Microstepping Drive & Drive/Controller Catalog 8170/USA ... · ZETA12 also meets North America’s FCC Class B emissions test making it the solution for low-noise applications. The

Compumotor The ZETA FamilyMicrostepping Drive & Drive/Controller

Catalog 8170/USA(Supplement to Catalog 8000-2/USA)

Automation

2 Parker Hannifin CorporationCompumotor DivisionRohnert Park, California

Automation

THE ZETA SERIES

Major Concerns ofOpen Loop Systemsare Solved

When the torque demand on astep motor system exceedsthe torque available, the motorcan lose synchronization; thisis known as stalling. Stallingoccurs normally when a stepmotor is commanded to do amove which it cannot perform.In some cases, however, astep motor can stall evenwhen it is capable of makingthe move. In these cases, thestep motor system vibrates sodramatically that the availabletorque is not adequate toovercome the vibration andmake the move. Whenoperating the step motor neara system resonance point, thelikelihood of a stall due tovibration is higher.

To minimize the likelihood of asystem stalling, step motorsrequire damping. To dampenmeans to decrease oscillation.The more damping, the fasterthe oscillation decreases. Astep motor with a highdamping ratio will be able toperform to the utmost of itscapability.

The ZETA Series providesdamping electronically, with noadditional devices or wires toconnect. Compumotor’selectronic damping isconfigurable, so it can changeif the application changes.

ZETA Series Benefits:

• Stalling is minimized withoutthe additional expense andinertia of a damper

• Higher acceleration

• Higher performance

Increased Efficiencyand ReducedSettling Time

Compumotor’s innovativeActive Damping electronicallydamps motor vibration. Byeliminating vibration, the safetymargin for reserved torque cannow be used to do usefulwork. This can provide asmuch as a 50% increase inusable torque.

ZETA Series Benefits:

• Decreased motor vibration

• Reduced audible noise

• Increased usable shaftpower

In conventional step motorsystems, the speed-torquecurves represent the motor’stotal shaft power, not theusable shaft power. As aresult of Active Damping,Compumotor’s ZETA systemhas greater usable shaftpower. This higher usableshaft power results in highertorque at all speeds comparedto conventional steppersystems.

Torque vs. Speed Chart

VSpeed

TTorque

Reserved Torqueto OvercomeMechanical Vibration

50% TorqueMargin Curve

Total Speed Torque Curve

ZETA Drive's Usable Torque

Conventional Stepper MotorSystem's Usable Torque

V1

ZETA

Conventional Stepper

ThroughputV

0

V

Traditional Stepper Drive

ZETA Drive

Wasted Time Required toSettle Before Next Move

0

be used for greater accelerationinstead of overcoming the stepmotor system’s vibration.

With conventional steppersystems, the shaft oscillatesaround its commanded finalposition before settling aftereach move. This results inincreased settling time thattranslates into wasted time.

Compumotor’s patentableElectronic Viscosity damps theringing of the motor systemwhen decelerating the load.

ZETA Series Benefits:• Decreased settling time• Increased production time

Increased ThroughputThe figure to the right shows anexample of a repetitive moveprofile in an indexing, pick andplace, or similar type ofapplication requiring some typeof action to occur betweenmoves (i.e., scanning, probing,measuring, etc.). It is sometimescritical for the machine to besettled within a given tolerancebefore the action can occur. Theconventional step motor systemrequires a significant amount oftime (wasted time) to settle.

The ZETA Series improvesmachine throughput bydecreasing settling time andallowing the motor’s torque to


Automation

FAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS AND/OR SYSTEMS DESCRIBEDHEREIN 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 forfurther investigation by users having technical expertise. It is important that you analyze all aspects of your application and review the information concerning theproduct or system in the current product catalog. Due to the variety of operating conditions and applications for these products or systems, the user, through itsown analysis and testing, is solely responsible for making the final selection of the products and systems and assuring that all performance, safety and warningrequirements of the application are met.

The products described herein, including without limitation, product features, specifications, designs, availability and pricing are subject to change by ParkerHannifin Corporation and its subsidiaries at any time without notice.

Warning!

Offer of SaleThe items described in this document are hereby offered for sale byParker Hannifin Corporation, its subsidiaries or its authorizeddistributors. This offer and its acceptance are governed by theprovisions stated on page 12 of this document entitled ‘Offer of Sale.’

The ZETA Series

The ZETA Family offers a full range of power for yourmotion control needs.

Compumotor’sLeadership

Incorporated in 1979,Compumotor earned itsreputation for innovation bypioneering microsteppingdrive techniques to improvethe smoothness andresolution of the step motorcontrol system. Compumotor’sinnovative leadershipcontinued with the ZETASeries.

The ZETA Series incorporatespatentable techniques knownas Active Damping andElectronic Viscosity. Theresult is higher throughput byreducing settling time anddecreasing motor vibration.The user has selectabledamping to optimizeperformance, and reduceaudible noise.

The ZETA SeriesThe ZETA Series provides auser-friendly system thatdelivers high performanceand reliability in eight versions– the ZETA4, ZETA4-240,ZETA8 and ZETA12 drivesand the ZETA6104,ZETA6104-240, ZETA6108and ZETA6112 drive/indexers. The entire seriesincorporates thebreakthrough techniquesknown as Active Dampingand Electronic Viscosity(patents pending).

This family of productsincorporates the latestdevelopments in ASIC(Application SpecificIntegrated Circuit) and FPGA(Field Programmable GateArray) technology.

The ZETA drives are perfectfor multi-axis applicationsand allows control by anystandard step and directionor clockwise/counter –clockwise indexer.

The ZETA6000 drive/indexerscombines the power andreliability of Compumotor’sZETA drives with the flexibilityof Compumotor’s 6000Series of indexers. Thisadvanced design makes theZETA6000 drive/indexerfamily the highest performing,single-axis system in theindustry.

Quality Design &Sound Manufacturing

At Compumotor, producingreliable and quality productsis our number one priority.Our ZETA products aredesigned with high-quality

standards and aremanufactured with state-of-the-art equipment. Theseproducts are designed withheatsinks that can provide fullcurrent at the industry-standard maximum ambienttemperature of 50° C withouta fan, interruptions or limitingyour duty cycle. Like allCompumotor products, theZETA Series is designed formanufacturability (DFM) andhigh reliability. Before anyproduct reaches ourcustomers, it must pass arigorous set of hardware andsoftware tests.

Compumotor has invested incapital equipment such assurface mount andautomated insertionmachines to guarantee aprompt response to orders.Unlike other companies,Compumotor has the

flexibility to build any productin any quantity (based ondemand) without relying on athird-party vendor to buildour boards.

ComplianceThe ZETA Series is UL(Underwriter Laboratory)Recognized and CE (LVD)compliant. The ZETA4-240,ZETA8 and ZETA12 werealso designed to meet theElectromagnetic Compatibility[EMC (CISPR22/EN55022Class B)] directives, makingthem an excellent choice formachines built in or shippedto the European Community.The EMC CISPR22/EN55011Class B directives are themost stringent emissions andimmunity standardsapplicable to the motioncontrol industry (excludingmedical applications) and areintended for heavy,commercial, and lightindustrial environments. Bydesigning these products tomeet the EMC Class B’s rigidstandards, these productsalso meet North America’sFCC Class B emissions testmaking them the solution forlow noise applications. Whilecompliance with thesestandards is imperative forour European customers andmachine builders who exportto Europe, we feel ourdomestic customers canbenefit from our complianceas well.


Automation

ZETAMicrostepping Drive FamilyCompumotor’s ZETA Microstepping Drive Family are astand-alone, packaged microstepping drives that incorporatebreakthrough techniques know as Active Damping andElectronic Viscosity (patent pending). The ZETA family ofdrives come in 4 different power versions: ZETA4, ZETA4-240, ZETA8 and ZETA12.

