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Ezi-SERVO-BT

1. 59 ALLOWABLE 3mm 22 22 22 22 OVERHUNG LOAD 8mm i 26 26 26 26 DISTANCE FROM 13mm 33 33 33 33 END OF SHAFT 18mm 46 46 46 46 ALLOWABLE THRUST LOAD N Lower than motor weight INSULATION RESISTANCE MOhm 100min at 500VDC INSULATION CLASS CLASS B 130 OPERATING TEMPERATURE ic 0 to 55 24 0 5 m 4 M3 Depth 4 5 ep U vs 0 075 Ww I T S F O au x 1 0 025 Ezi SERVO BT 42XL Ezi SERVO BT 42L sz Ezi SERVO BT 42M Ezi SERVO BI 428 Torque mN m 0 101 102 103 3x103 Speed RPM X Measured Condition Motor Voltage 24VDC Motor Current Rated Current Refer to Motor Specification Drive Ezi SERVO BT Motor Specifications J MODEL UNIT Ezi SERVO BT Ezi SERVO BT Ezi SERVO BT 56S Series 56M Series 56L Series DRIVE METHOD BI POLAR BI POLAR BI POLAR NUMBER OF PHASES 2 2 2 VOLTAGE VDC 1 56 21 27 CURRENT per PHASE A 3 3 3 RESISTANCE per PHASE Ohm 0 52 0 54 0 9 INDUCTANCE per PHASE mH 1 2 3 8 HOLDING TORQUE N m 0 64 1 2 ROTOR INERTIA g ef 120 200 480 WEIGHTS g 500 700 1150 LENGTH L mm 46 54 80 ALLOWABLE 3mm 92 92 92 OVERHUNG LOAD 8mm 65 65 65 DISTANCE FROM 13mm 85 85 85 END OF SHAFT 18mm 123 123 123 ALLOWABLE THRUST LOAD N Lower tha
2. Dir CCW Dir O ZZZzzz Signal GND Alarm In position O 24VDC GND 24VDC O Servo On Off Alarm Reset BRAKE BRAKE NC O O Ra OC X Twisted Pair Shield Cable Control Signal input output Description Input signals of the drive are all photocoupler protected The signal shows the status of internal photocouplers LON conduction OFF Non conduction not displaying the voltage levels of the signal Drive Drive O Ri 20 24VDC 13 14 CW Pin 1 2 CCW Pin 3 4 Alarm Reset Pin 14 Servo On Off Pin 13 CW CCW Input This signal can be used to receive a positioning pulse command from a user host motion controller The user can select 1 pulse input mode or 2 pulse input mode refer to switch No 1 SW1 The input schematic of CW CCW is designed for 5V TTL level When using 5V level as an input signal the resistor Rx is not used and connect to the driver directly When the level of input signal is more than 5V Rx resistor is re quired If the resistor is absent the drive will be damaged If the input signal level is 12V Rx value is 2 2Kohm and 24V Rx value is 4 Kohm Servo On Off Input This input can be used only to adjust the posi
3. and Max 20m length Q RS 232C Cable Cable to connect Ezi SERVO BT series and computer Please use this cable to change parameter as like resolution of Drive and Stop current Item Length m Remark CBIB C OOOF OOO Normal Cable L is for Cable Length The unit is 1m and Max 15m length 2 Option FAS UCR USB to RS 232C Converter USB Cable Item Specification Item Length m Remark Comm Speed 115 2Kbps default CGNKEVEGOZE 2 Comm Die USB Max 5m CGNR U 003F 3 Normal Cable tance RS 232C Max 15m CGNR U 005F 5 USB USB Standard connector TYPe p _232C DB9 Femail IP Address Automatic Setting IRQ Number Automatic Setting Dimension 50X69X23mm Weight 31g USB self power soe No need External power 3 Connector for Cabling ITEM Specification Maker Power Connector CN2 Terminal Block AKZ1550 2F 3 81 PTR Housing 501646 2000 MOLEX Signal Connector CN1 Terminal 501648 1000 AWG 26 28 MOLEX Housing 3350 0300 MOLEX RS 232C Connetor CN3 Terminal 50212 8100 MOLEX These connectors are serviced together with Ezi SERVO BT except when purchasing option cables X Above connector is the most suitable product for Ezi SERVO BT Another equivalent connector can be used FASTECH Ezi SERVO BT FASTECH Ezi SERVO BT External Wiring Diagram Ezi SERVO BT 24VDC 10 GND Controller CW Pulse o CW Pulse o CCWH
