque variance due to motor tolerance
9 Automation
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
Motor Specifications 170 VDC Motor Size 23 Frame Parameters
OS2HB
OS21B
Size 34 Frame OS22B
Size 42 Frame
RS31B
RS32B
RS33B
RS42B
RE42B
155 (1.09)
133 (0.93)
267 (1.87)
392 (2.74)
985 (6.90)
1907 (13.35)
1.39 (0.25)
3.02 (0.55)
6.56 (1.20)
9.65 (1.77)
61.76 (11.30)
61.76 (11.30)
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)
16.6 4.2 170
9.4 2.4 170
11.6 2.9 170
9.6 2.4 170
8.2 2.1 170
42.6 10.7 170
7.0 (0.05)
8.8 (0.06)
18.0 (0.13)
27.0 (0.19)
41.7 (0.35)
81.0 (0.57)
13 (5.9)
180 (81.6)
180 (81.6)
180 (81.6)
400 (182)
400 (182)
20 (9.1)
35 (15.9)
35 (15.9)
35 (15.9)
140 63.6)
140 (63.6)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.0008 (0.02)
0.0008 (0.02)
0.0008 (0.02)
0.0008 (0.02)
0.0008 (0.02)
0.0008 (0.02)
2.5 (1.1)
3.2 (1.5)
5.3 (2.4)
7.6 (3.5)
18.2 (8.3)
18.2 (8.3)
Pending Yes No
Yes Yes *
Yes Yes *
Yes Yes *
Yes Yes *
Yes Yes *
Static torque**
oz-in 43 82 (Nm) (0.30) (0.58) Rotor inertia oz-in 2 0.39 0.66 (kg-cm2) (0.07) (0.12) Drive Current (Apk)(Arms)** Series 1.5 (1.0) 1.8 (1.3) Parallel 3.0 (2.1) 4.0 (2.8) Phase Inductance (mH)*** Series 8.6 12 Parallel 2.2 3 Drive Bus Voltage (VDC) 170 170 Detent Torque oz-in 2.5 4.0 (Nm) (0.02) (0.03) Bearings Information Thrust Load lb 13 13 (kg) (5.9) (5.9) Radial Load lb 20 20 (kg) (9.1) (9.1) End Play (Reversing load equal to 1 lb) in 0.001 0.001 (mm) (0.025) (0.025) Radial Play (Per 0.5 lb load) in 0.0008 0.0008 (mm) (0.02) (0.02) Motor Weight lb 1 1.5 (kg) (0.5) (0.7) Certifications UL recognized Pending Pending CE (LVD) Yes Yes CE (EMC & LVD)* No No
Size 34 Frame Parameters Static torque** oz-in (N-m) Rotor inertia oz-in2 2 (kg-cm ) Drive Current (Apk)(Arms)** Series Parallel Drive Bus Voltage (VDC) Phase Inductance (mH)*** Series Parallel Detent Torque oz-in (Nm)
Size 42 Frame
TS31B
TS32B
TS33B
TS41B
TS42B
TS43B
455 (3.19)
647 (4.53)
1525 (10.68)
1332 (9.32)
2515 (17.61)
3479 (24.35)
7.80 (1.43)
14.67 (2.68)
21.89 (4.01)
30.22 (5.53)
59.68 (10.92)
88.51 (16.20)
3.3 (2.3) 6.7 (4.7) 170
3.1 (2.2) 6.2 (4.4) 170
5.6 (4.0) 12.0 (8.5) 170
6.4 (4.5) 12.0 (8.5) 170
6.7 (4.7) 12.0 (8.5) 170
6.9 (4.9) 12.0 (8.5) 170
10.3 2.6
10.3 2.6
13.6 3.4
15.8 3.9
22.0 5.5
30.7 7.7
18 (0.13)
36 (0.25)
54 (0.38)
42 (0.30)
84 (0.59)
106 (0.75)
Continued on next page
10 Automation
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
Size 34 Frame Parameters
TS31B
Bearings Information Thrust Load lb 305 (kg) (139) Radial Loa lb 65 (kg) (30) End Play (Reversing load equal to 1 lb) in 0.001 (mm) (0.025) Radial Play (Per 0.5 lb load) in 0.0008 (mm) (0.020) Motor Weight lb 5.0 (kg) (2.3) Certifications UL recognized Yes CE (LVD) Yes CE (EMC & LVD)* *