Designed for reliability, the ZETA drive family offers premierquality 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 andprovide 4A, 8A, and 12A respectively.

The ZETA4-240, ZETA8, and ZETA12 comply with the LowVoltage [LVD (EN61010)] and Electromagnetic Compatibility[EMC (CISPR22/EN55022 Class B)] directives making it anexcellent choice for machines built in or shipped to theEuropean community. By designing the drive to meet theEMC Class B’s rigid standards, the ZETA4-240, ZETA8, andZETA12 also meets North America’s FCC Class B emissionstest making it the solution for low-noise applications. TheZETA4-240, ZETA8, and ZETA12 has also received ULapproval.

The ZETA4-240 can be used for low- and high-powerapplications. For low-power applications, the ZETA 4-240operates at 120VAC to provide the same performance as theZETA4. For high-power applications, the ZETA4-240 runs off240VAC to provide the same performance of an 8A drive.

Features

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 providesdamping 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 motorsavailable in size 34 and 42 frame sizes.

• Drive status indicators: power, step input, over temperatureand 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 noisesystem compliance for ZETA4-240, ZETA8, and ZETA 12.

and (LVD) or (EMC & LVD)

Radiated Emission Spectra at 10 Meters

ZETA8ZETA12

ZETA4-240

60

50

40

30

20

dB

uV

/m

Conventional Chopper Amplifier

Low Noise Linear Amplifier

EN55022A

FCC15A

EN55022B

FCC15B

3 4 5 6 7 8 9 2 3 4 5 6 7 8 910 102 3

Frequency (MHz)


Automation

Specifications – ZETA4, ZETA8, ZETA12, and ZETA4-240Parameter Value

Power ZETA4 ZETA8 ZETA12 ZETA4-240AC Power Input ----------- 95-132VAC Single Phase, 50/60Hz ----------- 95-264VAC Single Phase, 50/60HzMotor Current (Apk) 0-4 Amps 0-8 Amps 0-12 Amps 0-4 AmpsBus Voltage --------------------- 170 VDC nominal --------------------- @120VAC: 170VDC nominal,

@240VAC: 340VDC nominal

PerformanceAccuracy ±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.

Repeatability ±5 arc sec (0.0014°) typical.Unloaded-one revolution returning to start point from same direction.

Hysteresis Less than 2 arc min (0.0334°) unloaded-bidirectional.Resolution 16 selectable choices: 200, 400, 1000, 2000, 5000, 10000, 12800, 18000, 20000, 21600, 25000, 25400, 25600,

36000, 50000, 50800Waveform Selectable. Allows waveform shaping for optimum smoothness or relative accuracy. Pure sine; -4%, -6%, -10% 3rd

harmonic.Speed/Torque Refer to speed-torque curves on pages 6 & 7.

MotorsType 2-phase hybrid permanent magnet, 1.8 degree.Breakdown Voltage (HIPOT) 1,150VDC @ 120VAC input; 1,900VDC @ 240VAC inputNumber of Leads 4, 6 or 8Accuracy Grade 3%Inductance 0.5 mH minimum; 5 to 50 mH recommended range; 100 mH maxDimensions Refer to dimensional drawings on pages 10 & 11.

AmplifierType 20 kHz fixed frequency, variable duty cycle PWM (pulse width modulated). Current controlled, bipolar

type.MOSFETconstruction.Number of Phases 2Dimensions Refer to dimensional drawings on pages 12 & 13 of this brochure.Protection*

Short Circuit Phase-to-phase, phase-to-ground.Brownout If AC supply drops below 85VAC.Over-temperature Over-temperature shutdown fault at 131°F (55°C)

Auto Standby If selected, motor current ramps to 50% of preset value if no step pulses are received for 1 second. Current levelsare resumed upon receipt of next step pulse.

Automatic Test Function This feature (used primarily for testing and verification of correct wiring) rotates the motor at approximately 1 rps inthe negative (CCW) direction.

Step Input High-going pulse, 200 nsec min. width; max. pulse rate is 2 MHz.Direction Input Logic High = positive (CW) rotation. Logic Low = negative (CCW) rotation.

Direction input may change polarity, coincident with first step pulse.CW/CCW Input Dip switch selectable. High-going pulse, 200 nsec min width; max pulse rate is 2 MHz.Shutdown Input Logic High = amplifier disable. Logic Low = normal operation.Reset Input Logic High = drive held in reset. Logic Low = normal operation.Fault Output Conducting = normal operation. Not Conducting = drive fault

EnvironmentalOperating 32°F to 122°F (0°C to 50°C)

Drive Maximum allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow restricted.Motor 212°F (100°C) maximum motor case temperature. Actual temperature rise is duty-cycle dependent.Storage -40°F to 185°F (-40°C to 85°C)

Humidity 0-95%, non-condensing

CertificationUL Recognized ZETA4, ZETA4-240, ZETA8, ZETA12CE (LVD) ZETA4, ZETA4-240, ZETA8, ZETA12CE(LVD & EMC) ZETA4-420, ZETA8, ZETA12 provided the following items are used and installed properly:(EMC for CISPR22/EN55022 Class B)** • 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

Low Noise ZETA4-420, ZETA8, ZETA12 provided the following items are used and installed properly:(FCC Class B)** • 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


Automation

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 providesdamping 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 outputLanguage• 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/OSoftware 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 kitsOptional 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 productInterface 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 portPhysical• 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 SeriesPackaged Drive/Indexer SystemsCompumotor’s ZETA6000 Series products are stand-alone,single-axis drive/indexer systems. The ZETA6000 Series productscome in 4 different power versions: ZETA6104, ZETA6104-240,ZETA6108 and ZETA6112. These ZETA6000 products pack all thepower and reliability of the 6000 family of controllers and ZETA drivesinto one convenient package. All of the I/O points, RS-232C/RS485control, operator interface options and following capabilities forsingle-axis applications are included. The following package canperform phase shifts, electronic gearbox, and flying cutoff functionalitywith ease.

The ZETA6000 Series package was made for easy and reliableinstallation. The connections are on removable screw terminals and astandard 50-pin header allowing simple installation and cable routingwithout having to cut off and reattach a connector.

The ZETA6000 Series is designed to solve single-axis applicationscleanly and completely. For multiple-axis applications, up to 99ZETA6000 Series can be daisy chained (32 ZETA6000 Series can bemulti-dropped using RS-485) to work together.

In order to speed your application development, the ZETA6000 Seriescomes standard with Motion Architect, a Microsoft Windows-baseddevelopment packages. Motion Architect contains many tools whichallow you to easily create and implement motion programs. TheZETA6000 Series is also compatible with Motion Toolbox™,DDE6000 Server, and Motion Builder software packages.

The ZETA6000 Series uses the 6000 Series command language. Thispopular language is powerful enough to implement complex motioncontrol applications and simple enough to not overwhelm the noviceprogrammer. The ZETA6000 Series is your single-axis solution.


Automation

Specifications – ZETA6104, ZETA6108, ZETA6112, and ZETA6104-240Parameter Value

Power ZETA6104 ZETA6108 ZETA6112 ZETA6104-240AC Power Input ----------- 95-132VAC Single Phase, 50/60Hz ----------- 95-264VAC Single Phase, 50/60HzMotor Curent (Apk) 0-4Amps 0-8 Amps 0-12 Amps 0-4 AmpsBus Voltage ---------------------- 170 VDC nominal ---------------------- @120VAC: 170VDC nominal,

@240VAC: 340VDC nominal

PerformancePosition range ±2,147,483,648 stepsVelocity range 1 to 2,000,000 steps/secAcceleration range 1 to 24,999,975 steps/sec2

Motion Algorithm Update Rate 2 msSpeed/Torque Refer to Speed/Torque curves on pages 6 & 7; CE motors located on pages 8 & 9.

