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1. PTA7T PTAT E XL Pr aen pr aen JFT Input0 2 JPT Input1 Pulse scale 10ms or more JPT Input0 2 JPT Input Pulse scale 10ms or more www fastech co kr 8 Control I O Signal 13 JPT Jump Position Table Start Input To select motion pattern position table number to be subsequently executed according to input signal conditions The difference from Paragraph 13 JPT InputO Input2 Input is 1 PT number to be jumped must be composed to 10XXX 2 Next motion is not executed unti I value of PT data is more than next motion is executed Example JPT Start is set to ON If Wait Time the time lapses additionally and then PT 14 Data am Wait Tine e Toreo veto Ti re Fran mn MAT CL PT Start JPT Start JPT Input0 2 AO n PTA7 S Oe PT Start JPT Start JPT Input0 2 JPT Input1 www fastech co kr PTAO erk DA d PT Start JPT Start JPT Input0 2 JPT InputO FTAD PTA7 PT Start JPT Start JPT InputO0 2 JPT Input2 A 8 Control I O Signal 8 4 Output Signal 1 Compare Out Trigger Pulse Output Output Trigger Pulse Output signal is displayed when specific conditions are performed It is fixed to CNT connector s COMP Compare Out pin And it is available when the motor needs to be synchronously cont
2. Ezi STEP Micro Stepping System with Network based Motion Controller Ezi STEP 77 Micro Stepping Syster with Network Based Motion Cont roller User Manual Text Rev 08 04 026 1 Safety Precautions Table of Contents Nudus EE m 5 Specifications of the Drive assa H N ars e E A E EE EE T st NES ONS Nr 9 Specifications of the MOTO 10 GN PM CON OS LTS 10 SIE puc d rm 11 NTT 12 STN GOTTES Le 13 NNN NN 14 NN EN 15 Characteristics of Motor Torque eee III 16 Configuration of the Controller assa 18 5 1 Combination of Motor and Drive 18 5 2 Controller Configuration eser eee ak eugi gag i get ega Egikera 19 5 9 External Wiring Dial MUSA 21 External Name and Function Setting of Ezi STEP PR 0 4 24 6 1 Appearance and Part Mame ccs s s x eee ecw e RR eR ys 24 D 2 atatus Display LED osos doo hm a toS E dete ee ny PU 25 6 3 Drive ID Select Owitch ul RII 25 6 4 Communication Speed and Terminal Resistance Select Switch SW2 25 6 5 Motor Connector ON 26 6 6 Encoder ConnectorL CGN21 rrr rr errre 26 6 7 Power Connector CONF a rura rururn rure rr erreren 26 6 8 1 0 Signal Gonnector ON RII In 27 6 9 Communication Connector ONEI a a 27 External Name and Function Setting of Ezi STEP PR MI 28 www fastech co kr 1 Safety Precautions 7 1 Appearance and Part Name c eee erent hh mh 28 7 2 Drive ID Switch Selecti
3. Aw Caution basically disconnected So after recovering from the stand by mode the user should connect communication again This content is equally applied to the library provided with the product 11 1 Connection with the PC There are one method of connecting the drive and the PC by RS 485 ser ial communication PC s RS 232C port is used By using following communication converters according to each communication type the user can connect the PC and the drive module The maximum communication speed is 115200 bps with RS 232 to RS 485 converter RS 485 Converter to RS 232 For connection with the PC refer to 5 2 Controller Configuration 1 Cable of Connecting RS232 Port to PC and Converter RS232 RS 485 Normally Power does not need to be supplied to the converter module But when the communication have problems without power DC 5 24V external power can connect The signal is wired as follows PC Connector Cable Converten Connector DB 9 female Cannesin DB 9 male Frame GAIO NO C 8 Frame GNO www fastech co kr 11 Communication Function 2 Cable of connecting RS 485 Converter and Drive Module CN5 Ezi STEP PR only Connector Type RJ45 Cable Type LAN cable CAT5 or better UTP or STP Signal Wiring Standard Straight Wiring 191 202 eai uu 88 If multi axis connection is required at one segment up to 16 drive modules can be connected by the daisy chain meth
4. Programmable Output Digital Out8 Programmable Output DO Digital Out9 Programmable Output 24V for brake system Output des Control signal of brake system Output GND external Input Digital Out5 Programmable Output Digital Out6 Programmable Output 1 24V external Input This connector fixed pin is connected to frame GND through a mount hall e No ENES po 6 9 Communication Connector CN5 LED4 LED3 LED2 LED Connector Type RJ45 mmi Pei Cable Type UTP STP CAT5E FE pin8 pint ping pint LED No Lighting Condition R a Flash when CPU in the drive operates 24 COM Yellow Flash when this communicates with the upper controller ef me www fastech co kr 7 External Name and Function Setting of Ezi STEP PR MI 7 External Name and Function Setting of Ezi STEP PR MI 7 1 Appearance and Part Name Network ID setting SW1 Network ID display Status monitor LED Input Output connection CN1 Speed and Terminator Encoder connection CN2 resistor selection SW2 ENCODER RS 485 connection CN5 CN6 MOTOR Motor connection CN3 Power connection CN4 FAR 7 2 Drive ID Switch Selection SW1 and 7 segmant 1 When several modules are connected to one daisy chain network this switch is to set intrinsic ID to each module 2 The switch can set intrinsic ID to each module up to 16 numbers from O to F 15 3 7 segmant of status monitor is displa
5. www fastech co kr deda 8 Control 1 0 Signal 8 1 Signal Cabling All control 1 0 signals use connector CNT as specified below 1 Input Limitt Limit Origin signals are fixed to CN1 No 1 2 3 respectively Other signals like Reset are assigned to IN1 IN9 terminal blocks 3 dedicated input 9 programmable input total 12 input pins Ezi STEP PR 3 dedicated In 9 programmable In 12 Inputs Ezi STEP PR MI 3 dedicated In 7 programmable In 10 Inputs Ezi STEP PR Ezi E d Signal CN1 No Name inei og te D Clear Pos Position table AO Position table A7 PT AO PT A7 Position table start execution PT Start Soft Stop Stop Jogt Jog AlarmReset Pause Origin Search Teaching Emergency Stop E Stop Jump Position Table input O Jump Position Table input 2 JPT IN O JPT IN 2 Jump Position Table start JPT Start User input O User input 8 User IN O User IN 8 2 Output COMP signal is dedicated to CN1 No 7 Other signals like Alarm are assigned to OUT1 QUT9 terminal blocks Ezi STEP PR 1 dedicated Out 9 programmable Out 10 Outputs Ezi STEP PRHMMI 1 dedicated Out 1 programmable Out 2 Outputs Ez i SERVO PR Ez SERVO M PR Signal CN1 No CN1 No Name COMP Specific output signal Compare Out 8 1 j om positio 0071 Ims 9 JL KS QU pun UIS Acc Dec ACK OUTA Enp ure LE Ser voReady QUIT Brake OUTS Position Table output 0 Position Table output
6. 1 Over Current motor s short circuit or machine load whether Valid machine edge is collided etc Over Speed Check parameter setting and abnormal operation of the motor EN Get down the load or increase the acceleration or Step Out Valid deceleration speed Over Get down the ambient temperature or install a cooling valid Temperature fan Over l l In case of high speed operation check if the Regenerative Valid acceleration or deceleration speed is low voltage pa lans Check if power is supplied to the drive Check the green LED of CN5 fl Check if power is supplied to the drive ES iios Check the connection status of drive and motor 1 9 d www fastech co kr 13 Parameter 13 Parameter 13 1 Parameter List 0 Pulse per Revolution 0 35 000 msec 9 999 4 9999 Jog Speed pps Von Start Speed pps 1 35 000 1 8 Lon Acc Dec Time msc 9 999 Servo Alarm Logic 0 du 10 Servo On Logic NENNEN 0 a E s 1 Servo Alarm Reset Logic 1 0 du 134 217 727 pulse 134 217 727 14 S W Limit Stop Method 0 15 HW Limit Stop Method gt 0 16 Limit Sensor Logic gt 0 LL np 17 rg Speed 18 Dro Search Speed pps 1 500 000 1 000 19 rg Acc Dec Time msec 1 9 999 50 20 rg Method oo 0 2 In 24 org Dir NENNEN 0 Lo 0d 00 434 217 727 184 217 77 0 434 217 727 134 217 727 0 24 bo Sensor Logic NENNEN 0 Lo 0d 0 gt a 10
7. 26 Motion Dir 0 du 27 Limit Sensor Dir 0 d T 28 Encoder Multiply Value 0 Ca S NEN Reserved Gear Rallo 13 2 External Encoder Connect ion When external encoder parameters for specification of encoder No 0 Pulse per Revolution No 28 Encoder Multiply Value www fastech co kr is connected to Ezi STEP PlusR the user have to set correct resolution value that include the multiply value encoder multiply value 13 Parameter Lower Upper 500 000 500 000 35 000 9 999 100 9 999 100 D i 500 000 5000 35 000 9 999 B 13 3 Parameter Description Axis Max Speed When position moving commands absolute move incremental move are given this mode sets the maximum speed which the motor can operate So the motor cannot be operated faster than this value in any case This value is set to pps unit 2 Axis Start Speed When position moving commands absolute move incremental move are pps given this mode sets the operation start speed to pps unit Axis Acc Time When position moving commands absolute move incremental move are given this mode sets the acceleration section of operation start segment to msec unit Possible range is different from Axis Speed Ex 1 Axis Start Speed 1 Move Speed 400000 1 1430 msec Ex 2 Axis Start Speed 1 Move Speed 10000 1 350 msec Axis Dec Time When position moving commands absolute move incr