Size 42 Frame
TS32B
TS33B
TS41B
TS42B
TS43B
305 (139)
305 (139)
404 (184)
404 (184)
404 (184)
65 (30)
110 (50)
125 (57)
110 (50)
110 (50)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020)
8.4 (3.8)
11.9 (5.4)
11.0 (5.0)
18.4 (8.4)
25.7 (11.7)
Yes Yes *
Yes Yes *
Yes Yes *
Yes Yes *
Yes Yes *
340 VDC Motors Size 34 Frame
Size 42 Frame
RS31C
RS32C
RS33C
RS42C
RE42C
RS43C
171 (1.21)
292 (2.06)
532 (3.76)
1.266 (8.94)
1,959 (13.8)
1,671 (11.8)
3.20 (0.59)
6.56 (1.20)
9.65 (1.77)
61.76 (11.30)
61.76 (11.30)
92.64 (16.95)
2.2 (1.6) 4.0 (2.8)
2.8 (2.0) 4.0 (2.8)
3.5 (2.5) 4.0 (2.8)
3.2 (2.3) 4.0 (2.8)
3.4 (2.4) 4.0 (2.8)
4.0 (2.8) 4.0 (2.8)
17.4 4.4 340
26.2 6.6 340
23.3 5.8 340
65.4 16.4 340
55.6 13.9 340
42.9 10.7 340
8.8 0.062
18.0 0.130
27.0 0.190
50.0 (0.350)
81.0 (0.570)
71.0 (0.500)
180 (81.6)
180 (81.6)
180 (81.6)
400 (182)
400 (182)
400 (182)
35 (15.9)
35 (15.9)
35 (15.9)
140 (63.6)
140 (63.6)
140 (63.6)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.0008 (0.02)
0.0008 (0.02)
0.0008 (0.02)
0.0008 (0.02)
0.0008 (0.02)
0.0008 (0.02)
3.2 (1.5)
5.3 (2.4)
7.6 (3.5)
18.2 (8.3)
18.2 (8.3)
25.7 (11.7)
Yes Yes *
Yes Yes *
Yes Yes *
Yes Yes *
Yes Yes *
Yes Yes *
Static torque**
oz-in (Nm) Rotor inertia oz-in2 2 (kg-cm ) Drive Current (Apk)(Arms)** Series Parallel Phase Inductance (mH)*** Series Parallel Drive Bus Voltage (VDC) Detent Torque oz-in (Nm) Bearings Information Thrust Load lb (kg) Radial Load lb (kg) End Play (Reversing load equal to 1 lb) in (mm) Radial Play (Per 0.5 lb load) in (mm) Motor Weight lb (kg) Certifications UL recognized CE (LVD) CE (EMC & LVD)* *
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
11 Automation
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
ZETA Series CE Motor Dimensions Dimensions in inches (mm) Size 23 Frame,O Series
C 0.200 (5.08) dia (4) on 2.625 (66.68) BC
0.2500(6.350) 0.2495(6.337) Shaft Dia
Flexible boot may be bent as shown. Nominal height 1.0 (25.4).
0.25 (6.4)
1.0 (25.4)
.84 (21.34)
1.06 (26.9)
45° 2.25 (57.2)
1.86 (47.2)
1.50 (38.1)
Ø 0.02500
0.20 (5.08) 1.502 (38.15) 1.498 (38.05)
0.81(20.6)
B 2.44 (62.0) 2.90 (73.7) 3.94 (100.1)
B
2.4 (62 4 .0)
0.055 (1.40) .75 ± 0.04
A
Frame Size 23 Model A OS2HB 1.60 (40.6) OS21B 2.06 (52.3) OS22B 3.10 (78.7)
+.0000 -.0005
RE/RC Encoder
2X 2–56 UNC–2B .170 MIN. ON A Ø 1.812 B.C. C For flying leads (FLY) – 13.5 (343) min. For 10 ft cable (L10) – 120.0 (3048)
Size 34 Frame,R Series 3.38 (85.85)
0.003 (0.077) -A-
4 x Ø0.218 (5.46) thru equally spaced on a Ø3.875 (98.43) B.C.
2 x 45°
R 1.72 (43.69)
Lmax.
1.43 + - 0.04 1 (36.32 + - 1.02)
2.02 (51.31) max.