RS-232C InterfaceConnections 3-wire (Rx, Tx, and GND) connection to the COM1 and/or COM2 connectors.Max number of daisy chainedZETA6104s Up to 99 unitsAddress settings Selectable (see optional DIP switch setting and ADDR command).Communication parameters 9,600 baud (auto-band option – see optional DIP switch & jumper settings); 8 data bits, 1 stop bit, no parity bit, full duplex.

RS-485 InterfaceConnections 2-wire or 4-wire (Rx+, Rx-, Tx+, Tx-) connection to the COM2 connector (COM2 needs to be configured to RS-485

Interface).Max number of multi-droppedZETA6104s Up to 99 unitsAddress settings Selectable (see optional DIP switch setting and ADDR command).Communication parameters 9,600 baud, 8 data bits, 1 stop bit, no parity bit, half duplex.

ProtectionShort Circuit Phase-to-phase, phase-to-groundBrownout AC supply drops below 85VACOver-temperature Over-temperature shutdown fault at 131°F (55°C)

Inputs (see also I/O pinouts & circuit drawing)HOM, POS, NEG, TRG-ATRG-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—connectAUX-P to power source (+5V terminal or an external 5–24V supply) to source current or connect AUX-P to powersource (+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 50 mA. Voltage range for these inputs is 0–24V.

Encoder Differential comparator accepts two-phase quadrature incremental encoders with differential (recommended) orsingle-ended outputs. Max voltage = 5VDC. Switching levels (TTL-compatible); Low ≤0.4V, High ≥ 2.4V. Maximumfrequency = 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 anexternal 5-24V supply) to source current or connect IN-P to GND to sink current; IN-P can handle 0-24V with maxcurrent of 100 mA. Voltage range = 0–24V.

Outputs9 Programmable (includes OUT-A) 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 mAor source up to 5 mA at5-24VDC. 8 general purpose outputs on the Programmable I/O connector, OUT-A on the I/O connector.

+5V Output Internally supplied +5VDC. +5V terminals are available on the COM2, ENCODER andI/O connectors. Load limit (total load for all I/O connections) is 0.5A.

EnvironmentalOperating 32°F to 122°F (0°C to 50°C)

Drive Maximum allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow restricted.Motor 212°F (100°C) maximum motor case temperature. Actual temperature rise is duty-cycle dependent.Storage -40°F to 185°F (-40°C to 85°C)

Humidity 0-95%, non-condensing

Diagnostic LEDs Power/drive on, step pulses, drive over-temperature, and motor short circuit

CertificationUL Recognized ZETA6104, ZETA6104-240, ZETA6108, ZETA6112CE (LVD) ZETA6104, ZETA6104-240, ZETA6108, ZETA6112

Low Noise ZETA6104-420, ZETA6108, ZETA6112 provided the following items are used and installed properly:(FCC Class B)** • 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


Automation

Series

00 0

32

64

96

128

160

Pow

er (Watts)

Speed-RPSTo

rque

oz-in(0.70)

(N-m) ZETA with OS21B

Parallel

(0.56)

(0.42)

(0.28)

(0.14)

Series

Parallel (3.7Apk)

Series (1.8Apk)

0 10 20 30 40 500

60

120

180

240

300

0

20

40

60

80

100

Pow

er (Watts)

Speed-RPS

Torq

ue

oz-in(0.42)

(N-m) ZETA with OS2HB

Parallel(0.33)

(0.25)

(0.17)

(0.08)

60

48

36

24

12

Series

Parallel (3.0Apk)

Series (1.5Apk)

0

25

50

75

100

125

0 10 20 30 40 50

Pow

er (Watts)

Speed-RPS

Torq

ue

oz-in(1.12)

(N-m) ZETA with OS22B

Parallel(0.89)

(0.67)

(0.45)

(0.22)

Series

Parallel (4.0Apk)

Series (2.2Apk)

0 10 20 30 40 50

50

100

150

200

250

Pow

er (Watts)

Speed-RPS

0 0

Torq

ue

450

oz-in(3.15)

(N-m)

0 10 20 30 40 50

ZETA with RS33B

Parallel360(2.52)

270(1.89)

180(1.26)

90

450

360

270

180

90(0.63)

Parallel (6.9Apk)

Series (3.4Apk)Series

Pow

er (Watts)

Speed-RPS

0 0

Torq

ue

300

oz-in(2.10)

(N-m)

0 10 20 30 40 50

ZETA with RS32B

Parallel

Series

240(1.68)

180(1.26)

120(0.84)

60

300

240

180

120

60(0.42)

Parallel (5.6Apk)

Series (2.8Apk)

Pow

er (Watts)

Speed-RPS

0 0

Torq

ue

oz-in(1.05)

(N-m)

0 10 20 30 40 50

ZETA with RS31B

(0.84)

(0.63)

(0.42)

250

200

150

100

50(0.21)

150

120

90

60

30

Parallel

Series

Parallel (4.6Apk)

Series (2.3Apk)

Pow

er (Watts)

Speed-RPS

0 0

Torq

ue

1000

oz-in(7.00)

(N-m)

0 10 20 30 40 50

ZETA with RS42B

Parallel800(5.60)

600(4.20)

400(2.80)

200

1000

800

600

400

200(1.40)

Parallel (12.00Apk)

Series (6.1Apk)

Series

Pow

er (Watts)

Speed-RPS

0 0

Torq

ue

2000

oz-in(14.00)

(N-m)

0 10 20 30 40 50

ZETA with RE42B

Parallel

1600(11.20)

1200(8.40)

800(5.60)

400

700

560

420

280

140(2.80)

Parallel (7.2Apk)

Series (3.4Apk)

Speed-Torque Curves (@120VAC)

O Series MotorsSize 23 Frame

R Series MotorsSize 34 Frame

R Series MotorsSize 42 Frame

T Series MotorsSize 34 Frame

Pow

er (Watts)

Speed-RPS

0 0

Torq

ue

700

oz-in(4.90)

(N-m)

0 10 20 30 40 50

ZETA with TS32B

Parallel

560(3.92)

420(2.94)

280(1.96)

140

500

400

300

200

100(0.98)

Parallel (6.2Apk)

Series (3.1Apk)

Series

Pow

er (Watts)

Speed-RPS

0 0

Torq

ue

500

oz-in(3.50)

(N-m)

0 10 20 30 40 50

ZETA with TS31B

Parallel400(2.80)

300(2.10)

200(1.40)

100

500

400

300

200

100(0.70)

Parallel (6.7Apk)

Series (3.3Apk)

Series

Pow

er (Watts)

Speed-RPS

0

Torq

ue

1600

oz-in(11.20)

(N-m)

0 10 20 30 40 50

ZETA with TS33B

Parallel

1280(8.96)

960(6.72)

640(4.48)

320

0

700

560

420

280

140(2.24)Series

Parallel (12.00Apk)

Series (5.6Apk)


Automation

Pow

er (Watts)

Speed-RPS

0

Torq

ue

1400

oz-in(9.80)

(N-m)

0 10 20 30 40 50

ZETA with TS41B

Parallel1120(7.84)

840(5.88)

560(3.92)

280(1.96)

Series

Series (6.4Apk)

0

700

560

420

280

140

Pow

er (Watts)

Speed-RPS

0

Torq

ue

3000

oz-in(21.00)

(N-m)

0 10 20 30 40 50

ZETA with TS42B

Parallel2400(16.80)

1800(12.60)

1200(8.40)

600(4.20)

Series

Series (6.70Apk)

Parallel (12.0Apk)

0

750

600

450

300

150

Pow

er (Watts)

Speed-RPS

0

Torq

ue

3500

oz-in(24.50)

(N-m)

0 10 20 30 40 50

ZETA with TS43B

Parallel

2800(19.60)

2100(14.70)

1400(9.80)

700(4.90)

Series

Parallel (12.00Apk)

Series (6.9Apk)0

700

560

420

280

140

Parallel (12.0Apk)

Parallel connected motors are limited to 50% duty cycle whenoperated above 5 rps. For greater than 50% duty cycle above5 rps, you must connect the motor in series. Fan cooling themotor will increase duty cycles above 5 rps.

