Catalog 8000-4/USA
Choosing a Step Motor
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How to choose a step motor
There have been a few changes in the step motor catalog
curves since catalog 8000-3. We have added the full
stepping curve, changed our thermal model, and re-rated the
holding torque of each motor. Lets go through each one:
is lower – using a 75% duty cycle (7.5 seconds on and 2.5
seconds off). The current is set at either the maximum current
the motor is electrically rated for (saturation) or the current
needed to bring the case temperature up to 100°C. These
tests are performed at room temperature (25°C). Under
certain circumstances the current will need to be reduced in
order to maintain a case temperature of 100°C. Below is a
sample Power vs. RPS heat curve. This curve is for the
VS21B motor.
Full stepping curves
Although full stepping has its difficulties with stalling and
resonance, it will produce more torque, especially in the lower
speed applications. This is not to say it will outperform
microstepping, as resonance points in the motor can be hard
to overcome. For these reasons Compumotor does not
recommend full stepping. Most, if not all, step motor
companies use the full stepping curves in their literature, even
though most applications require microstepping. In order to
allow side by side comparisons we have added the full
stepping curve to the catalog. This is the blue dotted line in
the curve.
How Compumotor sets motor current
Holding Torque
Compumotor has rated its holding torque in past catalogs
as shaft torque at 1RPS, microstepping. The holding torque
listed in this catalog is now at 0 RPS, and in full stepping
mode. This is a universal rating across all step motor
manufacturers, and can be used to more accurately compare
motors between different manufacturers.
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Compumotor always tests its motors as a drive-and-motor
system. Each drive can heat the motor to a different degree,
and we have found this is the only way to accurately depict the
true performance of the system. Each drive and motor
combination Compumotor offers has been tested using the
following criteria.
Every stepping motor will run hotter when spinning than at
rest. Furthermore, each motor has a speed at which it
creates the most heat. This speed is both motor and drive
dependant. Compumotor has determined this speed for each
motor and drive combination, and uses it to set the thermal
model. Each motor is run at this speed or 20RPS – whichever
194
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GEMINI
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GT Stepper Drives
The Gemini GT
Digital Stepper Drive
The Gemini GT is the digital stepper drive member of the
Gemini Family. The Gemini GT is easily configurable and
programmable via RS232/485 using Compumotor’s Motion
PlannerTM on a PC or Pocket Motion PlannerTM on a Window’s
CETM-based palm PC. The Gemini GT is an alternative to a
digital servo drive. With breakthrough techniques such as
Encoderless Stall DetectTM and ABS dampingTM (patented), the
Gemini GT provides servo like performance with the lower
motor price of a stepper system. With the same connectivity,
configurations, and family feature set as the Gemini GV, the
Gemini GT allows for an easy upgrade path to the Gemini GV
digital servo drive.
Features
•
•
•
•
•
•
Protection
Active DampingTM, Electronic ViscosityTM
and ABS DampingTM
•
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The Gemini GT follows in the footsteps of Compumotor’s ZETA
drive family and offers Active DampingTM (patented) and
Electronic ViscosityTM (patented). The Gemini GT goes one
step further with ABS DampingTM (patented). This damping
feature is for speed ranges from 0 to 0.1 revs/sec. This “nofuss” feature requires no user set up and dramatically reduces
settling time.
Encoderless Stall DetectTM
Encoderless Stall DetectTM allows detection of a motor stall
without adding an encoder to an application. Stall conditions
result from inequality of commanded velocity to actual velocity
at the motor shaft, regardless of physical reason. The user will
be alerted to a stall condition via LED, digital output, or via
query over the communication port. Stall sensitivity can be
adjusted with a single parameter.
Two power ranges for up to 8 Amps of continuous current
Step and direction, CW/CCW, +/- 10 VDC analog, and
encoder tracking modes available
Active DampingTM, Electronic ViscocityTM, and ABS
DampingTM
Encoderless Stall DetectTM
Simplified configuration
Variable resolution up to 128,000 steps/rev
Short circuit protection – phase-to-phase and phase-toground
Brownout protection – if AC drops below 85 VAC
Over temperature – shutdown occurs at ambient 131°F
(55°C)
•
•
Physical
•
A wide selection of stepper motors are available from
Compumotor including the OS, TS, VS and ES Series
120V input power
Diagnostic LEDs for drive status, firmware download, and
optional keep alive mode
•
•
Gemini Family Features
•
24V Keep Alive (not required) – keeps logic alive if AC
power is removed
Error Log – records 10 most recent errors with time stamp
Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)
Configurable via RS232/485 using Compumotor’s Motion
PlannerTM on a PC or Pocket Motion PlannerTM on a
Windows CETM-based Palm PC
•
•
•
When do I need to use servo motor technology? Applications with . . .
✓
✓
✓
Speeds over 50 revs/sec
Dynamic load conditions
Very high accelerations
195
Automation
✓
✓
Mechanical resonance
Immediate feedback requirements
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Performance
Catalog 8000-4/USA
GEMINI
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GT6 Stepper Drives
The Gemini GT6 Digital
Stepper Drive with Basic
Controller and Fieldbus
Options
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The Gemini GT6 is a standalone, compact, digital stepper drive
and basic motion controller in one complete package. The
Gemini GT6 incorporates all of the GT digital stepper drive
features such as Encoderless Stall DetectTM and ABS
DampingTM (patented) with the flexibility of a simple, yet
powerful motion controller.
The Gemini GT6 is easily configurable and programmable via
RS232/485 using Compumotor’s Motion PlannerTM on a PC or
Pocket Motion PlannerTM on a Window’s CETM-based palm PC.
The Gemini GT6 also offers connectivity to several field buses
including Profibus and DeviceNet.
Similar to the digital stepper drive, the Gemini GT6 provides
servo performance for the package price of a stepper system.
It also allows the flexibility of an upgrade path to the Gemini
GV6, due to its equivalent connectivity, programmability, and
family feature set. For applications requiring stepper motor
controls and basic motion control functionality, the Gemini GT6
is today’s industry technology leader.
Features
Performance
•
•
•
•
•
•
•
•
•
Provides 5 or 8 Amps of continuous current
Active DampingTM, Electronic ViscocityTM, and ABS
DampingTM
Encoderless Stall DetectTM
Simplified configuration
Variable resolution up to 128,000 steps/rev
Standalone controller and drive in one small package
Full ASCII connection capability
Program Storage: 32 programs or 190 lines of program
code
Control features such as registration, motion profiles,
S-curve velocity profiling and conditional statements
Performance, continued
•
•
Protection
•
•
•
Short-circuit protection – phase-to-phase and phase-toground
Brownout protection – if AC drops below 85 VAC
Over temperature – shutdown occurs at 131°F (55°C)
Physical
•
•
•
A wide selection of stepper motors are available from
Compumotor including the OS, RS, TS, VS and ES Series
120V input power
Diagnostic LEDs for drive status, firmware download, and
optional keep alive mode
Connectivity
•
•
•
RS232/485 serial connectivity (ASCII)
Profibus DP (optional)
DeviceNet (optional)
Gemini Family Features
•
•
•
•
196
Automation
Daisy chain up to 99 units
8 programmable inputs and 6 programmable outputs
24V Keep Alive (not required) – keeps logic alive if AC
power is removed
Error Log – records 10 most recent errors with time stamp
Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)
Configurable/Programmable via RS232/485 using
Compumotor’s Motion PlannerTM on a PC or pocket
Motion PlannerTM on a Windows CETM-based Palm PC
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT6K Stepper Drives
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GEMINI
The Gemini GT6K Digital
Servo Drive with FullFeature Controller
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Features
Protection
•
•
•
Physical
•
•
•
•
•
•
•
•
•
Combines the powerful features of the 6K Controller with
the Gemini GT digital microstepper drive for a complete
standalone stepper solution in one small package
Full ASCII communication capability and Ethernet communication
Control features such as following, registration,
multitasking, PLC scan, electronic cam profiling, S-curve
profiling, scaling, high-level math functionality and more
Program storage: 300KB standard (battery backed)
Daisy chaining of up to 99 units
Simplified configuration and tuning
8 programmable inputs and 6 programmable outputs
(expandable up to 256 I/O points)
A wide selection of stepper motors are available from
Compumotor including the OS, TS, VS and ES Series
120V input power
Diagnostic LEDs for drive status, firmware download and
24VDC control power active
Connectivity
•
•
Performance
•
Short-circuit protection – phase-to-phase and phase-toground
Brownout protection – if AC drops below 85 VAC
Over temperature – shutdown occurs at ambient 131°F
(55°C)
•
•
•
Two serial communications ports: one RS232 port (3wire), one RS232/RS485 port (2- or 4-wire)
Ethernet communication port (TCP/IP, 10 Mbps twisted
pair
Embedded Ethernet Client for use with ABTM PLCs, OPTO
22TM SNAP I/O, DVTTM Vision Systems, etc.
Master Encoder port for reading external encoder input
signals
Expandable I/O (up to 256 discrete I/O points and/or 192
Ethernet I/O points)
Gemini Family Features
•
•
•
•
24V Keep Alive (24VDC supply required) – keeps logic
alive if AC power is removed
Error Log—records 10 most recent errors with time stamp
Approvals: UL Recognition, cUL, CE (LVD), and CE (EMC)
Configurable/Programmable via RS232/485 using
Compumotor’s Motion PlannerTM
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
197
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Compumotor's new premier microstepping drive/controller, the
Gemini GT6K is the most powerful addition to the Gemini
stepper family lineup. This full-feature, standalone drive/
controller offers a complete motion control solution in one
economical, compact package. The GT6K comes complete
with the same features, connectivity and front-end software
tools as the Gemini GT and Gemini GT6. In addition to offering
many of the drive features of the Gemini GT and control
features of the Gemini GT6, the GT6K incorporates the flexibility
and control functionality of Compumotor's 6K Controller to
allow highly advanced motion control and sequencing capabilities for unrivaled flexibility in many distributed-control applications. The GT6K is easily configured/programmed via RS232/
485 using Compumotor’s Windows-based Motion PlannerTM
software package. The GT6K also offers connectivity to any
ASCII-based serial device, including HMI panels and PLC ASCII
modules. Products such as OPTO 22TM SNAP I/O, DVTTM
Vision Systems and ABTM SLC 5/05 PLC platforms can also be
used for data chaining using the GT6K's Ethernet Client
feature.
Catalog 8000-4/USA
GT6K Stepper Drives
GEMINI
I/O Capabilities
•
•
•
Gemini Family Summary
CE, UL Recognition
•
•
•
•
•
•
•
GV
Onboard I/O: 8 digital inputs (3 programmable limits, 5
programmable), 6 digital outputs, 1 analog input, 2 D/A
monitor outputs, 1 relay output
Software selectable onboard input/output functionality
Expandable I/O of up to 256 additional discrete digital I/O
points, 64 analog I/O points or a combination of both
digital and analog points
Expandable Ethernet I/O of up to 192 additional digital or
analog I/O points using Ethernet Client with OPTO 22™
SNAP modules
Registration input capability
Software selectable I/O high/low active level
5-24VDC selectable input reference voltage
Inputs: selectable as sinking or sourcing; outputs: open
collector (sinking)
GV6
ServoGV6K
GV
RS232/485
CE, UL Recognition
Encoderless Stall Detect
RS232/485
Ether
Encoderless Stall Detect
Profib
usnet
Ether
GV6
GT
GV6K
GT6
GT6K
Stepper
GT
GT6
GT6K
DeProfib
viceNet
us
10VviceNet
Command Input
De
Step/Direction,
CW/CCW
± 10V Command
Input Command Input
Encoder
Signal Input
Step/Direction,
CW/CCW Command Input
Onboard
EncoderI/OSignal Input
Onboard I/O
Expandab
Expandable I/O
Registr
ation & Diagnostics
RegistrStatus
System
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•
•
•
•
Complied motion
Floating point, integer and binary variables with high-level
math functionality
Comprehensive program monitoring
300KB memory storage, battery backed
Full-feature 6K Language command set
Complete position-based following and electronic cam
profiling
PLC Scan Mode
Multitasking (up to 10 individual programs simultaneously)
Full scaling functionality
Compatible with platforms such as VisualBasicTM, Visual
C++TM and NI LabVIEWTM
GEMINI FAMILY FEATURES
•
•
•
•
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Software and Standard Control Features
System Status & Diagnostics
Scaling
Scaling
iab
Variab
ollo
wingles
Following
Multitasking
Multitasking
Compiled Motion
Compiled Motion
Full Functionality
Full Functionality
Limited Functionality
Limited Functionality
198
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT/GT6 Common Specifications
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GEMINI
GT/GT6 Common Specifications
Specifications
Input Power
Voltage
Phase
Frequency
24V Keep Alive (Optional)
Output Power
Bus Voltage
Switching Frequency
Current (Apk)
Performance
Accuracy
GT(GT6)-L5
GT(GT6)-L8
95-132 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
95-132 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
170 VDC
20kHz
5 Amps
170 VDC
20kHz
8 Amps
+/-5 arc min (0.0833°) unloaded bi-directional with Compumotor motors
+/- 1 arc min (0.0167°) loaded in addition to unloaded accuracy
+/- 5 arc sec (0.0014°), typical unloaded
Less than 2 arc min (0.0334°) unloaded
User defined integer value between 200 and 128,000 steps
User defined, pure sine, -20% to 10%, continuously variable 3rd harmonic
Repeatability
Hysteresis
Resolution
Waveform
Command Inputs - GT
Step and Direction/CW & CCW/Encoder Tracking
12 bit, +/- 10 input voltage
Inputs – GT
Enable, Reset, User Fault
Neg/Pos Limits
Inputs – GT6
8 Program., Enable, Reset
1 Analog
Outputs – GT
Fault, At Limit, Stall
Analog Monitors
Step & Direction
Relay
Outputs – GT6
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
12 bit, +/- 10 VDC input voltage (1 ms update)
Open collector, 300mA sink capability
+/- 10 V scalable, 8 bit (not to be used as control functions)
Programmable up to 128,000 counts/rev
Normally open, dry contact
Open collector, 300mA sink capability
+/- 10 V scalable, 8 bit (not to be used as control functions)
Programmable up to 128,000 counts/rev
Normally open, dry contact
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6 Programmable
Analog Monitors
Step & Direction
Relay
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
Communications
Type
Baud Rate
Daisy Chain – GT6
Fieldbus - GT6
RS232/RS485 (4-wire), ASCII or 8-bit binary protocol
Fixed at 9600
Up to 99
Profibus (optional), DeviceNet (optional)
Environmental
Temperature
Humidity
Shock/Vibration
Still air: 113°F(45°C), moving air: 122°F (50°C)
0-95%, non-condensing
Shock:15G half-sine @ 11 msec/ vibration: 2G, 10-2000 Hz
Protection
Short Circuit
Brownout
Over Temperature
Standards
Phase-to-phase, phase-to-ground
AC drops below 85 VAC
Shutdown fault at 131°F (55°C)
UL, cUL, CE (LVD), CE ( EMC)
Physical
Compumotor motors
Non-Compumotor motors
Inductance
Connectors
Serial
Motor and power
Command and I/O
+24VDC/Relay
See Servo Drive
OS, TS, VS and ES Series motors
4,6,or 8-lead, 2-phase hybrid permanent magnet motor, 1.8°
0.5mH minimum; 5 to 50 mH recommended, 100mH max
9-pin D-shell (male)
Barrier screw terminal
50-pin High density Amp Champ - .050 Series II (with screw attachment)
4-pin removable
terminal
section
for the
fullblock
line of Gemini servo drives and
199
Automation
drive/controllers.
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Position Mode
Velocity Mode
Catalog 8000-4/USA
GEMINI
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GT6K Common Specifications
GT6K Common Specifications
Specifications
GT6K-L5
Input Power
Voltage
Phase
Frequency
24V Keep Alive (Required)
Output Power
Bus Voltage
Switching Frequency
Current (Apk)
Performance
Accuracy
GT6K-L8
95-132 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
95-132 VAC
1Ø
50/60 Hz
24 VDC +/- 20%
170 VDC
20kHz
5 Amps
170 VDC
20kHz
8 Amps
+/- 5 arc min (0.0833°) unloaded bi-directional with Compumotor motors
+/- 1 arc min (0.0167°) loaded in addition to unloaded accuracy
+/- 5 arc sec (0.0014°), typical unloaded
Less than 2 arc min (0.0334°) unloaded
User defined integer value between 200 and 128,000 steps
User defined, pure sine, -20% to 10%, continuously variable 3rd harmonic
Repeatability
Hysteresis
Resolution
Waveform
Inputs – Onboard
8 Program., Enable, Reset
1 Analog
Inputs – Expansion (optional)
Outputs – Onboard
6 Programmable
Analog Monitors
Step & Direction
Relay
5-24VDC Selectable, 1/3 1/3 1/3 voltage switching threshold
12 bit, +/- 10VDC input voltage (2 ms update)
Serial:Up to 256 digital inputs (2 ms update)
Up to 64 analog inputs (+/- 10VDC input voltage)
Ethernet: Up to 192 digital or analog Ethernet inputs via Ethernet Client with OPTO 22™ SNAP I/O module
Open collector, 300mA sink capability
+/- 10 V scalable, 8 bit (not to be used as control functions)
Programmable up to 128,000 counts/rev
Normally open, dry contact
Outputs – Expansion (optional)
Communications
Serial
Baud Rate
Daisy Chain – GT6
RS232/RS485 (4-wire), ASCII
Selectable up to 115200
Up to 99
Type: 10BaseT (10 Mbps twisted pair)
TCP/IP and UDP, Modbus/TCP, AB Ethernet and ASCII over Ethernet
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Ethernet
Protocols Supported
Serial:Up to 256 digital outputs (2 ms update)
Up to 64 12-bit analog outputs (+/- 10VDC input voltage)
Ethernet: Up to 192 digital or analog Ethernet outputs via Ethernet Client or OPTO 22™ SNAP I/O module
Environmental
Temperature
Humidity
Shock/Vibration
Still air: 113°F(45°C), moving air: 122°F (50°C)
0-95%, non-condensing
Shock:15G half-sine @ 11 msec/ vibration: 2G, 10-2000 Hz
Protection
Short Circuit
Brownout
Over Temperature
Standards
Phase-to-phase, phase-to-ground
AC drops below 85 VAC
Shutdown fault at 131°F (55°C)
UL, cUL, CE (LVD), CE ( EMC)
Physical
Compumotor motors
Non-Compumotor motors
Inductance
Connectors
Serial (Com1/Com2)
Ethernet
Motor and Power
Command, Onboard I/O
Feedback
Master Encoder
Expandable I/O
+24VDC/Relay
OS, TS, VS and ES Series motors
4,6,or 8-lead, 2-phase hybrid permanent magnet motor, 1.8°
0.5mH minimum; 5 to 50 mH recommended, 100mH max
9-pin D-shell (male)
RJ45 connector for 10 Base-T
Barrier screw terminal
50-pin High density Amp Champ - .050 Series II (with screw attachment)
26-pin High density Amp Champ - .050 Series II (with screw attachment)
9-pin D shell (female)
15-pin D shell (female)
4-pin removable terminal block
200
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Gemini Connections
GEMINI
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Gemini GT and GT6 Connections and LEDs
LEDs
RS232/485
Green/Red Yellow/Green
RS-485 Connections
Rx+
Tx+ Gnd
(RD B)
(TD B)
1
2
3
4
5
6
7
8
9
RS-232 Connections
Rx Tx
Gnd
1
Male
Pins
Rx- Tx(RD A) (TD A)
2
3
4
5
6
7
8
9
LED Color:
Left
Off
Red (flash)
Green (flash)
Red
Green
Green
Red
Right
Yellow
Off
Yellow (flash)
Grn
Grn (flash)
Yellow/Green (flash)
Off
Green
Off
Indicated State*
Initialization
Awaiting flash download
Programming flash memory
Keep alive mode
Incoming steps (variable rate)
Autorun mode
Drive not enabled
Drive faulted
Drive ready
See Servo
• + 24VDC - provides logic keep alive to the
drive
• Relay – 5A at 24 VDC or 120 VAC
• Relay opens when drive is disabled/faulted
Section
RS-232/485
24VDC/Relay (not required)
Gemini GT
+24V DC
24V RTN
RELAY COM
+24V DC
24V RTN
RELAY COM
STEPPER
A+
A—
B+
DRIVE I/O
MOTOR
RELAY N.O.