8. The machine executes speed control operation at the speed set by parameters according to inputting Jogt and Jog signals Parameter Setting Parameter Name setting Value 6 Jog Speed 1500 Jog Start Speed Jog Acc Dec Time Speed 1500 kA Time 1500 E butu 200 msec Jogt Command Jog Command www fastech co kr 10 Other Operation Functions 10 3 Origin Return If the machine is operated by 1 0 signals the motor can execute origin return by inputting Origin Search signal Also the motor can execute origin return with User Program GUI and DLL program The following table shows parameter types related to origin return Parameter Name Org Speed Operation speed when origin return starts 1 500 000 pps IS 1 50 000 pps Low speed operation speed after origin sensor sensed The time assigned to the acceleration deceleration 1 9 999 ms section when origin return starts and stops Org Method To select how to return the origin To select operation direction CW or CCW Geu Ge After origin return is finished the motor moves 134 217 72 9 additionally as this setting value and then stops 134 217 121 Bass After origin return is finished Command Pos value 134 217 727 9 is set to this setting value 194 2177 27 Org Sensor Logic To set the origin sensor signal level Org Search Speed Org Acc Dec Time 1 Origin Return Method Sett
9. controller is operating a red LED among status display LEDs flash and the following protective function will be displayed according to flash count Jes Alarm Name Condition Count dver Current The current through power devices in inverter exceeds the limit value Over Speed Motor speed exceed 3000rpm Step Out Abnormally motor do not followed pulsed input Over Temperature Inside temperature of drive exceeds 55 C Over Regenerative Back EMF more high limit value voltage he power is ON without connection of the motor Motor Connect error l cable to drive 12 2 Acquiring Alarm Information When an alarm occurs the motor become STEP OFF motor free and then stops by free run and at the same time displays alarm message Also AlarmBlink signal repeats On Off according to the timing as illustrated below The red LED flash every 0 5 second in accordance with alarm number and wait for 2 seconds And then red LED flash repeatedly until inputting AlarmReset signal Example Alarm 3 AlarmBlink display signal occurred when the Stall is occur www fastech co kr 12 Protective Function 12 3 Alarm Reset If an alarm occurs remove its cause and then release it The alarm can be released as follows In case of alarms of which Reset column is indicated to Invalid power must get downed prior to releasing the alarms Flash e Alarm Name Descr ipt ion Reset Count Check the mechanical status such as parameter setting
10. e swe Power connection CN4 D www fastech co kr 6 External Name and Function Setting of Ezi STEP PR 6 2 Status Display LED Status Flash Condition PWR Lights when power is ON Flashs when motor is Free status CW Lights when motor rotate CW direction CCW Lights when motor rotate CCW direction ALM an Flash when protection function Is aciivatedlldentifiable which protection mode is activated by counting the flash times 6 3 Drive ID Select Switch SW1 1 When several modules are connected to one daisy chain network this switch is to set intrinsic ID to each module 2 The switch can set intrinsic ID to each module up to 16 numbers from O to F 15 Position ID No Position pw 6 4 Communication Speed and Terminal Resistance Select Switch SW2 SW2 is to set the communication speed between central controller PC and Drive If corresponding drive module is connected to the end of one network segment SW2 sets whether terminal resistance is used SW2 1 is to set the use of terminal resistance and SW2 2 SW2 4 is to set the communication speed as follows SUE eea qoa sma rate 1 default setting value SW2 1 is OFF Terminator resistor is Off 460800 SW2 1 is ON Terminator resistor is On The communication speed of drive modules connected to one segment must m be set to the same value yeni Support max 115200 bps when using RS 232 to RS 485 conveter www fastech co kr 6 External N
11. machine moves slowly to the original moving direction until Z pulse signal is sensed 3 Limit Origin In case of Org Method 2 Org Speed Origin Return Command Limiit Sensor Signal Origin Search OK Output The machine moves up to the spot which the limit sensor is sensed by Org Speed parameter and stops by Org Acc Dec Time value The moving direction complies with as set in Org Dir If there s no limit sensor on your system you can set Origin by S W Limit Plus Value and S W Limit Minus Value of parameters 2 Origin Return Procedure Origin return is executed to the following procedure Q Set parameters required to origin return 2 Start origin return operation to the rising edge of control input origin search or the communication program www fastech co kr 10 Other Operation Functions 3 Interruption of Origin Return When the machine is under origin return click Stop or E Stop to stop the machine In this case the machine s origin is not edited and origin return is not finished either 4 Output of Origin Return Finish The completion of origin return operation can be decided with related bit values of either Origin Search OK of control output or Axis Status of communication program 10 4 Stop Operating By using two methods of control input and communication program command the user can input stop and emergency stop commands Even though the emergency stop command i
12. w e e ETETE ENT TT EA EEE GO ZG GOGO 1 r un E HA i wo Lu I 8 I EEE c an E af M eaten I 4 um gt x EE cp i CV CX See gea m had cce SS ed ed e f 01 0 oo om bers dez TT I I H 4 t I i un ___ 02 pm L E SS H BERT CN i be sr a i EE H E i o o o o o e o e e 6 e e e De EI st GO ed LLI Nu anbJo j 3x10 0 1 0 10 1x10 10 Speed RPM di RPM Spest BM 56 series BM 56M BMe56 BM 5EXL I I I I e I I I I 1 E ui a deda es ee eek ee eo 3x10 0 1 Speed RPM BM 86M BM 86 series BM B6XL Measured condition LU N anbuo Dam C O av O ur O OD Q 0 Le O O O _ OD ur OD _ 7OVDG Motor Voltage Rated Current Motor Gurrent 3x10 103 Speed RPM www fastec o Configuration of the Controller 5 Configuration of the Control ler 5 1 Combination of Motor and Drive 1 Ezi STEP PR e Combination list of Ezi STEP Plus R e Part Numbering Ezi STE P PR 42S g Unit Part Number Drive Model No Ezi STEP PR 20M D EzT NDR 20M Ezi STEP PR 200 D EzT NDR 20L Ezi STEP PR 28M D EzI NDR 28M Ezi STEP PR 28L D EzT NDR 28L Ezi STEP PR 428 D EzT NDR 428 Ezi STEP PR 42M D EzT NDR 42M Ezi STEP PR 42L D EzI NDR 42L Ezi STEP PR 42XL EzT NDR 42XL Ezi STEP PR 565 D EzT
13. 2 T PT OUT O PT OUT 2 one www fastech co kr 8 Control I O Signal 8 2 Connection Circuit All drive 1 0 signals are insulated by a photocoupler The signals display the internal photocoupler status ON Conduction and OFF Non Conduction not the signal voltage level 1 Input Circuit Input circuit power of DC24V 10 consumed current about 5mA circuit should be separately prepared 2AV GND 14 15 16 Drive Internal Circuit 2 Output Circuit Output circuit power should be separately prepared This may share input circuit power In this case working power capacity should add output power capacity to input power capacity Applied voltage and power capacity in the control output port are as follows Applied voltage lt 30V Electrified current sx 15mA Output Port 7 89 10 11 DC 30V Within 15mA Drive Internal Circuit 24V GNO 3 Connect NPN type Output signal Connect the 24V external signal of drive to HAN of Controller www fastech co kr 8 Control I O Signal CONTROLLER DRIVE 24V e v Z24V EXT OUTPUT 1 OUTPUT 2 OUTPUT 3 4K AN a Connect PNP type Output signal 4 24V external of Controller GND CONTROLLER Signal of drive to Connect the DRIVE OUTPUT 4 1 l I l i 24V EXT OQUTPUT 1 i OUTPUT 2 i OUTPUT 3 Ts AK 4K7 NN KA AM KA www fastech co kr deda 8 3 Input Si
