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EZHS/EZHC/EZHP Series Controller

1. Controller d lon E B 8 lol E Eg LUS eR f mE fih feb E k Kj E E m B mU m m mi o m m bi q ti ii Lima Limo Limo Limo Axis number 10 1 ID 2 ID 14 ID 15 ID 0 D M P i P Slider cylinder 0 Slider cylinder 2 Slider cylinder 14 e Slider cylinder 15 eA Slider cylinder 1 The rotor position sensor installed in the slider cylinder constantly feeds back to the controller the position of the moving part table rod The controller monitors the rotor position sensor signal and controls the motor so as to prevent any deviation in the position of the moving part There are two controller types the absolute type which provides a position remembering function and the incremental type without the position remembering function If your controller is of the incremental type always perform a return to home operation of the slider cylinder after turning on the power The controller operates in two modes the controller mode in which the positioning of the slider cylinder is performed using operation data and in the driver mode in which the slider cylinder is operated via
2. T Pendant cable 5 m 16 4 ft DC power Shielded controller Shielded cable Mains filt bl ae ae id User defined controller AC C3 5 be bre 1 7 Actuator communication cable A Shielded cable User I O cable Shielded cable Surge arrester Mains filter L AC CJ m Motor cable Shielded cable Grounded panel PE A Cable clamp Ground cable Use braided shielded cable to wire the power supply Fix the cable clamps at locations as close to each equipment as possible AGGE Some of the parts used in the controller are sensitive to static electricity When touching the controller first cut the power or provide an antistatic measure Touching the controller without cutting off the power or providing an antistatic measure may damage the controller e See Appendix B Optional Parts and Accessories on p 103 for the cables shown in gray EZHS EZHC EZHP Series Controller USER MANUAL 69 70 Chapter 6 Startup and Troubleshooting Chapter 6 Startup and Troubleshooting This chapter explains the procedures used to turn on th
3. o 1 a BH The input output functions of the controller vary depending on the controller s operation mode Before wiring the cables determine the mode in which the controller will be operated and set the operation mode switch accordingly See 4 2 4 Setting on p 23 for the setting method EZHS EZHC EZHP Series Controller USER MANUAL 63 f EZ limo easy linear motion 5 12 Wiring the Sensor Cables Use a supplied connector set 20 pin to plug the connector socket on the cable into the sensor I O connector on the controller Figure 5 39 Connection of Sensor Controller Mode Controller i Pink P24 111 Brown ra LS 13 Black Sensor I O N24 T 2 Blue connector gem Pink 11 DES Brown 14 18 t Black rz N24
4. Table 5 3 Pin Assignments of Sensor I O Connector Pin Signal name Explanation Pin Signal name Explanation Sensor power suppl Sensor power suppl 1 o output 624 V i output 24 V NT 2 N24 Sensor drive GND 12 N24 Sensor drive GND 3 13 LS LS limit sensor 4 14 LS LS limit sensor 5 15 HOMELS HOME sensor 6 16 7 17 8 18 Sensor power suppl 7 7 19 output 24 V idi 10 20 N24 Sensor drive GND These signals are output when a DC power supply is connected to pin 18 of the user I O connector 38 Chapter 5 Installation and Wiring 5 3 User I O Specification 5 3 1 This section describes the controller s input output signals The controller s input output functions depend on its operation mode In the controller mode 18 photocoupler inputs and 9 photocoupler transistor outputs are available In the driver mode 12 photocoupler inputs and 8 photocoupler transistor outputs are available Figure 5 8 shows the common input circuit that applies to all inputs The common output circuit is shown in Figure 5 9 Internal Input Circuit All input signals are provided as photocoupler inputs This input is common to the controller mode and driver mode Figure 5 8 input Circuit External power supply 24 VDC 10 200 mA minimum P24 FWD P24 RVS 24 VDC 2 7 kQ P24 FP E P24 RP
5. END signal is output when the positioning operation is complete Linked Motion Positioning Operation When a motion profile is chosen for which linked motion is selected as the operation function the positioning operation is performed continuously over successive linked motion data without stopping the slider cylinder until a motion profile for which single motion is selected is reached The position achieved by a single linked motion positioning operation is the sum of positions set in the successive linked motion operation data The speed and acceleration deceleration can be changed during the positioning operation Note that only motion profile of the same direction can be linked Figure 7 3 shows the operation profile of concatenated positioning operation when the motion profiles are set as shown in Table 7 3 e When motion profiles with different operation directions are linked motion an error message will be displayed on the teaching pendant Motion profile can be set from No 01 to No 63 However data No 63 can only be set to single motion Even if linked motion is set for data No 63 the data will be processed as single motion data e When a linked motion operation is performed with five or more motion profiles linked together an error message will be displayed on the teaching pendant Ifa push motion operation is set at the end of linked motion operation the speed of the push motion oper
6. 100 ms or more A ALM output 200 ms less Motor excitation 10 ms or less A active ON N A non active OFF Figure 5 17 When the Limit Sensor Input When the limit sensor is enabled LS input T ACL input 4 ms or more 100 ms or more A ALM output 6 ms less 200 ms or less Motor excitation p 6 ms or less 10 ms or less A active ON N A non active OFF FWD RVS FP RP Inputs These inputs serve as forward backward continuous operation inputs in the controller mode They serve as forward backward pulse inputs in the driver mode In the driver mode input the user defined controller s pulse train Input a signal corresponding to the pulse input mode 1 FWD RVS inputs e When the FWD input is active the slider cylinder operates in the opposite direction the motor direction e When the RVS input is active the slider cylinder operates in the motor direction If the input in the same direction becomes active during deceleration the motor accelerates If the FWD input and RVS input become active simultaneously the motor decelerates to a stop The FWD input and RVS input are operated at the positioning speed of the selected operation number MO to M5 If no operation number is selected MO to M5 are OFF the slider cylinder will operate at the common speed If no operation data is set for the selected operation number the
7. 58 5 6 5 Power Supply 58 5 6 6 Insulation Resistance Measurement Dielectric Strength IE 58 5 Wiring Charging the Battery 58 5 8 Wiring the Slider Cylinder 59 5 8 1 Connecting the 51 59 5 8 2 Cable Wiring 2 4022 1001 59 5 8 3 Protecting the Motor sse 60 5 9 Wiring the Communication Connector Cables 60 5 9 1 Teaching 60 5 9 2 Controller iier et 61 5 10 Assembling the User I O Connector Sensor I O Connectors ch RR NRI ERI eet raa 62 5 11 Wiring the I O 63 5 12 Wiring the Sensor 64 5 13 Compliance with the EC Directives 65 5 13 1 Low Voltage Directive 73 23 66 5 13 2 EMC Directives 89 336 EEC 92 31 EEC 67 5 13 3 Machine Directive 98 37 67 5 13 4 Installation Wiring 67 5 13 5 Example of EMC Compliant Wiring 69 Chapter 6 Startup and Troubleshooting 71 6 1 Turning o
8. Dielectric strength An insulation resistance of 100 MO has been confirmed via a 500 VDC megger at the following locations Between the I O connector and the main power supply terminals motor cable connector or battery connector Between the control signal power supply terminals and the main power supply terminals motor cable connector or battery connector Between the protective earth terminal and the main power supply terminals motor cable connector or battery connector Insulation resistance No abnormality was found after the applicable voltage was applied for one minute at the following locations Between the signal I O terminal or control signal power supply terminals and the main power supply terminals 1 8 kV Between the signal I O terminal or control signal power supply terminals and the motor output terminal 1 8 kV Between the signal I O terminal or control signal power supply terminals and the battery input terminal 1 8 kV Between the protective earth terminal and the main power supply terminals 1 5 kV Between the protective earth terminal and the motor output terminal 1 5 kV Between the protective earth terminal and the battery input terminal 1 5 kV Tested with all input output terminals and connectors shorted Values were measured following rated operation at normal temperature and humidity A 2 Configuration of Equipment Connected to the EZHS EZHC EZHP Series Controller A 2 1 Slider Cyli
9. 12 Blue JC i Pink 9 2 amp Brown E HOMELS HOME sensor mg 20 N24 Blue LIMO The pink lead broken line is connected to the brown lead if the sensor logic is N C normally closed If the sensor logic is N O normally open the pink lead is not connected The 24 VDC output from the controller is used to drive the sensors Do not use it as a power supply for any item other than the sensors If the sensor set PAEZ S is used and the wiring length between the controller and a given sensor exceeds 2 m 6 6 ft provide a capacitor of approx 10 uF and a withstand voltage of 50 V or more at a point within 2 m 6 6 ft of the sensor AGGE The sensor input is enabled when the controller mode is selected The input is disabled in the driver mode e In the 2 sensor mode use the LS and LS sensors with the LS sensor as the HOME sensor When sensors are used always set the I O parameter LS detection enable disable to Enable If it is set to Disable a stop action will not be activated even when a sensor is detected 64 Chapter 5 Installation and Wiring Driver Mode Sensor power User difined controller 5VDC to 24 VDC Pink 5 VDC to P24 3 24 VDC Brown x LS LS sensor B