Viscous damper is not required to achieve speed-torquecurves.

Note: ±10% torque variance due to motor tolerance

Drive’s Peak Current Levels

ZETA4, ZETA6104

ZETA4-240, ZETA6104-240

ZETA8, ZETA6108 0-8Apk

ZETA12, ZETA6112 0-12Apk

T Series MotorsSize 42 Frame

0-4Apk

R Series Motors (C Winding)Size 34 Frame

Speed-Torque Curves (@240VAC)

R Series Motors (C Winding)Size 42 Frame

Pow

er (Watts)

Pow

er (Watts)

Pow

er (Watts)

Pow

er (Watts)

Pow

er (Watts)

Pow

er (Watts)

Speed-RPS

0 0

Torq

ue

350oz-in

(2.48)(N-m)

0 10 20 30 40 50

Speed-RPS

0 0

Torq

ue

500

oz-in

(3.55)

(N-m)

0 10 20 30 40 50

Speed-RPS

0 0

Torq

ue

700

oz-in(4.97)

(N-m)

0 10 20 30 40 50

ZETA4-240 with RS32C

ZETA4-240 with RE42C

ZETA4-240 with RS31C ZETA4-240 with RS33C

ZETA4-240 with RS42C ZETA4-240 with RS43C

400 (2.84)

300 (2.13)

200 (1.42)

100

500

400

300

200

100(0.71)

Speed-RPS

0 0

Torq

ue

1400oz-in

(9.94)(N-m)

0 10 20 30 40 50

Speed-RPS

0 0

Torq

ue

2000

oz-in(14.2)

(N-m)

0 40

Speed-RPS

0 0

Torq

ue

1800

oz-in(12.8)

(N-m)

0 10 20 30 40 50

1600 (11.4)

1200 (8.52)

800 (5.68)

400

2000

1600

1200

800

400(2.84)

32

Parallel (4Apk)Parallel (4Apk)

Parallel (4Apk)

Series (3.5Apk)

Series (2.2Apk)Series (2.8Apk)

Series (3.4Apk)

Series (4.0Apk)Parallel(4.0Apk)

Series (3.2Apk)

Parallel

Series

Parallel

Series

Parallel

Series

Parallel

Series

Parallel

Series

Parallel

Series

24168

280 (1.99)

210 (1.49)

140 (0.99)

70

350

280

210

140

70(0.48)

1120 (7.95)

840 (5.96)

560 (1.77)

280

1400

1120

840

560

280(1.99)

560 (3.98)

420 (2.98)

280 (1.99)

140

700

560

420

280

140(0.99)

1140 (8.09)

1080 (7.67)

720 (5.11)

360

1800

1140

1080

720

360(2.56)

Parallel(4.0Apk)

Parallel(4.0Apk)


Automation

Motor Specifications

170 VDC MotorSize 23 Frame Size 34 Frame Size 42 Frame

Parameters OS2HB OS21B OS22B RS31B RS32B RS33B RS42B RE42BStatic torque**

oz-in 43 82 155 133 267 392 985 1907(Nm) (0.30) (0.58) (1.09) (0.93) (1.87) (2.74) (6.90) (13.35)

Rotor inertiaoz-in2 0.39 0.66 1.39 3.02 6.56 9.65 61.76 61.76(kg-cm2) (0.07) (0.12) (0.25) (0.55) (1.20) (1.77) (11.30) (11.30)

Drive Current (Apk)(Arms)**Series 1.5 (1.0) 1.8 (1.3) 2.2 (1.5) 2.3 (1.6) 2.8 (2.0) 3.4 (2.4) 6.1 (4.3) 3.4 (2.4)Parallel 3.0 (2.1) 4.0 (2.8) 4.0 (2.8) 4.6 (3.3) 5.6 (4.0) 6.9 (4.9) 12.0 (8.5) 7.2 (5.1)

Phase Inductance (mH)***Series 8.6 12 16.6 9.4 11.6 9.6 8.2 42.6Parallel 2.2 3 4.2 2.4 2.9 2.4 2.1 10.7

Drive Bus Voltage (VDC) 170 170 170 170 170 170 170 170Detent Torque

oz-in 2.5 4.0 7.0 8.8 18.0 27.0 41.7 81.0(Nm) (0.02) (0.03) (0.05) (0.06) (0.13) (0.19) (0.35) (0.57)

Bearings InformationThrust Load

lb 13 13 13 180 180 180 400 400(kg) (5.9) (5.9) (5.9) (81.6) (81.6) (81.6) (182) (182)

Radial Loadlb 20 20 20 35 35 35 140 140(kg) (9.1) (9.1) (9.1) (15.9) (15.9) (15.9) 63.6) (63.6)

End Play (Reversing load equal to 1 lb)in 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001(mm) (0.025) (0.025) (0.025) (0.025) (0.025) (0.025) (0.025) (0.025)

Radial Play (Per 0.5 lb load)in 0.0008 0.0008 0.0008 0.0008 0.0008 0.0008 0.0008 0.0008(mm) (0.02) (0.02) (0.02) (0.02) (0.02) (0.02) (0.02) (0.02)

Motor Weightlb 1 1.5 2.5 3.2 5.3 7.6 18.2 18.2(kg) (0.5) (0.7) (1.1) (1.5) (2.4) (3.5) (8.3) (8.3)

CertificationsUL recognized Pending Pending Pending Yes Yes Yes Yes YesCE (LVD) Yes Yes Yes Yes Yes Yes Yes YesCE (EMC & LVD)* No No No * * * * *

Size 34 Frame Size 42 Frame

Parameters TS31B TS32B TS33B TS41B TS42B TS43BStatic torque**

oz-in 455 647 1525 1332 2515 3479(N-m) (3.19) (4.53) (10.68) (9.32) (17.61) (24.35)Rotor inertia

oz-in2 7.80 14.67 21.89 30.22 59.68 88.51(kg-cm2) (1.43) (2.68) (4.01) (5.53) (10.92) (16.20)

Drive Current (Apk)(Arms)**Series 3.3 (2.3) 3.1 (2.2) 5.6 (4.0) 6.4 (4.5) 6.7 (4.7) 6.9 (4.9)Parallel 6.7 (4.7) 6.2 (4.4) 12.0 (8.5) 12.0 (8.5) 12.0 (8.5) 12.0 (8.5)

Drive Bus Voltage (VDC) 170 170 170 170 170 170Phase Inductance (mH)***

Series 10.3 10.3 13.6 15.8 22.0 30.7Parallel 2.6 2.6 3.4 3.9 5.5 7.7

Detent Torqueoz-in 18 36 54 42 84 106(Nm) (0.13) (0.25) (0.38) (0.30) (0.59) (0.75)

Continued on next page


Automation

* EMC is a system compliance. To comply with EMC and low-noise (C15PR22/EN55022Class 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