+ 0.0000 Ø0.3750 - 0.0005 + 0.000) (9.53 - 0.013) 0.002 (0.051) -A-
1.63 2.50 (41.4) (63.5) Indicated dimension applies from end of extension to face of rear end bell (cover and gasket removed)
1
Ø2.875 + - 0.002 (73.025 + - 0.051) 0.003 (0.077) -A-
3.88 (98.6)
+ 0.0000 Ø0.3750 - 0.0005 + 0.000) (9.53 - 0.013) 0.002 (0.051)
Removable insulating bushing Construction = conduit. Connection (1/2 NPS TAP) with 0.56 (14.22) I.D. removable insulating bushing
0.06 (1.52) 0.18 (4.57) L2
1.25 (31.75)
Standard Front Shaft Configurations
+ 0.000 0.374 - 0.010 + 0.00) (9.50 - 0.26)
0.50 + - 0.02 (12.7 + - 0.051)
0.75 (19.05) full depth
EC Encoder Configuration
Model RS31■ ■ –■ ■ ■ ■NPS ■ RS32■ ■ –■ ■ ■ ■NPS ■ RS33■ ■ –■ ■ ■ ■NPS ■
0.344 (8.738) 0.0469 + - 0.0050 (1.191 + - 0.128) 1.25 (31.75)
Double Shaft Configuration
Lmax
L2
3.62 (91.95) 4.77 (121.16) 6.05 (153.67)
2.87 (72.9) 4.02 (102.11) 5.30 (134.62)
1.25 (31.75)
Flat Configuration = F
#303 Woodruff Key Configuration = W
Size 42 Frame,R Series 1.41 (35.81)
0.187 (4.75)
Model
1.25 (31.75)
0.187 (4.75) Detail View 4.28 (108.71)
Lmax
RS42■ ■ –■ ■ ■ ■NPS ■ RE42■ ■–■ ■ ■ ■NPS ■ RE43C–■ ■ ■ ■NPS ■
8.04 (204.22) 8.04 (204.22) 10.56 (268.23)
L2
A
B
C
7.29 (185.17) 7.29 (185.17) 9.81 (249.18)
0.625 (15.87) 0.625 (15.87) 0.75 (19.05)
2.19 (55.63) 2.19 (55.63) 2.19 (55.63)
0.705 (17.91) 0.705 (17.91) 0.83 (21.09)
0.705 (17.91)
4 x Ø0.328 (8.33) thru equally spaced on a Ø4.950 (125.73) B.C.
1.57 + - 0.04 1 (39.88 + - 1.02)
R 2.16 (54.86)
+ 0.0000 Ø0.5000 - 0.0005 + 0.000) (12.7 - 0.013) 0.002 (0.051)
+ 0.0000 0.1875 - 0.0020 + 0.051) (4.763 - 0.051)
2 x 45°
4.80 (121.9)
1.63 2.50 (41.4) (63.5) 2.22 (56.39) max.
+ 0.0000 ( + 0.000) Ø A - 0.0005 ( - 0.013) 0.002 (0.051) -A+ 0.000 ( + 0.000) C - 0.017 ( - 0.432)
Ø2.186 + - 0.002 (55.52 + - 0.051) 0.003 (0.077) -A-
1
0.06 (1.52) 0.46 (11.68)
1.375 + - 0.010 (34.93 + - 0.26)
L2 B
L1 max.
Removable insulating bushing Construction = conduit. Connection (1/2 NPS TAP) with 0.56 (14.22) I.D. removable insulating bushing
EC Encoder Configuration
0.003 (0.077) -A-
12 Automation
Double Shaft Configuration
Indicated dimension applies from end of extension to face of rear end bell (cover and gasket removed)
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
Size 34 Frame, T Series
4x ∅ .218 (5.54) thru equally spaced on a ∅ 3.875 (98.43) B.C.
3.38 (85.85)
.875 ± .010 (22.225 ± .254)
1.43 + - 0.04 (36.32 + - 1.02)
1
+ 0.0000 - 0.0005 + 0.000) (9.53 - 0.013)
Ø0.3750
0.002 (0.051)
(2 x 45°)
C
+.0000 -.0020
1.95 (49.53) MAX.
1
+.0000 ∅ A -.0005 B
+ 000 -.017
.002 (0.051)
∅ 2.875 ± .002 (73.025 ± .051)
.06 (1.52)
-A-
1/2 NPS TAP WITH .56 I.D. INSULATING BUSHING
.33 (8.382) L2
.003 (0.077)
A
1.25 (31.75)
Model TS31B–nnNPS TS32B–nnNPS TS33B–nnNPS
Lmax L2 4.44 (112.78) 3.70 (93.98) 5.96 (151.38) 5.22 (132.59) 7.48 (189.99) 6.74 (171.20)
A 0.5000 (12.70) 0.5000 (12.70) 0.6250 (15.88)
Double Shaft Configuration
3.88 (98.6)
L MAX. .003 (0.077)
Indicated dimension applies from end of extension to face of rear end bell (cover and gasket removed)
A
B C .555 (14.097) .1250 (3.175) .555 (14.097) .1250 (3.175) .705 (17.907) .1875 (4.763)
1.63 (41.4)
2.5 (63.5)
EC Encoder Configuration
Size 42 Frame, T Series 4x ∅ .328 (8.331) thru equally spaced on a ∅ 4.950 (125.73) B.C. 4.325 (109.855)
1.57 +- 0.04 (39.88 +- 1.02)
1.375 ± .010 (34.925) ± .254
1 + 0.0000 Ø0.5000 0.0005 + 0.000) (12.7 0.013) 0.002 (0.051)
(2 x 45°) +.0000 .1875 -.0020 +.0000) (4.7625 -.0508)
2.23 (56.642) MAX.