10. Coordinate position management Power supply on e The table rod position at power on is set as the coordinate zero position e Once return to home operation has been performed the softhome position is set as the zero position Occurrence of error 1 Excluding the two errors below After the error is reset via the ACL input the relative position from the softhome to the current table rod position is used as the coordinate value Occurrence of error 2 Overspeed e Motor overheat protection e Perform a return to home operation after resetting the error via the ACL input e The softhome position is set as zero Emergency stop Once the emergency stop is reset the relative position from the softhome to the current table rod position is used as the coordinate value Related parameter Coordinate setting Refer to Chapter 5 in Controller Data Setting Manual 88 Chapter 8 Maintenance Chapter 8 Maintenance This chapter explains the maintenance items that must be performed to ensure safe efficient operation of the controller Should you encounter any abnormality immediately stop using the controller and call our Technical Support Line Warning Always turn off the power supply to the controller before performing maintenance or repair of the machine 8 1 External Check Check the items specified in Table 8 1 on a regular basis Table 8 1 Inspection Items a
11. ORIENTAL MOTOR f EZ limo EZHS EZHC EZHP Series Controller USER MANUAL AL CE EZ limo easy linear motion Notes to the User This product must be handled by qualified personnel with expert knowledge of electrical and mechanical engineering Before using the product please read Chapter 2 Safety carefully to ensure correct use This product is designed and manufactured for use as an internal component for general industrial equipment Do not use the product for any other purpose Oriental Motor shall not be liable whatsoever for any damage arising from a failure to observe this warning Should you require the inspection or repair of internal parts please contact the Oriental Motor branch or sales office from which you purchased the product The figures and tables provided in this document are intended to help you understand the content of the text They should not be construed in any way as guaranteeing the resultant operation Oriental Motor shall not be liable whatsoever for any patent related problem arising in connection with the use of any information circuit equipment or device described in this document The technical specifications are subject to change without prior notice for the purpose of improvement in product performance This document is protected under the applicable copyright laws No part of this document may be reproduced stored changed duplicated or transmitted digitally via pr
12. HEP MEI CN MEC 44 5 3 9 FWD RVS FP RP 44 5 3 10 eere cere ei etek 47 5 3 11 FREE Input 48 5 3 12 END iE bete dels 48 5 3 13 MOVE 48 5 3 14 AREA 49 UP OUIpUl iuo tente 50 5 3 16 ALM QuUlp t ei ete cece eee eee 51 5 3 17 TIM OultpUl iine o teretes 51 5 3 18 ASG BSG Outputs sse 52 5 3 19 Current Position 52 54 Sensor I O Specification 55 DAN PES APU EN 55 542 LESJnpu t 55 5 4 3 HOMELS 55 5 4 4 P24 N24 55 5 5 Emergency Stop 56 5 6 Connecting to the Power 57 5 6 1 For Single phase 100 115 V Unit and Single phase 200 230 V nit i aient ttr ehe 57 5 6 2 Connection of the Main Power Supply Terminals and Protective Earth 57 5 6 3 Connection of the Control Signal Power Supply dua me eer er eer ree e 58 5 6 4 Supplied
13. The EZHS EZHC EZHP Series products are designed for use in an electrical system or machine as an internal component During operation and immediately after the power supply is cut off the parts continue to operate and remain hot thus posing a risk of bodily injury or property damage It is prohibited to start the slider cylinder i e to operate the device in accordance with the specified purpose when the machine does not satisfy any relevant safety standards The factory safety manager or safety personnel in charge of the applicable machine must ensure that the machine is operated only by qualified personnel who are familiar with the operation of electronic equipment and thereby prevent injury or damage to the equipment The term qualified personnel refers to persons who have received the necessary training or education and have pertinent experience who are familiar with the relevant standards regulations accident prevention rules and inspection conditions who are authorized by the factory safety manager to engage in the necessary activities and who have the ability to discern and prevent potential dangers 2 2 Potential Dangers 2 2 1 2 2 2 Dangers that may arise in connection with the use of this product are as follows e Electric shock Electrical fire e Danger posed by the machine Electromagnetic disturbance These dangers must be controlled properly by providing safety design for the machine adopting specific local regu
14. The maximum response frequency varies depending on the slider cylinder connected to the controller The maximum response frequency is 20 kHz 800 00 mm s 31 50 in sec in case phase difference input mode Pulse input mode e Switchable between 1 pulse input mode and 2 pulse input mode Set via DIP Switches on front panel Switchable phase difference input mode Set via parameter setting 96 Appendix A Specifications A 5 I O Setting A 5 1 A 5 2 A 5 3 Area Set the output range of AREA signal The AREA output remains active while the moving part is positioned between the upper and lower limits Area 1 Setting range 83 886 08 to 83 886 07 mm 3 302 6 to 3 302 6 inch Area 2 Setting range 83 886 08 to 83 886 07 mm 3 302 6 to 3 302 6 inch Softlimit If the value shown on the command position counter exceeds the softlimit or softlimit during operation except for return to home operation the stop action set by the STOP input in A 5 3 will be executed Softlimit e Setting range 83 886 08 to 83 886 07 mm 3 302 6 to 3 302 6 inch Softlimit Setting range 83 886 08 to 83 886 07 mm 3 302 6 to 3 302 6 inch Stop Set how the slider cylinder should stop when a STOP signal is input Stop action Setting range Immediate stop Deceleration stop Immediate stop and electromagnetic brake operation Deceleration stop and electromagnetic brake operation S
15. 3 Away from the motor gt Y Toward the motor Between mechanical ends Mechanical end away from the motor Mechanical end near the motor Away from the motor Toward the motor Mechanical end away from the motor Mechanical end near the motor m Away from e s the motor H Y Toward the motor When the push motion mode is selected set the starting speed of return to home operation to 6 0 mm s 0 24 in sec or lower If a value larger than 6 0 mm s 0 24 in sec is set setting a value larger than 6 0 mm s 0 24 in sec may result in damage to the slider cylinder Figure 7 9 Starting position of return to home operation 2 Sensor Mode Starting direction of return to home operation Opposite the motor side Broken line indicates a home offset Starting direction of return to home operation Motor side LS Opposite the motor side Motor side LS Opposite the motor side Motor side LS Opposite the motor side Motor side motor side Motor side Between LS and LS LS Opposite the motor side Motor side EZHS EZHC EZHP Series Controller USER MANUAL motor side Motor side 85 EZ limo easy linear motion Figure 7 10 Starting position of return to home operation 3 Sensor Mode Starting direction of return to home operation Opposite the motor sid
16. 68 6 EMG input The motor current An emergency stop Reset the emergency stop Can detection is cut off The input was detected button on the teaching not electromagnetic pendant be brake is activated used 27 7 Insufficient ABS The motor stops The ABS backup e Operate the ACL input and Can battery voltage battery voltage dropped reset the alarm and then be absolute type to or below the charge the battery used only specified value If the e The consumed battery absolute position has may be the cause been lost then alarm Purchase a replacement code 33 Absolute battery PAEZ BT2 position loss error is displayed instead 33 Absolute position The motor stops e Power was turned on Reset the alarm using Can loss absolute for the first time after ACL and then perform be type only the battery was return to home operation used connected f the alarm still generates e Battery is not after charging the battery connected or has charge period approx 48 been consumed hours data retention time e The motor cable was 15 days a consumed disconnected when battery open cable or the main power was blown fuse may be the OFF cause Purchase a The battery cable replacement battery became open ora PAEZ BT2 fuse was blown EZHS EZHC EZHP Series Controller USER MANUAL 75 EZ limo easy linear motion No of LED Condition S
17. Alarm code 30 e Alarm reset method ACL input or cycling of power 98 Appendix A Specifications Overspeed The motor speed exceeded 5500 r min Motor action The motor current is cut off and electromagnetic brake is activated Number of LED blinks 2 e Alarm code 31 e Alarm reset method ACL input or cycling of power Nonvolatile memory error The stored data was damaged e Motor action The motor current is cut off and electromagnetic brake is activated 9 41 8 44 41 44 Alarm code 41 Initialization of controller Alarm code 44 None e Number of LED blinks e Alarm code e Alarm reset method Rotation at initialization Initialization failed because the motor was rotating when the power was turned on or for another reason e Motor action The motor current is cut off and electromagnetic brake is activated e Number of LED blinks 8 e Alarm code 43 e Alarm reset method Cycling of motor Return to home error return to home operation did not complete normally e Motor action The motor stops Number of LED blinks 7 e Alarm code 62 e Alarm reset method ACL input or cycling of power Softlimit detection The table or rod reached a softlimit position e Motor action The motor stops Number of LED blinks 7 e Alarm code 67 e Alarm reset method ACL input or cycling of power Absolute position loss absolute type only
18. END output EE Motor operation Run Stop 2 Motor excitation condition Motor is excited 1 The time after the operation stops until the END output becomes active varies depending on the load and operating speed 2 The time after the STOP input is activated until the motor stops varies depending on the load and operating speed A active ON N A non active OFF Figure 5 13 STOP Input deceleration stop STOP input 4 1 ms or more NA NN ms or more STARTinput MOVE output END output OL _ N A pal Motor operation Run Stop 6 ms or less Motor excitation condition Motor is excited The time after the operation stops until the END output becomes active varies depending on the load and operating speed A active ON N A non active OFF Chapter 5 Installation and Wiring TEA Figure 5 14 STOP Input immediate stop and electromagnetic brake operation A STOP input i 4 ms or more 200 ms or more START input N A MOVE output END output 1 Motor operation Run Stop 2 Motor excitation Motor is excited condition Delay when the motor 100 ms or less is not excited Time 200 ms or less Electromagnetic Release Hold Release brake 25 ms or less 150 ms or less The time after the operation stops unt