Parameters TS31B TS32B TS33B TS41B TS42B TS43BBearings InformationThrust Loadlb 305 305 305 404 404 404(kg) (139) (139) (139) (184) (184) (184)Radial Loalb 65 65 110 125 110 110(kg) (30) (30) (50) (57) (50) (50)End Play (Reversing load equal to 1 lb)in 0.001 0.001 0.001 0.001 0.001 0.001(mm) (0.025) (0.025) (0.025) (0.025) (0.025) (0.025)Radial Play (Per 0.5 lb load)in 0.0008 0.0008 0.0008 0.0008 0.0008 0.0008(mm) (0.020) (0.020) (0.020) (0.020) (0.020) (0.020)Motor Weightlb 5.0 8.4 11.9 11.0 18.4 25.7(kg) (2.3) (3.8) (5.4) (5.0) (8.4) (11.7)CertificationsUL recognized Yes Yes Yes Yes Yes YesCE (LVD) Yes Yes Yes Yes Yes YesCE (EMC & LVD)* * * * * * *


RS31C RS32C RS33C RS42C RE42C RS43CStatic torque**oz-in 171 292 532 1.266 1,959 1,671(Nm) (1.21) (2.06) (3.76) (8.94) (13.8) (11.8)Rotor inertiaoz-in2 3.20 6.56 9.65 61.76 61.76 92.64(kg-cm2) (0.59) (1.20) (1.77) (11.30) (11.30) (16.95)Drive Current (Apk)(Arms)**Series 2.2 (1.6) 2.8 (2.0) 3.5 (2.5) 3.2 (2.3) 3.4 (2.4) 4.0 (2.8)Parallel 4.0 (2.8) 4.0 (2.8) 4.0 (2.8) 4.0 (2.8) 4.0 (2.8) 4.0 (2.8)Phase Inductance (mH)***Series 17.4 26.2 23.3 65.4 55.6 42.9Parallel 4.4 6.6 5.8 16.4 13.9 10.7Drive Bus Voltage (VDC) 340 340 340 340 340 340Detent Torqueoz-in 8.8 18.0 27.0 50.0 81.0 71.0(Nm) 0.062 0.130 0.190 (0.350) (0.570) (0.500)Bearings InformationThrust Loadlb 180 180 180 400 400 400(kg) (81.6) (81.6) (81.6) (182) (182) (182)Radial Loadlb 35 35 35 140 140 140(kg) (15.9) (15.9) (15.9) (63.6) (63.6) (63.6)End Play (Reversing load equal to 1 lb)in 0.001 0.001 0.001 0.001 0.001 0.001(mm) (0.025) (0.025) (0.025) (0.025) (0.025) (0.025)Radial Play (Per 0.5 lb load)in 0.0008 0.0008 0.0008 0.0008 0.0008 0.0008(mm) (0.02) (0.02) (0.02) (0.02) (0.02) (0.02)Motor Weightlb 3.2 5.3 7.6 18.2 18.2 25.7(kg) (1.5) (2.4) (3.5) (8.3) (8.3) (11.7)CertificationsUL recognized Yes Yes Yes Yes Yes YesCE (LVD) Yes Yes Yes Yes Yes YesCE (EMC & LVD)* * * * * * *

340 VDC Motors

** Values shown in speed-torque curves*** Small signal values


Automation

ZETA Series CE Motor Dimensions

Size 23 Frame,O Series

Size 42 Frame,R Series

Size 34 Frame,R Series

Model Lmax L2

RS31■■–■■■■■■NPS 3.62 (91.95) 2.87 (72.9)RS32■■–■■■■■■NPS 4.77 (121.16) 4.02 (102.11)RS33■■–■■■■■■NPS 6.05 (153.67) 5.30 (134.62)

Detail View

1.41(35.81)

1.25(31.75)

0.187(4.75)

0.187(4.75)

0.705(17.91)

Model Lmax L2 A B C

RS42■■–■■■■■■NPS 8.04 (204.22) 7.29 (185.17) 0.625 (15.87) 2.19 (55.63) 0.705 (17.91)

RE42■■–■■■■■■NPS 8.04 (204.22) 7.29 (185.17) 0.625 (15.87) 2.19 (55.63) 0.705 (17.91)

RE43C–■■■■■■NPS 10.56 (268.23) 9.81 (249.18) 0.75 (19.05) 2.19 (55.63) 0.83 (21.09)

4.28(108.71)

2 x 45°

0.06 (1.52)0.46 (11.68)

2.22(56.39)max.

1.375 0.010+-(34.93 0.26)+-

Ø A +-0.00000.0005

-A-0.002 (0.051)

+-

( 0.000)( 0.013)

0.1875 +-0.00000.0020

(4.763 +-0.051)0.051)

B L1 max.

L2

0.003 (0.077) -A- 0.003 (0.077) -A-

Ø2.186 0.002+-(55.52 0.051)+-

C +-0.0000.017

+-

( 0.000)( 0.432) Removableinsulating bushing

Construction = conduit. Connection(1/2 NPS TAP) with 0.56 (14.22)I.D. removable insulating bushing

R 2.16(54.86)

4 x Ø0.328 (8.33) thruequally spaced on aØ4.950 (125.73) B.C.

1.57 0.04+-(39.88 1.02)+-

0.002 (0.051)

Ø0.5000 +-0.00000.0005

(12.7 +-0.000)0.013)

1Indicated dimensionapplies from end ofextension to face ofrear end bell (coverand gasket removed)

1

1.63(41.4)

2.50(63.5)

Double ShaftConfiguration

EC EncoderConfiguration

4.80(121.9)

2 x 45°

0.06 (1.52)0.18 (4.57)

1.25(31.75)

2.02(51.31)max.

0.344(8.738)

1.25 (31.75)

Removableinsulating bushingConstruction = conduit. Connection(1/2 NPS TAP) with 0.56 (14.22)I.D. removable insulating bushing

4 x Ø0.218 (5.46) thruequally spaced on aØ3.875 (98.43) B.C.

0.003 (0.077) -A-

Ø2.875 0.002+-(73.025 0.051)+-

3.38(85.85)

-A-0.002 (0.051)

Ø0.3750 +-0.00000.0005

(9.53 +-0.000)0.013)

L2

0.003 (0.077) -A- R 1.72(43.69)

Lmax.

1.25 (31.75)

0.75 (19.05)full depth

0.50 0.02+-(12.7 0.051)+-

0.374 +-0.0000.010

(9.50 +-0.00)0.26)

Flat Configuration = F #303 Woodruff Key Configuration = W

Standard Front Shaft Configurations

0.0469 0.0050+-(1.191 0.128)+-

1.43 0.04+-(36.32 1.02)+-

0.002 (0.051)

Ø0.3750 +-0.00000.0005

(9.53 +-0.000)0.013)


1

1.63(41.4)

2.50(63.5)

3.88(98.6)

Double Shaft Configuration

EC Encoder Configuration

1.86(47.2)

2.25(57.2)

C

1.5021.498

(38.15)(38.05)

0.200 (5.08) dia (4)on 2.625 (66.68) BC

0.20 (5.08)

1.06 (26.9)

A

2.44(62.0)0.055 (1.40)

0.81(20.6)

0.25000.2495

(6.350)(6.337)

Shaft Dia

45°

Flexible boot may be bent as shown. Nominal height 1.0 (25.4).

1.0(25.4)

0.25(6.4)

Frame Size 23ModelOS2HBOS21BOS22B

A1.60 (40.6)2.06 (52.3)3.10 (78.7)

B2.44 (62.0)2.90 (73.7)3.94 (100.1)

CFor flying leads (FLY) – 13.5 (343) min.For 10 ft cable (L10) – 120.0 (3048)

RE/RC Encoder2X 2–56 UNC–2B.170 MIN.

ON A Ø 1.812 B.C.

1.50(38.1)

B

.84(21.34)

.75 ± 0.04

Ø 0.02500 +.0000-.0005

Dimensions in inches (mm)


Automation

Size 34 Frame, T Series

Size 42 Frame, T Series

4x ∅ .218 (5.54) thruequally spaced on a∅ 3.875 (98.43) B.C.