+.0000 ∅ .7500 -.0005 +0.000) (19.050 -0.013)
1
.002 (0.051) -A.830 +.000 -.017 (21.08) (+.000) (-.432)
.06 (1.52) .48 (12.192)
A
WITH .56 I.D. INSULATING BUSHING
L MAX.
2.19 (55.63) .003 (0.077)
Model Lmax TS41B–nn NPS 5.20 (132.08) TS42B–nn NPS 7.22 (183.39) TS43B–nn NPS 9.23 (234.44)
Double Shaft Configuration
1/2 NPS TAP
L2
∅ 2.186 ± .002 (55.524 ± .051) .003 (0.077)
Indicated dimension applies from end of extension to face of rear end bell (cover and gasket removed)
4.80 (121.9)
A
L2 4.46(113.28) 6.48(164.59) 8.49 (215.65)
1.63 (41.4)
2.5 (63.5)
EC Encoder Configuration
13 Automation
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
ZETA Drives Connection (ZETA4, ZETA4-240, ZETA8 & ZETA12) Internal Connections
Motor-Screw Terminal Pin No Signal
681Ω
13 25 12 24
Reset+ Reset–
11
1 2 3 4 5 6 7
ILD213
23 10 22
Fault C Fault E
9 21 8 20 7
ILD223
19 681Ω
6
Interlock A+ AGround B+ BInterlock
18 5
Shutdown– Shutdown+ Direction– Direction+ Step– Step+
17 4
ILD213
16 3
243Ω
15 2 14 1
HCPL2631
243Ω
HCPL2631
ZETA4-240, ZETA8, ZETA12 Drives Dimensions
ZETA4 Drive Dimensions (—) denotes millimeters)
3x Ø0.18 (4.6) (clearance for #8 (M4) mounting screw)
6.138 (155.9) 5.970 (151.6) 1.000 (25.4)
2.000 (50.8)
'A'
7.07 (180) 6.94 (176)
0.133 (3.3)
0.15 (4)
1.38 (35)
8.80 (224)
Back of flange unpainted for grounding
9.50 (241)
8.600 (218.4) 9.75 (248)
8.800 (223.5)
0.500 (12.7)
1.000 (25.4)
0.88 (22)
3x Ø0.156 (3.96) (clearance for #6 screws)
14 Automation
Model
A
ZETA8
2.75 (70)
ZETA12
3.75 (96)
1.00 (25.4)
Unpainted for grounding
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
ZETA6000 Series Connection Pin-Out List (ZETA6104, ZETA6104-240, ZETA6108 & ZETA6112) COM1 4-Pin Screw Terminal Pin No Signal 1 2 3 4
Rx Tx Ground Shield
1 2 3 4
COM2 5-Pin Screw Terminal Pin No Signal 1 2 3 4 5
1 2 3 4 5 6 7 8 9 10
Ground Home Neg Pos
Motor 9-Pin Screw Terminal Pin No Signal
+5VDC (out)/Rx+ Ground/RXRx/Tx+ Tx/TxShield/Ground
1 2 3 4 5 6 7 8 9
Encoder 9-Pin Screw Terminal Pin No Signal 1 2 3 4 5 6 7 8 9
I/O 10-Pin Screw Terminal Pin No Signal
Limits 1/2 4-Pin Screw Terminal Pin No Signal
Interlock A- Center tap A+ AEarth B+ BB- Center tap Interlock
Trigger A Trigger B Output AGround Pulse cut-off +5VDC (out) Output pull-up Input pull-up Auxiliary pull-up Voltage Reference (V_I/O)
Programmable I/O Pin Outs 50-Pin Header Pin No I/O Connector 1 3 5 7 9 11 13 14 17 19 21 23 25
Shield Ground ZZ+ BB+ AA+ +5VDC (out)
ZETA6104 Dimensions
Input #16 Input #15 Input #14 Input #13 Input #12 Input #11 Input #10 Input #9 Output #8 Output #7 Output #6 Output #5 Input #8
27 29 31 33 35 37 39 41 43 45 47 49
Input #7 Input #6 Input #5 Output #4 Output #3 Output #2 Output #1 Input #4 Input #3 Input #2 Input #1 +5VDC
ZETA6104-240, ZETA6108, ZETA6112 Dimensions
(—) denotes millimeters
3x Ø0.156 (3.96) (clearance for #6 mounting screw)
0.133 (3.3)
2.930 (74.4) 5.970 (151.6)
3x Ø0.156 (3.96) (clearance for #6 screws)
3.015 (76.6)
0.150 (3.8)
1.508 (38.3)
6.94 (176)
1.465 (37.2)
Back of flange unpainted for grounding
8.000 (203.2)
9.430 (240)
8.69 (221)
8.600 (218.4) 8.850 (224.8)
0.965 (24.5)
9.700 (246)
Model
1.000 (25.4)
ZETA6104-240 ZETA6108 ZETA6112
15 Automation
A
1.007 (25.6)
1.00 (25.4)
3.94(100) 4.94(125)
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
Ordering Information Part No.