19. N A non active OFF EZHS EZHC EZHP Series Controller USER MANUAL 49 EZ limo easy linear motion 5 3 15 50 T UP Output To prevent injury or equipment damage do not operate the slider in the push motion mode This output is enabled in the controller mode The T UP output is used to indicate that a push motion operation has been completed The T UP output becomes active when a pushed condition is achieved Figure 5 28 If the pushed condition is not achieved the cylinder will move by the set range and the END output will become active when the movement is complete See 7 2 Push Motion Operation on p 83 for details on the push motion operation Figure 5 28 T UP Output pushed condition achieved A START input NA A END output NA 4 ms or less A T UP output NA Opposite the motor direction Motor operation Motor direction A active ON N A non active OFF Figure 5 29 T UP Output pushed condition not achieved START input END output T UP output Opposite the motor direction Motor operation Motor direction A active ON N A non active OFF 5 3 16 5 3 17 Chapter 5 Installation and Wiring ALM Output This output is common to the controller mode and driver mode The ALM output is used to indicate an actuation of the controller s protective function ETSI The ALM output becomes active when th
20. Power was turned on for the first time after the battery was connected Battery is not connected or has been consumed The motor cable was disconnected when the main power was OFF e Motor action The motor stops Number of LED blinks 7 e Alarm code 33 e Alarm reset method ACL input Main power OFF detection Main power OFF detection e Motor action The motor current is cut off and electromagnetic brake is activated e Number of LED blinks 3 e Alarm code 23 e Alarm reset method ACL input or cycling of power EZHS EZHC EZHP Series Controller USER MANUAL 99 EZ limo easy linear motion Insufficient ABS The ABS backup battery voltage dropped to or below the specified value battery voltage Motor action The motor current is cut off and electromagnetic absolute type only brake is activated Number of LED blinks 7 e Alarm code 27 e Alarm reset method ACL input or cycling of power LS logic error The LS and LS sensors were detected in the sensor enable mode e Motor action The motor stops e Number of LED blinks 7 e Alarm code 60 e Alarm reset method ACL input or cycling of power LS reverse The LS sensor opposite to the operating direction was detected during a connection error return to home operation e Motor action The motor stops Number of LED blinks 7 e Alarm code 61 e Alarm reset method ACL input HOMELS The HOMELS signal is not out
21. See Figure 5 34 Connection Example of the Controller s Power System and Emergency Stop System on p 56 for the circuit configuration See 5 6 2 Connection of the Main Power Supply Terminals and Protective Earth Terminal on p 57 for connection Motor Actuator Communication Cables optional Length m ft Motor cable model Set model 2 6 6 CCO2EZ2 M CCO2EZ1 T CCO2EZ2 5 16 4 CCO5EZ2 M CCO5EZ1 T CCO5EZ2 10 32 8 CC10EZ2 M 10 71 10 72 Recommended Mains Filters Manufacturer Model Schaffner Electronik AG FN2070 10 06 EPCOS B84113 C B110 e Recommended Surge Arrester Manufacturer Model OKAYA ELECTRIC INDUSTRIES CO LTD R A V 781BWZ 2A PHOENIX CONTACT GmbH amp Co KG PT2 PE S120AC ST VAL MS 230 VF ST EZHS EZHC EZHP Series Controller USER MANUAL 33 EZ limo easy linear motion 5 2 2 User I O Wiring Diagrams Controller Mode Table 5 1 shows the pin assignments of the user I O connector in the controller mode Connector plug pin assignments Viewed from the soldered surface 18 16 14 12 108 6 4 2 17 15 11311917 5 311 5 15 iy WL 5 WL dil APR PAPA ER PR IP C39 _ E 32 30 28 26 24 22 20 35 33 31 29 27 2
22. provide measures to prevent the slider cylinder and controller from contacting the hands or otherwise provide protective grounding Failure to do so may result in electric shock To prevent fire do not place flammable objects around the controller Also ensure that no flammable objects will enter the gaps in the casing e To prevent injury or equipment damage secure the controller and battery using the specified installation method Do not bundle signal cables and communication cables together with the power cables such as motor cable and power supply cable or lay signal communication cables and power cables close to one another Wire the signal cables and communication cables by providing a minimum clearance of 100 mm 4 inch from the power cables Failure to do so may cause malfunction due to noise in the signal cables or communication cables Be sure to store the cables in a duct or fix with clamps Failure to do so may cause the cables to hang loose or move and get pulled by an inadvertent action of the user thereby causing damage to the controller or cable itself or mechanical malfunction due to poor cable contact Remove each cable after loosening the connector screws In addition always pull the cable by the connector Pulling the connector or cable when the connector is still fixed by the screws may cause damage to the controller or cable itself or mechanical malfunction due to poor cable contact EZHS EZHC EZHP Se
23. 3A 5 6 6 Insulation Resistance Measurement Dielectric Strength Test Measure insulation resistance and test dielectric strength with the controller s power supply terminal motor cable connector actuator communication cable user I O connector sensor I O connector and pendant connector all shorted Conduct the measurement test on an individual controller e Conducting the test without shorting all terminals will damage the controller To prevent electric shock do not touch the terminals when conducting the test 5 7 Wiring Charging the Battery If the controller is of the absolute type connect the battery to the battery connector socket on the controller Follow the procedure below when charging the battery for the first time 1 Connect the battery to the controller 2 Supply the power to the controller The battery starts charging It takes approx 48 hours to fully charge the battery at an ambient temperature of 20 C 68 F Cut off the power supply to the controller before removing the battery from the controller The battery is always charging while the power is being supplied to the controller ETSI The product is shipped with an uncharged battery Always charge the battery before use 58 Chapter 5 Installation and Wiring 5 8 Wiring the Slider Cylinder Cables This section explains the wiring of the motor cable and actuator communication cable of the slider cylinder 5 8 1 Connecting the Sli
24. EZHPAA 5 9 x Controller EZMC13A A CSA C22 2 No 14 uL Motor ELE io UL1004 UL2111 Built into CSA C22 2 No 100 UL E64199 ower unit 3 CSA 22 2 No 77 7 56 P EZHM66MC 2 3 pid EZHC6X xx EZHP6X xx EZMC24I A EZMC24A A UL508C 1 Controller EZMC121 C CSA C22 2 No 14 UL ES EZMC12A C For UL standard UL508C the product is recognized for the condition of Maximum Surrounding Air Temperature 40 C 104 F 2 With electromagnetic brake 3 200 VAC input e The teaching pendant is not certified by the UL standards e For compliance with the EC directives see 5 13 Compliance with the EC Directives on p 65 Rules of Notation The following symbols are used throughout this manual to indicate safety warnings precautions important notes and tips Handling the product without observing the instructions that accompany a AN Warning Warning symbol may result in death or serious bodily injury Handling the product without observing the instructions that accompany a A Caution Caution symbol may result in bodily injury or property damage These notes appear throughout the manual and describe items that must Note be observed by the user in certain situations to ensure correct use of the product Notation The description of text in this manual follows the notation rules specified below e Asentence starting with a filled circle provides information not an operating proc
25. Only data of the same movement direction can be linked e Push motion operation Positioning e Operation via positioning data selection operation Data is selected using six bits from MO to M5 e Sequence forward operation When data No 00 is selected operation is performed sequentially from data No 01 until the last number in which data is set Sequence forward operation ends at a data number in which no data is set Push motion e Push current 0 to 50 operation The current can be set in units of 1 on the teaching pendant Return to home e Starting direction Opposite the motor side Motor side operation Home offset 83 886 08 to 83 886 07 mm 3 302 6 to 3 302 6 inch The offset can be set in units of 0 01 mm 0 0004 inch on the teaching pendant Push motion 2 sensor 3 sensor 0 01 to 250 00 mm s 0 0004 to 9 84 in sec up to 6 00 mm s 0 24 in sec in the case of a push motion return 0 01 to 800 00 mm s 0 0004 to 31 50 in sec up to 6 00 mm s 0 24 in sec in the case of a push motion return Return mode Starting speed of return Operating speed of return The maximum speed varies depending on the slider cylinder connected to the controller Positioning data Number of data points 63 No 01 to No 63 Set by the teaching pendant EZHS EZHC EZHP Series Controller USER MANUAL 95 EZ limo easy linear motion Travel amount setting range e Absolute 83 886 08 to 8
26. Phase difference input mode FP input RP input N A 3 ms or less END output N A Opposite the motor direction Motor operation Motor direction The time after the pulse train input ends until the END output becomes active varies depending on the load and operating speed A active ON N A non active OFF 5 Pulse signal Waveform The waveform of the input pulse signal must have sharp rises and falls as shown in Figure 5 22 The figure shows voltage levels of a pulse signal 2 us or less H H 90 H 4 to 5V L 0 to 0 5V L 10 3 5 us or more 1 us or more 2 us or less Figure 5 22 Pulse Waveform Chapter 5 Installation and Wiring 5 3 10 C OFF Input This input is enabled in the driver mode To prevent injury or equipment damage do not activate the C OFF input while the slider cylinder is operating If the C OFF input switches to the active state during operation the slider cylinder will stop and lose its holding brake force To prevent injury or equipment damage never activate the C OFF input when the slider cylinder is installed vertically whether the slider cylinder is operating or stopped The holding brake force will be lost and the load may drop When the C OFF input is activated the motor output current will be cut off the slider cylinder will lose its holding brake force When operating the slider cylinder keep the C OFF input in