COMPUMOTOR
B—
Motor Output Connections
N
L1
AC Input Connections
•
•
50
49
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Analog Ground
–10V Vel Cmd
–10V Vel Cmd+
Analog Output B
Analog Output A
Digital Ground
reserved
reserved
Direction— Out
Direction+ Out
Step— Out
Step+ Out
Reserved
Reserved
Dir-/CCW-/BX—
Dir+/CW+/BX+
Step-/CCW-/AX—
Step+/CW+/AX+
Digital Ground
Digital Ground
Reserved
Reserved
Reset
Digital Ground
Enable
GT-L5/8
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For Gemini GT6 I/O
information, please refer
to Gemini GT6 Hardware
Installation Guide
N/C
MOTOR FEEDBACK
Terminals: #8 (M4)
Mating Terminals: spade fork, 0.325” max
width
120V
•
•
reserved
reserved
reserved
Output Ground
Output 4
Output 3
Output Ground
Output 2
Output Ground
reserved
Input Ground
reserved
reserved
reserved
Input Ground
reserved
reserved
reserved
Input Ground
Input 3
Input Ground
Input 2
Input 1
CNTRL-P
VINref
Terminals: #8 (M4)
Mating Terminals: spade fork, 0.325” max
width
For Gemini GT6 I/O
information, please refer
to Gemini GT6 Hardware
Installation Guide
Gemini GT6
Motor Feedback
Connector
Not available in the
Gemini GT or GT6
Output Ground
Output 6
Output 5
Output Ground
Output 4
Output 3
Output Ground
Output 2
Output Ground
Output 1
Input Ground
Input 8
Input 7
Input 6
Input Ground
Input 5
Input 4
Pullup-Inputs 4,5,6,7
Input Ground
Input 3
Input Ground
Input 2
Input 1
Pullup-Inputs 1,2,3
VINref
50
49
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Analog Ground
–10V Input
–10V Input+
Analog Output B
Analog Output A
Digital Ground
reserved
reserved
Direction— Out
Direction+ Out
Step— Out
Step+ Out
Reserved
Reserved
Dir-/CCW-/BX—
Dir+/CW+/BX+
Step-/CCW-/AX—
Step+/CW+/AX+
Digital Ground
Digital Ground
Reserved
Reserved
Reset
Digital Ground
Enable
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
201
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
RELAY N.O.
Catalog 8000-4/USA
Gemini Dimensions
GEMINI
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Gemini GT6 with Profibus Option
Profibus LED Indicators
LED
FB1
FB2
FB3
FB4
Steady Flash Function
Status
-Off
Green
Off
Red
Off
-FBS bit #4= 0
FBS bit #4= 1
FBS bit #4= 1
FBS bit #4= 0
--
--
Not used
Module is not online
Module is online
Module is not offline
Module is offline
No diagnostics present
1 flash/second - FBSIZE setting does not
match network configuration
4 flashes/second - hardware failure
Red
Red
GV6
GT6
Gemini
Servo
---
Profibus connector
Profibus Connector Pin Out
Pin
Name
Housing
1
2
3
4
5
6
7
8
9
Function
Shield
Not connected
Not connected
B-Line
RTS
GND BUS
+5V BUS
Not connected
A-Line
Not connected
Termination switch
Protective earth
--Positive Rx/TxD
Request to send*
Isolated GND*
Isolated +5V*
-Negative Rx/TxD
--
Hardware address settings
LEDs
Profibus Baud Rate
The GT6 will automatically detect the baud rate of the Profibus network.
For a complete list of supported baud rates, see the CMTRØ9ØE.GSD
file, which accompanies the Gemini product.
Gemini GT6 with DeviceNet Option
DeviceNet LED Indicators
LED Steady Flash Function
Status
FB1
FB2
-Off
Green
Red
FB3
Off
Green
Red
--FBS bit #4= 1
FBS bit #5= 1
FBS bit #6= 1
FBS bit #7= 1
-FBS bit #8= 1
FBS bit #9= 1
FBS bit #10= 1
FBS bit #11= 1
--
--
pn
e
Green
Red
Not used
Not powered/not online
Network link is OK
Network critical link failure
1 flash/second - network link not connected
1 flash/second - network connection timeout
No power
Module device operational
Unrecoverable fault
1 flash/second - module in standby
1 flash/second - module minor fault
Not used
FB4
--
Green
Red
--
DeviceNet connector
Hardware address settings
DeviceNet Connector Pin Out
Pin
Name
Function
1
2
3
4
5
VCAN_L
SHIELD
CAN_H
V+
DC Return
CANBUS LOW
Protective earth
CANBUS HIGH
+24 VDC Power*
LEDs
* 30mA in standby and 100mA in rush
DeviceNet Baud Rate
To configure baud rate via hardware, dip switches are provided to set
a baud rate of 125, 250 or 500kb. Setting the dip switches to 0xFF
(all ON) enables software configuration of baud rate.
Baud rate (Bit/sec)
BD1
125k
250k
500k
Reserved
OFF
OFF
ON
ON
BD2
OFF
ON
OFF
ON
202
Automation
See Also:
The Profibus or DeviceNet
User Guide
for complete specifications
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Gemini Connections
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GEMINI
RS-232 Connector – COM2
RS-232/485 Connector – COM1
Connect an RP240, or use this port for RS-232.
Download OS through this port only.
Ethernet and COM2 can both be active at the same time.
To configure drive parameters, connect a PC to this port.
Use Motion Planner for drive configuration.
Enabling Ethernet will disable the COM1 port.
RS-485 Connections
Rx+
Tx+ Gnd
(RD B)
(TD B)
1
2
3
4
5
6
7
8
9
RS-232 Connections
Rx Tx
Gnd
1
Male
Pins
2
3
4
5
6
7
8
9
GT6K
Digital Controller/Drive
RS-232 Connections
Rx Tx
Gnd
1
2
3
6
7
4
5
8
9
Male
Pins
+5VDC
Rx- Tx(RD A) (TD A)
GT6K
+24V DC
+24V DC
24V RTN
RELAY COM
24V RTN
RELAY N.O.
Relay rating: 5A at 24VDC or RELAY COM
120VAC.
RELAY N.O.
SERVO
VBUS–
L2/N
A–
L1
MASTER ENCODER
A+
B+
GV-U3/6/12
B–
B–
Earth
Motor Cable
Output Ground 50
Output 6 49
Output 5 48
Output Ground 47
Output 4 46
Output 3 45
Output Ground 44
Output 2 43
Output Ground 42
Output 1 41
Input/Limit Ground 40
Input 3 39
(Trig B) Input 2 38
(Trig A) Input 1 37
Input/Limit Ground 36
(Master Trig) Input 5 35
Input 4 34
CNTRL-P: Inputs 1 — 5 33
Input/Limit Ground 32
(Home) Limit 3 31
Input/Limit Ground 30
(Neg) Limit 2 29
(Pos) Limit 1 28
CNTRL-P: Lim 1 — 3 27
VINref 26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Analog Ground
Analog Input—
Analog Input+
Analog Output B
Analog Output A
Digital Ground
Reserved
Reserved
Dir— Out
Dir+ Out
Step— Out
Step+ Out
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Digital Ground
Digital Ground
Reserved
Reserved
Reset
Digital Ground
Enable
GT6K
pn
e
AC Input Connections
Fuses
26 Pin MOTOR FEEDBACK Connector
N/C
N
95 — 132VAC
L1
GT6K-L5/L8
at 120VAC
Protective Circuits
Short Circuit Protection
Inrush Current Protection
Drive Overtemperature Protection
Motor Overtemperature Protection
Undervoltage Protection
Overvoltage Protection
Current Foldback
Regeneration Protection
Environmental Specifications
Operating Temperature
Storage Temperature:
Humidity:
Still Air:
45¡C (113¡F)
Moving Air: 50¡C (122¡F)
-40¡C — 85¡C(-40¡F — 185¡F)
0 — 95%, non-condensing
LEDs
Green/Red Yellow/Green
LED Color:
Left
Red
Red
Grn
Grn
Red
Right
Grn
Yel
Grn (flash)
Yel/Grn (flash)
Off
Off
Grn
Yel
Off
Indicated State
+24VDC only
AC only
Motion in progress
Autorun mode
Drive not enabled; or
Drive faulted
Initializing
Drive ready
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Reserved
Reserved
Reserved
Encoder Z—
Encoder Z+
Encoder B—
Encoder B+
Encoder A—
Encoder A+
Encoder Ground
Encoder Ground
Encoder +5V
Encoder +5V
Ethernet Connector
RJ-45 connector for 10Base-T (10Mbps twisted pair) TCP/IP
protocol. Default address is 192.168.10.30. Green LED on =
Connection OK; Yellow LED on = Transmitting
Master Encoder Connector
Connect an encoder for Following. Not for servo feedback or
stepper stall detect.
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
203
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
MOTOR
VBUS+
MOTOR FEEDBACK
B+
W
ETHERNET
MOTOR DRIVE
WIRES TERMINALS
V
DRIVE I/O
WARNING: Hazardous voltage may exist for up to
30 seconds after power is removed.
U
Motor Output Connections
A–
50 Pin DRIVE I/O Connector
COMPUMOTOR
If drive is faulted or disabled,
relay will open. (Typical use:
control of motor brake.)
A+
Expansion I/O Connector
Connect as many as eight EVM32-II I/O modules in series,
for up to 256 additional I/O points.
EXPANSION I/O
When drive is enabled, it
holds relay closed.
RS-232
RS-232/485
+24VDC/Relay Connector
Required +24VDC input.
19.2 — 28.8 VDC,
500 mA maximum.
Gemini
Servo
Catalog 8000-4/USA
Gemini Dimensions
GEMINI
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Gemini Dimensional Drawings
GT/GT6 Dimensions in inches (mm)
W
2.75
(70)
FH
6.00
(153.0)
3x clearance
for #8 or M4
mounting screws
1.38
(35)
5.40
(138.0)
Product
W
Width
IN (mm)
FH
FIN Height
IN (mm)
L5
3.13 (79.4)
0.38 (9.5)
L8
3.75 (95.3)
1.00 (25.4)
8.0
(203.2)
7.75
(196.9)
7.0
(177.8)
1.00
(25.4 )
0.88
(22.2)
GT6K/GT6-PB/GT6-DN Dimensions in inches (mm)
OW
3.50
(88.9)
FH
Product
3x clearance
for #8 or M4
mounting screws
pn
e
1.38
(35)
6.0
(153.0)
OW
Overall
Width
FH
Fin
Height
IN (mm)
IN (mm)
5.40
(138.0)
L5
4.50 (114.3) 0.38 (9.5)
L8
1.00 (25.4)
0.38 (9.5)
8.0
(203.2)
204
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Gemini Ordering
GEMINI
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Gemini Ordering Nomenclature
-
-
Control Level:
(blank) - drive only
6 - basic drive/controller
6K - full-feature drive/controller
Input
Voltage (VAC)
Stepper
L5
Power Levels L8
(Example: GT6-L5-PB)
Option:
PB (Profibus - GT6 only)
DN (DeviceNet - GT6 only)
(blank) no fieldbus
Bus
Voltage (VDC)
Continuous
Current (Apk)
120
170
5
120
170
8
Compatible Stepper Motors
VS Series (in NEMA 17, 23 and 34 frame sizes)
OS Series (in NEMA 23 frame sizes)
ES Series (in NEMA 23 and 34 frame sizes)
TS Series (in NEMA 34 and 42 frame sizes)
pn
e
•
•
•
•
Motor Cabling Options
•
•
•
•
Flying lead option
10' cable option
10' CE(EMC&LVD) cable option (on selected motors)
NPS pipe thread option (on selected motors)
See Also:
The Gemini Family of
Digital Servo Drive
Products in the
Servo Section
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
205
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
GT
Catalog 8000-4/USA
GEMINI
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GT Ordering
Cables and Accessories
Gemini to
6K Controller
(GT only)
50-Pin
High Density
(Entire Family)
26-Pin
HighDensity
(GT6K only)
Product Description
71-016966-10
71-016987-10
71-018183-10
71-019862-04
71-019863-04
Gemini to 6K Step & Direction command cable, 10', CE(LVD&EMC) (position mode)
Gemini to 6K Analog command cable, 10', CE(LVD&EMC) (velocity mode)
Gemini to 6K Step & Dir or Analog command cable, 10', CE(LVD&EMC) (all modes)
Gemini to 6K Step & Direction command cable, 4', (non-CE) (position mode)
Gemini to 6K Step & Dir or Analog command cable, 4', (non-CE) (all modes)
Part Number
Product Description
GEM-VM50
71-016943-10
71-019861-04
71-019861-10
GC-50
GC-SDA
Gemini 50-pin screw terminal breakout board with 3' cable
10' cable, 50-pin high density to flying leads, CE(LVD&EMC)
4' cable, Gemini 50-pin high density to flying leads (non-CE)
10' cable, Gemini 50-pin high density to flying leads (non-CE)
50-pin Gemini test connector with terminal strips
Gemini connector with 11-pin terminal strips (drive commands only)
Part Number
Product Description
GC-26
GFB-KIT
26-pin Gemini test connector with terminal strips
26-pin Gemini connector kit
Part Number
Product Description
71-016939-10
10' cable, RS232/485 null modem, CE(LVD&EMC)
pn
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Additional
Accessories
(Entire Family)
Part Number
206
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT Performance
GEMINI
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Stepper Speed-Torque Performance Curves
Gemini with VS motors – 17, 23 and 34 frame
.21
60
.42
40
.14
10
20
.07
0
0
10
20
30
Speed (RPS)
40
.28
.14
0
0
50
0
10
VS23B/Gemini
.70
50
Torque (oz-in)
1.05
100
.35
0
0
10
20
30
.65
60
.42
30
.21
10
40
400
2.80
300
2.10
200
1.40
100
.70
0
10
20
Speed (RPS)
30
1000
5.60
600
4.20
400
2.80
200
1.40
0
0
50
40
7.00
800
0
10
20
Speed (RPS)
SERIES
0
50
40
VS32B/Gemini
3.50
0
30
Speed (RPS)
500
0
50
20
30
Torque (Nm)
1.40
150
90
0
Torque (Nm)
200
0
50
40
.84
VS31B/Gemini
1.75
Torque (Nm)
Torque (oz-in)
250
20
30
Speed (RPS)
1.05
120
0
Torque (oz-in)
20
.56
150
0
50
40
Speed (RPS)
PARALLEL
FULL
Gemini with OS motors – 23 frame
.21
20
.14
10
Torque (oz-in)
30
10
20
30
Speed (RPS)
40
.28
30
.21
20
.14
0
0
50
100
.70
80
.56
60
.42
40
.28
20
.14
.07
0
10
20
30
Speed (RPS)
pn
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0
40
10
.07
0
.35
40
0
0
50
0
10
20
30
Torque (Nm)
.28
OS21A/OEM750 (Series)
50
Torque (Nm)
40
Torque (Nm)
Torque (oz-in)
OS2HA/OEM750 (Parallel)
.35
Torque (oz-in)
OS2HA/OEM750 (Series)
50
0
50
40
Speed (RPS)
0
10
20
30
40
2.80
2.45
2.10
1.75
1.40
1.05
.70
.35
0
50
Torque (Nm)
Torque (oz-in)
OS22A/OEM750 (Series)
400
350
300
250
200
150
100
50
0
75 VDC
48 VDC
24 VDC
Speed (RPS)
.21
20
.14
10
.07
0
0
10
20
30
Speed (RPS)
40
0
50
80
.56
60
.42
40
.28
20
.14
0
0
10
SERIES
20
30
Speed (RPS)
PARALLEL
40
0
50
Torque (oz-in)
30
.70
250
1.75
200
1.40
150
1.05
100
.70
50
.35
0
0
10
20
30
40
Torque (Nm)
.28
OS22B/Gemini
100
Torque (Nm)
40
Torque (oz-in)
OS21B/Gemini
.35
Torque (Nm)
Torque (oz-in)
OS2HB/Gemini
50
0
50
Speed (RPS)
FULL
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
207
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
.28
30
80
Torque (oz-in)
40
.70
Torque (Nm)
.35
VS22B/Gemini
100
Torque (Nm)
50
Torque (Nm)
Torque (oz-in)
VS21B/Gemini
.42
Torque (oz-in)
VS13B/Gemini
60
Catalog 8000-4/USA
GT Performance
GEMINI
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Stepper Speed-Torque Performance Curves
Gemini with TS motors, 34 frame
TS31B/Gemini
TS32B/Gemini
400
2.8
300
2.1
200
7.0
800
5.6
600
4.2
400
2.8
200
1.4
1.4
100
.70
0
0
10
20
30
Speed (RPS)
40
0
0
50
0
10
20
30
Speed (RPS)
40
Torque (oz-in)
3.5
Torque (oz-in)
500
1000
2000
14.0
1500
10.5
1000
7.0
500
3.5
0
0
50
0
10
20
30
40
Torque (Nm)
4.2
8.4
Torque (Nm)
600
TS33B/Gemini
1200
4.9
Torque (Nm)
Torque (oz-in)
700
0
50
Speed (RPS)
Gemini with TS motors, size 42 frame
TS42B/Gemini
7.0
500
3.5
0
0
10
20
30
40
3000
21.0
2500
17.5
Torque (oz-in)
1000
24.5
2000
14.0
1500
10.5
1000
7.0
500
3.5
0
50
0
0
10
Speed (RPS)
20
30
40
5000
35.0
4000
28.0
3000
21.0
2000
14.0
1000
7.0
0
0
50
0
10
Speed (RPS)
20
30
40
Torque (Nm)
10.5
TS43B/Gemini
3500
Torque (Nm)
1500
Torque (Nm)
Torque (oz-in)
14.0
Torque (oz-in)
TS41B/Gemini
2000
0
50
Speed (RPS)
Gemini with ES motors (previously ZETA and S Series motors), 23 frame
ES21B/Gemini
.14
20
0
10
20
30
Speed (RPS)
40
100
.70
50
.35
0
0
50
0
10
20
30
Speed (RPS)
pn
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0
1.05
40
Torque (oz-in)
Torque (oz-in)
.28
40
150
250
1.75
200
1.40
150
1.05
100
.70
50
.35
0
.000
50
0
10
20
30
40
Torque (Nm)
.42
60
ES23B/Gemini
1.40
Torque (Nm)
.56
80
Torque (Nm)
Torque (oz-in)
ES22B/Gemini
200
.70
100
0
50
Speed (RPS)
Gemini with ES motors (previously ZETA and S Series motors), 34 frame
ES32B/Gemini
1.40
40
.28
0
0
10
20
30
40
Speed (RPS)
0
50
Torque (oz-in)
Torque (oz-in)
.56
300
4.20
2.80
500
3.50
400
2.80
300
2.10
200
1.40
100
.70
2.10
200
1.40
100
.70
0
0
10
20
30
40
Speed (RPS)
SERIES
PARALLEL
208
Automation
600
0
50
0
0
10
20
30
40
0
50
Speed (RPS)
FULL
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Torque (Nm)
80
400
3.50
Torque (Nm)
.84
120
Torque (Nm)
1.12
160
ES33B/Gemini
500
Torque (oz-in)
ES31B/Gemini
200
Catalog 8000-4/USA
GT Stepper Drives
GEMINI
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OS & VS Series Stepper
Motor Specifications
Size 17, 23 & 34 Frame Sizes
Static torque
Rotor inertia
Drive Current
(Apk)(Arms)
Phase Inductance
(mH)
Drive Bus Voltage
Detent Torque
Bearings Information
Thrust Load
Radial Load
End Play
Radial Play
(Per 0.5 lb load)
Certifications
*
Size 34 Frame
OS21B
OS22B
VS21B
VS22B
VS23B
VS31B
VS32B
oz-in
(Nm)
61
(0.4)
127
(0.9)
235
(1.7)
99
(0.7)
170
(1.2)
267.5
(1.9)
559
(3.9)
1211
(8.6)
oz-in2
(kg-cm2)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
0.66
(0.12)
1.64
(0.3)
2.62
(0.48)
7.65
(1.4)
14.8
(2.7)
Series
Parallel
1.7 (1.2)
3.4 (2.4)
1.8 (1.3)
3.6 (2.6)
2.4 (1.7)
4.8 (3.4)
1.8 (1.3)
3.6 (2.6)
1.7 (1.2)
3.4 (2.4)
1.4 (1.0)
2.8 (2.0)
3.0 (2.1)
6.0 (4.2)
3.0 (2.1)
6.0 (4.2)
Series
Parallel
8.6
2.2
12
3
16.6
4.2
5
(1.25)
12.0
(3.0)
15.4
(3.85)
15.8
3.95
25.0
6.25
(VDC)
170
170
170
170
170
170
170
170
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
2.7
(0.02)
3.3
(0.02)
6.0
(0.04)
14.0
(0.1)
28.0
(0.2)
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
17.6
(8)
17.6
(8)
17.6
(8)
35.3
(16)
35.3
(16)
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
15.0
(6.8)
15.0
(6.8)
15.0
(6.8)
30.9
(14)
30.9
(14)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.0032
(0.080)
0.0032
(0.080)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.0008
(0.020)
0.0008
(0.020)
lb
(kg)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
1.03
(0.47)
1.54
(0.7)
2.2
(1.0)
3.86
(1.75)
6.18
(2.8)
pn
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Motor Weight
Size 23 Frame
OS2HB
UL recognized
CE (LVD)
CE
(EMC & LVD)*
Pending
Yes
Pending
Yes
Pending
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
To comply with EMC and low-noise (CISPR22/EN55022 Class A or FCC Class A emissions) standards, the following items are required:
• Gemini GT or GT6 Drives
• CE(LVD) motor for LVD, Compumotor recommends a terminal board (NPS) motor construction for easier EMC installation
• C10(CH10) motor accessory (LVD/EMC cable kit)
• Mains filter as indicated in the User Guide
Discover how easily Gemini fits into your next motion control
application by calling 1-800-358-9070. Or visit us on the Web at
www.compumotor.com to find a local factory authorized
Automation Technology Center (ATC) near you.