14. 8 Plus 3 wm mm 5 mwm 3 s w w w 3 pe fe B Extension cable for Interface Board No of Signal Signal name of CN name TB Plus s awe e w ws 9 a Lal 9 m Lal 9 a Wwe 9 Available to extend the distance between the terminal block board and the drive Item Length m CIFD S LILILIF OOO Normal Cable CIFD S LIDIDIM gog Robot Cable Ll is for Cable Length The unit is 1m and Max 20m length The cable connection is 1 1 straight type Remark Terminal Block Connector DB 26 male type connector Dr ive Connector Housing 10126 30000VE 3M connector CN1 Backshel 10320 52A0 008 3M www fastech co kr Append Option for Motor Drive for Ezi STEP PR B Cable for Input Output Signal Available to connect between Control System and Ezi STEP Plus R Item Length m Remark CSVR S LILILIF BO Normal Cable CSVR S LILILIM OOo Robot Cable L is for Cable Length The unit is Im and Max 20m length Refer to D of 5 2 Controller Configuration B Cable for Power Available to connect between Power and Ezi STEP Plus R Item Length m Remark CSVO P DODOF non Normal Cable CSVO F LILILIM OOO Robot Cable LJ is for Cable Length The unit is im and Max 2m length Next is for 86mm drive Item Length m Remark cSvP P OOOF csvP P OOOM Normal Cable Robot Cable C is for Cable Length The unit is im and Max 2m le
15. AO A7 signals must be set before 50msec PT Start signal set to ON 2 f the PT AO A7 signals are not used and the PT Start signal set to ON the PI No O will be executed www fastech co kr a PT 10 PT 15 Position table address PT A0 A7 ON Position table start execution PT Start ON Moving output signal Inposition output signal lt a aust x3 Checking the Moving and Inposition signals Between sequencial PT Start motion command signal the checking step for motion status Moving Inposition is needed before next motion command soft Stop Input soft stop input signal is to stop motion patterns under operation The deceleration condition until they stop complies with the deceleration time value and the start speed value set previously The soft stop signal is active in ON level and pulse scale is 10ms or more l Pattern Soft Stop Signal Jogt and Jog Input When Jogt or Jog signal is ON the motor rotates clockwise or counterclockwise until it reaches the hardware limit or the software limit Jog motion pattern is subject to jog related parameters No 7 start speed No 6 speed No 8 Acc Dec time www fastech co kr 7 8 Control I O Signal Plus Direction Motion Pattern Jog Input Jog Input AlarmReset Input When the protective function of drive executes alarm output is released When AlarmReset input is set
16. ASE a A RESISTANCE per PHASE 0 38 0 65 NDUCTANGE per PHASE mi 09 2 24 HOLDING TORQUE Nm 0 88 24 ROTOR INERTIA gd 08 30 800 WEIGHTS Lg 1 80 90 1600 LENGTH TU me 48 1 D O 90 aleng 70 OVERHUNG LOAD 87 DISTANCE FROM 13mm m m E ae EES 165 ALLOWABLE THRUST LOAD N Lower than motor weight INSULATION RESISTANCE 100min at 500VDC INSULATION CLASS CLASS B 130 C OPERATING TEMPERATURE 0 to 55 2 Dimensions www fastech co kr 3 Specifications of the Motor 3 6 BM 86 Series Ezi STEP PR drive only 1 Specifications DRIVE METHOD EN ene ome NUMBER OF PHASES 2 VOLTAGE CURRENT per PHASE 6 13 RESISTANCE per PHASE Om 04 08 HOLDING TORQUE ROTOR INERTIA ga w0 20 gt WEIGHTS Se ALLOWABLE 270 OVERHUNG LOAD 300 DISTANCE FROM END OF SHAFT am mm ALLOWABLE THRUST LOAD N Lower than motor weight INSULATION RESISTANCE 100min at 500VDC INSULATION CLASS vn CLASS B 130 C OPERATING TEMPERATURE 0 to 55 2 Dimensions I l i i S L meo S e amp ja 63 TE S d We 73 0 039 tg JL m E Gr 0 075 A 14 0 013 pur 0 025 H z L GOGUA GE OEE 320 Min Re e www fastech co kr BM 86XL BI POLAR 2 4 38 6 0 73 9 08 12 4000 5 4 155 270 300 320 400 4 Characteristics of Motor Torq
17. JST www fastech co kr MM Connector for cabling These connectors are serviced together with Ezi STEP Plus R except when purchasing option cables CN1 Input Output Connector Specification 10126 3000PE 10326 52F0 008 Connector 3M Shell CN3 Motor Connector Specification 5557 04R 9956T Housing MOLEX Terminal CN3 Motor Connector 86mm motor drive only Specification AK950 4 3191 4RI 138IT Terminal Block PTR Housing Terminal CN2 Encoder Connector Specification 51353 1000 56134 9000 CN4 Power Connector Specification 5557 02R 5556T CNA Power Connector 86mm motor drive only Housing Terminal Housing Terminal Item Specification Maker Terminal Block AK950 2 PTR www fastech co kr ba Option for Motor Drive for Ezi STEP PR MI B Cable for Input Output Signal Available to connect between Control System and Ezi STEP PR MI Item Length m Remark CSVA S OOOF CSVA S OOOM Normal Cable Robot Cable O is for Cable Length The unit is Im and Max 20m length Refer to D of 5 2 Controller Configuration MM Cable for Power Available to connect between Power and Ezi STEP PR MI Item Length m Remark CMNB P DUUE CMNB P OOOM Normal Cable Robot Cable L is for Cable Length The unit is 1m and Max 2m lengih Refer to of 5 2 Controller Configuration B Extension Cable for Mo
18. LATION CLASS CLASS B 130 C OPERATING TEMPERATURE 0 to 55 2 Dimensions 829MW GOSETU LA www fastech co kr 3 2 BM 28 Series 1 Specifications MODEL DRIVE METHOD NUMBER OF PHASES VOLTAGE CURRENT per PHASE RESISTANCE per PHASE INDUCTANCE per PHASE HOLDING TORQUE ROTOR INERTIA WEIGHTS LENGTH iL DISTANCE FROM END OF SHAFT ALLOWABLE THRUST LOAD INSULATION RESISTANCE INSULATION CLASS OPERATING TEMPERATURE 2 Dimensions 3 Specifications of the Motor BM 28S BM 28L B POLAR i BFPOLAR O BI POLAR 2 342 0 95 3 6 mm 2 Q5 O 58 0 14 gd 09 m 18 g Qqm HM 9 200 52 D 1 20 30 38 53 84 fm O 84 Ss Lower than motor weight 100min at 500VDC pr CLASS B 130 C 0 to 55 tn c m 2 H G 300 Min www fastech co kr 3 Specifications of the Motor 3 3 BM 42 Series 1 Specifications MODEL BM 428 BM 42L BM 42XL DRIVE METHOD eom T NE T BI POLAR NUMBER OF PHASES 2 2 VOLTAGE E CURRENT per Phase a n pe T 2 RESISTANCE per PHASE Ohm NDUCTANCE per PHASE mi 25 72 s w HOLDING TORQUE 08 ROTOR INERTIA 114 WEIGHTS 220 500 LENGTH L 59 ALLOWABLE 22 OVERHUNG LOAD 8mm 26 DISTANCE FROM DL 838 S 39 33 indica PP 46 ALLOWABLE THRUST LOAD N Lower than motor weight INSULATION RESISTANCE 100min at 500VDC INSULATION CLASS CLA
19. NDR 568 Ezi STEP PR 56M D EzT NDR 56M Ezi STEP PR 56L D EzT NDR 56L Ezi STEP PR 56XL EzT NDR 56XL Ezi STEP PR 608 D EzT NDR 605 Ezi STEP PR 60M D EzT NDR 60M Ezi STEP PR 60L D EzT NDR 60L Ezi STEP PR 86M EzT NDR 86M Ezi STEP PR 86L D EzT NDR B6L Ezi STEP PR 86XL EzT NDR B6XL 2 Ezi STEP PR M e Combination list of Ezi STEP PR MIN Ezi STEP PR MI 28S L Unit Part Number ereti Drive Model Number Ezi STEP PR MI 20M EZT NDR MI 20M Ezi STEP PR MI 20L EzT NDR MI 20L Ezi STEP PR MI 28S EzT NDR MI 288 Ezi STEP PR MI 28M EzT NDR MI 28M Ezi STEP PR MI 28L EzT NDR MI 28L Ezi STEP PR MI 428 EzT NDR MI 428 Motor Flange Size Ezi STEP PR MI 42S EZT NDR MI 425 20 20mm Ezi STEP PR MI 428 EzT NDR MI 425 28 28mm Ezi STEP PR MI 42M EzT NDR MI 42M 42 42mm Ezi STEP PR MI 42M EzT NDR MI 42M Ezi STEP PR MI 42M EzT NDR MI 42M Ezi STEP PR MI 42L EzT NDR MI 42L Single Ezi STEP PR MI 42L E3T NDR MI 42L asie Ezi STEP PR MI 42L EzT NDR MI 42L b d aay Ezi STEP PR MI 42XL EzT NDR MI 42XL Ezi STEP PR MI 42XL EzT NDR MI 42XL Ezi STEP PR MI 42XL EzT NDR MI 42XL www fastech co kr o Configuration of the Controller 5 2 Controller Configuration 1 Configuration of Ezi STEP PR20 Ezi STEP PR28 Ezi STEP PR42 Ezi STEP PR56 Ezi STEP PR60 p gt DRS 232C Cable amp RS 485 Converter amp RS 485 Cable G R5 485 Cable DD EO Eo RS 232 inpul LIMIT ORIGIN e dedicated and programmable Inputs e dedicate
20. OO CO oo D 2b eame E BT a pit E d d J EZE SEO d EI 5 Configuration of the Controller Encoder x NO Twisted Pair Shiekd Cable S This Wiring Diagram is only for B amp mm motor drive EzT NDR 86 Series Par atiention to red color hal describe Ihe diflerence www fastech co kr o Configuration of the Controller 3 Diagram of Ezi STEP PR MI Ezi STEP Plus R MINI Motor and Encoder Input voltage l AVC 10 Input voltage GND o Motion System H LL HK LIMIT BO I KO ma In 1 In 2 c In 3 nae 11 In 5 lt Compare Out mie Lal DT Beem I OF BRAKE G 24VDC BRAKE Si Twisted Pair Shield Cable www fastech co kr 6 External Name and Function Setting of Ezi STEP PR 6 External Name and Function Setting of Ezi STEP PR 6 1 Appearance and Part Name 1 Ezi STEP PR20 Ezi STEP PR28 Ezi STEP PR42 Ezi STEP PR56 Ez i STEP PR60 LED gt Input Output connection CN RS 485 connection CN5 Encoder connection CN2 m gt Speed and i Terminat r Motor connection CN3 E Sai burti per Power connection CN4 rr 3 1 Ezi STEP PR86 Network ID setting SWT gt Status monitor Network ID display LED gt Input Output connection CN e gt RS 485 connection CN5 Encoder connection CN2 rm es Speed and Terminator VM resistor selection Motor connection CN3