27. START FWD ACLICK 1kQ Rvs 5 0 1800 FREE _ _ STOP C OFF v RP AIV HOME PRESET 4 7 kQ REQ FWD MO to 5 RVS o LS FP LS RP 7 to 20 mA HOMELS 5 3 2 Internal Output Circuit The output signals include photocoupler outputs and line driver outputs Figure 5 9 Output Circuit 5 VDC A 562 6 BSG2 Line driver output lt H ASG2 Opto isolated Bsc2 Transistor output 30 VDC 10 mA maximum ASG1 BSG1 MOVE END OUTR 4 AREA TIM OUTO Transistor N24 o 1 T UP OUT1 Open collector output N24 o 30 VDC 15 mA maximum Vov EZHS EZHC EZHP Series Controller USER MANUAL 39 EZ limo easy linear motion 5 3 3 START input 5 3 4 40 This input is enabled in the controller mode The positioning operation of the slider cylinder starts when the START input is activated following input of MO to M5 The END output becomes active when the rotor position stabilizes at 1 8 degrees from the commanded value after the positioning operation ends See 7 1 Positioning Operation on p 79 for details on the positioning operation Figure 5 10 START Input 4 ms or more 4 ms or more MO to M5 input X X 4 ms or more START input N A 6 ms or less MOVE output 10 ms less END output N A Start of positioning operation Opposite the motor direction Motor operation M
28. away from direct sunlight in a place not subject to high temperature or high humidity Do not disassemble or modify the battery Do not apply solder directly to the battery Use a dedicated charger controller to charge the battery The battery has a vent structure for the release of internal gas Do not apply a strong force to the battery since it may cause this structure to deform When installing the battery into the machine never place it inside a sealed structure The battery sometimes generates gas which if trapped may cause a burst or an explosion due to ignition The battery contains an alkali solution If the alkali solution comes in contact with the skin or clothes flush the area thoroughly with clean water If the alkali solution gets into the eyes do not rub Flush the eyes thoroughly with clean water and seek immediate medical attention Do not use the battery if there is leakage discoloration deformation or another abnormality Do not immerse the battery in water or seawater nor allow it to become wet Doing so may cause the battery to generate heat or rust Do not scratch the battery A scratched battery easily causes shorting resulting in leakage heat generation or bursting Disconnect the battery connector if the controller is not turned on for an extended period exceeding the data retention period Failure to do so may cause the battery fluid to leak or battery performance to drop When storing the batt
29. before use Figure 6 1 Controller LINEAR MOTION CONTROLLER OPERATION LED ALARM LED Control signal power supply terminals Emergency stop output terminal Axis number setting switch Pulse input mode switch Pendant connector Operation mode switch Battery connector Link connector Table 6 1 Controller Settings Item Setting Axis number setting switch ID 0 Operation mode switch No 1 OFF Controller EZHS EZHC EZHP Series Controller USER MANUAL 71 EZ limo easy linear motion 1 Confirm that no external force is applied to the load or moving part of the slider cylinder and then turn on the power 2 Turn on the power supply to the controller and check the lighting condition of the LED on the front panel Figure 6 2 and Figure 6 3 shows the I O output statuses at power on Table 6 2 LED Statuses OPERATION ALARM Procedure Off Off Confirm that the input power supply is connected and then reconnect the power If the LED doesn t turn on after the power is reconnected call our Technical Support Line On green On red Go to 6 4 Troubleshooting On green Blinking Red Count the number of blinks and go to 6 4 Troubleshooting Figure 6 2 Output Statuses at Power On controller mode Control signal A power supply input Main power A 22221 supp
30. confirm EMC compliance with respect to a given machine Applicable Standards EMI Emission Tests EN61000 6 4 Radiated Emission Test EN55011 Conducted Emission Test 55011 EMS Immunity Tests EN61000 6 2 Radiation Field Immunity Test IEC61000 4 3 Electrostatic Discharge Immunity Test IEC61000 4 2 Fast Transient Burst Immunity Test IEC61000 4 4 Conductive Noise Immunity Test IEC61000 4 6 Surge Immunity Test 61000 4 5 Voltage Dip Immunity Test IEC61000 4 11 Voltage Interruption Immunity Test IEC61000 4 11 Pendant 10 kV both in air and in the contact state Controller Malfunction or damage may occur due to static electricity When touching the controller cut off the power supply or provide an antistatic measure Always use an insulated screwdriver when adjusting the controller s axis number setting switch or DIP switches Machine Directive 98 37 EC The sliders cylinders controllers and teaching pendants are designed and manufactured for use as an internal component for general industrial equipment and therefore need not comply with the Machine Directive Nonetheless they are evaluated under the following standards Applicable Standards EN292 1 EN292 2 EN954 1 EN418 EN60204 1 Installation Wiring Methods Appropriate measures must be taken to suppress the EMI Electromagnetic Interference caused by the EZHS EZHC EZHP Series slider cylinder and teaching pendant in the nearby control systems equipment and to addres
31. cxx x36 32 30 28 26 24 22 20 35 33 31 29 27 25 23 21 19 Table 5 2 Pin Assignments of User I O Connector in Driver Mode Pin Signal name Explanation Pin Signal name Explanation 4 N24 GND supply GND for 19 N24 GND supply GND for 2 ALM Alarm output 20 ASG1 oc Encoder output 3 21 BSG1 oc Open collector output Positioning completion 4 END OUTR position data output 22 ASG2 dif ready 5 TIM OUTO Timing outpuliposition 23 AsG2 dif data output bit 0 Encoder output Push motion completion Line driver output 6 OUT1 signal position data 24 BSG2 dif output bit 1 7 25 BSG2 dif 8 ACL CK Alarm clear position 26 H data transmission clock Motor is not excited 9 FREE Electromagnetic brake 27 release 10 C OFF Current off 28 11 29 12 30 REQ ABS data request 13 31 FP 14 32 FP Forward pulse input 15 33 P24 FP 16 34 RP 17 PRESET Preset 35 RP Backward pulse input 48 P24 supply input for 36 P24 RP or shorter e When connecting ASG1 or BSG1 open collector keep the cable length to 2 m 6 6 ft e When connecting ASG2 or BSG2 line driver connect a 150 Q terminal resistor between the line receiver inputs Chapter 5 Installation and Wiring Figure 5 7 Example of User
32. data Wait for a moment Chapter 4 Controller Overview Figure 4 6 Clearing of All Operation Data PRG Aclr OP Data Clearing all data Wait for a moment Figure 4 7 Initialization of All Data PAR Ini All Clear Controller reset Wait for a moment e When a nonvolatile memory error occurs all data that has been written to memory will be lost e f a nonvolatile memory error occurs initialize all data using the teaching pendant If the error still persists please contact the ORIENTAL MOTOR branch or sales office from which you purchased the product and arrange for a repair 4 3 3 Battery Backup absolute type Data can be backed up for a period of up to 15 days To prevent injury or damage to the machine controller or battery do not use a battery other than the dedicated battery supplied with your absolute type controller The battery supplied with your absolute type controller is designed exclusively for use with the EZHS EZHC EZHP Series controller Always charge the battery before using See 5 7 Wiring Charging the Battery on p 58 for further information Do not move the slider cylinder table rod when cutting off the power supply under normal conditions or when turning on the power supply Doing so may disable the monitoring of table rod movement Do not move the slider cylinder table rod when cutting off the power supply under normal conditions or when turning on the power supply Doing
33. e g non controlled stop Category 1 The power supply to the drive device continues during the stopping action and stops when the stopping action is complete Controlled stop mode Category 2 The power supply to the drive device continues Controlled stop mode The safety precautions described above are by no means comprehensive Please contact ORIENTAL MOTOR concerning any question or problem you might have Electromagnetic Disturbance Appropriate measures must be taken to suppress the EMI Electromagnetic Interference caused by the slider cylinder controller and teaching pendant in the nearby control systems equipment and to address the EMS Electromagnetic Susceptibility of the slider cylinder controller and teaching pendant Failure to do so may result in a serious impairment of the machine s performance Provide EMC Electromagnetic Compatibility measures when installing wiring the product The safety precautions described above are by no means comprehensive Please contact Oriental Motor concerning any question or problem you might have Chapter 2 Safety 2 3 General Safety Guidelines This section explains the general safety guidelines applicable to the EZHS EZHC EZHP Series Safety information specific to the controller is provided in connection with the relevant items throughout the manual To prevent bodily injury please observe the following points Be sure that personnel with expert knowledge of electrical and m
