Specifications

Chapter 1. Installation 3
General Specifications
Parameter Specification
Power
AC input.................................................................... 95-132VAC, 50/60Hz, single-phase
(refer to page 18 for peak power requirements, based on the motor you are using)
Status LEDs/fault detection...................................... Refer to Status LEDs in Chapter 2
Environmental
Operating Temperature .......................................... 32 to 122°F (0 to 50°C) — over-temperature shutdown fault at 131°F (55°C)
Storage Temperature............................................... -22 to 185°F (-30 to 85°C)
Humidity................................................................... 0 to 95% non-condensing
Performance
Position Range ......................................................... ±2,147,483,648 steps
Velocity Range......................................................... 1-2,000,000 steps/sec
Acceleration Range.................................................. 1-24,999,975 steps/sec
2
Stepping Accuracy................................................... ±0 steps from preset total
Velocity Accuracy ................................................... ±0.02% of maximum rate
Velocity Repeatability ............................................. ±0.02% of set rate
Motion Algorithm Update Rate................................ 2 ms
Serial Communication RS-422/485 requires internal jumper and DIP switch configuration (see page 6).
Connection Options.................................................. RS-232C (3-wire); RS-422/485 (4-wire);
Change internal jumpers JU1-JU5 to position 1 to select RS-422/485 communication
Maximum units in daisy-chain or multi-drop......... 99 (use DIP switch or ADDR command to set individual addresses for each unit)
Communication Parameters................................... 9600 baud (range is 19200-1200—see AutoBaud , page 5), 8 data bits, 1 stop bit, no parity;
RS-232 & RS-422: Full duplex; RS-485: Half duplex (change jumper JU6 to position 1)
Inputs ALL INPUTS ARE OPTICALLY ISOLATED
HOM, POS, NEG, TRG-A, TRG-B, P-CUT......... HCMOS compatible*; internal 6.8 KΩ pull-ups to AUX-P terminal (connect AUX-P to +5V to
source current or connect AUX-P to GND to sink current); voltage range is 0-24V.
Encoder..................................................................... Differential comparator accepts two-phase quadrature incremental encoders with
differential (recommended) or single-ended outputs.
Maximum voltage = 5VDC. Switching levels (TTL-compatible): Low ≤ 0.4V, High ≥ 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-ups to IN-P terminal (connect IN-P to +5V to
source current or connect IN-P to GND to sink current). Voltage range = 0-24V.
Outputs ALL OUTPUTS ARE OPTICALLY ISOLATED
9 Programmable (includes OUT-A)......................... Open collector output with 4.7 KΩ pull-ups. Can be pulled up by connecting OUT-P to +5V,
or to user-supplied voltage of up to 24V. Max. voltage in the OFF state (not sinking
current) = 24V, max. current in the ON state (sinking) = 30mA.
Includes the 8 general-purpose outputs on the Programmable I/O connector, and the OUT-A
terminal on the I/O connector.
+5V Output................................................................ +5V terminals are available on the COM2, ENCODER and I/O connectors.
Load limit (total load for all I/O connections) is 0.5A.
* HCMOS-compatible switching voltage levels: Low ≤ 1.00V, High ≥ 3.25V.
TTL-compatible switching voltage levels: Low ≤ 0.4V, High ≥ 2.4V.
Motor Specifications
Size 23 Size 34
ZETA57-51 ZETA57-83 ZETA57-102 ZETA83-62 ZETA83-93 ZETA83-135
Static Torque
oz-in
(N-m)
65
(0.46)
100
(0.71)
125
(0.89)
160
(1.14)
300
(2.14)
400
(2.80)
Rotor Inertia
oz-in
2
(kg-m
2
x 10
–6
)
0.546
(9.998)
1.1
(20.1 )
1.69
(30.9)
3.47
(63.4)
6.76
(124)
10.47
(191)
Bearings
Thrust load lb
(kg)
Radial load lb
(kg)
End play (Reversing load in
equal to 1 lb) (cm)
Radial play in
(Per 0.5 lb load) (cm)
25
(11.3)
15
(6.8)
0.005
(0.013)
0.0008
(0.002)
25
(11.3)
15
(6.8)
0.005
(0.013)
0.0008
(0.002)
25
(11.3)
15
(6.8)
0.005
(0.013)
0.0008
(0.002)
50
(22.6)
25
(11.3)
0.005
(0.013)
0.0008
(0.002)
50
(22.6)
25
(11.3)
0.005
(0.013)
0.0008
(0.002)
50
(22.6)
25
(11.3)
0.005
(0.013)
0.0008
(0.002)
Weight (Motor+Cable+Connector)
lb
(kg)
1.6
(0.7)
2.4
(1.1)
3.2
(1.5)
3.8
(1.7)
5.1
(2.3)
8.3
(3.8)
Speed/Torque Curves -------- Refer to page 4 -------- -------- Refer to page 4 --------
Dimensions -------- Refer to page 24 -------- -------- Refer to page 24 --------