4. connect error Cable connection error with Encoder connector in drive 5 6 7 Motor connect error 8 9 Motor voltage error Motor voltage is less than 20V 10 In Position error After operation is finished a position error occurs 11 System error Error occurs in drive system 12 ROM error Error occurs in parameter storage device ROM 15 Position overflow error Position error value is higher than 90 in motor stop state Alarm LED flash ex Position tracking error 1 Pulse input and motor direction selection switch SW1 Indication Switch Name Functions 2P IP Selecting pulse Selectable 1 Pulse input mode or 2 Pulse input mode as Pulse input signal input mode ON 1 Pulse mode OFF 2 Pulse mode Default 2 Pulse mode 2 Resolution selection switch SW3 The Number of pulse per revolution Position Pulse Rotation Position Pulse Rotation 0 500 1 5 3600 90 1 500 6 5 000 ae E a 9g 4 2 000 9 10 000 2 1 Resolution value depend on encoder type 2 Default 10 000 3 Position Controller Gain Selection switch SW2 7 Input Output signal CN1 The Position Controller Gain Switch allows for the correction o NO Function 0 the motor position deviation after stopping caused by load and I CW Pulset TT friction Depending on the motor load the user may have
5. to se lect a different gain position to stabilize and to correct positional CW Pulse Input error quickly 3 CCW Dir Input 4 CCW Dir Input To tune the controller Pr 9 A Output 1 Set the switch to 0 position 5 eS u 2 Start to rotate the switch until system becomes stable 3 Rotate the switch 1 2 position to reach better performance a Position ume nb of the Proportional Gain 9 Z Output gral part 0 10 Z Output 1 2 11 Alarm Output 2 3 12 In Position Output 23 I 1 18 Servo On Off Input 4 1 5 14 Alarm Reset Input 5 6 15 NC 6 2 16 BRAKE Output 7 2 2 17 BRAKE Output 8 2 3 18 Signal GND Output 9 2 4 19 24VDC GND Input A 2 5 20 24VDC Input B 3 1 G 3 2 D 3 3 3 4 F 3 9 1 Value in the columns are in relative units They only show the parameter changes depending on the switch s position 2 Default 3 4 In Position Value Setting switch SW4 To select the output condition of In Position signal In Position E output signal is generated when the pulse number of positional A error is lower than selected In Position value set by this switch ev Ezi SERVO Setup Program ver 1 2 8 after positioning command is executed Board a ____ In Position Value Pulse _ _ In Position Value Pulse PortNo fi zi i Toston Fast Response to ion Accurate Response T O I0 0 8 0 Version Ezi Servo 1 1 9 1 he 2 2 A 2 Setting Parameters 3 3
6. B 3 Motor Type 4 4 C 4 Alarm Reset Level 5 5 D 5 6 6 6 Alarm Level 7 7 F 7 In Position Level 1 Default 0 Please refer to User Manual for setup ServoON Level Stop Current Positioning Mode and Window s Size Reference Resolution 5 Power Connector CN2 ea NO Function 5 E Input Pulse Mode 1 24VDC 10 Motion Direction Encoder Resolution pulse 2500 Y 6 RS 232C Commu nication CN3 PosTracking Limit 250 Communication Port to set parameter by computer BaudRate is 115200bps To set parameter please use included GUI program Default Send Script NO Function 1 Rx 2 TX 3 GND FASTECH Ezi SERVO BT System Configuration Control Unit Motion Controller Network Motion Controller Input DC Power RS 232C Cable RS 232C Converter USB input DSignal Cable 2 Power Cable Type Power Cable Signal Cable Standard Length Max Length 20m 1 Cable Option Signal Cable Available to connect between Control System and Ezi SERVO BT Item Length m Remark CSVB SZ iii F OOO Normal Cable Coy Bao THAOM OOO Robot Cable L is for Cable Length The unit is 1m and Max 20m length Power Cable Available to connect between Power and Ezi SERVO BT Item Length m Remark C v p misma OOO Normal Cable CSAS E m OOO Robot Cable L is for Cable Length The unit is 1m
7. ECH Ezi SERVO BT Compared with common step motors and drives Ezi SERVO motion control systems can maintain a high torque state over relatively long period of time This means that Ezi SERVO continuously operates without loss of position under 100 of the load Unlike conventional Microstep drives Ezi SERVO exploits continuous high torque operation during high speed motion due to its innovative optimum current phase control Ezi SERVO is a high precision servo drive using a high resolution encoder with 32 000 pulses revolution Unlike a conventional Microstep drive the on board high performance DSP Digital Signal b Processor performs E phase vector control and filtering producing a smooth rotational control with minimum ripples Current vector Torque torque Motor pos