Description
Drive:
All drives are UL recognized and CE marked (LVD)
ZETA4
Packaged 4Apk, 170VDC bus microstepping drive
ZETA4-240
@120VAC: Packaged 4Apk, 170VDC bus microstepping drive @ 240VAC: Packaged 4Apk, 340VDC bus microstepping drive
&
(LVD & EMC)
ZETA8
Packaged 8Apk, 170VDC bus microstepping drive
&
(LVD & EMC)
ZETA12
Packaged 12Apk, 170VDC bus microstepping drive
&
(LVD & EMC)
Indexer/Drive:
All drives are UL recognized and CE marked (LVD)
ZETA6104
Packaged 4Apk, 170VDC bus microstepping indexer/drive
ZETA6104-240*
@120VAC: Packaged 4Apk, 170VDC bus microstepping indexer/drive @ 240VAC: Packaged 4Apk, 340VDC bus microstepping indexer/drive
ZETA6108*
Packaged 8Apk, 170VDC bus microstepping indexer/drive
ZETA6112*
Packaged 12Apk, 170VDC bus microstepping indexer/drive
*Coming this fall, 1998. Index/Drive Accessories Part No.
Description
VM24 VM50 RP240 RP240-NEMA 4
24V input/output module 50-pin header-to-screw terminal breakout board Operator interface NEMA 4 rated operator interface
Index/Drive Software Accessories Part No. Description DDE6000 Motion Toolbox Motion Builder
DDE server for 6000 Series Library of LabVIEW VIs for Motion Control Graphical icon-based software
System Accessories Part No. Description C1O ZETA EMC KIT
LVD/EMC step-motor cable kit (includes 10-ft cable, gland (360º shield connector), R-clamp, screw, and assembly instructions) LVD/EMC DRive Kit (includes the AC power filter and EMC drive/indexer cable)
To comply with EMC and low-noise (CISPR 22/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.
16 Automation
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
How to Order CE Motors Size 23 Frame – O Series Series O (Octagonal)
Type S=Standard
Frame Size 2=Size 23 (2.5")
No. of Rotor Stacks H=Half stacks 1=1 stack 2=2 stacks
Winding Type
Shaft
B=170VDC winding (Black painted motors)
Sample: OS2HB-DNL10-RC
S=Single D=Double Double shaft req’d for all motors w/encoders
Shaft Modification
Motor Construction/ Hookup
N=Standard
Encoder Option Blank=No feedback
FLY=Regular construction with flying (8) leads
RE=1000 ppr differential kit encoder w/ line driver & 13" cable
L10= Regular construction with 10' LVD cable
RC=1000 ppr differential kit encoder w/ line driver & 10' cable
Size 34 Frame – R Series Series R (Round)
Type S=Standard
No. of Rotor Stacks Frame Size 1=1 stack 3=Size 34 (3.38") 2=2 stacks 3=3 stacks
Winding Type B=170VDC winding (Black painted motors) C=340VDC winding (Yellow painted motors)
Sample: RS31B-SNS10
Shaft S=Single D=Double (Double shaft req'd for all motors w/ encoders)
Shaft Modification N=Standard
Motor Construction/ Hookup NPS=End bell/terminal board via 1/2" NPS Pipe thread
Encoder Option Blank=No feedback EC=1000 ppr differential encoder with line driver and 10' cable
P10=CE (LVD)/UL, 10' cable option for NPS construction, wired @ motor in Parallel. S10=CE (LVD)/UL, 10' cable option for NPS construction, wired @ motor in Series.
Size 42 Frame – R Series Series R (Round)
Type S=Standard E=Enhanced
Frame Size 4=Size 42 (4.33")
No. of Rotor Stacks 2=2 stacks 3=3 stacks*
Winding Type B=170VDC winding (Black painted motors) C=340VDC winding (Yellow painted motors)
Sample: RS43C-DKNPS
Shaft S=Single D=Double (Double shaft req'd for all motors w/ encoders)
Shaft Modification K=Straight Key
Motor Construction/ Hookup NPS=End bell/terminal board via 1/2" NPS Pipe thread
Encoder Option Blank=No feedback EC=1000 ppr differential encoder with line driver and 10-ft cable
P10=CE (LVD)/UL, 10' cable option for NPS construction, wired @ motor in Parallel.