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
209
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Size 23 Frame
Parameters
Catalog 8000-4/USA
GT6 Stepper Drives
GEMINI
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T Series Stepper Motor Specifications
(Size 34 Frame & 42 Frame)
Size 34 Frame
TS42B
TS43B
1525 (10.68)
1332 (9.32)
2515 (17.61)
3479 (24.35)
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)
3.1 (2.2)
6.2 (4.4)
5.6 (4.0)
12.0 (8.5)
6.4 (4.5)
12.0 (8.5)
6.7 (4.7)
12.0 (8.5)
6.9 (4.9)
12.0 (8.5)
(VDC)
170
170
170
170
170
170
Series
Parallel
10.3
2.6
10.3
2.6
13.6
3.4
15.8
3.9
22.0
5.5
30.7
7.7
oz-in (Nm)
18 (0.13)
36 (0.25)
54 (0.38)
42 (0.30)
84 (0.59)
106 (0.75)
lb (kg)
305 (139)
305 (139)
305 (139)
404 (184)
404 (184)
404 (184)
lb (kg)
65 (30)
65 (30)
110 (50)
125 (57)
110 (50)
110 (50)
End Play (Reversing load equals 1 lb)
in (mm)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
Radial Play (Per 0.5 lb load)
in (mm)
0.0008 (0.020)
0.0008 (0.020) 0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020)
lb (kg)
5.0 (2.3)
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
*
Yes
Yes
*
Rotor inertia
Drive Current
(Apk)(Arms)**
Drive Bus Voltage
Phase Inductance
(mH)***
Detent Torque
Bearings Information
Thrust Load
Radial Load
Motor Weight
Certifications
TS32B
oz-in (N-m)
455 (3.19)
647 (4.53)
oz-in2 (kg-cm2)
7.80 (1.43)
Series
Parallel
Size 42 Frame
TS41B
Static torque**
TS31B
UL recognized
CE (LVD)
CE (EMC & LVD)*
(NPS) motor construction for easier EMC installation
• C10(CH10) motor accessory (LVD/EMC cable kit)
• Mains Filter as indicated in the User Guide
* To comply with EMC and low-noise (CISPR22/EN55022 Class A or FCC Class
A emissions) standards, the following items are required:
• Gemini GT or GT6 Drive
• CE(LVD) motor for LVD. Compumotor recommends a terminal board
**
***
Static torque
oz-in (N-m)
Rotor inertia
oz-in2 (kg-cm2)
Phase Inductance
Series
Size 23 Frame
Size 34 Frame
ES22B
ES23B
ES31B
ES32B
ES33B
(ZETA57-51)
(ZETA57-83)
(ZETA57-102)
(ZETA83-62)
(ZETA83-93)
(ZETA83-135)
65 (0.46)
125 (0.71)
145 (0.89)
145 (1.14)
300 (2.14)
380 (2.80)
0.546 (9.998)
1.1 (20.1)
1.69 (30.9)
3.47 (63.4)
6.76 (124)
10.47 (191)
mH (small signal*)
17.37
18.5
17
10
10.5
9.2
mH (small signal*)
4.34
4.62
4.25
2.5
2.62
2.3
lb (kg)
25 (11.3)
25 (11.3)
25 (11.3)
50 (22.6)
50 (22.6)
50 (22.6)
Radial Load
(Reverse load equal to 1 lb)
End Play
lb (kg)
15 (6.8)
15 (6.8)
15 (6.8)
25 (11.3)
25 (11.3)
25 (11.3)
in (mm)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
0.001 (0.025)
Radial Play (Per 0.5 lb load)
in (cm)
0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020)
0.0008 (0.020) 0.0008 (0.020)
Net 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)
Motor Cable**
Wire Size
AWG (mm )
24 (0.25)
24 (0.25)
24 (0.25)
22 (0.34)
22 (0.34)
22 (0.34)
Parallel
Bearings Information
Thrust Load
*
**
Values shown in speed-torque curves
Small signal values
ES21B
pn
e
E Series Stepper Motor
Specifications
(Size 23 Frame & 34 Frame)
TS33B
2
Small Signal Inductance is found by using an inductance bridge or meter.
All Motors Cable length = 10 feet (3m).
210
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT Dimensions
GEMINI
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Stepper Motor Dimensions
Size 23 Frame, O Series
Dimensions in inches (mm)
0.200 (5.08) dia (4)
on 2.625 (66.68) BC
0.2500(6.350)
0.2495(6.337)
Shaft Dia
13.5
(343) 0.25
Min. (6.4)
Flexible boot
may be bent as
shown. Nominal
height 1.0 (25.4).
1.0
(25.4)
1.06 (26.9)
45°
0.20 (5.08)
1.502 (38.15)
1.498 (38.05)
0.81(20.6)
2.4
(62 4
.0)
0.055 (1.40)
A
Frame Size 23
Model
OS2HA (OEM57-40)
OS21A (OEM57-51)
OS22A (OEM57-83)
Dimensions in inches (millimeters)
A
1.60 (40.6)
2.06 (52.3)
3.10 (78.7)
A +/- 0.04 [1]
For servo motor information, please turn to that section of the catalog.
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
211
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Parker Hannifin Corporation
Compumotor Division
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B
1.86
(47.2)
pn
e
2.25
(57.2)
Catalog 8000-4/USA
GT Dimensions
GEMINI
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Stepper Motor Dimensional Drawings
Size 34 Frame, T Series
Dimensions in inches (mm)
3.38
(85.85)
4x ∅ .218 (5.54) thru
equally spaced on a
∅ 3.875 (98.43) B.C.
.875 – .010
(22.225 – .254)
1.43 +
- 0.04
(36.32 +
- 1.02)
1
+ 0.0000
- 0.0005
+ 0.000)
(9.53
- 0.013)
fl0.3750
0.002 (0.051)
(2 x 45¡)
C
+.0000
-.0020
1.95
(49.53)
MAX.
Indicated dimension
applies from end of
extension to face of
rear end bell (cover
and gasket removed)
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)
3.88
(98.6)
L MAX.
.003 (0.077)
A
0.5000 (12.70)
0.5000 (12.70)
0.6250 (15.88)
Double Shaft
Configuration
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
Dimensions in inches (mm)
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
+ 0.0000
fl0.5000 0.0005
+ 0.000)
(12.7 0.013)
0.002 (0.051)
pn
e
(2 x 45¡)
1
+.0000
.1875 -.0020
+.0000)
(4.7625 -.0508)
+.0000
∅ .7500 -.0005
+0.000)
(19.050 -0.013)
2.23
(56.642)
MAX.
1
.002 (0.051)
-A.830 +.000
-.017
(+.000)
(21.08)
(-.432)
.06 (1.52)
.48 (12.192)
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)
A
Double Shaft
Configuration
1/2 NPS TAP
WITH .56 I.D.
INSULATING BUSHING
L MAX.
2.19
(55.63)
.003 (0.077)
A
4.80
(121.9)
Model
Lmax
L2
TS41B—nn NPS 5.20 (132.08) 4.46(113.28)
TS42B—nn NPS 7.22 (183.39) 6.48(164.59)
TS43B—nn NPS 9.23 (234.44) 8.49 (215.65)
1.63
(41.4)
2.5
(63.5)
EC Encoder
Configuration
For servo motor information, please turn to that section of the catalog.
212
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
GT Dimensions
GEMINI
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Stepper Motor Dimensional Drawings
Size 23 Frame, E Series (also known as ZETA Series)
Dimensions in inches (mm)
120 (305) 8 wire
shielded
0.82 (20.83)
0.72 (18.29)
2.27 1.856
(57.66) (47.14)
max
0.83 (21.08)
0.73 (18.54)
A
0.2500 (6.35)
0.2495 (6.34)
Shaft Dia (2)
0.19 (4.83)
1.502 (38.15)
1.498 (38.05)
Model
ES21B (ZETA 57-51)
ES22B (ZETA 57-83)
ES23B (ZETA 57-102)
60
0.063 (1.60)
#6-32 UNC-2B Thd
x 0.25 (6.50) DP
(3) Equally Spaced
on 1.865 (47.37) BC
1.118
(28.40) dia
A
2.0 (50.23)
3.1 (75.23)
4.0 (101.6)
Size 34 Frame, E Series (also known as ZETA Series)
Dimensions in inches (mm)
120 (305)
8 wire
shielded
A
1.23
1.15
(31.24)
(29.21)
0.063
(1.60)
pn
e
3.40
(86.36)
Max Casting Size
3.25
(82.55)
max
1.21
1.17
(30.70)
(29.72)
30
#6-32 UNC-2B Thd
x 0.25 (6.50)DP
(4) Equally Spaced
on 2.952 (74.98)BC
2.730 (69.34)
2.750 (69.85)
2.877 (73.07) dia
2.873 (72.97)
0.228 (5.79) dia (4)
0.218 (5.54)
on 3.875 (98.42) BC
0.19
(4.83)
0.3750 (9.52)
0.3745 (9.51)
Shaft Dia (2)
0.750 (19.05) dia
x 0.050 (1.27)Deep
Bore Min
Model
A
ES31B (ZETA 83-62) 2.5 (62.0)
ES32B (ZETA 83-93) 3.7 (93.98)
ES33B (ZETA 83-135) 5.2 (129.0)
For servo motor information, please turn to that section of the catalog.
Gemini Offers Greater Flexibility and More Reliability Than Ever Before. Call 1-800-358-9070 Today.
213
Automation
Parker Hannifin Corporation
Compumotor Division
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B
0.215 (5.461) dia (4)
0.195 (4.953)
on 2.625 (66.67) BC
Catalog 8000-4/USA
E SERIES
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E-AC
Low Cost, Small Package,
120VAC Microstepping
Drive
Compumotor's new E-AC is a low-cost, high-performance,
high-reliability microstepping drive in a small package. The
design of the E-AC is based on the design of our proven Zeta
and OEM750 microstepping drives. It provides up to 3.5 Amps
of current to the motor and accepts 120VAC direct-online
power only. All step motors are subject to mid-range instability
or oscillations. The E-AC incorporates an anti-resonance
circuitry that aggressively and effectively suppresses these
oscillations, thus taking advantage of the full capabilities of the
step motor.
Features
Performance
Designed for use with motor inductance of 0.5 mH - 80
mH
3-state current control allows the drive and motor to run
cooler and more efficiently than 2-state drives
Selectable resolution up to 50,800 steps/rev
Auto standby reduces motor current (and heating) at rest
Provides 0.02 Amps to 3.5 Amps (peak)
95 - 132VAC power supply input
Four predefined current waveforms to optimize smoothness
pn
e
•
•
•
•
•
•
•
Protection
•
•
•
•
Physical
•
•
•
•
•
•
•
214
Automation
Optically isolated step and direction inputs
Short circuit protection – phase-to-phase and phase-toground
Auto-run feature to verify proper system operation
Over temperature circuitry protects the drive from thermal
damage
Status/fault LED indicators to confirm proper operation
ASIC and surface-mount technologies minimize product
footprint, overall package size and increase product
reliability
Optically isolated fault output for embedded applications
Simplified, 2-screw mounting
Overall dimensions: 2.25 x 4.3 x 1.9 in. (133 x 109 x 48
mm)
Certified as UL-recognized component
Approvals: CE (LVD), and CE (EMC)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
E SERIES
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E-AC
E-AC Specifications
Power Input
AC
Performance
Accuracy
Repeatability
Hysteresis
Resolution
Waveform
Amplifier
Type
Number of Phases
Output Current
Standby Current Reduction
Nominal Chopping Frequency
Max Stepping Rate
Step Input
Direction Input
Fault Output
Protective
Circuts
95 - 132 VAC @ single phase 50/60 Hz
±5 arc min (0.0833°) typical.
Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different
absolute accuracy.
±1 arc min (0.0167°) typical/per each frictional load equal to 1% rated torque.
Loaded-in addition to unloaded accuracy.
±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%, -8%, 3rd harmonic.
20 kHz fixed frequency, variable duty cycle pulse width modulated (PWM )
Current Controlled, bipolar chopper
2
0.02–3.5 Amps peaks of Sine
50% of selected motor current
20 kHz
2 MHz max pulse rate; 50 rps max speed
High-going pulse, 200 nsec min width; max pulse rate is 2 MHz; User-supplied driver for the step
and direction inputs should be capable of providing a minimum of 6.5 mA to maximum of 15 mA
Logic High = positive (CW) rotation—3.5–5.0V
Logic Low = negative (CCW) rotation—0–0.4V
User-supplied driver for the step and direction inputs should be capable of providing a minimum
of 6.5 mA to a maximum of 15 mA. The direction input must be stable for at least 200 µsec before
the drive receives the first pulse
Open-Collector/Emitter, Vce = 70 VDC, Vce sat = 0.3 VDC, Ic = 40 mA (max)
Maximum dissipation = 40 mW
Conducting = normal operation
Non conduction = drive fault
Phase-to-phase, phase-to-ground
If AC supply drops below 85VAC
The drive will fault if heat plate exceeds 55°C
pn
e
Short Circuit*
Value
Overtemperature*
Environmental
Drive Temp
Humidity
Max allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow is
restricted.
0 to 95%, Non-condensing
Physical
Drive Dimensions
Weight
5.35 x 4.34 x 1.89in (135 x 110 x 48 mm)
1.2 lbs
Motor
Type
Number of Leads
Inductance Range
Two-phase hybrid permanent magnet, 1.8°
4, 6, or 8
0.5 minimum; 5 to 50 mH recommended range; 100 mH max
* Drive shuts down in conditions listed. Power must be cycled or drive reset to resume operations.