A phase current a Ezi SERVO Stepping Similar to conventional stepping motors Ezi SERVO instantly speed synchronizes with command pulses providing fast positional response Ezi SERVO is the optimum choice when zero speed stability and rapid motions within a short distance are required Traditional servo motor systems have a natural delay between the commanding input signals and the resul tant motion because of the constant monitoring of the current position necessitating in a waiting time until it settles called settling time The Ezi SERVO functions well at high speed without the loss of Synchronism or positio
8. Ezi SERVO Closed Loop Stepping System e Motor Encoder Drive Closed Loop System e No Gain Tuning No Hunting e High Resolution Fast Response He J ree aT w w i gt Ezi SERVO BT Closed Loop Stepping System Ezi SERVO is an innovative closed loop stepping motor and controller that utilizes a high resolution motor mounted encoder to constantly monitor the motor shaft position The encoder feedback feature allows the Ezi SERVO to update the current motor shaft position information every 25 micro seconds This allows the Ezi SERVO drive to compensate for the loss of position ensuring accurate positioning For example due to a sudden load change a conventional step per motor and drive could lose a step creating a positioning error and a great deal of cost to the end user Goal pos gt Controller gt gt k error Motor m Feedback Conventional servo systems to ensure machine performance smoothness positional error and low servo noise require the adjustment of its servo s gains as an initial crucial step Even systems that employ auto tuning reguire manual tweaking after the system is installed especially if more that one axis are interdependent Ezi SERVO employs the best characteristics of stepper and closed loop motion controls and algorithms to eliminate the need of tedious gain tuning required for conventional closed loop servo systems This means that Ezi SERV
9. O is optimized for the application and ready to work right out of the box The Ezi SERVO system employs the unique characteristics of the closed loop step ping motor control eliminating these cumbersome steps and giving the engineer a high performance servo system without wasting setup time Ezi SERVO is especially well suited for low stiffness loads for example a belt and pulley system that some time require conventional servo we systems to inertia match with the added expense and bulk of a gearbox Ezi SERVO also performs exceptionally even under heavy loads and high speeds Traditional servo motor drives overshoot their position and try to correct by overshooting the opposite direction especially in high gain applications This is called null hunt and is es pecially prevalent in systems that the break away or static friction is significantly higher than the running friction The cure is lowering the gain which affects accuracy or using Ezi SERVO Motion Control System Ezi SERVO utilizes the unique characteristics of stepping motors and locks itself into the desired target position eliminating Null Hunt This feature is especially useful in applications such as nanotech manufacturing semiconductor fabrication vision systems and ink jet printing in which system oscillation and vibration could be a problem Complete stop Hunting Servo motor CW pulse 0 0 pulse CCW ee Time FAST
10. covering to the original position even after experiencing positioning error due to external forces such as mechanical vibration or vertical positional holding 3 Ezi SERVO utilizes 100 of the full range of rated motor torque contrary to a conventional open loop stepping driver that can use up to 50 of the rated motor torque due to the loss of synchronism 4 Capability to operate at high speed due to load dependant current control open loop stepper drivers use a constant current control at all speed ranges without considering load variations Advantages over Servo Motor Controller 1 No gain tuning Automatic adjustment of gain in response to a load change 