* RS43 only available in C winding
S10=CE (LVD)/UL, 10' cable option for NPS construction, wired @ motor in Series.
Size 34 Frame – T Series Series T (Torque)
Type S=Standard
Frame Size 3=Size 34
No. of Rotor Stacks 1=1 stack 2=2 stacks 3=3 stacks
Winding Type B=170VDC winding (Black painted motors)
Shaft S=Single D=Double (Double shaft req'd for all motors w/ encoders
Shaft Modification K=Straight Key
Motor Construction/ Hookup NPS=End bell/terminal board via 1/2" NPS Pipe thread
Encoder Options Blank=No Feedback EC=1000 ppr differential encoder with line driver and 10' cable
P10=CE (LVD)/UL, 10' cable option for NPS construction, wired @ motor in Parallel.
Sample: TS32B-SKNPS
S10=CE (LVD)/UL, 10' cable option for NPS construction, wired @ motor in Series.
Size 42 Frame – T Series Series T (Torque)
Type S=Standard
Frame Size 4=Size 42
No. of Rotor Stacks 1=1 stack 2=2 stacks 3=3 stacks
Winding Type B=170VDC winding (Black painted motors)
Sample: TS43B-SKNPS
Shaft S=Single D=Double (Double shaft req'd for all motors w/ encoders
Shaft Modification K=Straight Key
Motor Construction/ Hookup NPS=End bell/terminal board via 1/2" NPS Pipe thread
Encoder Options Blank=No Feedback EC=1000 ppr differential encoder with line driver and 10' cable
P10=CE (LVD)/UL, 10' cable option for NPS construction, wired @ motor in Parallel. S10=CE (LVD)/UL, 10' cable option for NPS construction, wired @ motor in Series.
17 Automation
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
Offer of Sale The items described in this document are hereby offered for sale at prices to be established by Parker Hannifin Corporation, its subsidiaries and its authorized distributors. This offer and its acceptance by any customer (“Buyer”) shall be governed by all of the following Terms and Conditions. Buyer’s order for any item described in this document, when communicated to Parker Hannifin Corporation, its subsidiary or an authorized distributor (“Seller”) verbally or in writing, shall constitute acceptance of this offer. 1. Terms and Conditions of Sale: All descriptions, quotations, proposals, offers, acknowledgments, acceptances and sales of Seller’s products are subject to and shall be governed exclusively by the terms and conditions stated herein. Buyer’s acceptance of any offer to sell is limited to these terms and conditions. Any terms or conditions in addition to, or inconsistent with those stated herein, proposed by Buyer in any acceptance of any offer by Seller, are hereby objected to. No such additional, different or inconsistent terms and conditions shall become part of the contract between Buyer and Seller unless expressly accepted in writing by Seller. Seller’s acceptance of any offer to purchase by Buyer is expressly conditional upon Buyer’s assent to all the terms and conditions stated herein, including any terms in addition to, or inconsistent with those contained in Buyer’s offer. Acceptance of Seller’s products shall in all events constitute such assent. 2. Payment: Payment shall be made by Buyer net 30 days from the date of delivery of the items purchased hereunder. Amounts not timely paid shall bear interest at the rate of 1-1/2% for each month or a portion thereof that Buyer is late in making payment. Any claims by Buyer for omissions or shortages in a shipment shall be waived unless Seller receives notice thereof within 30 days after Buyer’s receipt of the shipment. 3. Delivery: Unless otherwise provided on the face hereof, delivery shall be made FOB Seller’s plant. Regardless of the method of delivery, however, risk of loss shall pass to Buyer upon Seller’s delivery to a carrier. Any delivery dates shown are approximate only and Seller shall have no liability for any delays in delivery. 4. Warranty: Seller warrants that the hardware sold hereunder shall be free from defects in material workmanship for a period of two years from the date of shipment to Buyer. Seller warrants that the SOFTWARE will perform substantially in accordance with the accompanying materials for a period of ninety (90) days from the date of receipt. Any implied warranties on the SOFTWARE are limited to ninety (90) days. This limited warranty gives you specific legal right. You may have others which vary from state to state. Some states do not allow limitations on duration of an implied warranty, so the above limitation may not apply to you. This Limited Warranty is void if failure of the SOFTWARE has resulted from accident, abuse, or misapplication. THIS WARRANTY COMPRISES THE SOLE AND ENTIRE WARRANTY PERTAINING TO ITEMS PROVIDED HEREUNDER. SELLER MAKES NO OTHER WARRANTY, GUARANTEE, OR REPRESENTATION OF ANY KIND WHATSOEVER. ALL OTHER WARRANTIES, INCLUDING BUT NOT LIMITED TO, MERCHANTABILITY AND FITNESS FOR PURPOSE, WHETHER EXPRESS, IMPLIED, OR ARISING BY OPERATION OF LAW, TRADE