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
215
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Parameter
Catalog 8000-4/USA
E SERIES
ua
ir
e
E-DC
Lower-Cost DC Power
Input Microstepping Drive
Compumotor’s new E-DC microstepping drive is designed for
a 48VDC input power requirement and provides current up to
4.8 Amps peak of current to the motor.
Features
Performance
•
•
Physical
•
•
•
pn
e
•
•
•
•
•
•
Designed for use with motor inductance range of
0.2 mH–80 mH
Three-state current control allows the drive and motor to
run cooler and more efficiently than two-state drives
Selectable resolution up to 50,800 steps/rev
Auto standby reduces motor current (and heating) at rest
Provides 0.2 Amps to 4.8 Amps (peak)
Single 24-48 VDC power supply input
Compatible with a variety of motors
Six predefined current waveforms to optimize
smoothness
•
•
•
•
Protection
•
•
•
•
•
Optically isolated step and direction inputs
Short circuit protected—phase-to-phase, and phase-toground
Power dump circuitry to protect drive from regeneration
caused by large inertial loads
Self-test feature to verify proper system operation
Overtemperature circuitry protects the drive from thermal
damage
•
•
•
•
216
Automation
Status/fault LED indicators to confirm proper operation
ASIC and surface mount technologies minimize product
footprint, overall package size, and increase product
reliability
Removable snap-on molded cover for convenient configuration and protection against contaminants
Optically isolated fault output for embedded applications
Heat plate design allows thermal dissipation through a
suitable heat dissipating mounting surface
Simplified, two-screw mounting
Right-angle screw terminal allows side-to-side mounting or
Eurorack compatibility
Overall dimensions 5.0 x 3.6 x 1.6 in. (127 x 91 x 41 mm)
Convenient configuration DIP switches
Certified as UL-recognized component
CE (LVD & EMC)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
E SERIES
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Specifications
E-DC Drive Specifications
Power Input
DC
Performance
Accuracy
Repeatability
Hysteresis
Resolution
Waveform
Amplifier
Type
Number of Phases
Output Current
Drive Supply Voltage
Standby Current Reduction
Nominal Chopping Frequency
Max Stepping Rate
Step Input
Direction Input
Fault Output
Protective
Circuts
Value
24–48 VDC @ 2.0 Arms (motor dependent)
±5 arc min (0.0833°) typical.
Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different
absolute accuracy.
±1 arc min (0.0167°) typical/per each frictional load equal to 1% rated torque.
Loaded-in addition to unloaded accuracy.
±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%, -8%, -10% 3rd harmonic.
20 kHz fixed frequency, variable duty cycle pulse width modulated (PWM )
Current Controlled, bipolar chopper
2
0.2–4.8 amps current per phase peak (selectable)
24–48 VDC (dependent on external power supply)
25%, 50%, or 75% of selected motor current
20 kHz
2 MHz max pulse rate; 50 rps max speed
High-going pulse, 200 nsec min width; max pulse rate is 2 MHz; User-supplied driver for the step
and direction inputs should be capable of providing a minimum of 6.5 mA to maximum of 15 mA
Logic High = positive (CW) rotation—3.5–5.0V
Logic Low = negative (CCW) rotation—0–0.4V
User-supplied driver for the step and direction inputs should be capable of providing a minimum
of 6.5 mA to a maximum of 15 mA. The direction input must be stable for at least 200 µsec before
the drive receives the first pulse
Open-Collector/Emitter, Vce = 70 VDC, Vce sat = 0.3 VDC, Ic = 10 mA (max)
Maximum dissipation = 55 mW
Conducting = normal operation
Non conduction = drive fault
Phase-to-phase, phase-to-ground
If DC supply drops below 24 VDC
The drive will fault if heat plate exceeds 55°C
Drive Temp
Humidity
Max allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow is
restricted. Max allowable heatplate temperature is 55°C.
0 to 95%, Non-condensing
Physical
Drive Dimensions
Weight
5.0 x 3.6 x 1.6 in (127 x 91 x 41 mm)
12 oz
Motor
Type
Number of Leads
Inductance Range
Two-phase hybrid permanent magnet, 1.8°
4, 6, or 8
0.2 mH–80 mH
pn
e
Short Circuit*
Undervoltage
Overtemperature*
Environmental
* Drive shuts down in conditions listed. Power must be cycled or drive reset to resume operations.
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
217
Automation
Parker Hannifin Corporation
Compumotor Division
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B
Parameter
Catalog 8000-4/USA
Dimensions
E SERIES
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E Series Connections
Internal Connections
8
2
464Ω
6
3
Inputs & Outputs
HCPL-2601
+5V
5
464Ω
243Ω
Step Input
ILQ2
1
Direction Input
E Series Screw-Terminal
+5V
+5V
243Ω
2
11
14
5
15
6
12
8
7
10
16
Remote Input
17
681Ω
Fault Output
Gear Shift Input
15
9
11
1 (Top)
2
3
4
5
6
7
8 (Bottom)
LINE
NEUTRAL
GND
MOTOR GND
A+
AB+
B-
+5V
4N35
16
23
Signal
9
ILQ2
21
Pin No
464Ω
1
2
+5V
ILQ2
10kΩ
ILQ2
681Ω
25 Pin
D-Connector
4
3
BS170
14
13 HPCL-2631
E-AC Dimensions
pn
e
E-DC Drive Dimensions
218
Automation
Parker Hannifin Corporation
Compumotor Division
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Catalog 8000-4/USA
Specifications
E SERIES
ua
ir
e
OS Series
Motor Specifications
Size 23 Frame
Parameters
E-AC
OS2HA
OS21A
OS22A
OS2HB
OS21B
OS22B
Static torque
oz-in
(Nm)
49.1
(0.35)
114
(0.81)
186
(1.31)
61.35
(0.43)
126.5
(0.84)
238
(1.68)
Rotor inertia
oz-in2
(kg-cm2)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
Drive Current
Apk (Arms)
Series
Parallel
3.0 (2.12)
NA
4.8 (3.39)
NA
4.8 (3.39)
NA
1.76 (1.24)
3.25 (2.30)
1.88 (1.33)
3.5 (2.47)
2.38 (1.68)
3.5 (2.47)
Phase Inductance
(mH)
Series
Parallel
1.7
NA
1.8
NA
2.8
NA
8.6
2.2
12
3
16.6
4.2
Detent Torque
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
Thrust Load
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
13
(5.9)
13
(5.9)
13
(5.9)
Radial Load
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
20
(9.1)
20
(9.1)
20
(9.1)
End Play
(Reversing load
equal to 1 lb)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
Radial Play
(Per 0.5 lb load)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
Motor Weight
lb
(kg)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
Certifications
UL recognized
CE (LVD)
CE (EMC & LVD)
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
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Bearings
Information
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
219
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
E-DC
Catalog 8000-4/USA
Specifications
E SERIES
ua
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VS Series
Motor Specifications
Size 17, 23 and 34 Frame
Size 17 Frame
Parameters
Size 23 Frame
Size 34 Frame
VS12B
VS13B
VS21B
VS22B
VS23B
VS31B
VS32B
Static torque - E-AC
oz-in
(Nm)
55.27
(0.39)
72.8
(0.51)
115.5
(0.82)
194.5
(1.37)
334.5
(2.36)
551.8
(3.90)
1269.67
(8.97)
Static torque - E-DC
oz-in
(Nm)
58
(0.41)
81
(0.57)
115
(0.81)
156
(1.10)
330
(2.33)
442
(3.12)
664
(4.69)
Rotor inertia
oz-in2
(kg-cm2)
0.3
(0.054)
0.37
(0.068)
0.66
(0.12)
1.64
(0.3)
2.62
(0.48)
7.65
(1.4)
14.8
(2.7)
Drive Current
Apk (Arms) - E-AC
Series
Parallel
1.0 (0.71)
2.0 (1.42)
1.01(0.71)
2.02 (1.43)
2.26 (1.6)
3.5 (2.47)
2.01 (1.42)
3.5 (2.47)
2.01 (1.42)
3.5 (2.47)
3.0 (2.12)
3.5 (2.47)
3.13 (2.21)
3.5 (2.47)
Drive Current
Apk (Arms) - E-DC
Series
Parallel
NA
3.0 (2.12)
NA
3.0 (2.12)
NA
4.8 (3.39)
NA
4.0 (2.83)
NA
4.8 (3.39)
NA
4.8 (3.39)
NA
4.8 (3.39)
Phase Inductance
(mH)
Series
Parallel
12.8
(3.2)
11.2
(2.8)
5
(1.25)
12
(3.0)
15.4
(3.85)
15.8
(3.95)
25.0
(6.25)
Detent Torque
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
8.8
(0.06)
18.0
(0.13)
27.0
(0.19)
50
(0.35)
Thrust Load
lb
(kg)
11.0
(5)
11.0
(5)
17.6
(8)
17.6
(8)
17.6
(8)
35.3
(16)
35.3
(16)
Radial Load
lb
(kg)
7.7
(3.5)
7.7
(3.5)
15.0
(6.8)
15.0
(6.8)
15.0
(6.8)
30.9
(14)
30.9
(14)
End Play
(with 2.2 lbs axial
load)
in
(mm)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.0032
(0.080)
0.0032
(0.080)
Radial Play (with
1.1 lb radial load)
in
(mm)
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)
Motor Weight
lb
(kg)
0.55
(0.25)
0.77
(0.35)
1.03
(0.47)
1.54
(0.7)
2.2
(1.0)
3.86
(1.75)
6.18
(2.8)
No
No
No
No
pn
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Bearings
Information
Certifications
UL recognized
No
No
No
220
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Speed-Torque Curves
E SERIES
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Motor Speed-Torque Performance Curves
E-AC with OS and VS Series motors, 17, 23 and 34 frame
200
1.40
160
1.12
120
.84
80
.56
40
.28
.42
.28
20
.14
0
0
10
20
30
40
0
0
50
0
10
20
SERIES
VS12B/E-AC
Torque (oz-in)
Torque (oz-in)
.21
20
.14
10
.07
0
0
10
20
30
Speed (RPM)
40
.49
60
.42
50
.35
40
.28
30
.21
20
.14
10
.07
0
50
20
30
Speed (RPM)
40
100
.70
80
.56
60
.42
40
.28
20
.14
0
50
0
10
20
30
40
0
50
Speed (RPM)
VS31B/E-AC
300
2.10
600
4.2
250
1.75
500
3.5
200
1.40
400
2.8
150
1.05
300
2.1
100
.70
200
1.4
50
.35
100
.70
.35
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50
0
0
10
20
30
40
0
50
0
0
10
Speed (RPM)
20
30
40
Speed (RPM)
0
50
0
0
10
20
30
40
0
50
Speed (RPM)
VS32B/E-AC
7.01
800
5.60
600
4.20
400
2.80
200
1.40
0
0
10
20
30
40
0
50
Torque (Nm)
Torque (oz-in)
1000
SERIES
PARALLEL
FULL
Speed (RPM)
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
221
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Torque (Nm)
Torque (oz-in)
40
0
Torque (Nm)
.70
30
VS21B/E-AC
70
10
20
FULL
.56
0
Torque (Nm)
Torque (oz-in)
PARALLEL
VS23B/E-AC
1.05
100
10
Speed (RPS)
0
0
50
1.40
150
.07
0
80
VS22B/E-AC
200
.14
10
Torque (Nm)
30
.21
20
0
Torque (Nm)
.28
Torque (Nm)
.35
40
.28
30
VS13B/E-AC
.42
50
40
.35
40
Speed (RPS)
Speed (RPS)
60
30
0
50
Torque (oz-in)
40
Torque (oz-in)
60
.42
50
B
.56
Torque (oz-in)
Torque (oz-in)
.70
60
Torque (Nm)
1.68
Torque (Nm)
80
240
Torque (Nm)
100
OS2HB/E-AC
.84
Torque (oz-in)
OS22B/E-AC
OS21B/E-AC
120
Catalog 8000-4/USA
Speed-Torque Curves
E SERIES
ua
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Motor Speed-Torque Performance Curves
E-DC Drive with OS and VS Series motors, 17, 23 and 34 frame
.14
.07
0
0
10
20
30
40
0
50
.56
60
.42
40
.28
20
.14
0
0
10
Speed (RPS)
20
30
Speed (RPS)
24V
VS12B/E-DC
.14
10
Torque (oz-in)
.21
20
.07
0
0
10
20
30
Speed (RPM)
40
70
.49
60
.42
50
.35
40
.28
30
.21
20
.14
10
.07
0
10
20
30
Speed (RPM)
Torque (oz-in)
40
.28
20
.14
0
20
30
10
40
0
50
40
40
0
50
0
50
80
70
60
50
40
30
20
10
0
0
10
20
30
40
.56
.49
.42
.35
.28
.21
.14
.07
0
50
Speed (RPM)
VS31B/E-DC
2.10
350
2.45
250
1.75
300
2.10
250
1.75
200
1.40
150
1.05
100
.70
50
.35
200
1.40
150
1.05
100
.70
50
.35
0
0
Speed (RPM)
20
30
Speed (RPS)
300
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Torque (oz-in)
.42
10
0
10
20
30
Speed (RPM)
40
0
50
0
0
10
20
30
40
0
50
Speed (RPM)
4.20
500
3.50
400
2.80
300
2.10
200
1.40
100
.70
0
0
10
20
30
40
Torque (Nm)
Torque (oz-in)
VS32B/E-DC
600
0
50
Speed (RPM)
24V
222
Automation
48V
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Torque (Nm)
60
0
0
Torque (Nm)
.56
Torque (Nm)
.70
80
.35
VS23B/E-DC
.84
100
50
VS21B/E-DC
.56
0
0
50
.98
120
.70
48V
80
VS22B/E-DC
140
100
Torque (Nm)
.28
30
1.05
0
50
Torque (Nm)
40
150
VS13B/E-DC
.35
Torque (Nm)
Torque (oz-in)
50
40
1.40
Torque (oz-in)
10
80
200
Torque (oz-in)
20
Torque (oz-in)
.21
.70
Torque (Nm)
.28
30
OS22A/E-DC
100
Torque (Nm)
40
Torque (Nm)
Torque (oz-in)
.35
Torque (oz-in)
OS21A/E-DC
OS2HA/E-DC
50
Catalog 8000-4/USA
Dimensions
E SERIES
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Dimensional Drawings
Size 23 Frame
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Size 34 Frame
A +/- 0.04 [1]
See Servo Drive section for the full line of Gemini servo drives and drive/controllers.
223
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
VS Series Motors, Size 17 Frame
Catalog 8000-4/USA
ZETA Drives
ua
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ZETA
Compumotor’s
ZETA Microstepping
Drive Family
pn
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These microstepping drives are stand-alone, packaged
microstepping drives that incorporate breakthrough techniques
know as Active DampingTM (patented) and Electronic
ViscosityTM (patent pending).
The ZETA family of drives come in 4 different power versions:
ZETA4, ZETA4-240, 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 ZETA4240, ZETA8, and ZETA12 have also received UL approval.
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 8 AMP drive
operating at 120 VAC.
Features
Performance
• 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)
Performance (continued)
• Active DampingTM benefits:
– Damping ratios of up to 0.5
– Higher acceleration than conventional step systems
– Decrease motor vibration
– Increase shaft power
– Higher performance
• Electronic ViscosityTM benefits:
– Reduce settling time
– Increase slow speed smoothness (reduce velocity
ripple)
– Reduce audible noise
Protection Circuit
•
•
•
•
Physical
• A wide selection of motors is available for both 120 VAC
and 240 VAC operation
• 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.
224
Automation
Motor short circuits (phase-to-phase and phase-to-ground)
Overtemperature
Undervoltage
Power dump (dissipates excess energy caused by load
regeneration)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
ZETA Drives
ua
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ZETA
Specifications – ZETA4, ZETA8, ZETA12, and ZETA4-240
Power
AC Power Input
Motor Current (Apk)
Bus Voltage
Performance
Accuracy
Repeatability
Hysteresis
Resolution
Waveform
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.
Motors
Type
Breakdown Voltage (HIPOT)
Number of Leads
Accuracy Grade
Inductance
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
Amplifiers
Type
20 kHz fixed frequency, variable duty cycle PWM (pulse width modulated). Current controlled, bipolar
type.MOSFETconstruction.
2
Number of Phases
Protection*
• Short Circuit
• Brownout
• Over-temperature
Auto Standby
CW/CCW Input
Shutdown Input
Reset Input
Fault Output
Phase-to-phase, phase-to-ground.
If AC supply drops below 85VAC.
Over-temperature shutdown fault at 113°F (50°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
Environmental
Operating drive
Storage drive
Motor
Humidity
32°F to 113°F (0°C to 45°C) Fan cooling may be required if airflow restricted.
-40°F to 185°F (-30°C to 85°C)
212°F (100°C) maximum motor case temperature. Actual temperature rise is duty-cycle dependent.
0-95%, non-condensing
Certifications
UL Recognized
CE (LVD)
CE(LVD & EMC)
(EMC for CISPR22/
EN55022 Class B)**
Automatic Test Function
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Step Input
Direction Input
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 (C10H) motor cable accessory (LVD/EMC cable kit)
• ZETA EMC KIT
Low Noise
ZETA4-240, ZETA8, ZETA12 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
installation
• C10 (C10H) motor cable accessory (LVD/EMC cable kit)
• ZETA EMC KIT
*
Drive shuts down in conditions listed
** System compliance
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
225
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Parameter
Catalog 8000-4/USA
ZETA Drive/Controllers
ua
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ZETA
Packaged
Drive/Controller Systems
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Compumotor’s ZETA6000 Series products are stand-alone,
single-axis drive/controller 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, completely, and for a low cost. 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 ArchitectTM, a
Microsoft® WindowsTM-based development package. Motion
ArchitectTM contains many tools which allow you to easily create
and implement motion programs. The ZETA6000 Series is also
compatible with the DDE6000 Server software package.
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.
Features
Performance
•
•
•
Protection Circuit
•
•
•
•
Motor short circuits (phase-to-phase and phase-toground)
Overtemperature of internal drives and power supply
Overvoltage (protects against overvoltage from
regeneration)
Power dump (dissipates excess voltage caused by load
regeneration)
I/O
•
•
•
226
Automation
One axis package drive/controller
Active DampingTM benefits:
– Damping ratios of up to 0.5
– Higher acceleration than conventional step systems
– Decrease motor vibration
– Increase shaft power
– Higher performance
Electronic ViscosityTM benefits:
– Reduce settling time
– Increase slower speed smoothness (reduce velocity
ripple)
– Reduce audible noise
Encoder channel configurable as hardware up/down
counter
Incremental encoder input
Home and end-of-travel limit inputs
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
ZETA Drive/Controllers
ZETA
•
•
•
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
•
•
•
•
•
•
•
Motion ArchitectTM, Microsoft® WindowsTM-based application development software
Dynamic Link Library (DLL) provided for use with
Microsoft® WindowsTM and Microsoft® WindowsTM NT
software development kits
Dynamic Data Exchange (DDE) server available allowing
data exchange between different WindowsTM software
applications
Interface Capabilities
•
•
•
•
Direct interface to RP240 Remote Operator Panel
Operates stand-alone or interfaces to PCs, PLCs, and
thumbwheels
One RS-232C communication port
One RS232C/485 configurable port
Physical
•
•
•
•
•
Stand-alone drive/controller 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
Specifications – ZETA6104, ZETA6108, ZETA6112, and ZETA6104-240
Parameter
Value
AC Power Input
ZETA6104
ZETA6108
ZETA6112
----------- 95-132VAC Single Phase, 50/60Hz -----------
Bus Voltage
0-4Amps
0-8 Amps
0-12 Amps
---------------------- 170 VDC nominal ----------------------
Performance
Position range
Velocity range
Acceleration range
Motion Algorithm Update Rate
±2,147,483,648 steps
1 to 2,000,000 steps/sec
1 to 24,999,975 steps/sec2
2 ms
RS-232C Interface
Connections
Max number of daisy chained
Address settings
Communication parameters
3-wire (Rx, Tx, and GND) connection to the COM1 and/or COM2 connectors.