-A-

.003 (0.077) A

∅ A+.0000-.0005

+ 000-.017

C+.0000-.0020

.002 (0.051)

1/2 NPS TAPWITH .56 I.D.INSULATING BUSHING

3.38(85.85)

.06 (1.52)

∅ 2.875 ± .002(73.025 ± .051)

(2 x 45°)

1.25(31.75)

.875 ± .010 (22.225 ± .254)

.33 (8.382)

B

L MAX.

L2

1.95(49.53) MAX.

Model Lmax L2 A B C TS31B–nnNPS 4.44 (112.78) 3.70 (93.98) 0.5000 (12.70) .555 (14.097) .1250 (3.175) TS32B–nnNPS 5.96 (151.38) 5.22 (132.59) 0.5000 (12.70) .555 (14.097) .1250 (3.175) TS33B–nnNPS 7.48 (189.99) 6.74 (171.20) 0.6250 (15.88) .705 (17.907) .1875 (4.763)

.003 (0.077) A

1.43 0.04+-(36.32 1.02)+-

0.002 (0.051)

Ø0.3750+-

0.00000.0005

(9.53+-

0.000)0.013)


1


2.5(63.5)

3.88(98.6)


1.63(41.4)

+.000-.017

∅ .7500+.0000-.0005

(19.050+0.000)-0.013)

.1875+.0000-.0020

(4.7625+.0000)-.0508)

.002 (0.051)-A-

.003 (0.077) A

.003 (0.077) A

WITH .56 I.D.INSULATING BUSHING

.06

(2 x 45°)

(109.855)

∅ 2.186 ± .002(55.524 ± .051)

4x ∅ .328 (8.331) thruequally spaced on a∅ 4.950 (125.73) B.C.

2.19(55.63)

1.375 ± .010(34.925) ± .254

.830

(+.000)(-.432)

(21.08)

4.325

.48 (12.192)

(1.52)

L2

L MAX.

2.23(56.642) MAX.

1/2 NPS TAP

Model Lmax L2TS41B–nnNPS 5.20 (132.08) 4.46(113.28)TS42B–nnNPS 7.22 (183.39) 6.48(164.59)TS43B–nnNPS 9.23 (234.44) 8.49 (215.65)

1.57 0.04+-(39.88 1.02)+-

0.002 (0.051)

Ø0.5000+-

0.00000.0005

(12.7+-

0.000)0.013)


1


2.5(63.5)

1.63(41.4)

4.80(121.9)



Automation

ZETA Drives Connection(ZETA4, ZETA4-240, ZETA8 & ZETA12)

ZETA4-240, ZETA8, ZETA12Drives Dimensions

ZETA4 Drive Dimensions(—) denotes millimeters)

2.000(50.8)

1.000(25.4)

5.970 (151.6)6.138 (155.9)

8.800(223.5)

8.600(218.4)

0.133 (3.3)1.000(25.4)

0.500(12.7) 3x Ø0.156

(3.96) (clearancefor #6 screws)

Motor-Screw TerminalPin No Signal

1 Interlock2 A +3 A -4 Ground5 B +6 B -7 Interlock

13

12

11

10

9

8

7

6

5

4

3

2

1

25

24

23

22

21

20

19

18

17

16

15

14

Step+Step–

Direction+Direction–

Shutdown+

Shutdown–

Fault EFault C

Reset–Reset+

Internal Connections

ILD213

ILD223

ILD213

HCPL2631

HCPL2631

243Ω

243Ω

681Ω

681Ω

6.94 (176)

7.07 (180)

Back of flangeunpainted for grounding

1.38(35)

'A'

9.50(241)

8.80(224)

9.75(248)

0.15(4)

0.88(22) 1.00

(25.4)

Unpainted forgrounding

3x Ø0.18 (4.6)(clearance for #8 (M4)mounting screw)

Model A

ZETA8 2.75 (70)

ZETA12 3.75 (96)


Automation

ZETA6000 Series Connection Pin-Out List(ZETA6104, ZETA6104-240, ZETA6108 & ZETA6112)

ZETA6104-240, ZETA6108, ZETA6112Dimensions

COM14-Pin Screw TerminalPin No Signal

1 Rx2 Tx3 Ground4 Shield

COM25-Pin Screw TerminalPin No Signal

1 +5VDC (out)/Rx+2 Ground/RX-3 Rx/Tx+4 Tx/Tx-5 Shield/Ground

Encoder9-Pin Screw TerminalPin No Signal

1 Shield2 Ground3 Z-4 Z+5 B-6 B+7 A-8 A+9 +5VDC (out)

Motor9-Pin Screw TerminalPin No Signal

1 Interlock2 A- Center tap3 A+4 A-5 Earth6 B+7 B-8 B- Center tap9 Interlock

Limits 1/24-Pin Screw TerminalPin No Signal

1 Ground2 Home3 Neg4 Pos

I/O10-Pin Screw TerminalPin No Signal

1 Trigger A2 Trigger B3 Output A-4 Ground5 Pulse cut-off6 +5VDC (out)7 Output pull-up8 Input pull-up9 Auxiliary pull-up

10 Voltage Reference (V_I/O)

Programmable I/O Pin Outs50-Pin HeaderPin No I/O Connector

1 Input #16 27 Input #73 Input #15 29 Input #65 Input #14 31 Input #57 Input #13 33 Output #49 Input #12 35 Output #3

11 Input #11 37 Output #213 Input #10 39 Output #114 Input #9 41 Input #417 Output #8 43 Input #319 Output #7 45 Input #221 Output #6 47 Input #123 Output #5 49 +5VDC25 Input #8

ZETA6104 Dimensions(—) denotes millimeters

8.850(224.8)

8.600(218.4)

0.133(3.3)

0.965(24.5)

1.000(25.4)

2.930 (74.4)

8.000(203.2)

5.970 (151.6) 3x Ø0.156(3.96) (clearance

for #6 screws)

1.465(37.2)

Model A

ZETA6104-240

ZETA6108

ZETA6112 4.94(125)

3.94(100)

6.94 (176)

Back of flangeunpainted for grounding

0.150(3.8)

1.007(25.6) 1.00

(25.4)

3x Ø0.156 (3.96)(clearance for #6 mounting screw)

8.69(221)

9.430(240)

9.700(246)

3.015(76.6)

1.508(38.3)


Automation

& (LVD & EMC)

To comply with EMC and low-noise (CISPR 22/EN55022Class B or FCC Class B emissions) standards, the followingitems 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.

& (LVD & EMC)

& (LVD & EMC)

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



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


VM24 24V input/output moduleVM50 50-pin header-to-screw terminal breakout board

RP240 Operator interfaceRP240-NEMA 4 NEMA 4 rated operator interface

Index/Drive Software AccessoriesPart No. Description

DDE6000 DDE server for 6000 SeriesMotion Toolbox Library of LabVIEW VIs for Motion Control

Motion Builder Graphical icon-based software

System Accessories


C1O LVD/EMC step-motor cable kit (includes 10-ft cable, gland (360º shield connector), R-clamp, screw, and assembly instructions)

ZETA EMC KIT LVD/EMC DRive Kit (includes the AC power filter and EMC drive/indexer cable)


Automation

How to Order CE Motors

Size 23 Frame – O Series

Size 34 Frame – R Series

Size 42 Frame – R Series

Size 42 Frame – T Series

Size 34 Frame – T Series

RE=1000 ppr differential kitencoder w/ line driver & 13" cable

Encoder Option

RC=1000 ppr differential kitencoder w/ line driver & 10' cable

Blank=No feedback

FLY=Regular con-struction with flying (8) leads

Motor Construction/Hookup

L10= Regular con-struction with 10' LVDcable

N=Standard

ShaftModification

H=Half stacks1=1 stack2=2 stacks

No. ofRotor Stacks S=Single

D=DoubleDouble shaft req’dfor all motors w/encoders

Shaft

B=170VDC winding(Black painted motors)