2 Maintains the stable holding position without oscillation after completing positioning 3 Fast positioning due to the independent control by on board DSP 4 Continuous operation during rapid short stroke movement due to instantaneous positioning FASTECH Ezi SERVO BT FASTECH Ezi SERVO BT e Specifications Input Voltage 24VDC 10 Control Method Closed loop control with 32bit DSP Current Consumption Max 500mA Except motor current Ambient In Use 0 50 C S lt Temperature In Storage 20 70 C SS Humidity Use 35 85 e In Storage 10909 Vib Resist 0 5G Rotation Speed 0 3000rpm Resolution P R 10 000 Rev Encoder model 500 1 000 1 600 2 000 3 600 5 000 6 400 7 200 10 000 20 000 Rev Encoder mod
11. el 500 1 000 1 600 2 000 3 600 5 000 6 400 7 200 10 000 20 000 Selectable with Rotary switch Max Input Pulse 500KHz Duty 50 Frequency S Boled Over current Over speed Position tracking error Over load Over temperature Ma d Over regenerated voltage Motor connect error Encoder connect error Motor voltage error In Position error System error ROM error Position overflow error In Position Selection O F Selectable with Rotary switch Position Gain Selection O F Selectable with Rotary switch Pulse Input Method 1 Pulse 2 Pulse Selectable with DIP switch Speed Position E A Ca and Pulse train input G Input Signals Position command pulse Servo On Off Alarm reset Photocoupler input a E L In Position Alarm Photocoupler output Pa ae Encoder signal A A B B Z Z 26C31 of Equivalent Line Driver output Motor Specifications x MODEL UNIT Ezi SERVO BT Ezi SERVO BT Ezi SERVO BT Ezi SERVO BT 42S Series 42M Series 42L Series 42XL Series DRIVE METHOD BI POLAR BI POLAR BI POLAR BI POLAR NUMBER OF PHASES 2 2 2 2 VOLTAGE VDC 3 36 4 32 4 56 7 2 CURRENT per PHASE A 1 2 1 2 1 2 1 2 RESISTANCE per PHASE Ohm 2 8 3 6 3 8 6 INDUCTANCE per PHASE mH 25 7 2 8 15 6 HOLDING TORQUE N m 0 32 0 44 0 5 0 8 ROTOR INERTIA g ar 35 54 77 114 WEIGHTS g 220 280 350 500 LENGTH L mm 33 39 47
12. etects an abnormal operation such as overload or over current of the motor it sets the Alarm output to OFF flashes the Alarm LED disconnect the power to a motor and stops the motor simultaneously Caution Only at the Alarm output port the photocoupler isolation is in reverse When the driver is in normal operation the Alarm output is ON On the contrary when the driver is in abnormal operation that start protection mode the Alarm output is OFF In Position Output In Position signal is ON when positioning is completed This signal is ON when the motor position error is within the value set by the switch SW4 Motor speed rot stop rot stop In Pusition ON signal OFF Encoder signal Output The encoder signal is a line driver output This can be used to confirm the stop position FASTECH Ezi SERVO BT FASTECH Ezi SERVO BT FASTECH Co Ltd Rm 1202 Bucheon Technopark 401 Dong Yakdea dong Wonmi Gu Bucheon si Gyeonggi do Rep Of Korea Zip 420 734 TEL 82 32 234 6300 6301 FAX 82 32 234 6302 E mail daniel fastech co kr Homepage www fastech co kr FASTECH USA 2585 Mariners Way SE Southport NC 28461 USA TEL 910 795 2380 E mail daniel fastech co kr Homepage www fastech us com All Rights Reserved Oct 14 2010 Rev 05 Copyright 2010 FASTECH Co Ltd
13. ic 0 to 55 T FASTECH Ezi SERVO BT 040 5 0 236 0 039 6 340 25 L Ezi SERVO BT 60L Ezi SERVO BT 60M Ezi SERVO BT 60S Torque N m e 102 10 3x103 Speed RPM X Measured Condition Input Voltage 24VDC Motor Current Rated Current Refer to Motor Specification Drive Ezi SERVO BT FASTECH Ezi SERVO BT 0 Setting and Operating Position Controller Gain SW2 Resolution setting SW3 In Position value setting SW4 RS 232C connection CN3 Power connection CN2 Input Output connection CN1 9 gt amp lu 7 l w Pulse input selection switch SW1 Status Monitor LED Protection function and LED flash times When Alarm occurs can recognize main reason of alarming thru by LED flash times Conditions The current through power devices in inverter exceeds the limit value Motor speed exceed 3 000rpm Position error value is higher than 90 in motor run state The motor is continuously operated more than 5 second under a load exceeding the max torque Times Protection 1 Over current 2 Over speed 3 Position tracking error 4 Over load Over temperature Inside temperature of drive exceeds 55 C Over regeneratived voltage Back EMF more than 50V The power is ON without connection of the motor cable to drive Encoder