Up to 99 units
Selectable
9,600 baud (auto-baud option); 8 data bits, 1 stop bit, no parity bit, full duplex.
RS-485 Interface
Connections
Max number of multi-dropped
Address settings
Communication parameters
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.
Short Circuit
Brownout
Over-temperature
Phase-to-phase, phase-to-ground
AC supply drops below 85VAC
Over-temperature shutdown fault at 113°F (55°C)
Power
Motor Curent (Apk)
pn
e
•
•
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
•
Optional Software
Protection
ZETA6104-240
95-264VAC Single Phase,
50/60Hz
0-4 Amps
@120VAC: 170VDC nominal,
@240VAC: 340VDC nominal
Additional Specifications Continued on Following Page
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227
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B
•
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Features (continued)
Catalog 8000-4/USA
ZETA Drive/Controllers
ua
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ZETA
Specifications – ZETA6104, ZETA6108, ZETA6112, and ZETA6104-240 (Continued)
Parameter
Inputs
(see also I/O
pinouts & circuit)
HOM, POS, NEG, TRG-A
TRG-B, P-CUT
Encoder
16 General Purpose
Programmable
Outputs
+5V Output
Operating drive
Storage drive
Motor
Humidity
Diagnostic LEDs
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.
32°F to 113°F (0°C to 45°C) Fan cooling may be required if airflow restricted.
-40°F to 185°F (-30°C to 85°C)
212°F (100°C) maximum motor case temperature. Actual temperature rise is duty-cycle
dependent.
0-95%, non-condensing
Power/drive on, step pulses, drive over-temperature, and motor short circuit
UL Recognized
CE (LVD)
*
ZETA6104, ZETA6104-240, ZETA6108, ZETA6112
ZETA6104, ZETA6104-240, ZETA6108, ZETA6112
HCMOS-compatible switching voltage levels: low ≤ 1.0V, high ≥ 3.25V; TTL-compatible switching voltage levels:
low ≤ 0.4V; high ≥ 2.4V
pn
e
Certification
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; AUX-P can handle
0–24V with max current of 50 mA. Voltage range for these inputs is 0–24V.
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.
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.
All outputs are optically isolated from the microprocessor (not from the other outputs).
9 Programmable
(includes OUT-A)
Environmental
Value
228
Automation
Parker Hannifin Corporation
Compumotor Division
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Catalog 8000-4/USA
Performance Curves
ZETA
ua
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Speed-Torque Curves (@120VAC)
ZETA with VS Motors
VS13B/ZETA4
.14
10
0
.07
0
10
20
30
Speed (RPS)
40
10
0
0
10
40
30
10
40
Torque (oz-in)
1.75
200
1.40
150
1.05
100
.70
.35
0
0
10
20
Speed (RPS)
30
40
0
50
VS31B/ZETA4
250
0
50
20
30
Speed (RPS)
40
500
3.50
400
2.80
300
2.10
200
1.40
100
.70
0
50
0
0
10
Speed (RPS)
20
30
40
Torque (Nm)
20
0
Torque (Nm)
10
0
0
50
2.10
Torque (Nm)
Torque (oz-in)
20
30
Speed (RPS)
50
0
.14
20
.35
0
20
.21
VS23B/ZETA4
.70
50
.28
.07
30
0
50
1.05
100
40
.28
1.40
150
.42
.14
40
VS22B/ZETA4
200
.56
60
.35
Torque (oz-in)
20
.70
80
50
0
50
Speed (RPS)
VS32B/ZETA4 (series)
ZETA8 (parallel)
7.01
5.60
800
4.20
600
2.80
400
For ZETA Series Motor
Specifications and
dimensions, please
refer to the E Series
Motor Specifications
located in the Gemini
Section.
Torque (Nm)
Torque (oz-in)
1000
1.40
200
0
0
10
20
30
40
SERIES
0
50
PARALLEL
FULL
pn
e
Speed (RPS)
ZETA with OS Motors
.56
60
.42
.14
40
.28
.07
20
.14
.28
30
.21
20
10
0
10
20
30
Speed (RPS)
40
0
50
Torque (oz-in)
80
40
0
0
10
20
30
Speed (RPS)
SERIES
PARALLEL
40
0
50
250
1.75
200
1.26
150
1.05
100
.70
50
.35
0
0
10
20
30
40
0
50
Speed (RPS)
FULL
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Torque (Nm)
.70
.35
Torque (Nm)
100
50
0
OS22B/ZETA4
.84
Torque (oz-in)
OS21B/ZETA4
120
.42
Torque (Nm)
Torque (oz-in)
OS2HB/ZETA4
60
B
.21
Torque (oz-in)
30
.84
100
.42
Torque (Nm)
.28
VS21B/ZETA4
120
60
Torque (Nm)
40
Torque (Nm)
Torque (oz-in)
.35
Torque (oz-in)
VS12B/ZETA4
50
Catalog 8000-4/USA
Performance Curves
ZETA
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Speed-Torque Curves (@120VAC) (cont'd)
ZETA with ES Motors
ES21B/ZETA
.28
20
100
.70
50
.35
.14
0
0
10
20
30
Speed (RPS)
0
10
20
30
Speed (RPS)
ES31B/ZETA
.35
50
0
0
10
20
1.05
100
.70
50
.35
0
10
20
30
40
600
4.20
2.80
500
3.50
400
2.80
300
2.10
200
1.40
200
1.40
100
.70
10
20
30
100
40
.70
0
0
50
0
0
40
3.50
2.10
300
Speed (RPS)
30
ES33B/ZETA
400
0
50
0
50
0
Speed (RPS)
500
Torque (oz-in)
.70
100
150
Torque (Nm)
1.05
150
40
Torque (Nm)
1.40
200
1.40
ES32B/ZETA
1.75
Torque (Nm)
Torque (oz-in)
250
1.75
200
0
50
0
0
50
40
Torque (oz-in)
40
1.05
Torque (oz-in)
.42
Torque (oz-in)
60
150
250
Torque (Nm)
.56
ES23B/ZETA
1.40
Torque (Nm)
80
Torque (Nm)
Torque (oz-in)
ES22B/ZETA
200
.70
100
0
10
20
Speed (RPS)
30
0
50
40
Speed (RPS)
ZETA with RS Motors
SERIES
400
2.84
560
3.98
300
2.13
420
2.98
200
1.42
280
1.99
100
0.71
140
0.99
0.99
0.48
0
0
20
10
30
40
0
50
0
0
10
20
30
PARALLEL
50
0
0
0
20
10
30
0
50
40
Speed-RPS
SERIES
RE42C/ZETA4-240
RS42C/ZETA4-240
RS43C/ZETA4-240
14.2
1800
12.8
1120
7.95
1600
11.4
1140
8.09
840
5.96
1080
7.67
560
1.77
720
5.11
280
1.99
360
2.56
0
0
10
20
30
40
50
0
1200
8.52
800
5.68
400
2.84
0
Speed-RPS
0
8
16
24
32
40
0
Torque (oz-in)
2000
Torque (oz-in)
9.94
Torque (Nm)
1400
Torque (Nm)
Torque (oz-in)
40
Speed-RPS
Speed-RPS
0
0
0
10
Speed-RPS
PARALLEL
20
30
Speed-RPS
40
50
SERIES
Parallel connected motors are limited to 50% duty cycle when operated above 5 rps. For greater than 50% duty cycle above 5 rps,
connection must be made to the motor in series. Fan cooling the motor will increase duty cycles above 5 rps.
Viscous damper is not required to achieve speed-torque curves.
Note: ±10% torque variance due to motor tolerance
230
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Torque (Nm)
pn
e
70
Torque (oz-in)
Torque (oz-in)
4.97
1.99
Torque (Nm)
700
1.49
140
RS33C/ZETA4-240
3.55
Torque (Nm)
210
RS32C/ZETA4-240
500
Torque (Nm)
280
FULL
2.48
Torque (oz-in)
RS31C/ZETA4-240
350
PARALLEL
Catalog 8000-4/USA
Performance Curves
ZETA
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Speed-Torque Curves (@120VAC) (cont'd)
ZETA with TS Motors
400
2.8
300
2.1
200
7.0
800
5.6
600
4.2
400
2.8
200
1.4
1500
10.5
1000
7.0
500
3.5
1.4
.70
0
10
20
30
Speed (RPS)
40
0
50
0
0
10
TS41B/ZETA
3.5
0
10
20
30
40
0
50
24.5
3000
21.2
2500
17.5
2000
14.1
1500
10.5
1000
7.0
500
3.5
0
10
Speed (RPS)
20
30
40
Speed (RPS)
SERIES
PARALLEL
30
40
0
50
TS43B/ZETA
3500
0
20
0
50
5000
35.3
4000
28.2
3000
21.2
2000
14.1
1000
7.0
0
0
10
20
30
40
0
50
Speed (RPS)
FULL
pn
e
0
10
Speed (RPS)
Torque (oz-in)
7.0
500
0
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231
Automation
Torque (Nm)
1000
0
0
50
Torque (Nm)
10.5
Torque (Nm)
1500
40
TS42B/ZETA
14.1
Torque (oz-in)
2000
20
30
Speed (RPS)
Torque (oz-in)
100
14.1
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
3.5
Torque (oz-in)
Torque (oz-in)
4.2
500
1000
2000
Torque (Nm)
600
TS33B/ZETA
8.4
Torque (Nm)
4.9
Torque (Nm)
700
0
TS32B/ZETA
1200
5.6
Torque (oz-in)
TS31B/ZETA
800
Catalog 8000-4/USA
Motor Specifications
ZETA
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ES Series Stepper
Motor Specifications
Size 23 & 34 Frame Sizes
Size 23 Frame
Parameters
Static torque
Rotor inertia
Drive Current
Apk (Arms)
Phase Inductance
Bearings
Thrust load
Radial load
End play
Reversing load
Equal to 1 lb
Radial play
Per 0.5 lb load
Weight (net)
Motor+Cable
+Connector
Motor Cable
ES21B
ES22B
ES23B
ES31B
ES32B
ES33B
oz-in
(N-m)
65
(0.46)
100
(0.71)
125
(0.89)
160
(1.14)
300
(2.14)
400
(2.80)
oz-in2
2
–6
(kg-m x 10 )
0.546
(9.998)
1.1
(20.1 )
1.69
(30.9)
3.47
(63.4)
6.76
(124)
10.47
(191)
Series
Parallel
1.76 (1.24)
3.5 (2.47)
2.01 (1.42)
4.0 (2.83)
2.63 (1.86)
5.16 (3.65)
2.76 (1.95)
5.42 (3.83)
3.63 (2.57)
7.23 (5.11)
4.0 (2.83)
8.0 (5.66)
Series
Parallel
17.37
4.34
18.5
4.62
17
4.25
10
2.5
10.5
2.62
9.2
2.3
lb
(kg)
lb
(kg)
in
(cm)
25
(11.3)
15
(6.8)
0.005
(0.013)
25
(11.3)
15
(6.8)
0.005
(0.013)
25
(11.3)
15
(6.8)
0.005
(0.013)
50
(22.6)
25
(11.3)
0.005
(0.013)
50
(22.6)
25
(11.3)
0.005
(0.013)
50
(22.6)
25
(11.3)
0.005
(0.013)
in
(cm)
0.0008
(0.002)
0.0008
(0.002)
0.0008
(0.002)
0.0008
(0.002)
0.0008
(0.002)
0.0008
(0.002)
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)
AWG
2
(mm )
24
(0.25)
24
(0.25)
24
(0.25)
22
(0.34)
22
(0.34)
22
(0.34)
pn
e
Wire size
Size 34 Frame
All motors: Cable length = 10 feet (3 m); attached connector is prewired for series current.
232
Automation
Parker Hannifin Corporation
Compumotor Division
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Catalog 8000-4/USA
Motor Specifications
ZETA
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OS & VS Series Stepper
Motor Specifications
Size 17, 23 & 34 Frame Sizes
Size 17 Frame
OS2HB OS21B OS22B
Static torque
Size 23 Frame
Size 34 Frame
VS12B
VS13B
VS21B
VS22B
VS23B
VS31B
VS32B
oz-in
(Nm)
61
(0.4)
127
(0.9)
238
(1.7)
57
(0.4)
73
(0.5)
116
(0.8)
195
(1.4)
335
(2.4)
552
(3.9)
1270
(9.0)
Rotor inertia
oz-in2
(kg-cm2)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
0.3
(0.054)
0.37
(0.068)
0.66
(0.12)
1.64
(0.3)
2.62
(0.48)
7.65
(1.4)
14.8
(2.7)
Drive Current
Apk (Arms)
Series
Parallel
1.0 (0.7)
2.0 (1.4)
1.0 (0.7)
2.0 (1.4)
2.3 (1.6)
4.6 (3.2)
2.0 (1.4)
4.0 (2.8)
2.0 (1.4)
4.0 (2.8)
3.0 (2.1)
6.0 (4.2)
3.1 (2.2)
6.2 (4.4)
Phase Inductance
(mH)
Drive Bus Voltage
Detent Torque
Bearings Information
Thrust Load
Radial Load
End Play
Radial Play
(Per 0.5 lb load)
Series
Parallel
8.6
2.2
12
3
16.6
4.2
3.2
(0.85)
2.8
(0.7)
5
(1.25)
12.0
(3.0)
15.4
(3.85)
15.8
NA
25.0
NA
(VDC)
170
170
170
170
170
170
170
170
170
170
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
2.7
(0.02)
3.0
(0.02)
2.7
(0.02)
3.3
(0.02)
6.0
(0.04)
14.0
(0.1)
28.0
(0.2)
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
11
(5)
11
(5)
17.6
(8)
17.6
(8)
17.6
(8)
35.3
(16)
35.3
(16)
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
7.7
(3.5)
7.7
(3.5)
15.0
(6.8)
15.0
(6.8)
15.0
(6.8)
30.9
(14)
30.9
(14)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.0032
(0.080)
0.0032
(0.080)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
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)
lb
(kg)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
0.55
(0.25)
0.77
(0.35)
1.03
(0.47)
1.54
(0.7)
2.2
(1.0)
3.86
(1.75)
6.18
(2.8)
pn
e
Motor Weight
1.8 (1.3) 1.9 (1.3) 2.4 (1.7)
3.6 (2.6) 3.8 (2.6) 4.8 (3.4)
Certifications
UL recognized
CE (LVD)
CE
(EMC & LVD)*
Pending
Yes
Pending
Yes
Pending
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
233
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B
Size 23 Frame
Parameters
Catalog 8000-4/USA
Motor Specifications
ua
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ZETA
Motor Specifications - 170 VDC Motor
Size 23 Frame
Parameters
OS2HB
OS21B
OS22B
Static torque**
oz-in
(Nm)
43
(0.30)
82
(0.58)
155
(1.09)
Rotor inertia
oz-in2
(kg-cm2)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
Drive Current
(Apk)(Arms)**
Series
Parallel
1.5 (1.0)
3.0 (2.1)
1.8 (1.3)
4.0 (2.8)
2.2 (1.5)
4.0 (2.8)
Phase Inductance
(mH)***
Series
Parallel
8.6
2.2
12
3
16.6
4.2
Drive Bus Voltage
(VDC)
170
170
170
Detent Torque
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
Thrust Load
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
Radial Load
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
End Play
(Reversing load
equal to 1 lb)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
Radial Play
(Per 0.5 lb load)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
Motor Weight
lb
(kg)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
Bearings
Information
Certifications
pn
e
UL recognized
CE (LVD)
CE (EMC & LVD)*
For ZETA Series Motor Specifications and dimensions,
please refer to the
E Series Motor Specifications located in the Gemini Section.
Motor Specifications - 170 VDC Motor
Size 34 Frame
Parameters
Size 42 Frame
TS31B
TS32B
TS33B
TS41B
TS42B
TS43B
Static torque**
oz-in
(N-m)
455
(3.19)
647
(4.53)
1525
(10.68)
1332
(9.32)
2515
(17.61)
3479
(24.35)
Rotor inertia
oz-in2
(kg-cm2)
7.80
(1.43)
14.67
(2.68)
21.89
(4.01)
30.22
(5.53)
59.68
(10.92)
88.51
(16.20)
Drive Current
(Apk)(Arms)**
Series
Parallel
3.3 (2.3)
6.7 (4.7)
3.1 (2.2)
6.2 (4.4)
5.6 (4.0)
12.0 (8.5)
6.4 (4.5)
12.0 (8.5)
6.7 (4.7)
12.0 (8.5)
6.9 (4.9)
12.0 (8.5)
Drive Bus Voltage
(VDC)
170
170
170
170
170
170
Phase Inductance
(mH)***
Series
Parallel
10.3
2.6
10.3
2.6
13.6
3.4
15.8
3.9
22.0
5.5
30.7
7.7
Detent Torque
oz-in
(Nm)
18
(0.13)
36
(0.25)
54
(0.38)
42
(0.30)
84
(0.59)
106
(0.75)
234
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Motor Specifications
ua
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ZETA
Motor Specifications - 170 VDC Motor (cont'd)
Size 34 Frame
Parameters
Bearings Information
Thrust Load
Radial Load
End Play
(Reversing load equal to 1 lb)
Size 42 Frame
TS31B
TS32B
TS33B
TS41B
TS42B
TS43B
lb
(kg)
305
(139)
305
(139)
305
(139)
404
(184)
404
(184)
404
(184)
lb
(kg)
65
(30)
65
(30)
110
(50)
125
(57)
110
(50)
110
(50)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
in
(mm)
0.0008
(0.020)
0.0008
(0.020)
0.0008
(0.020)
0.0008
(0.020)
0.0008
(0.020)
0.0008
(0.020)
lb
(kg)
5.0
(2.3)
8.4
(3.8)
11.9
(5.4)
11.0
(5.0)
18.4
(8.4)
25.7
(11.7)
UL recognized
CE (LVD)
CE (EMC & LVD)*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Radial Play (Per 0.5 lb load)
Motor Weight
Certifications
340 VDC Motors
For ZETA Series Motor Specifications and dimensions, please refer to the
E Series Motor Specifications located in the Gemini Section.
