off
off off
4 5
0.12
0.39
0.77
1.16
1.55
1.94
2.32
2.71
3.10
3.48
3.87
4.26
4.65
5.03
5.42
5.81
6.19
6.58
6.97
7.35
7.74
8.13
8.52
8.90
9.29
9.68
10.06
10.45
10.84
11.23
11.61
12.00
off off
off
off on
off off
off
on off
off off
off
on on
off off
off
off off
off on
off
off on
off on
off
on off
off on
off
on on
off on
off
off off
on off
off
off on
on off
off
on off
on off
off
on on
on off
off
off off
on on
off
off on
on on
off
on off
on on
off
on on
on on
on
off off
off off
on
off on
off off
on
on off
off off
on
on on
off off
on
off off
off on
on
off on
off on
on
on off
off on
on
on on
off on
on
off off
on off
on
off on
on off
on
on off
on off
on
on on
on off
on
off off
on on
on
off on
on on
on
on off
on on
on
on on
on on
1
Z-12
2 3
0.12
0.26
0.52
0.77
1.03
1.29
1.55
1.81
2.06
2.32
2.58
2.84
3.10
3.35
3.61
3.87
4.13
4.39
4.65
4.90
5.16
5.42
5.68
5.94
6.19
6.45
6.71
6.97
7.23
7.48
7.74
8.00
Z-8
off
C urrent
(amps pk)
1 2 3 4 5 6 7 8 9 10 11 12
1 2 3 4 5 6 7 8 9 10 11 12
z
Z E T A 6000
C ompumotor
Axis Name
WF Setting (DWAVEF)
EV Setting (DELVIS)
AD Setting
DIP Switch Settings
OFF
ON
1 2 3 4 5 6 7 8 9 10 11 12
1 2 3 4 5 6 7 8 9 10 11 12
S P
off
on
5
off
on
4
off
on
3
off
on
2
off
on
1
off
on
6
S ys tem Inertia
Inductance
S tatic
T orque
A nti-R es . Dis able
A utomatic S tandby
A nti-R es . P has e
A nti-R es onance G ain
C urrent-L oop G ain
S tandard
R educed
less than 20 kg-cm
2
greater than 20 kg-cm
2
S tandard (system inertia < 20 kg-cm
2
)
R educed (system inertia > 20 kg-cm
2
)
F ull C urrent
50% C urrent S tandby
Anti-res. E nabled
Anti-res. Disabled
R esonant F req. < 80 Hz
R esonant F req. > 80 Hz
10
9
12
11
off
off
on
on
off
off
on
on
off
off
on
on
off
off
on
on
off
off
off
off
on
on
on
on
off
off
off
off
on
on
on
on
off
off
off
off
off
off
off
off
on
on
on
on
on
on
on
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
off
on
7 8
off
on
off
on
off
off
on
on
Inductance
R ange (mH)
20.08 & greater
10.31Ð20.07
5.03Ð10.30
less than 5.02
oz-in
236Ð100
2101Ð200
2201Ð330
2331Ð492
2210Ð300
2301Ð510
2511Ð1000
1001Ð2100
2450Ð700
2700Ð1100
1101Ð2300
2301Ð5000
2800Ð1150
1151Ð2000
2001Ð4100
4101Ð8500
N-m
20.26Ð20.72
20.73Ð21.41
21.42Ð22.33
22.34Ð23.47
21.48Ð22.12
22.13Ð23.60
23.61Ð27.06
27.07Ð14.83
23.18Ð24.94
24.95Ð27.77
27.78Ð16.24
16.25Ð35.31
25.65Ð28.12
28.13Ð14.12
14.13Ð28.95
28.96Ð60.02
T orque R ange
P
ha
se
B
O
ff
se
t
E
le
ct
r.
V
is
co
.
A
.
D
.
P
ha
se
A
O
ff
se
t
P
ha
se
B
al
an
ce
7
6
AUTOB AUD
ADDR E S S
off
off off
default Ð 0
1
2
3
4
5
6
7
31
off off
off
off on
off off
off
on off
off off
off
on on
off off
off
off off
off on
off
off on
off on
off
on off
off on
off
on on
off on
on
on on
on on
12
9
8
10 11
off
off
on
off
enabled
default Ð disabled
(B inary Weighted)
Z-240
0.14
0.26
0.39
0.51
0.64
0.76
0.89
1.01
1.14
1.26
1.38
1.51
1.63
1.76
1.88
2.01
2.14
2.26
2.38
2.51
2.63
2.76
2.88
3.01
3.13
3.26
3.38
3.50
3.63
3.75
3.88
4.00
Motor Size
LE D functions:
P OWE R
120VAC power is applied.
S TE P
F lashes green with each step pulse.
OVE R TE MP
Max. drive temp limit exceeded.
MOTOR F AULT
S hort circuit in motor or cable, or
INTE R LOC K jumper is disconnected or
too long.
A utoB aud
T he default baud rate os 9600. As an alternative, you can use
this procedure to automatically match your terminal's speed of
1200, 2400, 4800, 9600 or 19200 baud.
1. S et switch 6 to on and switch 7 to off.
2. C onnect the ZE T A6xxx to the terminal.
3. P ower up the terminal.
4. C ycle power to the ZE T A6xxx and immediatly press the
spacebar several times.
5. T he ZE T A6xxx should send a message with the baud rate
on the first line of the response. If no baud rate message is
displayed, verify steps 1-3 and repeat step 4.
6. C hange switches 6 & 7 to off.
7. C ycle power to the ZE T A6xxx. T his stores the baud rate in
non-volatile memory.
NOT E : Autobaud works only on the ZE T A6xxx's
C OM 1
serial port.
!
C AUT ION
Do not set switches S W1-6 thru S W1-11
to ON at the same time. T his invokes a
factory test mode in which the ZE T A6xxx
executes a motion sequence upon power
up.executes
A utomatic A ddres s ing:
If you are connecting multiple units, you
can use the A DDR command to establish
a unique address for each unit. T he
A DDR command overrides the DIP switch
setting. F or details, refer to the 6000
S eries S oftware R eference or the 6000
S eries P rogrammer's G uide.
S W1
S W2
TIP : The
ADDR
command
allows you to automatically
establish addresses for multiple
units in a chain or multidrop
(
ADDR
address overrides the
DIP switch setting)
Pre-installation Adjustments
Device address is set to zero (if daisy-chaining you can automatically establish with the
ADDR
command).
Serial communication method is RS-232C.
Factory Settings May Be Sufficient (if so, skip this section):
DIP Switch Settings
Chapter 1. Installation
7
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