14. n motor weight INSULATION RESISTANCE MOhm 100min at 500VDC INSULATION CLASS CLASS B 130 C OPERATING TEMPERATURE 16 0 to 55 lemon IN TR A _ 570 5 FASTECH Ezi SERVO BT Ezi SERVO BT 56 Series Ezi SERVO BT 56L Ezi SERVO BT 56M Ezi SERVO BT 56S Torque N m ata 102 103 3x103 Speed RPM X Measured Condition Input Voltage 24VDC Motor Current Rated Current Refer to Motor Specification Drive Ezi SERVO BT x There are 2 kinds size of front shaft diameter for Ezi SERVO BT 56 series as 6 35 and 08 0 e Motor Specifications x J J MODEL UNIT Ezi SERVO BT Ezi SERVO BT Ezi SERVO BT 60S Series 60M Series 60L Series DRIVE METHOD BI POLAR BI POLAR BI POLAR NUMBER OF PHASES 2 2 2 VOLTAGE VDC 1 52 1 56 26 CURRENT per PHASE A 4 4 4 RESISTANCE per PHASE Ohm 0 38 0 39 0 65 INDUCTANCE per PHASE mH 0 64 1 2 24 HOLDING TORQUE N m 0 88 1 28 24 ROTOR INERTIA 9 o 140 320 800 WEIGHTS g 600 900 1600 LENGTH L mm 46 56 90 ALLOWABLE 3mm 10 10 10 OVERHUNG LOAD 8mm 1 87 87 87 DISTANCE FROM 13mm 114 114 114 END OF SHAFT 48mm 165 165 165 ALLOWABLE THRUST LOAD N Lower than motor weight INSULATION RESISTANCE MOhm 100min at 500VDC INSULATION CLASS CLASS B 130 C OPERATING TEMPERATURE
15. ning error Ezi SERVO s ability of continuous monitoring of current position enables the stepping motor to generate high torque even under a Servo 100 load condition 1 Ezi SERVO eee Settling Time High Speed time FASTECH Ezi SERVO BT time The unit of the position command can be divided precisely Max 20 000 pulses revolution 500 1000 1600 2000 3600 5000 7200 10000 e Part Numbering e Combination List of Ezi SERVO BT Ezi SERVO BT 42S A O Unit Part Number L Ezi SERVO BT 42S A Closed Loop Ezi SERVO BT 42S B Stepping System Name Ezi SERVO BT 42M A Motor Flange Size Ezi SERVO BT 42M B Ezi SERVO BT 42L A 42 42mm 56 56mm Ezi SERVO BT 42L B 60 60mm Ezi SERVO BT 42XL A Ezi SERVO BT 42XL B Motor Length Ezi SERVO BT 56S A T Ezi SERVO BT 56S B S Single M Middle Ezi SERVO BT 56M A L Large Ezi SERVO BT 56M B XL Extra Large Ezi SERVO BT 56L A nayasa Ezi SERVO BT 56L B ncoder Resolution F7i SERVO BT_ 60S_A A 10 000 Rev Ezi SERVO BT 60S B B 20 000 Rev Ezi SERVO BT 60M A Ezi SERVO BT 60M B TEA Ezi SERVO BT 60L A S Ezi SERVO BT 60L B e Advantages over Open loop Control Stepping Drive 1 Reliable positioning without loss of synchronism 2 Holding stable position and automatically re
16. tion by manu ally moving the motor shaft from the load side By setting the signal ON the driver cuts off the power supply to the motor Then one can manually adjust output position When setting the signal back to OFF the driver resumes the power to the motor and recovers the holding torque When driving a motor one needs to set the signal OFF Alarm Reset Input When a protection mode has been activated a signal to this alarm reset input cancels the Alarm output ON OFF more than 0 1s Alarm Reset X By setting the alarm reset input signal ON cancel the Alarm output Before cancel the Alarm output have to remove the source of alarm Output signals from the driver are photocoupler protected Alarm In Position and the Line Driver Outputs encoder signal In the case of photocoupler outputs the signal indicates the status of internal photocouplers ON conduction OFF Non conduction not displaying the voltage levels of the signal Drive Drive AM26C31 or equ A L Encoder signal Pin 5 6 7 8 9 10 11 12 et os I d 1 Vou l Alarm Pin 11 In Position Pin 12 19 24 GND Alarm Output The Alarm output indicates ON when the driver is in a normal operation If a protection mode has been activated it goes OFF A host controller needs to detect this signal and stop sending a motor driving command When the driver d

Ezi-SERVO-BT

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