Winding Type

2=Size 23 (2.5")Frame Size

S=StandardType

O (Octagonal)Series

Sample: OS2HB-DNL10-RC

Sample: RS31B-SNS10

Sample: RS43C-DKNPS

* RS43 only available in C winding

Encoder Option

EC=1000 ppr differentialencoder with line driverand 10' cable

Blank=No feedbackMotor Construction/

HookupN=Standard

ShaftModification

1=1 stack2=2 stacks3=3 stacks

No. ofRotor Stacks

S=SingleD=Double(Double shaft req'd for all motors w/encoders)

ShaftB=170VDC winding(Black painted motors)C=340VDC winding(Yellow painted motors)

Winding Type


S=StandardType

R (Round)Series

NPS=End bell/terminalboard via 1/2" NPS Pipethread

P10=CE (LVD)/UL, 10' cableoption for NPS construction,wired @ motor in Parallel.

S10=CE (LVD)/UL, 10' cableoption for NPS construction,wired @ motor in Series.

Encoder Option

EC=1000 ppr differentialencoder with line driverand 10-ft cable

Blank=No feedback





K=Straight Key

ShaftModification

2=2 stacks3=3 stacks*

No. ofRotor Stacks

S=SingleD=Double(Double shaft req'd for all motors w/encoders)

ShaftB=170VDC winding(Black painted motors)C=340VDC winding(Yellow painted motors)

Winding Type


S=StandardE=Enhanced

TypeR (Round)Series


K=StraightKey

ShaftModification


No. ofRotor Stacks S=Single

D=Double(Doubleshaft req'dfor allmotors w/encoders

Shaft

B=170VDC winding(Black painted motors)

Winding Type

3=Size 34Frame Size

S=StandardType

T (Torque)Series




Blank=No FeedbackEC=1000 ppr differentialencoder with line driverand 10' cable

Encoder Options





K=Straight Key

ShaftModification


No. ofRotor Stacks B=170VDC winding

(Black painted motors)

Winding Type

4=Size 42Frame Size

S=StandardType

T (Torque)Series Blank=No Feedback

EC=1000 ppr differentialencoder with line driverand 10' cable

Encoder OptionsS=SingleD=Double(Doubleshaft req'dfor allmotors w/encoders

Shaft

Sample: TS43B-SKNPS

Sample: TS32B-SKNPS


Automation

The items described in this document are herebyoffered for sale at prices to be established byParker Hannifin Corporation, its subsidiaries andits authorized distributors. This offer and itsacceptance by any customer (“Buyer”) shall begoverned by all of the following Terms andConditions. Buyer’s order for any item describedin this document, when communicated to ParkerHannifin Corporation, its subsidiary or anauthorized distributor (“Seller”) verbally or inwriting, shall constitute acceptance of this offer.1. Terms and Conditions of Sale: Alldescriptions, quotations, proposals, offers,acknowledgments, acceptances and sales ofSeller’s products are subject to and shall begoverned exclusively by the terms and conditionsstated herein. Buyer’s acceptance of any offer tosell is limited to these terms and conditions. Anyterms or conditions in addition to, or inconsistentwith those stated herein, proposed by Buyer inany acceptance of any offer by Seller, are herebyobjected to. No such additional, different orinconsistent terms and conditions shall becomepart of the contract between Buyer and Sellerunless expressly accepted in writing by Seller.Seller’s acceptance of any offer to purchase byBuyer is expressly conditional upon Buyer’sassent to all the terms and conditions statedherein, including any terms in addition to, orinconsistent with those contained in Buyer’s offer.Acceptance of Seller’s products shall in all eventsconstitute such assent.2. Payment: Payment shall be made by Buyernet 30 days from the date of delivery of the itemspurchased hereunder. Amounts not timely paidshall bear interest at the rate of 1-1/2% for eachmonth or a portion thereof that Buyer is late inmaking payment. Any claims by Buyer foromissions or shortages in a shipment shall bewaived unless Seller receives notice thereof within30 days after Buyer’s receipt of the shipment.3. Delivery: Unless otherwise provided on theface hereof, delivery shall be made FOB Seller’splant. Regardless of the method of delivery,however, risk of loss shall pass to Buyer uponSeller’s delivery to a carrier. Any delivery datesshown are approximate only and Seller shall haveno liability for any delays in delivery.4. Warranty: Seller warrants that the hardwaresold hereunder shall be free from defects inmaterial workmanship for a period of two yearsfrom the date of shipment to Buyer. Sellerwarrants that the SOFTWARE will performsubstantially in accordance with theaccompanying materials for a period of ninety (90)days from the date of receipt. Any impliedwarranties on the SOFTWARE are limited toninety (90) days. This limited warranty gives youspecific legal right. You may have others whichvary from state to state. Some states do not allowlimitations on duration of an implied warranty, sothe above limitation may not apply to you. ThisLimited Warranty is void if failure of theSOFTWARE has resulted from accident, abuse, ormisapplication. THIS WARRANTY COMPRISESTHE SOLE AND ENTIRE WARRANTY PER-TAINING TO ITEMS PROVIDED HEREUNDER.SELLER MAKES NO OTHER WARRANTY,GUARANTEE, OR REPRESENTATION OF ANYKIND WHATSOEVER. ALL OTHERWARRANTIES, INCLUDING BUT NOT LIMITEDTO, MERCHANTABILITY AND FITNESS FORPURPOSE, WHETHER EXPRESS, IMPLIED, ORARISING BY OPERATION OF LAW, TRADE

Offer of Sale

USAGE, OR COURSE OF DEALING AREHEREBY DISCLAIMED.NOTWITHSTANDING THE FOREGOING, THEREARE NO WARRANTIES WHATSOEVER ONITEMS BUILT OR ACQUIRED WHOLLY ORPARTIALLY, TO BUYER’S DESIGNS ORSPECIFICATIONS.5. Limitation of Remedy: SELLER’SLIABILITY ARISING FROM OR IN ANY WAYCONNECTED WITH THE ITEMS SOLD OR THISCONTRACT SHALL BE LIMITED EXCLUSIVELYTO REPAIR OR REPLACEMENT OF THE ITEMSSOLD OR REFUND OF THE PURCHASE PRICEPAID BY BUYER, AT SELLER’S SOLE OPTION.IN NO EVENT SHALL SELLER BE LIABLE FORANY INCIDENTAL, CONSEQUENTIAL ORSPECIAL DAMAGES OF ANY KIND OR NATUREWHATSOEVER, INCLUDING BUT NOT LIMITEDTO LOST PROFITS ARISING FROM OR IN ANYWAY CONNECTED WITH THIS AGREEMENT ORITEMS SOLD HEREUNDER, WHETHERALLEGED TO ARISE FROM BREACH OFCONTRACT, EXPRESS OR IMPLIEDWARRANTY, OR IN TORT, INCLUDINGWITHOUT LIMITATION, NEGLIGENCE, FAILURETO WARN OR STRICT LIABILITY.6. Changes, Reschedules andCancellations: Buyer may request to modify thedesigns or specifications for the items soldhereunder as well as the quantities and deliverydates thereof, or may request to cancel all or partof this order, however, no such requestedmodification or cancellation shall become part ofthe contract between Buyer and Seller unlessaccepted by Seller in a written amendment to thisAgreement. Acceptance of any such requestedmodification or cancellation shall be at Seller’sdiscretion, and shall be upon such terms andconditions as Seller may require.7. Special Tooling: A tooling charge may beimposed for any special tooling, including withoutlimitation, dies, fixtures, molds and patterns,acquired to manufacture items sold pursuant tothis contract. Such special tooling shall be andremain Seller’s property notwithstanding paymentof any charges therefore by Buyer.8. Buyer’s Property: Any designs, tools,patterns, materials, drawings, confidentialinformation or equipment furnished by Buyer orany other items which become Buyer’s property,may be considered obsolete and may bedestroyed by Seller after two (2) consecutiveyears have elapsed without Buyer placing anorder for the items which are manufactured usingsuch property. Seller shall not be responsible forany loss or damage to such property while it is inSeller’s possession or control.9. Taxes: Unless otherwise indicated on theface hereof, all prices and charges are exclusiveof excise, sales, use, property, occupational orlike taxes which may be imposed by any taxingauthority upon the manufacture, sale or deliveryof the items sold hereunder. If any such taxesmust be paid by Seller or if Seller is liable for thecollection of such tax, the amount thereof shall bein addition to the amounts for the items sold.Buyer agrees to pay all such taxes or toreimburse Seller therefore upon receipt of itsinvoice. If Buyer claims exemption from any sales,use or other tax imposed by any taxing authority,Buyer shall save Seller harmless from and againstany such tax, together with any interest orpenalties thereon which may be assessed if theitems are held to be taxable.