21. S 485 serial communication with PC Interface Transmission speed 9 600 921 600 bps v incremental mode Absolute mode Position Control pais Range 134 217 727 to 134 217 727 pulse Operating speed Max 3000 rpm Return to Origin Origin Sensor Limit sensor Z phase By external encoder Gul User Interface Program within Windows Software Motion Library DLL for windows 2000 XP www fastech co kr 1 Safety Precautions Hr 2 Ezi STEP PR MI Motor Model BM 20 series BM 42 series Driver Model E T NDR MI 20 series E T NDR MI 28 saries EzT PD 42 series Input Voltage 24VDC 10 24VDC 10 24VDC 10 Control Method PWM drive with 32bit DSP Multi Axes Drive Maximum 16 axes through Daisy Chain Position Table 64 motion command steps Continuous Wait Loop Jump and External start etc Current Consumption Max 500mA Except motor current Operating Condition Function I O Signal Ambient In Use 0500 Temperature In Storage 20 70T a Humidity In Use 357 8536 Non condensing In Storage 10749096 Non condensing Rotation Speed 0 3 000rpm 20 000 25 000 36 000 40 000 50 000 Selectable by parameter Default 10000 Protection Over current Over speed Step out Over temperature Over regenerated voltage Motor connect error Functions Motor voltage error System error ROM error Input voltage error 1096410096 Selectable by parameter STOP Current Current after 0 1 second after motor s
22. SS B 130 C OPERATING TEMPERATURE 0 to 55 2 Dimensions KI EE 0 922 0 05 0 05 A e ra 0 5 0 0 011 mr 0 025 c KA c gt al E 4 T 300 Min www fastech co kr 3 Specifications of the Motor 3 4 BM 56 Series Ezi STEP PR drive only 1 Specifications MODEL UNIT BM 56L DRIVE METHOD sr BI POLAR NUMBER OF PHASES my G EE 2 VOLTAGE 27 CURRENT per PHASE 3 RESISTANCE per PHASE 09 INDUCTANCE per PHASE mm 1 2 3 8 HOLDING TORQUE Nm 0 Ir 2 ROTOR INERTIA ga mm 20 gt 480 WEIGHTS 700 1150 LENGTH U L Zr BL 80 ALLOWABLE 52 OVERHUNG LOAD s 65 DISTANCE FROM EE 85 a 123 123 ALLOWABLE THRUST LOAD N Lower than motor weight INSULATION RESISTANCE 100min at 500VDC INSULATION CLASS CLASS B 130 C OPERATING TEMPERATURE 0 to 55 2 Dimensions A X ek gt EZ E c of i KE cn i oo LA 47 14 0 15 e 38 1 0 039 COL 20 075 AEE kr zi 6 35 0 013 Lad i ba c in r d ISI ZE SMY 320 Min There are 2 kinds size of front shaft diameter for BM 56 series as 06 35 and 280 www fastech co kr 3 Specifications of the Motor 3 5 BM 60 Series Ezi STEP PR drive only 1 Specifications MODEL UNIT BM 60S BM 60M BM 60L NET DRIVE METHOD BI POLAR NUMBER OF PHASES 2 1 2 VOLTAGE DES 26 CURRENT per PH
23. ame and Function Setting of Ezi STEP PR 6 5 Motor Connector CN3 Motor connector Connector Type Molex 5569 04A2 No Functin 86mm No Function B Phase 6 6 Encoder Connector CN2 Used for monitoring the external encoder signal Encoder connector Connector Type Molex 55959 1030 nm Bee FG 8 9 rene For setup of connected encoder resolution refer to 12 Parameter 6 7 Power Connector CN4 Power supply connector Connector Type Molex 5569 0242 e tion NEE 1 Power input 24VDC 10 ee 86mm e ction if riti NN 2 Power input 24VDC 10 www fastech co kr 6 External Name and Function Setting of Ezi STEP PR 6 8 1 0 Signal Connector CN1 Input output signal connector Connector Type 3M 10226 5A2JL The programmable input output pin is set by using user program GUI or DLL library Connect the Brake current consumption is under 200 mA for pin 24 Refer to 7 4 Output signa for the Brake that is over 200 mA Funct ion Digital In2 Digital In3 Digital In4 Digital Ind Digital Ing Digital In9 Digital Out c Programmable Input omm Programmable Input omm Programmable Input TN Programmable Input TN Programmable Input r vr Ss omm Programmable Input Digital Out3 Programmable Output Digital Out4 Programmable Output omm
24. anual and fully understand contents Before operating the product understand the mechanical characteristics of the product and related safety information and precautions After reading the manual keep the manual near the product so that any user can read the manual whenever needed This manual divides safety precautions into Warning and Caution 7 If the user does improperly handle the product the user may get Seriously or slightly injured and damages may occur in the machine EA only If the user does improperly handle the product a dangerous situation like an electric shock may occur resulting in death or serious injuries Although the item mentioned is only vr Caution a serious result may be caused depending on the situation Necessarily iur 10w safety precautions www fastech co kr 1 Safety Precautions ES The Status of the Product q Check if the product is damaged or any component is omitted When an abnormal product is installed and operated the user may get injured Install Carefully move the product Dropping the product on the ground or the user s foot may cause an injury Use non flammable materials like metals in the place where the product is to be installed Otherwise a fire may occur When installing several drives in a sealed place install a cooling fan to keep the ambient temperature of the drive at 50 C or lower Otherwise a fire or other kinds of accidents ma
25. arts to search the origin position according to selected conditions The conditions are subject to parameters such as No 20 0rg Method No 1 Org Speed No 18 Org Search Speed No 19 0rg AccDec Time No 21 0rg Dir For more information refer to 12 Parameter When the origin search command is ended Origin Search OK Signal is set to ON to CN1 connector s output port Motion Pattern Motion HM Direction Origin Sensor Signal Input OriginSearchOk Output ON OriginSearch Input OFF 10 Teaching Input Teaching signal functions that the position value pulse being working can be automatically inputted into a position value of a specific position table If it is hard to calculate the exact moving distance position value of specific motion mechanically the user can measure the distance position value easily by using this signal 1 By using User Program GUI set a command type of corresponding PT number among 4 kinds of absolute moving commands Absolute Move 2 By using input signal PT AO lt A7 select corresponding PT number 3 When Teaching signal is set to ON the position value pulse is save to the position value of corresponding PI At this time it becomes the absolute position value 4 Teaching signal pulse scale is 10ms or more Motion Pattern C PT No Input A0 A7 ON OFE Teaching Signal www fastech co kr 8 Control I O Signal Position Value pu
26. ble number 0 255 to save current position values by Teaching input signal By using PI AO A signals the position table address can be set from O to 255 with a binary number AO is LSB least significant bit and A7 is MSB most www fastech co kr D Contes Cite significant bit The following table shows how to assign position table number sl Save signal cabling If PT MOA signal is not connected when motioning by PT Start signal the position table number will be 0 EN Deo a 4 Position Table Start PT Start Input By using PT AQ A signals set and input the running PI start number Then the motion pattern corresponding to the PT No will be executed Following example shows that total 6 motion patterns are in order executed from No 0 to No 32 and then stopped 1 All of PT AO A7 is set to 0O and PT number is set to DU 2 Set PT Start signal to ON and PT No O motion pattern will be executed 3 When the motion pattern is started by PT ACK signal and ENO signal are displayed to ON at CN1 output port as illustrated below The signal is kept until one motion pattern loop is stopped After all motions are stopped the output signal level is set to OFF 4 PT Start signal is edge trigger and pulse scale is 10ms or more Motion Pattern 0 Position Table No Inout PT AO A7 ON Position Table Start Input Signal PT Start ACK Output Signal END Output Signal 1 Timing of signals PT
27. cautions 13 1 Parameter iert 57 13 2 External Encoder b enee Gen 0 uee ee eee cece ee ee ne ee nere ane 57 13 3 Parameter Description uses obs EE 58 AppendiX icv oo arce dose ars be bo REC Ae ah FO HAS SO ORA RERO bE RE tid 62 www fastech co kr 1 Safety Precautions Manual Version ver08 04 026 Supported Firmware version FO6 Supported Drive DSP software version 6 4 046 24 supported GUI version 6 20 5 605 Fisrt Edition Oct 02 2008 Revised Edition Oct 10 2011 1 Safety Precautions X Before getting started gt e Thank you for purchasing Ezi STEP of FASTECH which is a full digital position control servo system with a 32bit high performance DSP e his manua descr ibes handling maintenance repair diagnosis and troubleshooting of Ezi STEP e Before operating Ezi STEP read this manual through General Precautions c Contents of this manual are subject to change without prior notice for functional improvement change of specifications or user s better understanding Thoroughly Read the manual provided with the purchased Ezi STEP When the manual is damaged or lost contact a FASTECH agent or the address on the last page of the manual FASTECH is not responsible for a product breakdown due to user s dismantling the product and such a breakdown is not covered by the warranty Put the safety first Before installing operating and repairing the product thoroughly read the m