34. filter 2 Connecting surge arrester Use a surge arrester or equivalent as below table Manufacturer Model OKAYA ELECTRIC INDUSTRIES CO LTD R A V 781BWZ 2A PHOENIX CONTACT GmbH amp Co KG PT2 PE S120AC ST VAL MS 230 VF ST When measuring dielectric strength of the equipment be sure to remove the surge arrester or the surge arrester may be damaged 3 Grounding method When grounding the controller slider cylinder and mains filter use as thick a cable as possible and connect to the ground point over the shortest possible distance so as not to generate potential difference at the grounded section Use a wide thick and uniform conducting surface for the ground point 4 Wiring the I O and actuator communication cables Use a shielded cable with a conductive cross sectional area of AWG24 to 22 0 2 to 0 3 mm for the controller user I O cable and wire the cable over as short a distance as possible A shielded cable is available as an option Use a metal cable clamp that contacts the shielded cable along its entire circumference to secure ground the I O cable or actuator communication cable Attach a cable clamp to the tip of the shielded cable and connect the clamp to an appropriate ground point Figure 5 40 Cable Clamp Shielded cable Cable clamp 5 Wiring other cables Connect the cable directly to the ground point so as not to generate a difference in ground potential between the controller
35. inputs Chapter 5 Installation and Wiring Figure 5 6 Example of User Defined Controller Connection controller mode User defined controller 24 VDC A EZHS EZHC EZHP Series controller vov 0v 0v 0v 17 30 33 32 36 35 P24 24 VDC input MO 7 M1 M2 M3 M4 M5 START ACLICK FREE STOP HOME PRESET REQ P24 FWD FWD P24 RVS RVS 1 19 N24 ALM MOVE END OUTR AREA OUTO T UP OUT1 ASG1 BSG1 ASG2 ASG2 BSG2 BSG2 Data setting inpu Control input Forward Backward input Control output Encoder output The load connected to a control output should not exceed 30 VDC 10 mA If the load current exceeds 10 mA connect external resistor Ro The load connected to encoder output ASG1 or BSG2 should not exceed 30 VDC 15 mA If the load current exceeds 15 mA connect external resistor R1 EZHS EZHC EZHP Series Controller USER MANUAL 35 EZ limo easy linear motion 36 5 2 3 User I O Wiring Diagrams Driver Mode Table 5 2 shows the pin assignments of the user I O connector in the driver mode Connector plug pin assignments Viewed from the soldered surface 18 16 14 12 108 6 4 2 17 15 13 11 71513 1 EJ uS J 5 amp Ia ie IFA KARA Ee xe eene 1 FT r3 c
36. output regardless of whether the slider cylinder is operating or stopped Related parameter Area 1 Area 2 Refer to Chapter 5 in Controller Data Setting Manual e Response of AREA output If the same value is set for areas 1 and 2 the maximum operating speed at which an AREA signal can be output will be 15 mm s 0 59 in sec The maximum operating speed for AREA signal output will increase to 30 1 18 in sec 45 1 77 in sec and 60 mm s 2 36 in sec when the AREA output range is incremented by 0 01 mm 0 0004 inch to 0 01 0 0004 inch 0 02 0 0008 inch and 0 03 mm 0 0012 inch respectively The AREA output generates a maximum delay of 1 ms Figure 5 26 Explanation of AREA Output Area 2 setting lower limit Area 1 setting upper limit Home position Rod limit position Rod limit position lower limit upper limit A When Area 1 gt Area2 AREA output N A A When Area 1 lt Area2 AREA output m A active ON N A non active OFF When Area 1 Area 2 the AREA output becomes active only when the slider cylinder is at the set position Figure 5 27 AREA Output When Area 1 gt 2 Selection of operation data Area 2 setting Area 1 setting l MO to M5 input X A START input MOVE output END output AREA output Opposite the motor direction Motor operation Motor direction A active ON
37. position to be monitored The BSG output has a 90 phase difference with regard to ASG output e The pulse output delays behind slider cylinder movement by up to 1 ms The output may be used to verify the stop position of the slider cylinder e Pulse output is possible at up to the maximum operating speed of 800 mm s 31 5 in sec 80 kHz Use a frequency counter that can count frequencies of at least twice the frequency level of the applicable maximum speed e When a line driver output is used connect a 150 termination resistor between the line receiver inputs e When open collector output is used keep the cable length to 2 m 6 6 ft or shorter With an open collector output the output waveform changes depending on the load condition Check the operation of the connected equipment Figure 5 32 ASG BSG Outputs A ASG output 909 BSG output A active ON N A non active OFF Current Position Output This output is common to the controller and driver modes The data is output as a 56 bit data signal consisting of the current position data status alarm code and checksum It takes 0 5 to 1 second to read the data The data format is shown below The last eight bits of the transmission data provide the checksum They represent the last eight bits of the result of adding the 48 bits consisting of the current position data status and alarm code in one byte units a total of six times
38. slider cylinder will decelerate to a stop Related parameter Starting speed Acceleration Deceleration Common operating speed Refer to Chapter 5 in Controller Data Setting Manual Chapter 5 Installation and Wiring i Figure 5 18 FWD RVS Inputs FWD input RVS input MO to M5 input N A MOVE output Opposite the motor direction Motor operation Motor direction A active ON N A non active OFF 2 FP RP inputs 2 pulse input mode e The slider cylinder operates in the opposite the motor direction when a pulse train is input to the FP input e The slider cylinder operates in the motor direction when a pulse train is input to the RP input The moving part of the slider cylinder moves by 0 01 mm 0 0004 inch per one pulse Figure 5 19 Inputs 2 pulse input mode Pe FP input input s 2 o 3 ms or less 3 ms or less A END output N A Opposite the motor direction Motor operation Motor direction The time after the pulse train input ends until the END output becomes active varies depending on the load and operating speed A active ON N A non active OFF 3 FP RP inputs 1 pulse input mode e The slider cylinder operates in the opposite the motor direction when a pulse train is input to the FP input while the RP input is active e The slider c
39. sliders and cylinders e Teaching Pendant EZT1 User Manual This manual explains the key layout of the teaching pendant Contents of the Manual This manual consists of chapters 1 through 9 and appendixes A and B The table below gives a brief explanation of the content of each chapter and section The rules of notation as well as warnings and precautions specific to the controller are also explained Chapter Description Chapter 1 Introduction This chapter describes the purpose and content of this manual Chapter 2 Safety Read this chapter carefully in order to understand the safety precautions The information provided in this chapter is designed to ensure safety at the customer s site and help protect the controller against damage Chapter 3 Unpacking Inspection This chapter lists the items included in the controller package and Storage and explains the basic inspection procedure to be performed prior to installation or storage Chapter 4 Controller Overview This chapter gives an overview of the controller and explains the functions set by the various switches as well as the operating requirements Chapter 5 Installation and Wiring This chapter explains how to install the controller in the machine and connect the slider cylinder power supply emergency stop circuit and I Os Chapter 6 Startup and This chapter explains the procedure to be taken before Troubleshooting actually operating the sli
40. so may disable the monitoring of table rod movement e Disconnect the battery connector if the controller is not turned on for an extended period exceeding the data retention period Failure to do so may cause the battery fluid to leak or battery performance to drop EZHS EZHC EZHP Series Controller USER MANUAL 25 EZ limo easy linear motion 4 4 Front Panel This section describes the layout of the controller s front panel and connectors 4 4 1 Controller Front Panel Layout Figure 4 8 shows the layout of the controller s front panel Figure 4 8 7 Control signal power supply terminals 7 Emergency stop output terminal e Pendant connector O Link connector Actuator communication cable connector Motor cable connector CHARGE LED Main power supply terminals Protective earth terminal 26 Layout of Front Panel LINEAR MOTION CONTROLLER EZMC OPERATION ae i E ALARM LHO 62 axo QIP 4 SW OPERATION LED ALARM LED Axis number setting switch r Pulse input mode switch BAT Iy MOTOR 1 yo
41. speed A active ON N A non active OFF m HOMELS PRESET Input This input is common to the controller mode and driver mode In the controller mode the PRESET input is enabled when the HOME PRESET input is set to PRESET When the PRESET input becomes active the current position is preset The location desired can be set as the preset position Related parameter HOME PRESET switching Refer to Chapter 5 in Controller Data Setting Manual The absolute type controller writes data to the EEPROM upon completion of return to home operation and when a PRESET signal is input The EEPROM can be rewritten approximately 100 000 times EZHS EZHC EZHP Series Controller USER MANUAL 41 f EZ limo easy linear motion 42 5 3 7 STOP Input This input is enabled in the controller mode The STOP input is used to stop the operating slider cylinder The input logic of the STOP input as well as the stop pattern can be changed using the teaching pendant When an operation is stopped via the STOP input the data set for the operation will be cleared so that the non executed data will not be executed when the operation is resumed via the START input Related parameter Stop action Stop logic Refer to Chapter 5 in Controller Data Setting Manual Figure 5 12 STOP Input immediate stop STOP input 4 1 ms or more LL qm ms or more Lg STARTinput MOVE output N A
42. status in real time Model EZT1 f gt 2 I O Cable These shielded cables used with the controller s user I O connector Model CC36D1 1 1 m 3 3 ft CC36D2 1 2 m 6 6 ft B 3 Controller Link Cable This cable is used to connect two or more controllers via a daisy chain Model CCOO2EZ2 L 0 2 m 0 7 ft EZHS EZHC EZHP Series Controller USER MANUAL 103 EZ limo easy linear motion B 4 Cable set These cables are used to extend the wiring length between the slider cylinder and controller Flexible cables offering excellent elasticity are also available A motor cable and an actuator communication cable are provided as a set Each cable can also be purchased individually e Cable Set e Motor cable actuator communication cable Set of two cables Model CCO2EZ2 CCO5EZ2 CC10EZ2 e Individual Motor Cable Model 02 72 05 72 10 72 Cable length 2 m 6 6 ft 5 m 16 4 ft 10 m 32 8 ft e Individual Actuator Communication Cable Cable length Model Cable length 2 m 6 6 ft 02 71 2 m 6 6 ft 5 m 16 4 ft 05 71 5 16 4 ft 10 m 32 8 ft CC10EZ1 T 10 m 32 8 ft e Flexible Cable Set e Motor cable actuator communication cable Set of two cables Model CCO2EZ2R CCO5EZ