10. Indemnity for Infringement ofIntellectual Property Rights: Seller shall haveno liability for infringement of any patents,trademarks, copyrights, trade dress, tradesecrets or similar rights except as provided in thisPart 10. Seller will defend and indemnify Buyeragainst allegations of infringement of U.S.patents, U.S. trademarks, copyrights, trade dressand trade secrets (hereinafter ‘IntellectualProperty Rights’). Seller will defend at its expenseand will pay the cost of any settlement ordamages awarded in any action brought againstBuyer based on an allegation that an item soldpursuant to this contract infringes the IntellectualProperty Rights of a third party. Seller’sobligation to defend and indemnify Buyer iscontingent on Buyer notifying Seller within ten(10) days after Buyer becomes aware of suchallegations of infringement, and Seller having solecontrol over the defense of any allegations oractions including all negotiations for settlement orcompromise. If an item sold hereunder is subjectto a claim that it infringes the Intellectual PropertyRights of a third party, Seller may, at its soleexpense and option, procure for Buyer the rightto continue using said item, replace or modifysaid item so as to make it noninfringing, or offerto accept return of said item and return thepurchase price less a reasonable allowance fordepreciation. Notwithstanding the foregoing,Seller shall have no liability for claims ofinfringement based on information provided byBuyer, or directed to items delivered hereunderfor which the designs are specified in whole orpart by Buyer, or infringements resulting from themodification, combination or use in a system ofany item sold hereunder. The foregoingprovisions of this Part 10 shall constitute Seller’ssole and exclusive liability and Buyer’s sole andexclusive remedy for infringement of IntellectualProperty Rights.If a claim is based on information provided byBuyer or if the design for an item deliveredhereunder is specified in whole or in part byBuyer, Buyer shall defend and indemnify Sellerfor all costs, expenses or judgments resultingfrom any claim that such item infringes anypatent, trademark, copyright, trade dress, tradesecrets or any similar right.11. Force Majeure: Seller does not assumethe risk of and shall not be liable for delay orfailure to perform any of Seller’s obligations byreason of circumstances beyond the reasonablecontrol of Seller (hereinafter ‘Events of ForceMajeure’). Events of Force Majeure shall includewithout limitation, accidents, acts of God, strikesor labor disputes, acts, laws, rules or regulationsof any government or government agency, fires,floods, delays or failures in delivery of carriers orsuppliers, shortages of materials and any othercause beyond Seller’s control.12. Entire Agreement/Governing Law: Theterms and conditions set forth herein, togetherwith any amendments, modifications and anydifferent terms or conditions expressly acceptedby Seller in writing, shall constitute the entireAgreement concerning the items sold, and thereare no oral or other representations oragreements which pertain thereto. ThisAgreement shall be governed in all respects bythe law of the State of Ohio. No actions arisingout of the sale of the items sold hereunder or thisAgreement may be brought by either party morethan two (2) years after the cause of actionaccrues.


Automation

ABOUT PARKER HANNIFINCORPORATIONParker Hannifin is a leading global motion-control company dedicated to deliveringpremier customer service. A Fortune 500corporation listed on the New York StockExchange (PH), our components andsystems comprise over 1,000 product linesthat control motion in some 1,200 industrialand aerospace markets. Parker is the onlymanufacturer to offer its customers achoice of hydraulic, pneumatic, andelectromechanical motion-control solutions.Our Company has the largest distributionnetwork in its field, with over 6,000distributors serving more than 300,000customers worldwide.

PARKER’S CHARTERTo be a leading worldwide manufacturer ofcomponents and systems for the buildersand users of durable goods. Morespecifically, we will design, market andmanufacture products controlling motion,flow and pressure. We will achieveprofitable growth through premier customerservice.

PRODUCT INFORMATIONParker Hannifin’s North American customersseeking product information, the location of anearby distributor, or repair services willreceive prompt attention by calling the ParkerProduct Information Center at our toll-freenumber: 1-800-C-PARKER (1-800-272-7537). In the UK, a similar service is availableby calling 0500-103-203.

PARKER HANNIFINCORPORATION

Parker Hannifin Corporation17325 Euclid AvenueCleveland, Ohio 44112-1290Telephone: (216) 531-3000Fax: (216) 383-9414Web site: www.parker.com

The Climate & Industrial Controls Group is aleading supplier of flow-control and fluidhandling components, gerotors, and ofsystems support to worldwide refrigeration,air conditioning and automotive customers.

The Seal Group designs, manufactures anddistributes industrial and commercialsealing devices and related products byproviding superior quality and emphasizingtotal customer satisfaction.

The Filtration Group is a leading worldwidemanufacturer and marketer of qualityfiltration and clarification products. Its goalis to provide customers with thebest value, top quality, sound technicalsupport, and global availability.

The Aerospace Group is a leader in thedevelopment, design, manufacture andservicing of hydraulic and fuel controlsystems and components for aerospaceand related high-technology markets.

The Automation Group designs, producesand markets the full spectrum ofcomponents and systems to provide force,motion & control. Hydraulic, pneumatic,and electromechanical solutions areoffered.

The Fluid Connectors Group designs,manufactures and markets hose, fittings,flexible connectors, instrumentationproducts and associated componentsused in fluid systems.

Catalog 8170/USAJB-25K-8/98-SC

A Full Spectrum ofProducts to SolveYour Application Needs

Catalog 9132/USA

Catalog 1892/USA

Parker Hannifin CorporationCompumotor Division5500 Business Park DriveRohnert Park, CA 94928Phone: 707/584-7558 or 1/800/358-9070Fax: 707/584-2446Web site: http://www.compumotor.comE-mail: [email protected] Back System: 707/586-8586

Servo & Stepper DrivenLinear Actuators

Parker Hannifin CorporationAutomation Actuator Division135 Quadral DriveWadsworth, OH 44281Phone: (330) 336-3511Fax: (330) 334-3335Web site: http://www.parker.com/automation

Manual & MotorizedPositioning Systems

Parker Hannifin CorporationDaedal Division1140 Sandy Hill RoadHarrison City, PA 15636Phone: 412/861-8200Fax: 412/861-3330 or 412/861-33311/800/245-6903Web site: http://www.daedalpositioning.comE-mail: [email protected] Back System: 916/431-6540

Automation

Documents

Microstepping Drive & Drive/Controller Catalog 8170/USA ... · ZETA12 also meets North America’s FCC Class B emissions test making it the solution for low-noise applications. The