Size 34 Frame
Parameters
Size 42 Frame
RS31C
RS32C
RS33C
RS42C
RE42C
RS43C
oz-in
(N-m)
171
(1.21)
292
(2.06)
532
(3.76)
1.266
(8.94)
1,959
(13.8)
1,671
(11.8)
oz-in2
(kg-cm2)
3.20
(0.59)
6.56
(1.20)
9.65
(1.77)
61.76
(11.30)
61.76
(11.30)
92.64
(16.95)
Drive Current (Apk)(Arms)**
Series
Parallel
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)
Phase Inductance (mH)***
Series
Parallel
17.4
4.4
26.2
6.6
23.3
5.8
65.4
16.4
55.6
13.9
42.9
10.7
Drive Bus Voltage
(VDC)
340
340
340
340
340
340
Detent Torque
oz-in
(N-m)
8.8
0.062
18.0
0.130
27.0
0.190
50.0
(0.350)
81.0
(0.570)
71.0
(0.500)
lb
(kg)
180
(81.6)
180
(81.6)
180
(81.6)
400
(182)
400
(182)
400
(182)
Radial Load
lb
(kg)
35
(15.9)
35
(15.9)
35
(15.9)
140
(63.6)
140
(63.6)
140
(63.6)
End Play
(Reversing load equal to 1 lb)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
Radial Play (Per 0.5 lb load)
in
(mm)
lb
(kg)
0.0008
(0.02)
3.2
(1.5)
0.0008
(0.02)
5.3
(2.4)
0.0008
(0.02)
7.6
(3.5)
0.0008
(0.02)
18.2
(8.3)
0.0008
(0.02)
18.2
(8.3)
0.0008
(0.02)
25.7
(11.7)
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Yes
Yes
*
Static torque**
pn
e
Rotor inertia
Bearings Information
Thrust Load
Motor Weight
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
•
ZETA EMC KIT
•
C10 motor accessory (LVD/EMC cable kit)
• CE(LVD) motor for LVD. Compumotor recommends a terminal board (NPS) motor construction for easier EMC installation
** Values shown in speed-torque curves
*** Small signal values
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235
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Motor Specifications - 340VDC Motor
Catalog 8000-4/USA
Dimensions
ZETA
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ZETA Series CE Motor Dimensional Drawings
Size 23 Frame, O Series
Dimensions in inches (mm)
0.200 (5.08) dia (4)
on 2.625 (66.68) BC
0.2500(6.350)
0.2495(6.337)
Shaft Dia
13.5
(343) 0.25
Min. (6.4)
Flexible boot
may be bent as
shown. Nominal
height 1.0 (25.4).
1.0
(25.4)
1.06 (26.9)
45°
1.86
(47.2)
2.25
(57.2)
0.20 (5.08)
0.81(20.6)
1.502 (38.15)
1.498 (38.05)
Model
2.4
(62 4
.0)
0.055 (1.40)
A
A
OS2HA
(OEM57-40)
1.60 (40.6)
OS21A
(OEM57-51)
2.06 (52.3)
OS22A
(OEM57-83)
3.10 (87.7)
Size 34 Frame, R Series
Dimensions in inches (mm)
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)
1
Ø2.875 +
- 0.002
(73.025 +
- 0.051)
0.003 (0.077) -A-
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
0.75 (19.05)
full depth
0.344
(8.738)
+ 0.000
0.374 - 0.010
+ 0.00)
(9.50 - 0.26)
0.50 +
- 0.02
(12.7 +
- 0.051)
Indicated dimension
applies from end of
extension to face of
rear end bell (cover
and gasket removed)
Double Shaft
Configuration
EC Encoder
Configuration
Model
0.0469 +
- 0.0050
(1.191 +
- 0.128)
1.25 (31.75)
3.88
(98.6)
+ 0.0000
Ø0.3750 - 0.0005
+ 0.000)
(9.53 - 0.013)
0.002 (0.051)
Lmax
L2
RS31■–■■■NPS
RS32■–■■■NPS
3.62 (91.95)
4.77 (121.16)
2.87 (72.9)
4.02 (102.11)
RS33■–■■■NPS
6.05 (153.67)
5.30 (134.62)
1.25 (31.75)
Flat Configuration = F
#303 Woodruff Key Configuration = W
pn
e
Size 42 Frame, R Series
Dimensions in inches (mm)
4 x Ø0.328 (8.33) thru
equally spaced on a
Ø4.950 (125.73) B.C.
4.28
(108.71)
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°
+ 0.000 ( + 0.000)
C - 0.017 ( - 0.432)
1
0.06 (1.52)
0.46 (11.68)
1.375 +
- 0.010
(34.93 +
- 0.26)
L2
B
Ø2.186 +
- 0.002
(55.52 +
- 0.051)
0.003 (0.077) -A-
1.41
(35.81)
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-
L1 max.
4.80
(121.9)
Removable
insulating bushing
Construction = conduit. Connection
(1/2 NPS TAP) with 0.56 (14.22)
I.D. removable insulating bushing
Indicated dimension
applies from end of
extension to face of
rear end bell (cover
and gasket removed)
Double Shaft
Configuration
EC Encoder
Configuration
0.003 (0.077) -A-
0.187
(4.75)
1.25
(31.75)
Model
RS42■–■■■NPS
0.187
(4.75)
Detail View
0.705
(17.91)
Lmax
L2
A
B
C
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)
RS43C–■■■NPS
10.56 (268.23)
9.81 (249.18)
0.75 (19.05)
2.19 (55.63)
0.83 (21.09)
236
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Dimensions
ZETA
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ZETA Series CE Motor Dimensional Drawings
Size 34 Frame, T Series
Dimensions in inches (mm)
3.38
(85.85)
4x ∆ .218 (5.54) thru
equally spaced on a
∆ 3.875 (98.43) B.C.
.875 ± .010
(22.225 ± .254)
1.43 +
- 0.04
(36.32 +
- 1.02)
1
Ø0.3750
(9.53
+ 0.0000
- 0.0005
+ 0.000)
- 0.013)
0.002 (0.051)
(2 x 45°)
C
+.0000
-.0020
1.95
(49.53)
MAX.
1
+.0000
∆ A -.0005
B
+ 000
-.017
.06 (1.52)
.002 (0.051)
∆ 2.875 ± .002
(73.025 ± .051)
-A-
1/2 NPS TAP
WITH .56 I.D.
INSULATING BUSHING
.33 (8.382)
L2
.003 (0.077)
A
1.25
(31.75)
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
1.63
(41.4)
2.5
(63.5)
Model
A
B
C
4.44 (112.78)
Lmax
3.70
(93.98)
0.5000 (12.70)
.555 (14.097)
.1250 (3.175)
TS32B-■K■NPS
5.96 (151.38)
5.22 (132.59)
0.5000 (12.70)
.555(14.097)
.1250 (3.175)
TS33B–■K■NPS
7.48 (189.99)
6.74 (171.20)
0.6250 (15.88)
.705 (17.907)
.1875 (4.763)
TS31B-■K■NPS
L2
Size 42 Frame, T Series
Dimensions in inches (mm)
4x ∆ .328 (8.331) thru
equally spaced on a
∆ 4.950 (125.73) B.C.
1.57 +
- 0.04
(39.88 +
- 1.02)
1.375 ± .010
(34.925) ± .254
pn
e
4.325
(109.855)
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)
+.0000
∆ .7500 -.0005
+0.000)
(19.050 -0.013)
2.23
(56.642)
MAX.
1
.002 (0.051)
.830 +.000
-.017
(21.08) (+.000)
(-.432)
-A-
.06 (1.52)
.48 (12.192)
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)
A
Double Shaft
Configuration
1/2 NPS TAP
WITH .56 I.D.
INSULATING BUSHING
L MAX.
2.19
(55.63)
.003 (0.077)
4.80
(121.9)
A
2.5
(63.5)
1.63
(41.4)
EC Encoder
Configuration
Model
Lmax
L2
5.20 (132.08)
4.46 (113.28)
TS42B-■K■NPS
7.22 (183.39)
6.48 (164.59)
TS43B–■K■NPS
9.23(1234.44)
8.49 (215.65)
TS41B-■K■NPS
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
237
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
EC Encoder
Configuration
Catalog 8000-4/USA
Dimensions
ZETA
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ZETA Dimensional Drawings
ZETA4 Dimensions
ZETA4-240, ZETA8, ZETA12 Dimensions
Dimensions in inches (mm)
Dimensions in inches (mm)
6.138 (155.9)
5.970 (151.6)
3x Ø0.18 (4.6)
(clearance for #8 (M4)
mounting screw)
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)
8.850
(224.8)
0.88
(22)
0.500
(12.7)
1.000
(25.4)
3x fl0.156
(3.96) (clearance
for #6 screws)
1.00
(25.4)
Unpainted for
grounding
Product
'A'
ZETA8 & ZETA4-240
ZETA12
2.75 (70)
3.75 (96)
ZETA6104 Dimensions
ZETA6104-240, ZETA6108, ZETA6112
Dimensions in inches (mm)
Dimensions in inches (mm)
3x Ø0.156
(3.96) (clearance
for #6 screws)
1.465
(37.2)
8.000
(203.2)
'A'
0.150
(3.8)
1.8
(45.7)
6.94 (176)
pn
e
5.970 (151.6)
3x Ø0.156 (3.96)
(clearance for #6
mounting screw)
0.133
(3.3)
2.930 (74.4)
Back of flange
unpainted for
grounding
8.600
(218.4)
9.5
(241)
8.80
(224)
9.75
(248)
8.850
(224.8)
0.965
(24.5)
1.00
(25.4)
1.000
(25.4)
238
Automation
1.34
(34.0)
Product
'A'
ZETA6104-240
ZETA6108
ZETA6112
3.69 (93.7)
3.69 (93.7)
4.69 (119.2)
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Connections
ZETA
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ZETA6000 Series Connection Pin-Out List
(ZETA6104, ZETA6104-240, ZETA6108 & ZETA6112)
Pin No
1
2
3
4
Signal
Pin No
Rx
Tx
Ground
Shield
1
2
3
4
5
6
7
8
9
10
COM2
5-Pin Screw Terminal
Pin No
1
2
3
4
5
Signal
+5VDC (out)/Rx+
Ground/RXRx/Tx+
Tx/TxShield/Ground
Encoder
9-Pin Screw Terminal
Pin No
Signal
Limits
4-Pin Screw Terminal
Signal
Pin No
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)
1
2
3
4
Shield
Ground
ZZ+
BB+
AA+
+5VDC (out)
1
2
3
4
5
6
7
8
9
Ground
Home
Neg
Pos
Pin No
1
3
5
7
9
11
13
15
17
19
21
23
25
Motor
9-Pin Screw Terminal
Pin No
Signal
Programmable I/O Pin Outs
50-Pin Screw Terminal
Signal
Interlock
A- Center tap
A+
AEarth
B+
BB- Center tap
Interlock
pn
e
1
2
3
4
5
6
7
8
9
I/O
10-Pin Screw Terminal
I/O Connector
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
Input #7
29
Input #6
31
Input #5
33
Output #4
35
Output #3
37
Output #2
39
Output #1
41
Input #4
43
Input #3
45
Input #2
47
Input #1
49
+5VDC
Even-numbered pins connected to
common logic ground.
ZETA Drives Connection
(ZETA4, ZETA4-240, ZETA8 & ZETA12)
Internal Connections
13
681Ω
25
12
24
11
Reset+
Reset–
ILD213
23
10
22
9
Fault C
Fault E
21
8
20
7
ILD223
19
6
681Ω
18
5
17
Shutdown–
4
Direction–
Direction+
Step–
Step+
ILD213
16
Shutdown+
3
CCW- 15
CCW+
243Ω
2
CW- 14
CW+
1
243Ω
HCPL2631
HCPL2631
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
239
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
COM1
4-Pin Screw Terminal
Catalog 8000-4/USA
Ordering Information
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ZETA
Ordering Information
Drives
Drive/Controller
Drive/Controller
Accessories
(LVD)
Drive/Controller
Software
Description
ZETA4
Packaged 4Apk, 170VDC bus microstepping drive
ZETA4-240
@120VAC: Packaged 4Apk, 170VDC bus microstepping drive
@ 240VAC: Packaged 4Apk, 340VDC bus microstepping drive
and
(EMC & LVD)
ZETA8
Packaged 8Apk, 170VDC bus microstepping drive
and
(EMC & LVD)
ZETA12
Packaged 12Apk, 170VDC bus microstepping drive
and
(EMC & LVD)
ZETA6104
ZETA6104-240
Packaged 4Apk, 170VDC bus microstepping indexer/drive
@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
VM24S
VM50
RP240
RP240-NEMA 4
24V input/output module
50-pin header-to-screw terminal breakout board
Operator interface
NEMA 4 rated operator interface
DDE6000
DDE server for 6000 Series
C10 (C10H)*
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)
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System
Part No.
ZETA EMC KIT
* C10H is a high-power verson of the C10 cable kit. IT
should be used with motors operating above 10 amps of
current (TS33, TS41, TS42, or TS43 in parallel)
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 (C10H) motor accessory (LVD/EMC cable kit)
• ZETA EMC KIT
240
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
Ordering Information
ZETA
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Motor Ordering Information
O Series (CE(LVD), UL Pending)
The O Series Size 23 Frame motors with A Winding (75VDC) are designed for use with the OEM750 Series, OEM230/330/530
Series, and the SD Series. The O Series Size 23 Frame motors with B Winding (170VDC) are designed for use with ZETA Series,
ZETSA-240 Series (@120VAC), S Series, PD Series.
Series
O (Octagonal)
Type
S=Standard
Frame Size
2=Size 23
No. of
Rotor Stacks
H=Half stacks
1=1 stack
2=2 stacks
Winding Type
Shaft
A=75VDC winding
(Gray painting motors)
B=170VDC winding
(Black painted motors)
S=Single
D=Double
(Double
shaft req d
for all
motors with
encoders)
Motor Construction/
Hookup
Shaft
Modification
N=Standard
smooth
F=Flat
(.02" depth)
(0.5" length)
FLY=Regular construction with flying
(8) leads, 12"
L10= Regular construction with 10’ LVD
cable
O Series Part Number Example:
Encoder Option
Blank=No feedback (no dash
required)
HJ=512 ppr single-ended kit
encoder w/12" flying leads (only
available on A winding motors)
RE=1000 ppr differential kit
encoder w/ line driver & 13"
braided shield cable (w/ FLY only)
RC=1000 ppr differential kit
encoder w/ line driver & 10’ cable
OS2 _ _ - _ _ ____ - ___
OS2HA-SNFLY
OS22B-DNL10-RC
R Series (CE (EMC)*, CE(LVD), UL Recognized)
Series
R (Round)
Type
S=Standard
E=Enhanced
(RE 42 only)
Frame Size
3=Size 34
4=Size 42
Winding Type
No. of
Rotor Stacks C=340VDC winding
(Yellow painted motors)
1=1 stack
(34 Frame Only)
2=2 stacks
3=3 stacks
Shaft
S=Single
D=Double
(Double
shaft req’d
for all
motors w/
encoders)
Shaft
Modification
N=None
(34 Frame only)
K=Straight Key
(Standard on 42
Frame)
F=Flat
(34 Frame only,
0.02" depth,
0.5" length)
R Series Part Number Example:
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R _ _ _ _ - _ _ ______ - ____
RS32-SNS10
RE42C-SKNPS
RS42-DKS10-EC
Motor Construction/
Hookup
NPS=End bell/terminal
board via 1/2" NPS Pipe
thread
P10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Parallel.
Encoder Option
Blank=No feedback
(No Dash Required)
EC=1000 ppr differential
encoder with line driver
and 10’ cable (-E Series)
S10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Series.
T Series (CE (EMC)*, CE (LVD), UL Recognized)
The T Series Size 34 and Size 42 Frame motors are available in a B Winding (170VDC). These motors are designed for use with
the ZETA Series, ZETA-240 (@120VAC), PD Series, S Series.
Series
T (Torque)
Type
S=Standard
Frame Size
3=Size 34
4=Size 42
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)
T Series Part Number Example:
TS _ _ B - _ K _ ______ - _____
TS31B-SKNPS
TS43B-DKS10
Shaft
Modification
K=Straight Key
(Standard on
all T Series
Motors)
Motor Construction/
Hookup
NPS=End bell/terminal
board via 1/2" NPS Pipe
thread, no cable
S10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Series
Encoder Option
Blank=No feedback
(No Dash Required)
EC=1000 ppr differential
encoder with line driver
and 10-ft cable (-E Series)
P10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Parallel.
* For CE(EMC) compliance, refer to the ZETA Installation Guide
ZETA Series: True Innovation In Microstepping Technology. Call 1-800-358-9070 Today.
241
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
The R Series Size 34 and Size 42 Frame motors are available in a C Winding (340VDC). Motors with the C Winding are recommended for use with the ZETA240 Series (@240VAC).
Catalog 8000-4/USA
Ordering Information
ZETA
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Motor Ordering Information, continued
E Series (also known as ZETA Series)
The E Series Size 23 and Size 34 Frame motors are available in a B Winding (170VDC). These motors are designed for use with Gemini GT-L5,
Gemini GT-L8, the ZETA Series, ZETA4-240 (@120VAC), PD Series, S Series.
Series
E
(Extra Smooth)
Type
S=Standard
No. of
Rotor Stacks
Frame Size
2=Size 23 (2.5")
1= 1 stack
3=Size 34 (3.38")
2= 2 stacks
3= 3 stacks
Shaft
Winding Type
B=170VDC winding
(Black painted motors)
S=Single
D=Double
Double
shaft req d
for all
motors
w/encoders
Shaft
Modification
N=None
(Standard)
F=Flat
(.02" depth)
(0.5" length)
K=Straight Key
(34 Frame Only)
Motor Construction/
Hookup
R10=Regular hookup
w/ 10’ Flying Leads
Encoder Option
Blank=No feedback (no dash
required)
EC=1000 ppr differential line
encoder w/ 10’ cable
E Series Part Number Example
ES _ _ B - _ K _ ______ - _____
ES31B-SKNPS
ES43B-DKS10
V Series (UL Recognized)
The V Series Size 17, Size 23 and Size 34 Frame motors are available in a B Winding (170VDC). These motors are designed for use with the E-AC
drive, the Gemini GT-L5, the Gemini GT-L8, the ZETA Series, the ZETA4-240 (@120VAC), the PD Series and the S Series.
Series
V
Type
S=Standard
Frame Size
1=Size 17
2=Size23
3=Size34
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
Shaft
Modification
N=Standard
(smooth)
F=Flat
(.02" depth)
(.5" length)
Motor Construction/
Hookup
FLY - 12" flying leads
RIO - 10’ cable to flying
leads
V Series Part Number Example
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VS _ _ B - _ K _ _ _ - _____
VS13B-DFRIO
242
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750
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OEM
Compact, Low-Cost
Drives
Electronic Damping
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All step motors are subject to mid-range instability, also referred
to as parametric oscillations. Several problems are associated
with these oscillations. They can cause the motor to stall, and
thus cause the user to include a margin (typically at least 50%)
of extra torque to overcome the oscillation. The OEM750 Series
incorporates a subset of the patented electronic damping
circuitry developed by Compumotor. This feature suppresses
these oscillations, allowing the torque formerly reserved for
safety margin to be used to do useful work, thus taking
advantage of the full capabilities of the step motor.