43. supply terminals Table 4 3 shows the pin assignments of the main power supply terminals Table 4 3 Pin Assignments of the Main Power Supply Terminals Pin Signal name Explanation 1 L 1 Controller power input S 3 4 Frame ground 1 3 Battery connector Table 4 4 shows the pin assignments of the battery connector Table 4 4 Pin Assignments of Battery Connector Pin Signal name Explanation 1 Battery power input g i 2 GND Battery power ground 4 User I O Connector 3 pin assignments of the user I O connector vary depending on the controller s operation mode See Table 5 1 Pin Assignments of User I O Connector in Controller Mode on p 34 and Table 5 2 Pin Assignments of User I O Connector in Driver Mode on p 36 for the pin assignments 5 Sensor I O Connector 2 The sensor I O connector is used only in the controller mode It is disabled in the driver mode See Table 5 3 Pin Assignments of Sensor I O Connector on p 38 EZHS EZHC EZHP Series Controller USER MANUAL 27 28 Chapter 5 Installation and Wiring Chapter 5 Installation and Wiring This chapter explains how to install and wire the controller A Warning To prevent electric shock always cut off the power supply before connecting disconnecting the controller to from the machine e When installing the controller
44. that can be performed in these modes are listed below Table 7 1 Operation Modes Controller mode The slider cylinder can be operated using the operation data parameters set by the teaching pendant e Positioning operation single motion linked motion sequence forward e Push motion operation e Return to home operation e Manual operation via the teaching pendant Driver mode The slider cylinder can be operated using the pulse train input from the user defined controller 7 1 Positioning Operation Positioning operation can be performed in the following three modes e Single motion positioning operation e Linked motion positioning operation e Sequence forward operation Operation data can be set from No 01 to 63 When each operation data is set one of single motion linked motion and push motion is selected as the operation function Figure 7 1 Operation Mode Selection Screen PRG 01 OP Func Func Si ng leMotion Function selection SingleMotion Single motion positioning operation c gt ENT Set LinkedMotion Linked motion positioning operation PushMotion Push motion operation Mode To start a positioning operation select the number in which the operation data you wish to execute is set using the input MO to M5 If a number between 01 and 63 is selected it means either the single motion positioning operation or linked motion positioning operation has been selected In the single motion positioning operati
45. the machine is subject to such an unexpected movement of parts the slider cylinder must be electrically disconnected from the controller using an appropriate preventive measure whenever the operating part of the machine is to be accessed by a person Note that the mounting parts of the slider cylinder must under all circumstances not be loose Provide a safety measure external to the controller so that the entire machine will operate safely when an abnormality occurs due to a failure in the controller or slider cylinder or due to any other external factor e The controller cuts off the motor s output current and stops the slider cylinder when its protective function is actuated or upon the occurrence of a CPU error Configure an emergency stop circuit that will cut off the motor s output power and stop the slider cylinder upon the detection of an EMG emergency stop input See Figure 5 34 Connection Example of the Controller s Power System and Emergency Stop System on p 56 for the circuit configuration If the motor is equipped with an electromagnetic brake the electromagnetic brake will be actuated in order to produce the necessary holding brake force Provide a measure on the machine side so that it will operate safely if the slider cylinder stops The stop action is specified in 9 2 2 and 9 2 5 3 of EN60204 1 The following three stop actions are available Category 0 The power supply to the drive device is stopped by direct means
46. the non active state Figure 5 23 Input A C OFF input Motor excitation SESS m Delay when the motor is 100 ms or less A not excited M PLS input Time 200 ms or less 100 ms or more Electromagnetic A Brake Release Hold Release 50 ms or less 150 ms or less A active ON N A non active OFF EZHS EZHC EZHP Series Controller USER MANUAL 47 EZ limo easy linear motion 48 5 3 11 5 3 12 5 3 13 FREE Input When the FREE input of the user I O connector turns ON the motor is not excited and the electromagnetic brake is released The moving part of the slider cylinder can be moved freely when the FREE input is active To prevent injury or equipment damage do not activate the FREE input while the slider cylinder is operating If the FREE input switches to the active state during operation the slider cylinder will stop and lose its holding brake force To prevent injury or equipment damage never activate the FREE input when the slider cylinder is installed vertically whether the slider cylinder is operating or stopped The holding brake force will be lost and the load may drop Figure 5 24 FREE Input when C OFF is ON A FREE input OFF ON Motor excitation condition Motor is not excited Electromagnetic Hold Release Hold brake NA 150 ms or less 25 ms or less Figure 5 25 FREE Input when C OFF is
47. the pulse train input from a user defined controller The available I O functions vary depending on the operation mode setting It is recommended that you select the controller mode when performing slider cylinder operation The controller cuts off the motor s output current and stops the slider cylinder when its protective function is actuated or upon the occurrence of a CPU error EZHS EZHC EZHP Series Controller USER MANUAL 21 limo easy linear motion 4 2 Functions 22 4 2 1 4 2 2 4 2 3 Operation The controller provides the positioning operation return to home operation and push motion operation functions 1 Positioning operation Operation is performed using the set motion profiles distance of movement mm speed mm s and direction A maximum of 63 different motion profiles can be set Two types of positioning operations are available a single motion profile is executed in the single motion positioning operation while a succession of motion profiles are executed in the linked motion positioning operation 2 Return to home operation The slider cylinder will find its home position by hard stop detection or by home limit switch detection 3 Push motion operation The push motion operation will deliver a pre set thrust force over the distance set in the motion profile designated for the push motion Electromagnetic Brake When the slider cylinder is equipped with an electromagn
48. the teaching pendant cable into the pendant connector on the controller 3 Press the F1 key and set the teaching pendant to TST mode 4 Press the F3 key and select Mnu to call the manual operation function 5 Operate the and keys to manually operate the slider cylinder See EZHS EZHC EZHP Series Controller Data Setting Manual for details on setting the operating data Figure 6 4 Connection of Teaching Pendant Teaching pendant Controller Connector plug Pendant connector PENDANT PC IE led Ir 3m o A Limo Pendant cable EZHS EZHC EZHP Series Controller USER MANUAL 73 EZ limo easy linear motion 6 4 Troubleshooting 74 When a controller alarm has been detected perform troubleshooting with reference to the information provided in this section If the controller does not operate normally after the appropriate action has been taken call our Technical Support Line Table 6 3 shows the number of LED blinks and alarm code corresponding to each controller wiring or operation related problem Figure 6 5 shows the blink pattern of the ALARM LED When an alarm is detected the ALARM LED blinks in red The number of blinks varies depending on the a
49. to home is an operation in which the sensor placed at the reference point of positioning mechanical home position is detected automatically The home position can be detected in two modes the 2 sensor mode constant speed operation and 3 sensor mode high speed operation The starting direction of home position detection is determined by the direction of movement In both the 2 sensor mode and 3 sensor mode the operation sequence depends on the starting direction of home position detection and the current position In the 2 sensor mode and push motion mode a rectangular homing operation is performed at the starting speed Chapter 7 Controller Operation Figure 7 8 Starting position of return to home operation Push Motion Mode Starting direction of return to home operation Away from the motor Broken line indicates a home offset Starting direction of return to home operation Toward the motor Mechanical end near the motor Mechanical end away from the motor Mechanical end near the motor Away from the motor Toward the motor Mechanical end away from the motor Mechanical end near the motor om Away from s the motor Y Toward the motor Mechanical end away from the motor Mechanical end away from the motor Mechanical end near the motor Away from the motor Toward the motor Mechanical end away from the motor Mechanical end near the motor
50. 2 pcs e Installation manual 1 copy e Screws for controller mounting brackets 4 e User manual for controller 1 copy pcs this document M3 Data setting manual for controller 1 copy I O connector plug 2 sets e Battery 1 pc absolute type only e Battery holder 1 pc absolute type only EZHS EZHC EZHP Series Controller USER MANUAL 17 L EZ limo easy linear motion 3 2 Explanation of Unit Model The unit model codes for the EZHS EZHC EZHP Series are shown in below However a given combination of these numbers and letters does not always provide a valid unit model Refer to A 7 Combination List on p 55 of the EZHS EZHC EZHP Series Slider Cylinder Installation Manual 3 2 1 Slider Figure 3 1 Unit Model of Slider 2 4 05 2 53 Maximum transportable mass in the horizontal direction 5 kg 11 Ib EZHSA Maximum transportable mass in the horizontal direction 15 kg 33 Ib EZHS6 Maximum transportable mass in the horizontal direction 30 kg 66 Ib Power input A Single phase 100 115 V C Single phase 200 230 V Stroke 05 50mm 1 97 inch 10 100 mm 3 94 inch 15 150 mm 5 91 inch 20 200 mm 7 87 inch 25 250 mm 9 84 inch 30 300 mm 11 81 inch 40 400 mm 15 75 inch 50 500 mm 19 69 inch Electromagnetic brake None Without electromagnetic brake M With electromagnetic brake A Absolute type I Incrementa