USAGE, OR COURSE OF DEALING ARE HEREBY DISCLAIMED. NOTWITHSTANDING THE FOREGOING, THERE ARE NO WARRANTIES WHATSOEVER ON ITEMS BUILT OR ACQUIRED WHOLLY OR PARTIALLY, TO BUYER’S DESIGNS OR SPECIFICATIONS. 5. Limitation of Remedy: SELLER’S LIABILITY ARISING FROM OR IN ANY WAY CONNECTED WITH THE ITEMS SOLD OR THIS CONTRACT SHALL BE LIMITED EXCLUSIVELY TO REPAIR OR REPLACEMENT OF THE ITEMS SOLD OR REFUND OF THE PURCHASE PRICE PAID BY BUYER, AT SELLER’S SOLE OPTION. IN NO EVENT SHALL SELLER BE LIABLE FOR ANY INCIDENTAL, CONSEQUENTIAL OR SPECIAL DAMAGES OF ANY KIND OR NATURE WHATSOEVER, INCLUDING BUT NOT LIMITED TO LOST PROFITS ARISING FROM OR IN ANY WAY CONNECTED WITH THIS AGREEMENT OR ITEMS SOLD HEREUNDER, WHETHER ALLEGED TO ARISE FROM BREACH OF CONTRACT, EXPRESS OR IMPLIED WARRANTY, OR IN TORT, INCLUDING WITHOUT LIMITATION, NEGLIGENCE, FAILURE TO WARN OR STRICT LIABILITY. 6. Changes, Reschedules and Cancellations: Buyer may request to modify the designs or specifications for the items sold hereunder as well as the quantities and delivery dates thereof, or may request to cancel all or part of this order, however, no such requested modification or cancellation shall become part of the contract between Buyer and Seller unless accepted by Seller in a written amendment to this Agreement. Acceptance of any such requested modification or cancellation shall be at Seller’s discretion, and shall be upon such terms and conditions as Seller may require. 7. Special Tooling: A tooling charge may be imposed for any special tooling, including without limitation, dies, fixtures, molds and patterns, acquired to manufacture items sold pursuant to this contract. Such special tooling shall be and remain Seller’s property notwithstanding payment of any charges therefore by Buyer. 8. Buyer’s Property: Any designs, tools, patterns, materials, drawings, confidential information or equipment furnished by Buyer or any other items which become Buyer’s property, may be considered obsolete and may be destroyed by Seller after two (2) consecutive years have elapsed without Buyer placing an order for the items which are manufactured using such property. Seller shall not be responsible for any loss or damage to such property while it is in Seller’s possession or control. 9. Taxes: Unless otherwise indicated on the face hereof, all prices and charges are exclusive of excise, sales, use, property, occupational or like taxes which may be imposed by any taxing authority upon the manufacture, sale or delivery of the items sold hereunder. If any such taxes must be paid by Seller or if Seller is liable for the collection of such tax, the amount thereof shall be in addition to the amounts for the items sold. Buyer agrees to pay all such taxes or to reimburse Seller therefore upon receipt of its invoice. If Buyer claims exemption from any sales, use or other tax imposed by any taxing authority, Buyer shall save Seller harmless from and against any such tax, together with any interest or penalties thereon which may be assessed if the items are held to be taxable.
18 Automation
10. Indemnity for Infringement of Intellectual Property Rights: Seller shall have no liability for infringement of any patents, trademarks, copyrights, trade dress, trade secrets or similar rights except as provided in this Part 10. Seller will defend and indemnify Buyer against allegations of infringement of U.S. patents, U.S. trademarks, copyrights, trade dress and trade secrets (hereinafter ‘Intellectual Property Rights’). Seller will defend at its expense and will pay the cost of any settlement or damages awarded in any action brought against Buyer based on an allegation that an item sold pursuant to this contract infringes the Intellectual Property Rights of a third party. Seller’s obligation to defend and indemnify Buyer is contingent on Buyer notifying Seller within ten (10) days after Buyer becomes aware of such allegations of infringement, and Seller having sole control over the defense of any allegations or actions including all negotiations for settlement or compromise. If an item sold hereunder is subject to a claim that it infringes the Intellectual Property Rights of a third party, Seller may, at its sole expense and option, procure for Buyer the right to continue using said item, replace or modify said item so as to make it noninfringing, or offer to accept return of said item and return the purchase price less a reasonable allowance for depreciation. Notwithstanding the foregoing, Seller shall have no liability for claims of infringement based on information provided by Buyer, or directed to items delivered hereunder for which the designs are specified in whole or part by Buyer, or infringements resulting from the modification, combination or use in a system of any item sold hereunder. The foregoing provisions of this Part 10 shall constitute Seller’s sole and exclusive liability and Buyer’s sole and exclusive remedy for infringement of Intellectual Property Rights. If a claim is based on information provided by Buyer or if the design for an item delivered hereunder is specified in whole or in part by Buyer, Buyer shall defend and indemnify Seller for all costs, expenses or judgments resulting from any claim that such item infringes any patent, trademark, copyright, trade dress, trade secrets or any similar right. 11. Force Majeure: Seller does not assume the risk of and shall not be liable for delay or failure to perform any of Seller’s obligations by reason of circumstances beyond the reasonable control of Seller (hereinafter ‘Events of Force Majeure’). Events of Force Majeure shall include without limitation, accidents, acts of God, strikes or labor disputes, acts, laws, rules or regulations of any government or government agency, fires, floods, delays or failures in delivery of carriers or suppliers, shortages of materials and any other cause beyond Seller’s control. 12. Entire Agreement/Governing Law: The terms and conditions set forth herein, together with any amendments, modifications and any different terms or conditions expressly accepted by Seller in writing, shall constitute the entire Agreement concerning the items sold, and there are no oral or other representations or agreements which pertain thereto. This Agreement shall be governed in all respects by the law of the State of Ohio. No actions arising out of the sale of the items sold hereunder or this Agreement may be brought by either party more than two (2) years after the cause of action accrues.