• Minimizes stall condition
• Increases usable torque
• Higher accelerations
Current Loop Adjustment
Since the OEM750 Series is capable of operating from 24 to 75
VDC, while operating motors with a wide range of winding
inductances, Compumotor incorporated current loop gain
techniques to optimize motor performance. The loop gain
adjustment is designed to maximize your system’s (drive,
motor,and voltage) performance. Control over the current loop
gain allows customers to take advantage of the motor’s capable
torque and reduces audible noise and excessive heating of the
motor. This gives users more choices when selecting a motor
and the opportunity to pick the best motor for their application.
•
•
•
Optimizes motor performance
Reduces audible noise
Reduces motor heating
Packaging
The OEM750 Series combines ASIC and surface mount
technologies to minimize the product’s footprint, minimize
overall package size, and increase product reliability.
Reliability
At Compumotor, producing reliable, quality products is our
number one priority. Our OEM750 Series is designed with highquality standards and manufactured with state-of-the-art
equipment and production methods. Before any product
reaches our customers, it must pass a rigorous set of hardware
and software tests. Today, Compumotor uses Highly Accelerated Life Testing (HALT) to uncover the product’s vulnerabilities,
in order to produce a robust and reliable product. JIT (Just-InTime) manufacturing and DFM (Design-For-Manufacturability)
methods lend themselves well in creating the necessary
flexibility to readily accommodate your special needs.
ss
See the OEM Servo Drive Products
in the Servo Drive and Drive/Controller
section.
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
243
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
With technology enhancements and field experience, Compumotor offers the OEM750 Series, a compact microstepping
drive that provides big performance in a small package.
Catalog 8000-4/USA
OEM
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OEM750
Compact, Low-Cost
Drives
Compumotor’s OEM750 microstepping drive is designed with
performance, power, packaging, and reliability in mind —
everything that is necessary to meet your high-volume
microstepping application needs.
Features
Performance
•
•
•
•
•
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•
•
•
•
•
•
Physical
Designed for use with motor inductance range of
0.2 mH–80 mH
Three-state current control allows the drive and motor to
run cooler and more efficiently than two-state drives
Selectable resolution up to 50,800 steps/rev
Auto standby reduces motor current (and heating) at rest
Provides 0.2 Amps to 7.5 Amps (peak)
Single 24-75 VDC power supply input
Compatible with a variety of motors
Six predefined current waveforms to optimize
smoothness
Protection
•
•
•
•
•
Optically isolated step and direction inputs
Short circuit protected—phase-to-phase, and phase-toground
Power dump circuitry to protect drive from regeneration
caused by large inertial loads
Self-test feature to verify proper system operation
Overtemperature circuitry protects the drive from thermal
damage
•
•
•
•
•
•
•
•
•
* For compliance, user must follow procedure set in the OEM750 User Guide.
244
Automation
Status/fault LED indicators to confirm proper operation
ASIC and surface-mount technologies minimize product
footprint, overall package size, and increase product
reliability
Removable snap-on molded cover for convenient configuration and protection against contaminants
Optically isolated fault output for embedded applications
Heat plate design allows thermal dissipation through a
suitable heat dissipating mounting surface
Simplified, two-screw mounting
Right-angle screw terminal allows side-to-side mounting or
Eurorack compatibility
Built-in controller version for complete application
solutions—OEM750X
Overall dimensions 5.0 x 3.6 x 1.6 in. (127 x 91 x 41 mm)
Convenient configuration DIP switches
Certified as UL-recognized component
CE (LVD & EMC)*
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750
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OEM
OEM750 Specifications
Power Input
DC
Performance
Accuracy
Repeatability
Hysteresis
Resolution
Waveform
Amplifier
Type
Number of Phases
Output Current
Drive Supply Voltage
Standby Current Reduction
Nominal Chopping Frequency
Max Stepping Rate
Step Input
Direction Input
Fault Output
24–75 VDC @ 2.0 Arms (motor dependent)
±5 arc min (0.0833°) typical.
Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different
absolute accuracy.
±1 arc min (0.0167°) typical/per each frictional load equal to 1% rated torque.
Loaded-in addition to unloaded accuracy.
±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%, -8%, -10% 3rd harmonic.
20 kHz fixed frequency, variable duty cycle pulse width modulated (PWM )
Current Controlled, bipolar chopper
2
0.2–7.5 amps current per phase peak (selectable)
24–75 VDC (dependent on external power supply)
25%, 50%, or 75% of selected motor current
20 kHz
2 MHz max pulse rate; 50 rps max speed
High-going pulse, 200 nsec min width; max pulse rate is 2 MHz; User-supplied driver for the step
and direction inputs should be capable of providing a minimum of 6.5 mA to maximum of 15 mA
Logic High = positive (CW) rotation—3.5–5.0V
Logic Low = negative (CCW) rotation—0–0.4V
User-supplied driver for the step and direction inputs should be capable of providing a minimum
of 6.5 mA to a maximum of 15 mA. The direction input must be stable for at least 200 µsec before
the drive receives the first pulse
Open-Collector/Emitter, Vce = 70 VDC, Vce sat = 0.3 VDC, Ic = 10 mA (max)
Maximum dissipation = 55 mW
Conducting = normal operation
Non conduction = drive fault
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Protective
Circuts
Value
Short Circuit*
Undervoltage
Overtemperature*
Phase-to-phase, phase-to-ground
If DC supply drops below 24 VDC
The drive will fault if heat plate exceeds 55°C
Drive Temp
Humidity
Max allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow is
restricted. Max allowable heatplate temperature is 55°C.
0 to 95%, Non-condensing
Physical
Drive Dimensions
Weight
5.0 x 3.6 x 1.6 in (127 x 91 x 41 mm)
12 oz
Motor
Type
Number of Leads
Inductance Range
Two-phase hybrid permanent magnet, 1.8°
4, 6, or 8
0.2 mH–80 mH
Environmental
* Drive shuts down in conditions listed. Power must be cycled or drive reset to resume operations.
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
245
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Parameter
Catalog 8000-4/USA
OEM
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OEM750X
Compact, Low-Cost
Microstepping Drives with
Integrated Controller
Compumotor’s OEM750X microstepping drive/controller
combines the power, performance, packaging, and reliability of
the OEM750 with the simple programmability of a built-in, RS232C based controller. The “X” version is a cost-effective,
single-axis control system to meet your high-volume application
needs.
Features
Performance
Protection (continued)
•
•
•
•
•
Power dump circuitry to protect drive from regeneration
caused by large inertial loads
Self-test feature to verify proper system operation
Overtemperature circuitry protects the drive from thermal
damage
Certified as UL-recognized component
CE marked with LVD compliance
Physical
I/O
•
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All of the high performance found in the OEM750 plus:
• Built-in stand-alone controller
•
•
•
•
Standard RS-232C serial communications interface
Incremental encoder support for position tracking, stall
detection, and position maintenance
Three sequence select inputs for program initiation by an
external device
End of Travel and Home inputs
Language
•
•
•
Simple Compumotor X Language
Optional 2K bytes of battery-backed RAM to store up to 7
command sequences (-M2 option)
Address selectable for daisy chaining up to 8 units
Protection
•
•
•
•
•
•
•
•
•
ASIC and surface-mount technology minimize product
footprint, overall package size, and increase product
reliability
Removable snap-on molded cover for convenient configuration and protection against contaminants
Optically isolated fault output for imbedded applications
Heat plate design allows thermal dissipation through a
suitable heat dissipating mounting surface
Simplified, two-screw mounting
Right-angle screw terminal allows side-to-side mounting,
or Eurorack compatibility
Overall dimensions 5.0 x 3.6 x 1.6 in.
(127 x 91 x 41 mm)
Convenient configuration DIP switches
Short circuit protected—phase-to-phase, and phase-toground
Status/fault LED indicators to confirm proper operation
246
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750X
ua
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OEM
Power Input
Performance
Parameter
Value
DC
24–75 VDC @ 2.0 Arms (motor dependent)
Accuracy
±5 arc min (0.0833°) typical.
Unloaded-bidirectional with Compumotor supplied motors. Other motors may exhibit different
absolute accuracy.
±1 arc min (0.0167°) typical.
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%, -8%, -10% 3rd harmonic.
Repeatability
Hysteresis
Resolution
Waveform
RS-232C Interface
Connection
Parameters
Configurations
3-wire implementation (Tx, Rx, Gnd)
9,600 baud rate, 8 data bits, 1 stop bit, no parity
Up to 8 OEM750X units can be controlled from a single host RS-232C port in a daisy chain configuration
Sequence Select Inputs
Trigger Inputs
Limits and Home
Three inputs to be used to select and run motion programs and for interactive machine control; Logic
High = 2.0–5.0V; Logic Low = 0–0.8V
Logic High = 2.0–5.0V; Logic Low = 0–0.8V
Logic High = 2.0–5.0V; Logic Low = 0–0.8V
A, B and Z Channel
Max Frequency
Min Pulse Width (Z)
Single-ended, active high; Logic Low = 0–0.8V; Logic High = 2.0–5.0V
160 kHz (pre-quadrature)
500 nsecs
2 Programmable Outputs
Fault Output
Logic Low = maximum of 0.44 V (sinks to 24 mA)
Logic high = 5V, Logic low = .8V (output can sink up to 50mA from the load)
Type
Number of Phases
Output Current
Drive Supply Voltage
Standby Current Reduction
Nominal Chopping Frequency
Maximum Stepping Rate
20 kHz fixed frequency, variable duty cycle pulse width modulated (PWM)
Current controlled, bipolar chopper
2
0.2–7.5 amps current per phase peak (selectable)
24–75 VDC (dependent on external power supply)
25%, 50%, or 75% of selected motor current
20 kHz
2 MHz maximum pulse rate; 50 rps maximum speed
Protective Circuits
Short Circuit*
Brownout
Overtemperature*
Phase-to-phase, phase-to-ground
If DC supply drops below 24 VDC
Drive will fault if heat plate exceeds 55°C
Environmental
Drive
Humidity
Max allowable ambient temperature is 122°F (50°C). Fan cooling may be required if airflow is
restricted
Max allowable heatplate temperature is 55°C.
0 to 95%, Non-condensing
Physical
Drive Dimensions
Weight
5.0 x 3.6 x 1.6 in (127 x 91 x 41 mm)
14 oz
Motor
Type
Number of Leads
Inductance Range
Two-phase hybrid permanent magnet, 1.8°
4, 6, or 8
0.2 mH–80 mH
Inputs
Encoder
Outputs
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Amplifier
* Drive shuts down in conditions listed. Power must be cycled to resume operations.
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
247
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
OEM750X Specifications
Catalog 8000-4/USA
OEM
OEM750 & OEM750X
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Motor Speed-Torque Performance Curves
OEM750/OEM750X with VS Motos, 17 and 23 frame sizes, 75 VDC
VS13B/OEM750
.07
0
10
20
30
Speed (RPS)
40
70
.49
60
.42
50
.35
40
.28
30
.21
20
.14
10
.07
0
0
50
0
VS22B/OEM750
0
10
20
30
.42
40
.28
20
.14
0
0
250
1.75
200
1.40
150
1.05
100
.70
50
.35
40
Torque (oz-in)
.84
0
50
0
0
10
Speed (RPS)
20
30
10
20
30
Speed (RPS)
40
.000
50
40
Speed (RPS)
0
50
400
350
300
250
200
150
100
50
0
0
10
20
30
40
2.80
2.45
2.10
1.75
1.40
10.5
.70
.35
0
50
Speed (RPS)
0
10
20
30
40
5.6
4.9
4.2
3.5
2.8
2.1
1.4
.70
0
50
Torque (Nm)
Torque (oz-in)
VS32B/OEM750
800
700
600
500
400
300
200
100
0
48 VDC
24 VDC
PARALLEL
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Speed (RPS)
75 VDC
* Parallel connection consideration: For greater than 50% duty cycle above 5 rps, fan cooling the motor may be required.
Note: ±10% torque variance due to motor tolerance.
248
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Torque (Nm)
0
.56
60
VS31B/OEM750
2.10
.21
30
80
VS23B/OEM750
.42
60
.70
0
50
300
.63
90
40
Torque (Nm)
120
20
30
Speed (RPS)
1.05
Torque (Nm)
Torque (oz-in)
150
10
100
Torque (oz-in)
10
0
Torque (oz-in)
.14
20
.56
Torque (Nm)
.21
30
VS21B/OEM750
80
Torque (Nm)
.28
40
Torque (Nm)
Torque (oz-in)
.35
Torque (oz-in)
VS12B/OEM750
50
Catalog 8000-4/USA
OEM750 & OEM750X
OEM
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Motor Speed-Torque Performance Curves
OEM750/OEM750X with OS Motors, 23 frame size, 75 VDC
.21
20
.14
10
Torque (oz-in)
30
0
10
20
30
Speed (RPS)
40
40
.28
30
.21
20
.14
.07
10
.07
0
.35
0
0
50
0
10
20
30
Speed (RPS)
40
100
.70
80
.56
60
.42
40
.28
20
.14
0
0
50
0
10
20
30
40
Torque (Nm)
.28
OS21A/OEM750 (Series)
50
Torque (Nm)
40
Torque (Nm)
Torque (oz-in)
OS2HA/OEM750 (Parallel)
.35
Torque (oz-in)
OS2HA/OEM750 (Series)
50
0
50
Speed (RPS)
0
10
20
30
40
2.80
2.45
2.10
1.75
1.40
1.05
.70
.35
0
50
Torque (Nm)
Torque (oz-in)
OS22A/OEM750 (Series)
400
350
300
250
200
150
100
50
0
75 VDC
48 VDC
24 VDC
OEM750X with TS Motors
TS31B/OEM750
TS32B/OEM750
2.8
300
2.1
200
800
5.6
600
4.2
400
2.8
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1.4
7.0
100
.70
0
0
10
20
30
Speed (RPS)
40
0
50
1.4
200
0
0
10
20
30
Speed (RPS)
Torque (Nm)
400
Torque (oz-in)
1000
3.5
Torque (Nm)
Torque (oz-in)
500
40
0
50
SERIES (75VDC)
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
249
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Speed (RPS)
Catalog 8000-4/USA
OEM
OEM750 & OEM750X
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OEM750/OEM750X Motor Dimensional Drawings
Dimensions in inches (mm)
O Series and OEM57 Motors, Size 23 Frame
0.200 (5.08) dia (4)
on 2.625 (66.68) BC
0.2500(6.350)
0.2495(6.337)
Shaft Dia
13.5
(343) 0.25
Min. (6.4)
Flexible boot
may be bent as
shown. Nominal
height 1.0 (25.4).
1.0
(25.4)
1.06 (26.9)
45¡
2.25
(57.2)
1.86
(47.2)
0.20 (5.08)
1.502 (38.15)
1.498 (38.05)
0.81(20.6)
2.4
(62 4
.0)
0.055 (1.40)
A
Frame Size 23
Dimensions in inches (millimeters)
Model
OS2HA (OEM57-40)
OS21A (OEM57-51)
OS22A (OEM57-83)
Lmax A
1.60 (40.7)
2.06 (52.4)
3.10 (78.8)
pn
e
VS Motors, Size 17 Frame
Size 23 Frame
250
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750 & OEM750X
OEM
ua
ir
e
VS Motors, continued
Size 34 Frame
A +/- 0.04 [1]
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
fl0.3750
(9.53
+ 0.0000
- 0.0005
+ 0.000)
- 0.013)
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)
.33 (8.382)
pn
e
-A-
L2
.003 (0.077)
A
1.25
(31.75)
L MAX.
.003 (0.077)
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)
B
.555 (14.097)
.555 (14.097)
.705 (17.907)
A
1/2 NPS TAP
WITH .56 I.D.
INSULATING BUSHING
Indicated dimension
applies from end of
extension to face of
rear end bell (cover
and gasket removed)
Double Shaft
Configuration
3.88
(98.6)
C
.1250 (3.175)
.1250 (3.175)
.1875 (4.763)
1.63
(41.4)
2.5
(63.5)
EC Encoder
Configuration
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
251
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
T Series, Size 34 Frame
Catalog 8000-4/USA
OEM
OEM750 & OEM750X
ua
ir
e
OS and TS Series
Motor Specifications
Sizes 23 and 34 Frame
Size 23 Frame
Static torque
Rotor Inertia
Drive Current
(Apk)(Arms)
Phase Inductance
(mH)
Dentent Torque
Bearings Information
Thrust Load
Radial Load
End Play
(Reversing Load Equal to 1 lb)
Radial Play
(Per 0.5 lb load)
Motor Weight
OS21A
OS22A
TS31B
TS32B
oz-in
(Nm)
37
(0.26)
66
(0.47)
133
(0.94)
455
(3.19)
647
(4.53)
oz-in2
(kg-cm2)
0.386
(0.070)
0.656
(0.119)
1.390
(0.253)
7.80
(1.43)
14.67
(2.68)
Series
Parallel
2.65 (1.9)
5.3 (3.7)
3.3 (2.3)
6.6 (4.7)
3.8 (2.7)
7.5 (5.3)
3.3 (2.3)
6.7 (4.7)
3.1 (2.2)
6.2 (4.4)
Series
Parallel
1.7
0.4
1.8
0.4
2.8
0.7
10.3
2.6
10.3
2.6
oz-in
(Nm)
2.5
(0.018)
4.0
(0.028)
7.0
(0.049)
18.0
(0.30)
36.0
(0.25)
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
305
(139)
305
(139)
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
65
(30)
65
(30)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
1
(0.45)
1.5
(0.68)
2.5
(1.14)
5.0
(2.3)
8.4
(3.8)
Pending
Yes
No
Pending
Yes
No
Pending
Yes
No
Yes
Yes
w/C10 kit
Yes
Yes
w/C10 kit
lb
(kg)
UL recognized
CE (LVD)
CE (EMC)
pn
e
Certifications
Size 34 Frame
OS2HA
252
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750 & OEM750X
ua
ir
e
OEM
VS Series
Motor Specifications
Size 17, 23 and 34 Frame
Size 23 Frame
Size 34 Frame
VS12B
VS13B
VS21B
VS22B
VS23B
VS31B
VS32B
Static torque
oz-in
(Nm)
55.27
(0.39)
72.8
(0.51)
115.5
(0.82)
194.5
(1.37)
334.5
(2.36)
551.8
(3.90)
1269.67
(8.97)
Rotor inertia
oz-in2
(kg-cm2)
0.3
(0.054)
0.37
(0.068)
0.66
(0.12)
1.64
(0.3)
2.62
(0.48)
7.65
(1.4)
14.8
(2.7)
Drive Current
(Apk)(Arms)
Series
Parallel
1 (0.71)
2.0 (1.42)
1.01(0.71)
2.02 (1.43)
2.26 (1.6)
4.52 (3.2)
2.01 (1.42)
4.02 (2.84)
2.01 (1.42)
4.02 (2.84)
3.0 (2.12)
6.0 (4.24)
3.13 (2.21)
3.26 (4.42)
Phase Inductance
(mH)
Series
Parallel
12.8
(3.2)
11.2
(2.8)
5
(1.25)
12
(3.0)
15.4
(3.85)
15.8
(3.95)
25.0
(6.25)
Detent Torque
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
8.8
(0.06)
18.0
(0.13)
27.0
(0.19)
50
(0.35)
Thrust Load
lb
(kg)
11.0
(5)
11.0
(5)
17.6
(8)
17.6
(8)
17.6
(8)
35.3
(16)
35.3
(16)
Radial Load
lb
(kg)
7.7
(3.5)
7.7
(3.5)
15.0
(6.8)
15.0
(6.8)
15.0
(6.8)
30.9
(14)
30.9
(14)
End Play
(with 2.2 lbs axial
load)
in
(mm)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.0032
(0.080)
0.0032
(0.080)
Radial Play (with
1.1 lb radial load)
in
(mm)
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)
Motor Weight
lb
(kg)
0.55
(0.25)
0.77
(0.35)
1.03
(0.47)
1.54
(0.7)
2.2
(1.0)
3.86
(1.75)
6.18
(2.8)
No
No
No
No
No
No
No
Bearings
Information
Certifications
pn
e
UL recognized
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
253
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Size 17 Frame
Parameters
Catalog 8000-4/USA
OEM
OEM750 & OEM750X
ua
ir
e
OEM750/OEM750X Dimensional Drawings
0.420
(10.67)
Dimensions in inches (mm)
This surface must be
thermally coupled to a
cold plate in most
applications
2x 0.177 (4.50)
Thru (Clearance
for #8 (M4)
Mounting Screw)
1.625 (41.28)
!