28. d and 0 programmable Outp FF unu I RE Fe Ade i Eri STEP 2s S 2 Configuration of Ezi STEP PR86 amp RS 485 Converter RE 232 input LIMIT ORIGIN ei dedicated and 9 programmable Inputs dedicated and 0 programmable Outputs EE EE FAT A f VE Adda www fastech co kr 5 Configuration of the Controller 3 Configuration of Ezi STEP PR MI gt B RS 232C Ale RS 485 Converter hRS 485 2018 2 amp RS 485 710 8 1 EO RS 232 Inpul dup GRGIN e 3715 28 AAR NE AG 99 ei AE 28 8621 1718 718 SS m D k N N www fastech co kr 5 Configuration of the Controller 5 3 External Wiring Diagram 1 Diagram of Ezi STEP PR20 Ezi STEP PR28 Ezi STEP PR42 Ezi STEP PR56 Ez i STEP PR60 Input voltage GOIKO 10 Input voltage GND Motion System ONIK LIMIT LIMIT ORIGIN Ini C Ine In KO KO hd In5 hot Ind Comoare Out AND GND Outi Out Out Outed Lut Out c Out Out Outs BRAKE BRAKE FG Ezi STEP Plus R Encoder 26 Y Twisted Fair Shield Gable ott LI ONDO HA EO d Tar www fastech co kr 2 Diagram of Ezi STEP PR86 Input voltage GND Input voltage 40 7OVDC Motion System 24VDC LIMIT LIMIT ORIGIN Int In In In lr Ind o Ind Ind Ing Compare Out 24V0G GND Qut1 Qut Outs Qut uth Out Qut Qut8 Cut FG
29. emental move are given this mode sets the deceleration section of operation stop segment to msec unit Possible range is different from Axis Speed same as Axis Acc Time parameter Speed Override When position moving commands absolute move incremental move are given the operation speed is subject to the ratio set to Move Speed Ex If current move speed is 10 000 and speed override is 200 actual motion speed is set to 20 000 Jog Speed When jog position moving command is given this mode sets the motor revolution value to pps unit Jog Start Speed When jog position moving command is given this mode sets the operation start speed to pps unit Jog Acc Dec Time In case of jog operation this mode sets the time of acceleration and deceleration sections to msec unit Alarm Logic When the motor or the drive is defective and so alarm signal output is ON through CN1 connector this mode sets the output signal level 0 0V Active low level 1 24V Active high level Bn C www fastech co kr Run Stop Logic When the motor is run this signal output is ON through CNI connector this mode sets the output signal level 0 When motor is run 0 V low level is outputted 1 When motor is run 24V high level is outputted Alarm Reset Logic When the motor or the drive is defective and so an alarm occurs this mode sets the input signal level to release the alarm si
30. gnal 1 Limit Sensor and Origin Sensor Limit sensors and origin sensor are assigned to LIMIT LIMIT and ORIGIN pin in the CN1 connector respectively LIMIT and LIMIT sensors are used to limit the motion of each axis clockwise and counterclockwise to prevent mechanical collision Origin sensor is to set the origin of equipment Screw MMW Moving Origin Limit Sensor Sensor Limit Sensor JJ Limit Sensor Limit Sensor Origin Sensor 2 Clear Pos This input signal sets the command position and the actual position to O in relation to motion position control The reset signal pulse scale is 10ms or more ON OFF Reset Input Signal Set the position to O at the rising falling edge of this 3 Position Table AO A7 PT AO A7 Input The position table supports the machine so that its motion can be controlled by I O signals of central controller It can directly transmit commands such as position table number start stop and origin return to the machine through the PLC Also the user can check output signals such as completion of origin return and servo ready through the PLC Position Table A0 A7 inputs are total 8 bits of input signal It is used to set 256 position table numbers There are two application methods as follows x Ezi STEP PR MI maximum 64 position table numbers can be set 1 To set position table number 0 255 to be run by PT start input signal 2 To set position ta
31. gnal Before releasing the alarm signal the user must release its cause 0 0V Active low level 1 2AV Active high level S W Limit Plus Value When position moving commands absolute move incremental move jog are given this move set the maximum input limit that the motor can move to the plus direction with 28 bits When this value set to 0 S W Limit function is canceled S W Limit Minus Value When position moving commands absolute move incremental move jog are given this move set the minimum input limit that the motor can move to the minus direction with 28 bits When this value set to 0 S W Limit function is canceled S W Limit Stop Method Sets how to stop the motor by SW Limit Plus Minus Value not stop motion by the limit sensor 0 stops the motor immediately by emergency stop mode stops the motor gradually by soft stop mode H W Limit Stop Method In case of stop motion by the limit sensor this mode sets how to stop the motor 0 stops the motor immediately by emergency stop mode 1 stops the motor gradually by soft stop mode Limit Sensor Logic sets the signal level so that the motor can recognize limit sensor s input to ON 0 0V Active low level 1 2AV Active high level Org Speed In case of origin return command this modes sets the operation speed until the motor senses the origin sensor to pps unit Org Search Speed In case of
32. ing To execute origin return Org Method parameter should be set as follows a Common Origin In case of Org Method 0 Org Speed Search Speed Origin Sensor Signal Input Or igin Search OK Signal Output TT The machine moves up to the origin sensor by Org Speed and Org Acc Dec Time parameters and then finishes precise origin return at the low speed set to Org Search Speed The machine senses the origin sensor and moves as far as DI and then stops And the machine changes its moving direction and additionally moves as far as D2 and then stops D1 and D2 are the same moving distance If Org Offset parameter is not 0 the machine moves additional ly as much as the parameter ex 03 and then stops If the limit sensor is sensed while the machine is under origin return the machine stops and reverses its moving direction and then continues to origin return operation www fastech co kr 10 Other Operation Functions 2 Z pulse Origin In case of Org Method 1 This method can be used when external encoder is connected Org Speed Search Speed ON pee OFF Origin Return Command Origin Sensor Signal Z lee min ER LL E E Oo Origin Search OK Output The machine moves up to the origin sensor by Org Speed and Org Acc Dec Time parameters and then finishes Z pulse origin return at the low speed set to Org Search Speed That is after the origin sensor is sensed the
33. ished and then PT Output HEX value is displayed to PT Output O PT Output 2 For more information refer to Ezi STEP Plus R User Manual Position Table Funet tor e a BRAKE and BRAKE This function is used for protect motor rotation in STEP ON status DC 24V is connect to BRAKE for brake logic and brake control signal is connect to BRAKE lt t takes some times to supply the current to the motor after STEP ON So the Brake signal change to release status after 500 msec delay This function is optional Alarm or STEP ON command STEP OFF motor free status command SIEP ON l Brake ON Hold Brake OFF Release www fastech co kr 8 Control I O Signal 8 Brake Output This function can be used when the Brake signal is assigned to one of OUTPUT 1 QUTPUT9 of CN1 connector This is used for protect motor rotation in servo ON status The signal timing diagram between Servo ON command and Brake signal is same as 7 BRAKEt and BRAKE Output This signal used for the Brake that is over 200 mA DC24V of current consumption Brake Relay and diode is needed for this function and the Signal connection diagram is as follows sl Brake User selected Brake x2 Relay under 15 mA DC24V 3 Diode 1N4004 or equivalent C OX 1 gt Brake 3 Diode 5 OUTPUT1 Connector HUT OUTPUTS CNI GND EXT pin 25 www fastech co kr 9 Operation 9 Operation 9 1 Powe