51. 20 C s Single phase 200 230 V 0 50 60 Hz 3 0A Control signal power 24 VDC 10 1 0A supply voltage 2 0 to 40 C 32 to 104 non freezing Ambient humidity 85 Relative Humidity or below non condensing External dimensions 150 5 91 H x 45 1 77 W x 120 4 72 D Weight 0 8 kg 1 76 Ib The box o will be filled with A or I A 3 2 LED Indication OPERATION A green LED turns on when the controller has started normally ALARM A red LED blinks when an alarm is generated The type of alarm can be checked from the number of blinks the LED blinks at intervals of 0 2 second A red LED turns on when a system error has occurred CHARGE A red LED turns on while voltage is being supplied to the controller Once the power is turned off this LED will turn off when the residual voltage in the controller drops to a safe level which takes approximately 4 minutes A 3 3 Battery Battery type Nickel Cadmium Battery Nominal voltage 2 4V Rated capacity 2000 mAh Weight 0 18 kg 0 4 Ib Life Approx 4 years 1 Charge time 48 hours 1 Data retention period 1 2 15 days Ambient temperature 0 to 40 C 32 to 104 F non freezing Ambient humidity 20 to 85 Relative Humidity non condensing Protective circuit Fuse Storage temperature 20 to 45 C 4 to 113 F under three months 20 to 35 4 to 95 F three months or more A
52. 2R CC10EZ2R e Individual Motor Cable Model CCO2EZ2R M CCO5EZ2R M CC10EZ2R M B 5 Sensor Set Cable length 2 m 6 6 ft 5 m 16 4 ft 10 m 32 8 ft e Individual Actuator Communication Cable Cable length Model Cable length 2 m 6 6 ft CCO2EZIR T 2 m 6 6 ft 5m 16 4 ft CCO5EZ1R T 5 16 4 ft 10 m 32 8 ft CC10EZ1R T 10 m 32 8 ft These sensors are used to detect the position of the slider table They can be used when the controller is operated in the controller mode or driver mode e Set of three sensors Model PAEZ S B 6 Battery A replacement battery for the absolute type Model PAEZ BT2 104 Appendix B Optional Parts and Accessories EEE eee EZHS EZHC EZHP Series Controller USER MANUAL 105 Please contact your nearest ORIENTAL MOTOR office for further information ORIENTAL MOTOR U S A CORP Technical Support Line 800 468 3982 Available from 7 30 AM to 5 00 PM P S T E mail techsupport orientalmotor com www orientalmotor com ORIENTAL MOTOR EUROPA GmbH Headquarters and D sseldorf Office Tel 0211 5206700 0211 52067099 Munich Office Tel 08131 59880 Hamburg Office Tel 040 76910443 040 76910445 ORIENTAL MOTOR UK LTD Tel 01256 347090 01256 347099 ORIENTAL MOTOR FRANCE SARL Tel 01 47 86 97 50 Fax 01 47 82 45 16 ORIENTAL MOTOR ITALIA s r l Tel 02 93906346 02 93906348 Fax 08131 598888 TAI
53. 3 886 07 mm 3 302 6 to 3 302 6 e Incremental inch Minimum setting 83 886 08 to 83 886 07 mm 3 302 6 to 3 302 6 inch 0 01 mm 0 0004 inch Starting speed Setting range Minimum setting 0 01 to 250 00 mm s 0 0004 to 9 84 in sec 0 01 mm s 0 0004 inch Common operating speed e Setting range e Minimum setting 0 01 to 250 00 mm s 0 0004 to 9 84 in sec 0 01 mm s 0 0004 inch Acceleration deceleration 0 01 to 100 00m s 0 033 to 328 34 ft sec 0 01 m s 0 033 ft sec e Setting range e Minimum setting Operating speed e Setting range e Minimum setting 0 01 to 800 00 mm s 0 0004 to 31 50 in sec 0 01 mm s 0 0004 inch The maximum speed varies depending on the slider cylinder connected to the controller PIO input section 24 VDC photocoupler insulation input input resistance 4 7 k 2 7 k or 5 VDC photocoupler input insulation input input resistance 180 O PIO output section e 24 VDC 15 mA maximum transistor open collector output 24 VDC 10 mA maximum opto isolated transistor open collector output e Line driver output Operating current Setting range 0 to 100 Minimum setting 1 Standstill current Setting range 0 to 50 Minimum setting 1 A 4 3 Driver Mode Language e Japanese English Maximum response frequency 80 kHz 800 00 mm s 31 50 in sec
54. 5 23 21 19 34 Table 5 1 Pin Assignments of User I O Connector in Controller Mode Pin Signal name Explanation Pin Signal name Explanation 4 N24 GND Power supply GND for 19 N24 GND Power supply GND for 2 ALM Alarm output 20 ASG1 oc i di Encoder output 3 MOVE peraton command iS 24 BSG1 oc Open collector output being generated Positioning completion 4 END OUTR position data output 22 ASG2 dif ready 5 AREAIOUTO rea output position 23 ASG2 dif data output bit 0 Encoder output Push motion completion Line driver output 6 T UP OUT1 signal position data 24 BSG2 dif output bit 1 7 START Positioning start 25 BSG2 dif 8 ACL CK Alarm clear position 26 T data transmission clock Motor is not excited 9 FREE Electromagnetic brake 27 release 10 STOP Operating stop 28 11 MO 29 12 M1 30 REQ ABS data request 13 M2 31 FWD Operating No selection Forward 14 M3 32 FWD continuous operation 15 M4 33 P24 FWD input 16 M5 34 RVS 17 HOME PRESET Return to home Preset 35 RVS So continuous operation 18 P24 24 m supply inputfor 36 po4 Rus input e When connecting ASG1 or BSG1 open collector keep the cable length to 2 m 6 6 ft or shorter e When connecting ASG2 or BSG2 line driver connect 150 terminal resistor between the line receiver
55. 97 A6 Emergency 97 A 7 Protective 98 A 8 Functions Available in Combination with the Teaching 101 A 8 1 External 101 A 8 2 Program 101 A 8 3 Parameter Mode sss 102 A 8 4 102 Appendix B Optional Parts and Accessories 103 Teaching Pendant eee eren 103 2 VO Cables inicia 103 Controller Link Cable secrecy 103 BA Cable Setzen em tete 104 BS Sensor Sets iuit ec 104 BO Battery iei n it daa tie 104 EZHS EZHC EZHP Series Controller USER MANUAL 7 Chapter 1 Introduction Chapter 1 Introduction Please read this Chapter 1 Introduction section and familiarize yourself with the key aspects of the manual This section covers the following e Intended reader of the manual e Purpose of the manual Receipt storage and disposal of the product Product support by Oriental Motor Rules of notation used in the manual Intended Reader of the Manual This manual is intended for qualified personnel with expert knowledge of electrical and mechanical engineering Those in charge of the design installation wiring setting maintenance and troubleshooting of EZHS EZHC EZHP Series products should read this manual P
56. Defined Controller Connection Driver mode User defined controller EZHS EZHC EZHP Series controller P24 24 VDC input ACL CK FREE Controller input C OFF PRESET REQ P24 FP FP Forward Backward P24 RP inputs RP ov Sov 1 19 N24 Motor pulse input 30 VDC or less ALM END OUTR Controller output AREA OUTO OUT1 ASG1 BSG1 ASG2 ASG2 Encoder output BSG2 BSG2 Connect the home position detection sensors to the user defined controller The load connected to a control output should not exceed 30 VDC 10 mA If the load current exceeds 10 mA connect external resistor Ro The load connected to encoder output ASG1 or BSG2 should not exceed 30 VDC 15 mA If the load current exceeds 15 mA connect external resistor R1 EZHS EZHC EZHP Series Controller USER MANUAL 37 EZ limo easy linear motion 5 2 4 Pin Assignments of Sensor I O Connector Table 5 3 shows the pin assignments of the sensor I O The sensor I O connector is used only in the controller mode It is disabled the driver mode Connector plug pin assignments Viewed from the soldered surface 108 6 4 2 9171513 1 7 Hy Hy UW 20118 16 14 12 19 17 15 13 11
57. Information that can be read The information listed below can be read from the controller using this function The controller outputs all information as binary values Current position data 32 bit Status 8 bit Alarm code 8 bit Checksum 8 bit Example When the actuator is stopped at 123 45 mm following an emergency stop 0000 0000 0000 0000 0011 0000 0011 1001 0000 0000 0110 1000 1101 0001 Current position data Status Alarm Checksum 1 Current position data 32bit The current position data cannot include decimal digits Therefore the controller outputs the position as an integer corresponding to the value shown on the pendant multiplied by 100 Example When the current actuator position is 123 45 mm Pos 123 45 mm is shown on the pendant Current position data 0000 0000 0000 0000 0011 0000 0011 1001 3039 hexadecimal 212345 decimal 0 0 0 0 3 0 3 9 Hexadecimal Chapter 5 Installation and Wiring 2 Status 8bit These numbers indicate the controller status Different information is assigned to each bit Status 000 0 0 0 0 0 6 5 4 3 o CD Overflow 2 bit1 Overspeed 3 bit2 Loss of absolute data bit3 Low voltage warning bit4 No battery bit5 to 7 Not defined always 0 Example When an overflow alarm has generated Status 0000 0001 3 Alarm code 8bit A code corresponding to each alarm is output The alarm code is an alphanume
58. OFF FREE input Motor excitation condition N A Motor is not excited Motor is excited 6 ms or less 100 ms or less Electromagnetic Release brake NAA A active ON N A non active OFF END Output This output is enabled in the controller mode and driver mode The END output is used to indicate that a positioning operation or return to home operation of the slider cylinder is completed The END output becomes active when the rotor stops at a position less than 1 8 degrees from the commanded value after the operation ends The minimum operating speed at which an END signal can be output is 3 6 mm s 0 14 in sec An accurate signal may not be output if the operating speed is lower than 3 6 mm s 0 14 in sec MOVE Output This output is enabled in the controller mode The MOVE output becomes active when an operation status signal is output indicating that the slider cylinder is operating Even when the current operation has completed the next operation cannot be started while the MOVE output is active Chapter 5 Installation and Wiring 5 3 14 AREA Output This output is enabled in the controller mode The AREA output is used to indicate that the moving part of the slider cylinder is staying inside the set area between the upper and lower limits The AREA output is active while the moving part of the slider cylinder is inside the set area The area is set via the teaching pendant An AREA signal is