DRI VE
PWR/FLT
REMOTE
REF
CURRENT
DUMP
VDC+
VDCA+
AB+
B-
1.000 (25.40)
7.000 (177.80)
Mounting Clearance
series
V
DRI E
5.000 (127.00)
5500 Business Park Dr.
Rohnert Park, CA 94928
OEM
DRI VE
Compumotor
4.650 (118.11)
0.175 (4.45)
0.812 (20.62)
DRI VE
3.555 (90.30)
3.315 (84.20)
1.000 (25.40)
Exposed aluminum
for electrical
grounding
0.335
(8.51)
pn
e
2.000 (50.80)
Mtg Clearance
254
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEM750 & OEM750X
OEM
ua
ir
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OEM750 Drive Connections
Internal Connections
+5V
+5V
243Ω
8
2
Inputs & Outputs
+5V
5
464Ω
243Ω
ILQ2
1
Direction Input
Motor Screw-Terminal
3
HCPL-2601
Step Input
464Ω
6
2
11
14
5
15
6
12
8
7
10
16
Remote Input
681Ω
17
+5V
9
ILQ2
Fault Output
Gear Shift Input
21
11
4N35
15
9
464Ω
Signal
1
2
3
4
5
6
7
8
9
10
REMOTE
REF
CURRENT
DUMP
VDC+
VDCA+
AB+
B-
1
2
16
23
Pin No
+5V
ILQ2
10kΩ
14
4
3
13 HPCL-2631
1
Direction Output
2
3
Tx
15
Rx
16
Shutdown
pn
e
CW Limit
14
series
N.C.
CCW Limit
4
N.O.
Home
5 17
18
6
Encoder Channel A
Reserved
GND Ref.
19
Encoder Channel Z
7
Output #2
8
20
Trigger Input #1
9 21
22
10
Trigger Input #2
N.C.
Trigger Input #3
N.C.
N.C.
DRI VE
PWR/FLT
REMOTE
REF
CURRENT
DUMP
VDC+
VDCA+
AB+
B-
Customer
Equipment
V
DRI E
DRI VE
!
DRI VE
Fault Output
Output #1
Encoder Channel B
N.C.
N.C.
Sequence #1
Sequence #2
11 23
12 24
Address Sel. #1
N.C.
Address Sel. #2
N.C.
N.C.
Sequence #3
13 25
Address Sel. #3
N.C.
Motor Screw-Terminal
Slave
Drive
N.C.
OEM
Step Output
RS-232C
Slave
Drive
OEM750X Drive/Indexer Connections
Pin No
Signal
1
2
3
4
5
6
7
8
9
10
REMOTE
REF
CURRENT
DUMP
VDC+
VDCA+
AB+
B-
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
255
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
25 Pin
D-Connector
BS170
ILQ2
681Ω
Catalog 8000-4/USA
OEM
ua
ir
e
OEM750 & OEM750X
Ordering Information
Drive
and
(LVD)
Option
Part No.
Description
OEM750
0.15–7.5 Apk,
Microstepping
Drive
Part No.
Description
M2-KIT
Memory Upgrade
Kit (2KBytes
Battery-Backed
RAM)
Drive/Controller
and
Part No.
Description
OEM750X
0.15–7.5 Apk,
Microstepping
Drive/Controller
OEM750X-M2
OEM750X w/
2KBytes BatteryBAcked RAM
Upgrade
(LVD)
and
(LVD)
Motor Ordering Information
O Series (CE(LVD), UL Pending)
Series
O (Octagonal)
Type
S=Standard
Frame Size
2=Size 23
No. of
Rotor Stacks
H=Half stacks
1=1 stack
2=2 stacks
Winding Type
Shaft
S=Single
D=Double
(Double
shaft req d
for all
motors with
encoders)
A=75VDC winding
(Gray painting motors)
B=170VDC winding
(Black painted motors)
Shaft
Modification
N=Standard
smooth
F=Flat
(.02" depth)
(0.5" length)
Motor Construction/
Hookup
FLY=Regular construction with flying
(8) leads, 12"
L10= Regular construction with 10’ LVD
cable
Encoder Option
Blank=No feedback (no dash
required)
HJ=512 ppr single-ended kit
encoder w/12" flying leads (only
available on A winding motors)
RE=1000 ppr differential kit
encoder w/ line driver & 13"
braided shield cable (w/ FLY only)
RC=1000 ppr differential kit
encoder w/ line driver & 10’ cable
V Series (UL)
Type
S=Standard
Frame Size
1=Size 17
2=Size23
3=Size34
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
pn
e
Series
V
Shaft
Modification
N=Standard
(smooth)
F=Flat
(.02" depth)
(.5" length)
Motor Construction/
Hookup
FLY - 12" flying leads
RIO - 10’ cable to flying
leads
T Series (CE(LVD), UL)
Series
T (Torque)
Type
S=Standard
Frame Size
3=Size 34
4=Size 42
No. of
Rotor Stacks
1=1 stack
2=2 stacks
3=3 stacks
Winding Type
B=170VDC winding
(Black painted motors)
256
Automation
Shaft
S=Single
D=Double
(Double
shaft req’d
for all
motors w/
encoders)
Shaft
Modification
K=Straight Key
(Standard on
all T Series
Motors)
Motor Construction/
Hookup
NPS=End bell/terminal
board via 1/2" NPS Pipe
thread, no cable
S10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Series
Encoder Option
Blank=No feedback
(No Dash Required)
EC=1000 ppr differential
encoder with line driver
and 10-ft cable (-E Series)
P10=CE (LVD)/UL, 10’ cable
option for NPS construction,
wired @ motor in Parallel.
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEMZL
ua
ir
e
OEM
Advanced Microstepping
Technology for High-Volume Applications
OEMZL4/6 Drive Features
•
•
•
•
•
•
•
•
OEMZL4: 4 Amp @ 120VAC (170 VDC bus voltage)
OEMZL6: 6 Amp @ 120VAC (170 VDC bus voltage)
Standard step-and-direction input or CW/CCW input
Operates with standard 1.8" hybrid step motors
Electronic Viscosity benefits:
•
Reduce settling time
•
Increase slow speed smoothness (reduce velocity
ripple)
•
Reduce audible noise
Anti-resonance eliminates mid-range instability and
provides damping ratios of up to 0.2
CE marked for LVD compliance
UL recognized
Protection Circuit
•
•
•
•
Motor short circuits (phase-to-phase and phase-toground)
Overtemperature of internal devices and power supply
Undervoltage (protects against low AC line or brownout)
Power dump (dissipates excess energy caused by load
regeneration)
Physical
•
•
•
•
120VAC (170VDC bus voltage) operation
Wide selection of available motors
Removable connectors for easy installation
Four diagnostic LEDs to confirm proper operation
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
257
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Performance
pn
e
The OEMZL is a packaged microstepping drive with the needs
of the OEM in mind. The connections are on removable screw
terminals and a standard 25-pin header allowing simple
installation and cable routing without having to cut off and
reattach a connector.
The OEMZL4 microstepping drive incorporates two
advanced damping technologies, Anti-Resonance and
Electronic Viscosity TM. These unique circuits increase the
performance of stepper motors by damping the resonance
and ringing usually seen after quick moves. The OEMZL4
drive is perfect for multi-axis applications and allows control by
any standard step and direction or clockwise/counterclockwise controller.
The OEMZL6104 combines the OEMZL4 drive with the
power and reliability of the 6000 family of controllers into one
convenient package. The OEMZL6104 uses the popular 6000
Series command language. This easy-to-learn language is
powerful enough to implement complex motion control
applications yet simple enough not to overwhelm a novice
programmer. To speed application development, Motion
Architect is compatible with the OEMZL6104 and contains
many tools which make application development and implementation easy. The OEMZL6104 is also compatible with
DDE6000 Server and Motion Builder software packages.
The OEMZL builds upon the reputation and reliability of one
of the best selling, most robust, and highest performing
microstepping drives in Compumotor history. With years of
successful application experience behind it, the OEMZL’s tried
and true design is ideally suited to meet the needs of OEMs
and high-volume users.
Compumotor offers a full breadth of stepper motors carefully
selected to mate with our OEMZL drives. Every motor we
offer meets a series of performance and quality standards. A
full description of the motors we offer is provided on our Web
site (www.compumotor.com). From this site, reference the
OEMZL Product Brochure for motor specifications and
performance curves.
Catalog 8000-4/USA
OEM
OEMZL
ua
ir
e
OEMZL6104 Microstepping Drive/Controller
OEMZL6104
Drive/Controller —
The OEMZL6104 drive/controller combines the OEMZL drive
with the flexibility of Compumotor's 6000 Series of controllers.
This advanced design makes the OEMZL6104 drive/controller
the highest value single-axis system in the industry.
All The Features of the OEMZL4 Plus:
I/O
•
•
•
•
•
•
Encoder channel configurable as hardware up/down
counter
Incremental encoder input for stall detect, position
maintenance
Home and end-of-travel limit inputs
Two fast (trigger) inputs for position capture, registration,
etc.
16 programmable inputs and 8 programmable outputs
(Opto-22 compatible)
One auxiliary programmable output
Language
•
•
•
•
•
•
150,000 bytes of non-volitile memory for storing programs
and paths
Interrupts program execution on error conditions
Encoder and motor position capture (using trigger inputs)
Registration (using 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
pn
e
•
•
Software
•
•
Motion ArchitectTM, Microsoft WindowsTM-based
application development software
Dynamic Link Library (DLL) provided for use with
Microsoft WindowsTM and Microsoft WindowsTM NT
software development kits
Compatible with Compumotor DDE server
Interface Capabilities
•
•
•
•
Direct interface to RP240 Remote Operator Panel
Operates standalone or interfaces to PCs, PLCs, and
thumbwheels
One RS-232C communications port
One RS-232C/485 communications port
Motion ArchitectTM Makes It Easy
Terminal Emulator
Download and upload 6000 programs to and from the
controller. Go on-line and determine controller status.
Motion Architect
Online User
Guides
•
Test Panel
Create your own test panel to exercise your programs and
check I/O, motion, system status and timers.
Context Sensitive Help
•
6000 Series
Software
Reference
Guide
6000 Series
Programmers
Guide
Access help on 6000 programming commands or how to use
a menu option.
258
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEMZL
ua
ir
e
OEM
Ordering Information
Drive/Controller
Accessories
Software
Motors
Part No.
Description
OEMZL4
Packaged 4Apk, 170VDC bus microstepping drive
OEMZL6
Packaged 6Apk, 170VDC bus microstepping drive
OEMZL6104
Packaged 4 Apk, 170VDC bus microstepping drive/controller
VM24S
24V input/output module (for use with OEMZL6104)
VM50
50-pin header-to-screw terminal breakout board (for use with OEMZL6104)
DDE6000
DDE server for 6000 Series
See Web site for full description of available motors
OEMZL4/6 Dimensions
OEMZL6104 Dimensions
Dimensions in inches (mm)
Dimensions in inches (mm)
6.138 (155.9)
5.970 (151.6)
0.133
(3.3)
2.930 (74.4)
1.000
(25.4)
2.000
(50.8)
5.970 (151.6)
0.133 (3.3)
3x Ø0.156
(3.96) (clearance
for #6 screws)
8.000
(203.2)
1.465
(37.2)
8.600
(218.4)
8.600
(218.4)
8.850
(224.8)
8.850
(224.8)
1.000
(25.4)
0.965
(24.5)
3x fl0.156
(3.96) (clearance
for #6 screws)
1.000
(25.4)
pn
e
0.500
(12.7)
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
259
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Drive
Catalog 8000-4/USA
OEM
OEMZL
ua
ir
e
Stepper Speed-Torque Performance Curves
VS motors – 17, 23 and 34 frame
VS13B/Gemini
VS21B/Gemini
.21
20
.14
10
.07
0
0
10
20
30
Speed (RPS)
.56
60
.42
40
.28
20
.14
0
0
50
40
0
10
VS23B/Gemini
.70
50
Torque (oz-in)
1.05
100
.35
0
0
10
20
.65
60
.42
30
.21
10
30
40
400
2.80
300
2.10
200
1.40
100
.70
0
10
20
Speed (RPS)
30
1000
5.60
600
4.20
400
2.80
200
1.40
0
0
50
40
7.00
800
0
10
20
Speed (RPS)
SERIES
PARALLEL
0
50
40
VS32B/Gemini
3.50
0
30
Speed (RPS)
500
0
50
20
30
Torque (Nm)
1.40
150
90
0
Torque (Nm)
200
0
50
40
.84
VS31B/Gemini
1.75
Torque (Nm)
Torque (oz-in)
250
20
30
Speed (RPS)
1.05
120
0
Torque (oz-in)
30
80
Torque (oz-in)
.28
Torque (oz-in)
40
150
Torque (Nm)
.35
.70
Torque (Nm)
50
VS22B/Gemini
100
.42
Torque (Nm)
Torque (oz-in)
60
0
50
40
Speed (RPS)
FULL
OS motors – 23 frame
40
.28
30
.21
20
.14
pn
e
Torque (oz-in)
.14
20
.35
0
0
10
20
30
Speed (RPS)
40
.07
10
.07
10
0
0
50
0
10
20
30
Speed (RPS)
40
0
50
100
.70
80
.56
60
.42
40
.28
20
.14
0
0
10
20
30
40
Torque (Nm)
.21
30
OS21A/OEM750 (Series)
50
Torque (Nm)
.28
40
Torque (Nm)
Torque (oz-in)
OS2HA/OEM750 (Parallel)
.35
Torque (oz-in)
OS2HA/OEM750 (Series)
50
0
50
Speed (RPS)
0
10
20
30
40
2.80
2.45
2.10
1.75
1.40
1.05
.70
.35
0
50
Torque (Nm)
Torque (oz-in)
OS22A/OEM750 (Series)
400
350
300
250
200
150
100
50
0
75 VDC
48 VDC
24 VDC
Speed (RPS)
260
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
Catalog 8000-4/USA
OEMZL
ua
ir
e
OEM
OS & VS Series Stepper
Motor Specifications
Size 17, 23 & 34 Frame Sizes
Size 23 Frame
Size 34 Frame
OS2HB
OS21B
OS22B
VS21B
VS22B
VS23B
VS31B
VS32B
oz-in
(Nm)
61
(0.4)
127
(0.9)
235
(1.7)
99
(0.7)
170
(1.2)
267.5
(1.9)
559
(3.9)
1211
(8.6)
Rotor inertia
oz-in2
(kg-cm2)
0.39
(0.07)
0.66
(0.12)
1.39
(0.25)
0.66
(0.12)
1.64
(0.3)
2.62
(0.48)
7.65
(1.4)
14.8
(2.7)
Drive Current
(Apk)(Arms)
Series
Parallel
1.7 (1.2)
3.4 (2.4)
1.8 (1.3)
3.6 (2.6)
2.4 (1.7)
4.8 (3.4)
1.8 (1.3)
3.6 (2.6)
1.7 (1.2)
3.4 (2.4)
1.4 (1.0)
2.8 (2.0)
3.0 (2.1)
6.0 (4.2)
3.0 (2.1)
6.0 (4.2)
Phase Inductance
(mH)
Series
Parallel
8.6
2.2
12
3
16.6
4.2
5
(1.25)
12.0
(3.0)
15.4
(3.85)
15.8
3.95
25.0
6.25
Drive Bus Voltage
(VDC)
170
170
170
170
170
170
170
170
oz-in
(N-m)
2.5
(0.02)
4.0
(0.03)
7.0
(0.05)
2.7
(0.02)
3.3
(0.02)
6.0
(0.04)
14.0
(0.1)
28.0
(0.2)
lb
(kg)
13
(5.9)
13
(5.9)
13
(5.9)
17.6
(8)
17.6
(8)
17.6
(8)
35.3
(16)
35.3
(16)
lb
(kg)
20
(9.1)
20
(9.1)
20
(9.1)
15.0
(6.8)
15.0
(6.8)
15.0
(6.8)
30.9
(14)
30.9
(14)
in
(mm)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.003
(0.075)
0.003
(0.075)
0.003
(0.075)
0.0032
(0.080)
0.0032
(0.080)
in
(mm)
0.0008
(0.02)
0.0008
(0.02)
0.0008
(0.02)
0.001
(0.025)
0.001
(0.025)
0.001
(0.025)
0.0008
(0.020)
0.0008
(0.020)
lb
(kg)
1
(0.5)
1.5
(0.7)
2.5
(1.1)
1.03
(0.47)
1.54
(0.7)
2.2
(1.0)
3.86
(1.75)
6.18
(2.8)
Static torque
Detent Torque
Bearings Information
Thrust Load
Radial Load
End Play
Radial Play
(Per 0.5 lb load)
pn
e
Motor Weight
Certifications
UL recognized
CE (LVD)
CE
(EMC & LVD)*
Pending
Yes
Pending
Yes
Pending
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Quality Products Designed and Priced for OEMs and High-Volume Users. Call 1-800-358-9070.
261
Automation
Parker Hannifin Corporation
Compumotor Division
compumotor.com
B
Size 23 Frame
Parameters