34. lse of Corresponding PT 3 12010 15300 12800 38520 After executing Teaching click be displayed to the position table Refresh icon and the position value will Click Save to ROM icon and the position value will be saved to the ROM area Teaching signal can be used by two methods the user assigns actual signal to the motor or he clicks Teaching icon at the 1 0 Monitoring window of User Program GUI 11 E Stop Input When Emergency stop signal is set to ON the current motion is stopped imnediately without deceleration E Stop signal is active in ON level and pulse scale is 1Oms or more ON OFF Motion Pattern Emr Stop Input www fastech co kr 8 Control I O Signal 12 JPT InputO Input2 Jump Position Table Input Input To select motion pattern position table number to be subsequently executed according to input signal conditions Example f PT 14 motion is operating when there is no other input signal next motion becomes PT 15 as shown in Figure 1 However if JPT InputO Input2 input signal is set to ON while PI 14 is executing each corresponding position number is executed as shown in Figure 2 4 PI 14 Data PTNo JP Table No JPT 0 JPT 1 JPT 2 M j v 15 ff PTA0 tn PTA7 i P PT start JPT Inputo 2 JPT Input0 2 Overriden JPT Input0 2 E np nl 3 4 PT 14 PT 116 PT 14 PT 225 FTAD s c T PTAO
35. me until the motor reaches the axis max Axis Acc Time 1 9 999 ms speed from stop status l l Required time until the motor reaches from the axis Axis Dec Time 1 9 999 ms max speed to the stop status 0 1 Motion Dir To select motion direction CW or CCW Number of pulses per revolution Pulse per Revolution The range of Axis Max Speed parameter is depend on this value Teaching Function Teaching can be executed only by User Program GUl For more information refer to User Manual Position Table Function www fastech co kr 10 Other Operation Functions 10 Other Operation Functions 10 1 Position Table PT Operation Example Input PT AO PT A7 signals to set PT number Input PT Start number to execute speed control operation For more information refer to Uer Manual Position Table Function Position Table Setting Position No type Speed Speed time time time Act ion No 0 3 1000 2500 50 30 O 1 1 1000 1 500 Of 1 2 2 3 5000 1 1800 50 300 30 0 3 8 8 25 0 14 1000 30 30 0 0 PTO Accel PTO Decel 2500 e EEE PT2 Accel 1500 te NE E 500 po r 9 PT3 Accel Decel Enq Time 100 penses Pazzi Bet Gte E i gt lt Waittime i PTAO FIA PT Start input Moving output Aco Dec output ENO output 10 2 Jog Operation Example
36. nd 50mm or more horizontally www fastech co kr 1 Safety Precautions 2 Specifications of the Drive 2 1 Characteristic Table 1 Ezi STEP PR Omer Mode TN ses pp Votage 200 10 EEE Control Method PWM drive with 32bit DSP Multi Axes Drive Maximum 16 axes through Daisy Chain Position Table 256 motion command steps Continuous Wait Loop Jump and External start etc Current Consumption Max 500mA Except motor current Ambient In Use O 55 PE Temperature in Storage 20 70 C SS eea 5 E Humidity In Use 35 85 Non condensing oo In Storage 10 90 Non condensing E Rotation Speed O 3000rpm Resolution P R 500 1000 1600 2000 3200 3600 4000 5000 6400 8000 10000 E 20000 25000 36000 40000 50000 Selectable by parameter Default 10000 Protection Over current Over speed Step out Over temperature Over regenerated voltage Motor connect error E Functions Motor voltage error System error ROM error Input voltage error 2 Power Alarm CW Rotation CCW Rotation 10957 10096 Selectable by parameter Current after 0 1 second after motor stop Default 50 CW CCW Selectable by parameter Used when changing the direction of motor rotate Default CW Input Signal 3 dedicated input LIMIT LIMIT ORIGIN 9 programmable input Photocoupler Output Signal 1 dedicated output Compare Out 9 programmable output Phhotocoupler Brake signal UO Signal Communication The R
37. nd Pos Actual Pos value pulse 797 727 is set to this setting value Org Sensor Logic Sets the origin sensor signal level so that the motor can recognize origin sensor s input to ON 0 0V low level 24V high level Org Offset After origin return is finished the motor moves additionally as 134 217 4184 217 this setting value and then stops Command Pos Actual Pos is 727 727 100 Motion Dir When the motor operates by position command this mode sets the revolution direction of the motor 0 moves the motor clockwise moves the motor counterclockwise If this parameter is changed normally Limit Sensor Dir is also changed Limit Sensor Dir Sets the limit sensor direction to stop the motor to the limit spot under operation 0 When operation direction is CW input the sensor signal to the Limitt direction and the motor will stop When operation direction is CW input the sensor pulse signal to the Limit direction and the motor will stop If this parameter is changed normally Motion Sensor Dir is also changed Can select if the external encoder is connected or not 0 No external encoder connected Actual Pos Pos Error value display to 0 External encoder connected and the value will be Multiply by T Stop Current To set the ratio value of current that supplied to the motor on Stop status Ex1 50 Compare to normal running statu
38. ngth Refer to of 5 2 Controller Configuration B Extension Cable for Motor Available to extended connection between motor and Ezi STEP Plus R Item Length m Remark CSVO M OOOF DOO Normal Cable CSVO M LIBDM DD Robot Cable LJ is for Cable Length The unit is 1m and Max 20m length Next is for 86mm drive EA Item Length m Remark CSVP M LILILIF O00 Normal Cable CSVP M OOOM DDD Robot Cable LJ is for Cable Length The unit is 1m and Max 20m lenath Refer to of 5 2 Controller Configuration www fastech co kr Appi i GO Wiring Diagram Drive Connector CN3 ei able 1 C t Motor Connector onnection Ta aW 1 G5 GHS DA EE 4 2 Pe O SS eee d Ea EEE 0 lo EM o SET M p Connector Specification B Extension cable for Encoder Available to extend the distance between the encoder and Ezi STEP Plus R Item Length m Remark CSVO E DOOF OOO Normal Cable CSVO E LILILIM Uou Robot Cable C is for Cable Length The unit is 1m and Max 20m length Refer to of 5 2 Controller Configuration Wiring Diagram Drive Connector CN2 ye Motor Connector able Connection Pin Layout Pin Layout 1 LET B I Doooooo 2 3 4 5 6 T 8 9 Connector Specification Specification Housing 51353 100 MOLEX Drive Connector CN2 l Terminal 56134 9000 MOLEX Housing SMP 09V NC Jol Motor Connector Terminal SHF 001T 0 8BS
39. od The pin signal content is as follows White Brown GNO The cable length of RS 485 Conver ter lt gt Drive or Drive lt gt Drive must be a longer than 60 cm Signal cable Datak and Data are differential type signals These two signal cables must be twisted e The connector fixed pin is connected to Frame GND through the mount hall of the PCB At this time it is recommended to use STP CATSE cable 3 Cable of connecting RS 485 Converter and Drive Module CN5 Ezi STEP PR MI only Signal Wiring Standard Straight Wiring 191 222 33 If multi axis connection is required at one segment up to 16 drive modules can be connected by the daisy chain method The pin signal content is as follows Funct ion Datat Data www fastech co kr 11 Communication Function 11 2 Communication Interface Circuit 75HVDIO Datat o Data a Patat o Data a 120 2 Terminal Drive Resistance Internal Circuit The above figure shows an O circuit of RS485 communication interface signal When communication is connected Ezi STEP Plus R maintains the receive stand by status It performs sending only when it receives the signal from upper communication and then replies For more information about communication function refer to User Manual Communication Function in a separate volume www fastech co kr 12 Protective Function 12 Protective Function 12 1 Alarm Type When an alarm occurs while the
40. ode By using PT AO PT A7 input signal or DLL program set PT number to be operated 2 n case of Servo OFF set the controller to Servo ON by communication program or Servo ON control input 3 Start to operate by rising edge of PT Start input signal or communication program Stopping Continuous Operation of Position Table When the motor is executing continuous operation of position table with Ezi STEP www fastech co kr 9 Operation Plus R stop executing position table by following methods D To use DLL program or control input signal corresponding to Stop and E Stop In this case operation is completely finished and is not connected to next operation 2 The user can click Pause at User Program GUl to temporarily stop operating In this case click Pause again and remaining operation will be executed again opeed Control Operation To operate the motor by parameters set by User Program GUI or OLL program This is not connected with PT operation Once speed control operation is started PT operation command is overridden Likewise while PI operation is executing speed control operation command is overridden The followings show parameters applied to speed control operation All position table item values are overridden Axis Max Speed Operation speed after acceleration is finished 1 500 000 pps Axis Start Speed Operation start speed before acceleration starts 1 35 000 pos I l l Required ti