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
Parker Hannifin Corporation 17325 Euclid Avenue Cleveland, Ohio 44112-1290 Telephone: (216) 531-3000 Fax: (216) 383-9414 Web site: www.parker.com
ABOUT PARKER HANNIFIN CORPORATION Parker Hannifin is a leading global motioncontrol company dedicated to delivering premier customer service. A Fortune 500 corporation listed on the New York Stock Exchange (PH), our components and systems comprise over 1,000 product lines that control motion in some 1,200 industrial and aerospace markets. Parker is the only manufacturer to offer its customers a choice of hydraulic, pneumatic, and electromechanical motion-control solutions. Our Company has the largest distribution network in its field, with over 6,000 distributors serving more than 300,000 customers worldwide.
PARKER’S CHARTER To be a leading worldwide manufacturer of components and systems for the builders and users of durable goods. More specifically, we will design, market and manufacture products controlling motion, flow and pressure. We will achieve profitable growth through premier customer service.
PRODUCT INFORMATION Parker Hannifin’s North American customers seeking product information, the location of a nearby distributor, or repair services will receive prompt attention by calling the Parker Product Information Center at our toll-free number: 1-800-C-PARKER (1-800-2727537). In the UK, a similar service is available by calling 0500-103-203.
PARKER HANNIFIN CORPORATION
The Fluid Connectors Group designs, manufactures and markets hose, fittings, flexible connectors, instrumentation products and associated components used in fluid systems.
The Automation Group designs, produces and markets the full spectrum of components and systems to provide force, motion & control. Hydraulic, pneumatic, and electromechanical solutions are offered.
The Climate & Industrial Controls Group is a leading supplier of flow-control and fluid handling components, gerotors, and of systems support to worldwide refrigeration, air conditioning and automotive customers.
The Seal Group designs, manufactures and distributes industrial and commercial sealing devices and related products by providing superior quality and emphasizing total customer satisfaction.
The Filtration Group is a leading worldwide manufacturer and marketer of quality filtration and clarification products. Its goal is to provide customers with the best value, top quality, sound technical support, and global availability.
The Aerospace Group is a leader in the development, design, manufacture and servicing of hydraulic and fuel control systems and components for aerospace and related high-technology markets.
19 Automation
Parker Hannifin Corporation Compumotor Division Rohnert Park, California
A Full Spectrum of Products to Solve Your Application Needs
Servo & Stepper Driven Linear Actuators Parker Hannifin Corporation Automation Actuator Division 135 Quadral Drive Wadsworth, OH 44281 Phone: (330) 336-3511 Fax: (330) 334-3335 Web site: http://www.parker.com/automation
Catalog 1892/USA
Manual & Motorized Positioning Systems Parker Hannifin Corporation Daedal Division 1140 Sandy Hill Road Harrison City, PA 15636 Phone: 412/861-8200 Fax: 412/861-3330 or 412/861-3331 1/800/245-6903 Web site: http://www.daedalpositioning.com E-mail:
[email protected] Fax Back System: 916/431-6540
Catalog 9132/USA
Automation
Parker Hannifin Corporation Compumotor Division 5500 Business Park Drive Rohnert Park, CA 94928 Phone: 707/584-7558 or 1/800/358-9070 Catalog 8170/USA JB-25K-8/98-SC Fax: 707/584-2446 Web site: http://www.compumotor.com E-mail:
[email protected] Fax Back System: 707/586-8586