41. on SW1 and 7 segmant cece eee eee 28 7 3 Communication Speed and Terminal Resistance Select Switch SW2 28 7 4 Motor Connection CN3 0 ccc ccc IRI rns 29 7 5 Encoder Connection NERE a eerren Gte galketa eez ger Et eens 29 7 6 Power Connect ON ET 20 7 7 1 0 Signal Connection ONT 30 7 8 Communication Connecttion ONE 30 8 Control 1 0 Signal seus sacs i VILE ween VETE Iq yous sooo e e pU 31 BS SIONS De 31 5 2 LOMECH ON e RR garn gitara beg EE EE dE TEE EDI ina VER qut 32 Maui goi ege Gg eS EEE E ee re ee E ee ea 34 B OUTRUN SONAR eee EEE een seen aud ag cums open I KEEN ene eres 42 SECO rrr 45 No Eco AMET C 45 9 2 STEP ON OFF Operat Tel na var qiue octo ct S P AER 45 0 Opel CION eia DNR 45 10 Other Operation Functions 000 0 000 ner 47 10 1 Position Table PT Operation Egile a a 47 10 2 Jog Operation Example 2 ccc ccc cece eee cence ee I I I II III 4 uem ER ig Er ERES 48 OR dare EA aate la EEE id A er ec ee ee a ee 50 10 5 Trigger Pulse OULDUL iam cnt prit rrr stew POIs ee pere e e eem 50 11 Communication Function 0 00000 00 ss ss 52 Hid Connect ion Wih the LR 52 11 2 Communication Interface CIrGUu IL 54 le cua FUNCTION WEEN DD ENEE TEE RENE EEE NE SE 55 12 2 Acquiring Alarm IODO on eege cscs zn cee tees RR ezeze reen 55 12 0 Alarm ROSET Om 56 19 Wav allie DO standa ae EE Ge E e ee E eee Sid www fastech co kr 1 Safety Pre
42. origin return command The low operation speed for precise origin return after the motor senses the origin sensor is set to pps unit by this mode Org Acc Dec Time In case of origin return command the acceleration deceleration section time of the operation start stop segment is set to msec unit by this mode www fastech co kr 13 Parameter dice 184217 134 217 184 217 E 727 727 727 dice 184217 134 217 194 217 H 727 727 727 1 pps 500 000 pps 500 000 1 000 5 000 C e 13 Parameter peg Org Dir In case of origin return this mode sets the revolution direction of the motor 0 moves the motor clockwise moves the motor counterclockwise ie Org Method The user can select origin return command types 0 The motor moves up to the origin sensor spot by Org Speed and then executes precise origin return at the low value of Org Search Speed 1 The motor moves up to the origin sensor spot by Org Speed and then executes Z pulse origin return at the low value of Org Search Speed 2 The motor moves up to the limit sensor spot by Org Speed and then immediately stops Z pulse mode can used when external encoder connected For more information refer to 9 3 Origin Return pu set to If Org Method is set to 2 this value is ignored Org Position Set 134 217 134 217 After origin return is finished Comma
43. r Supply Timing Ezi STEP Plus R is supplied power through drive module to motor Therefore connect the drive and the motor with a cable and then supply power to the drive module After power is supplied the motor is basically set to STEP ON status 9 2 STEP ON OFF Operation Drive is STEP ON status after power is supplied 1 Click STEP OFF on Motion Test window It is possible to rotate motor to move initial position by hands Because there s no current supplied to motor motor free status 2 Click STEP ON on Motion Test window The motor is prepared to normal motioning by current supply to motor AlarmReset command is used for this function through DLL program 9 3 Operation Mode This controller can do three control operations such as 1 0 command communication command DLL program and User Program GUI 1 1 0 Command Mode This controller can execute control operation like in position by 1 0 command transmitted from the upper controller The in position control operation is executed by operating position table with 1 0 command 2 Communication Command Mode This controller can execute control operation like in position by command transmitted from the upper controller The in position control operation is executed by operating position table with 1 0 command Position Table Operation Sequence In case of Ezi STEP Plus R the system can execute continuous operation by position table at the 1 0 command m
44. rolled by an external controller Refer to 10 5 Trigger Pulse Output 2 Alarm A AlarmBlink Output When the motor operates normally alarm output becomes OFF When the protective function operates alarm output becomes ON The upper controller being used by the user detects this alarm and then stops motor operation command If overload or overcurrent occurs while the motor is operating the drive detects it and cuts off the motor s current And alarm output is set to ON and also AlarmBlink flash so that the user can check abnormality type The following table shows alarm type according to flash count Count The current through power devices in inverter Over Current un exceeds the limit value Over Speed Motor speed exceed 3000rpm 3 Step Out Abnormally motor do not followed pulsed input Over Temperature Inside temperature of drive exceeds BOO Over Regenerative Back EMF more high limit value voltage The power is ON without connection of the motor Motor Connect error cable to drive 8 tar Voltage error pr votaoe 1s outor zea 50V EzI NOR 20 EzT NDR 28 EzT NOR 42 EzT NOR 56 EzT NOR 60 90V EzI NDR 86 2 20V EzI NOR 20 EzI NOR 28 EzI NOR 42 EzT NOR 56 EzT NOR 60 36V EzT NDR 86 3 32V EzI NOR 20 EzT NDR 28 EzT NOR 42 EZzT NOR 56 EzT NOR 60 TUV EzT NDR 86 3 EI ACK and PT END Output ACK and END signals are available only when the motion is executed by po
45. s 50 of current Is supplied to the motor when stop status www fastech co kr 13 Parameter 2 External encoder connected and the value will be Multiply by 2 3 External encoder connected and the value will be Multiply by 4 Motor Lead 29 Prepare for future use ear Ratio 30 Prepare for future use www fastech co kr Appendix Option for RS 485 Communication MB RS485 Converter Available to communicate the PC and the drive One module per multi drop link is required Max comm Speed bps External Power RS485 to RS232 No need 5 24VDC FAS RCR 115 200 optional FAS RCR IM RS 232 Connection Cable for FAS RCR Universal DB 9 male female type cable is used EE For more information wiring diagram and connector refer to 10 Communication Function MB RS 485 Connection Cable for Ezi STEP PR Universal RJ 45 STP CAT5 category straight type cable is used CGNR R OR6F CGNR R 001F CGNR R 1R5F GENF ROF Grua EE For more information wiring diagram and connector refer to IO Communication Function For cabling position refer to D of 5 2 Controller Configuration www fastech co kr Appel ex MB S 485 Connection Cable for Ezi STEP PR MI Length CGNA R ORSF 50cm EEE Gure Gure Gure www fastech co kr Option for Interface Board B Terminal Block Interface Terminal Block Board No of Signal Signal name of CN name T
46. s inputted the motor will not STEP OFF motor free status In case emergency stop the machine stops immediately without deceleration So a special caution for mechanical impact is required 10 5 Trigger Pulse Output This function is used when the output signal becomes ON periodicallyin in specific condition External encoder is needed for this function 1 Setting This function is working with RS 485 communication DLL library method This command can be executed during the positioning command or before the positioning command also The following table shows the setting conditions and refer to User Manual Communication Function start Stop Setting start stop of pulse output Position pulse output 134 217 721 2 Signal Output This output pin of ONT connector for Trigger Pulse is fixed to Compare Out and the signal disgram is as follows www fastech co kr 10 Other Operation Functions C Out uec Pulse Period Low Active case e gt OFFstatus 24V Hiah Pulse Width ON status OV Low Pulse Start pulse Position 3 Status Check By using DLL program the user can check the trigger pulse output status Refer to User Manual Communication Function www fastech co kr 11 Communication Function 11 Communication Funct ion In case of RS 485 up to 16 axes can be controlled by the multi drop ink daisy chain If Windows goes to the stand by mode serial communication is
47. sition table When ACK signal is set to ON and END signal is set to OFF all motion loops are finished Then ACK signal becomes OFF and END signal becomes ON Refer to Ezi STEP Plus R User Manual Position Table Function www fastech co kr 4 5 8 Control I O Signal Moving and Acc Dec Output As shown below the position starts to move by motion command and Moving signal becomes ON and Acc Dec signal becomes ON in the acceleration and deceleration section only Motion Pattern ON Acc Dec Signal OFF ON ME OFF Moving Signal Org Search OK Output When the origin return motion is executed by origin search command Origin Search OX signal is set to OFF When the origin return motion is normally finished by the origin sensor Origin Search OK is set to ON Refer to 17 3 Input Signal 9 Origin Search Input PT Position Table Output O 2 output Control output used for Start Stop Message Function When these items are set this signal enables the user to check if corresponding PI motion starts or stops through control output signal If Start Stop Message Function is not used this signal should be set to O or 8 At the position set with other values the motion operates as follows If PT set items are set to 1 7 when the position starts to move PT Output HEX value is displayed to PT Output O PT Output 2 If PT set items are set to 9 15 the position motion is fin
48. to ON alarm output and alarm blink output are released Before releasing alarm output the user must remove any cause of alarm working When STEP OFF button click of Motion Test window the drive stops supplying the current to the motor and so the user can directly adjust the output position When you click STEP ON the drive restarts to supply the current to the motor and its torque is recovered Before operating the motor the user must set it to ON ON ore STEP ON command Alarm Output Alarm Blink Output Alarm Reset Input Pulse Scale 0 1s or more Pause Input When Pause signal is set to ON the motion in service is stopped There are two pause signal operation modes as follows C Case A When Pause signal is set to ON the motor starts to decelerate Pause signal becomes OFF before the motor is completely stopped To start motion Pause signal should be set to ON 2 Case B When Pause signal is set to ON the motor starts to decelerate The signal is continuously maintained since the motor is completely stopped To start motion Pause signal should be set to OFF Pause signal pulse scale is 10ms or more Motion Pattern ON OFF Pause Input A Pause Input B sl This function is not applied while Repeat Test of the User Program GUI is executing www fastech co kr 8 Control I O Signal Origin Search Input When Origin Search signal is set to ON 10ms or more it st
49. top Default 50 CW CCW Selectable by parameter Used when changing the direction of motor rotate Default CW Input Signal 3 dedicated input UMIT LIMIT ORIGIN 7 programmable input Photocoupler Rotational Direction Output Signal 1 dedicated output Compare Out 1 programmable output Phhotocoupler Brake signal Communication The RS 485 serial communication with PC Interface Transmission speed 9 6007 921 600 bps Incremental mode Absolute mode Data Range 134 217 727 to 134 217 727 pulse Operating speed Max 3 000 rpm Return to Origin Origin Sensor Limit sensor Z phase By external encoder GUI User Interface Program within Windows Software Motion Library DLL for windows 2000 XP Position Control www fastech co kr 83 2 2 Dimensions 1 Ezi STEP PR 26 5 1 www fastech co kr 1 Safety Precautions HEO x 86mm motor drive only EZT NDR 86 Series 3 L et Li CR e 3 Specifications of the Motor 3 Specifications of the Motor 3 1 BM 20 Series 1 Specifications MODEL 4 20N BM 20L DRIVE METHOD BI POLAR BI POLAR NUMBER OF PHASES VOLTAGE VDC 3 25 CURRENT per PHASE 0 5 RESISTANCE per PHASE Ohm 65 INDUCTANCE per PHASE mH 5 HOLDING TORQUE 0 035 ROTOR INERTIA 5 WEIGHTS 9g O 5 O 80 LENGTH L 38 ALLOWABLE OVERHUNG LOAD E 8 pevset temaer sun am 9 30 ALLOWABLE THRUST LOAD Lower than molor weight INSULATION RESISTANCE 100min at 500VDC INSU
50. tor Available to extended connection between motor and Ezi STEP PR MI Item Length m Remark CMNB M OOOF CMNB M OOOM Normal Cable Robot Cable Ll is for Cable Length The unit is Im and Max 20m length Refer to of 15 2 Controller Configuration B Extension cable for Encoder Available to extend the distance between the encoder and Ezi STEP PR MI Item Length m Remark CSVI E LILILIF Mormal Cable CSVI E DD U Robot Cable Ll is for Cable Length The unit is Im and Max 20m length Refer to 2 of 5 2 Controller Configuration MM Connector for cabling Appel These connectors are serviced together with Ezi STEP PR MI except when purchasing Option cables www fastech co kr ITEM Specification 501648 1000 AWG 26 28 501646 1000 501648 1000 AWG 267 28 Tu des deo ed m 33507 0300 E ELT Signal Connector CN Encoder Connector CN Motor Connector CN3 www fastech co kr Marker MOLEX MOLEX MOLEX MOLEX JST JST JST JST MOLEX MOLEX ba App ei e Please note that the specifications are subject to change without notice due to product improvements C Copyright 2008 FASTECH Co Ltd All Rights Reserved Oct 10 2011 rev 08 04 026 www fastech co kr
51. ue Rated Current refer to motor specification BM 20M OD 5 o SF NW 2 1 I oOo S o O Hc Gbe Oo o 35 gt O e o YY O O o gt O T 4 Z 0 e u BE ab 0 5 68 O O ke D OD O E gt st BM 285 wa BM 28 series BM 20 seri Lu N Ww enbua UT m vr TDA AT TT TOP TT TT 1 3x 10 3x10 107 Speed RFM Speed RPM BM 565 BM 56M u BM BBXL BM 56 series BM 42 series 700 m e N l e T I I I I mes T e T aq T T T T T I I T l l I Pa LA n T L 1 EA EA Le e I I E I I at GA E dj fe nt I I I I I I I I ex L CA TASSA T a 8 qJ p T 77 7F E e H I I F I I ee er I I I A a e I I 1 e A r 4 34b T n G mih deta eretz bua I I I I I I I I I I I I Tea EA e a c c c cT EA a 3 c c EN 1 i d eu e ue NUT enbuo ag RPT Spe ec RPh Soe PR drive only STEP PR drive only S EF BM 56 series Ezi 60 series Ezi BM o gt 4 Ce OO up up up ct ot ou GD GO OO GO AU Ce ni un e a DO 3x10 10 10 Art D e need RP Ki www fastech co kr pes 4 Characteristics of Motor Torque AOVDC Motor Voltage Measured condition Rated Current refer to motor specification Motor Current Se M NEN WEE MP eal ES gt j gt ip tO SO to missum AAA bae ede da de r dd
52. y occur due to overheat ing Connecting Cables Before connecting cables check if input power is off Otherwise an electric shock or a fire may occur The case of the drive is insulated from the ground of the internal circuit by the condenser Necessarily ground the driver Otherwise an electric shock or a fire may occur Change of operation and setting All parameters of the drive were accordingly set at the factory To change these parameters read the manual first Otherwise the machine may be damaged or out of order Repair and Check Stop supplying power to the main circuit wait for a while and then check or repair the drive Electricity remaining in the condenser may cause any danger like an electric shock GG Do not change cabling while power is being supplied Otherwise the user may get injured or the drive may get damaged Do not remodel the drive Otherwise the user may receive an electric shock or the drive may get damaged The damaged product is not covered by the warranty Notes on Installation 1 This product has been designed for indoor uses The ambient temperature of the room should be 0C 55C 2 If the temperature of the case is 50 C or higher radiate heat outside to cool down the case 3 Do not install this product under direct rays or near magnetic or radioactive objects 4 f more than 2 drives are installed in a line keep the interval of 20mm or more vertically a
53. y the ID number in normal status but in alarm status it display the protection number by flash times 7 3 Communication Speed and Terminal Resistance Select Swi tch SW2 SW2 is to set the communication speed between central controller PC and Drive If corresponding drive module is connected to the end of one network segment SW2 sets whether terminal resistance is used SW2 1 is to set the use of terminal resistance and SW2 2 SW2 4 is to set the communication speed as follows www fastech co kr 7 External Name and Function Setting of Ezi STEP PR MI swe 1 SW2 2 SW2 3 SW2 4 pe fois default setting value 230400 SW2 1 is OFF Terminal resistance is Off 460800 SW2 1 is ON Terminal resistance is On 7 4 Motor Connection CN3 S HEE mim Ek L3 A Phase B Phase 1 A 7 5 Encoder Connection CN2 5VDC GND Frame GND Frame GND To setup connected encoder resolution refer to 13 Parameter 7 6 Power Connect ion CN4 Funct ion n Power input 24VDC 10 Les Power input GND www fastech co kr 7 External Name and Function Setting of Ezi STEP PR MI 7 7 1 0 Signal Connection CN1 i PAVDC 2 24VDC GND Input BRAKE BRAKE 5 Limit sensor Input Connect the Brake current consumption is under 200 mA for pin 24 Refer to 8 4 Output signa for the Brake that is over 200 mA 7 8 Communication Connecttion CN5 LK Function Se 12 3

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