59. Operation mode switch 6 Battery connector Sensor I O connector 20 pin User connector 36 pin Chapter 4 Controller Overview 4 4 2 Connectors Table 4 1 shows the names and types of connectors provided on the front panel of the controller See Figure 4 8 for the layout of connectors switches and LEDs and the pin assignments of each connector Table 4 1 Connector Names and Types No Name Connector names Types PENDANT PC Pendant connector Link connector 8 pin mini DIN SENSOR Sensor I O connector 20 pin VO User I O connector 36 pin COM MB Actuator communication cable connector 6 pin amp MOTOR Motor cable connector 10 pin BAT Battery connector 2 pin 24V DC EMG Control signal power supply terminals 3 terminal emergency stop output terminal 100 150 V 200 230 V Main power supply terminals 3 terminal The controller comes with the power supply connector and the I O connector plug 1 Control signal power supply terminals and emergency stop output terminal 7 Table 4 2 shows the pin assignments of the control signal power supply terminals and emergency stop output terminal Table 4 2 Pin Assignments of the Control Signal Power Supply Terminals and Emergency Stop Terminal Pin Signal name Explanation 1 24 V power input 5 2 Oo 24 V power ground 3 3 EMG EMG signal output 2 2 Main power
60. Period cede y 91 9 3 EXxcluSIONS pe ed OR RUE 91 9 4 How to Receive 91 9 5 Repair Following Expiration of the Warranty Period 91 Appendix 5 93 General 93 A 1 1 Insulation 93 A 2 Configuration of Equipment Connected to the EZHS EZHC EZHP Series Controller 93 A 2 1 93 A 2 2 Electromagnetic 93 A 2 3 Teaching Pendant sse 93 A24 Battery rrt ERR OPI RH 93 94 A 3 1 Power Supply Operating Environment 94 A 3 2 94 3 3 D 94 A 4 Control 95 PAA dicti cue Meere LIED 95 A 4 2 Controller 95 A 4 3 Driver 104 44 0 000000 96 5 te nee 97 OON cL 97 A 5 2 RE uinea 97 59 ELLE EL LUE
61. S used during HOME operation 3 sensor mode 66 LS detection The motor stops The LS or LS sensor Reset the alarm using ACL Can error was detected in the and then pull out from the LS be sensor enable mode sensor via FWD RVS or used perform return to home operation 67 Softlimit The motor stops The table or rod In the case of a Can detection reached a softlimit single motion operation be position check to see if the operation used data exceeds the soft limits In the case of a linked motion operation check to see if the result of linked motion operation exceeds the soft limits 6A HOME offset The motor stops The LS signal was Input the ACL signal and Can error detected during home reset the error and then be offset operation check the home offset value used 76 Chapter 6 Startup and Troubleshooting No of Alarmi LED Condition Slee Rey incor Causes Action DUE code action input blinks 70 7 Abnormal The motor stops There is an abnormality Check the operation data Can operation data in the operation data e Operation data may not be be set used e Five or more data may be linked e Data of different directions may be linked e Sequence forward data No 01 may not be set e The operating speed during push motion operation is set to a value exceeding 6 mm s 0 24 in sec 28 8 Sensor error The motor current A sensor error was Turn off the pow
62. UTR output after the REQ input becomes active 2 The host controller confirms the active state of the OUTR output and then activates the CK input 3 The controller confirms the active state of the CK input and then sets the upper two bits of the transmission data to the OUTO and OUT1 outputs while deactivating the OUTR output 4 The host controller confirms the non active state of the OUTR output and then receives OUTO and OUT1 outputs while deactivating the CK input 5 The controller confirms the non active state of the CK input and then activates the OUTR output Thereafter steps 2 through 5 will be repeated a total of 28 times 6 The host controller receives 56 bit data and then deactivates the REQ input 7 The controller confirms the non active state of the REQ input and then assigns the OUTR output to the END output If the REQ input becomes non active during the transmission the transmission is halted and signal is reassigned and then the OUTR output is deactivated 54 Chapter 5 Installation and Wiring 5 4 Sensor Specification 5 4 1 5 4 2 5 4 3 5 4 4 This section describes the controller s sensor input The sensor I O input is enabled in the controller mode LS Input This is the sensor input on the flange side opposite the motor side During operation other than return to home Detects a mechanical limit and stops the slider cylinder During return to home operation Supports home positio
63. WAN ORIENTAL MOTOR CO LTD Tel 02 8228 0707 Fax 02 8228 0708 SINGAPORE ORIENTAL MOTOR PTE LTD Tel 6745 7344 Fax 6745 9405 ORIENTAL MOTOR MALAYSIA SDN BHD Tel 03 79545778 03 79541528 INA ORIENTAL MOTOR CO LTD KOREA Tel 032 822 2042 3 032 819 8745 ORIENTAL MOTOR CO LTD Headquarters Tokyo Japan Tel 03 3835 0684 Fax 03 3835 1890 Printed on Recycled Paper
64. ached approx 85 C e Review the ventilation be electromagnetic 185 F condition of the used brake is activated surroundings 30 Overload The motor current Aload exceeding the Reduce the load or decrease Can is cut off The maximum thrust force the acceleration be electromagnetic was applied for five used brake is activated seconds or more 31 Overspeed The motor current The motor speed An unanticipated load may Can is cut off The exceeded 5500 r min have been applied during be electromagnetic operation Check the load used brake is activated 22 3 Overvoltage The motor current The DC voltage of the Reduce the load or decrease Can protection is cut off The main circuit exceeded the acceleration be electromagnetic the allowable value used brake is activated 23 Main power OFF The motor current Main power OFF Check to see if the main Can detection is cut off The detection power is input correctly be electromagnetic used brake is activated 10 4 Excessive The motor current The deviation between Reduce the load or decrease Can position deviation is cut off The the command position the acceleration be electromagnetic and actual position used brake is activated exceeded three motor shaft revolutions 20 5 Overcurrent The motor current The motor cable was Check the motor cable and Can protection is cut off The shorted its connection to the not electromagnetic controller be brake is activated used
65. and any surrounding control systems equipment e When using a regular or electromagnetic relay in the same circuit apply a mains filter or CR circuit in order to absorb any surge current e Wire the cable over as short a distance as possible and do not roll up or bundle the extra length e Divide the cables into power cables such as the motor cable and power supply and signal cables and wire them separately by maintaining a clearance of around 100 to 200 mm 4 to 8 inch If a power cable must cross a signal cable let them cross at relative right angles Keep a distance between the AC input side cable and output side cable of the mains filter 6 Precautionary note on static electricity Static electricity may cause the controller to malfunction or sustain damage Do not touch the controller while power is being supplied When adjusting the controller s axis number setting switch or DIP switches while power is being supplied be sure to use an insulated screwdriver Chapter 5 Installation and Wiring 5 13 5 Example of EMC Compliant Wiring An installation wiring example of the controller slider cylinder and teaching pendant used in the EMC measurement conducted by Oriental Motor is shown below Figure 5 41 Example of Installation Wiring Compliant with EMC Directives Teaching pendant To sensor Shielded cable Slider cylinder zm i 1
66. ation becomes the starting speed Table 7 3 Example of Data Setting No Operation function 01 Single motion 02 Linked motion 03 Linked motion 04 Single motion e When No 02 is selected operation data Nos 02 03 and 04 are executed in a linked motion positioning operation e When No 04 is selected only No 04 is executed in a single motion positioning operation 7 1 3 Chapter 7 Controller Operation Figure 7 3 Operation Profile of a Linked motion Positioning Operation Speed Speed Started after selecting No 02 Started after selecting No 04 No 02 No 03 04 0 Time 0 Time START input END output An END signal is output when the positioning operation is complete Sequence Forward Operation In this mode the positioning operation is performed continuously by automatically incrementing the operation data number by one If the motion profiles are entered in the same order as the execution sequence and are continuous selective control of the operation data number can be omitted Positioning operation is performed based on the next operation data number each time a START signal is input The sequence forward operation will end when an operation data number is reached in which no motion profile data is set The sequence forward operation will resume from No 01 When no operation data is set in No 01 the sequence forward operation cannot be performed 1 Oper
67. ation profile Figure 7 4 shows the operation profile of sequence forward operation when operation data is set as shown in Table 7 4 Table 7 4 Example of Data Setting No Operation function 00 01 Set single motion 02 Set linked motion 03 Set linked motion 04 Set single motion 05 Not set 11 Set single motion 12 Set single motion 13 Not set Figure 7 4 Operation Profile Speed Selecting No 00 for the first operation 0 02No 03 04 0 Time START input END output EZHS EZHC EZHP Series Controller USER MANUAL 81 limo easy linear motion 82 Selecting No 00 for the first operation When a START signal is input with No 00 selected a single motion operation is performed based on data No 01 When a START signal is input again a linked motion operation is performed based on data Nos 02 03 and 04 in that order Then when a START signal is input again with No 00 selected MO to M5 off the controller returns to No 01 and performs a single motion operation based on data No 01 since no data is set in No 05 Selecting No 00 after executing No 11 When a START signal is input with No 11 selected a single motion operation is performed based on data No 11 When a START signal is input again with No 00 selected a single motion operation is performed based on data No 12 When a START signal is input again with No 00 selected the controller
68. ble Terminel Tightening torque Solid wire Stranded wire Screw Size 5 2 1 0 to 1 3 Nem Protective earth 1 2mm 20 05 1 25 mm AWG16 M4 142 to 185 oz in inch AWG16 2 0 8 to 1 0 N m AC input 0 75 AWG18 M3 114 to 142 oz in M3 Applicable crimp terminal M4 Applicable crimp terminal Unit mm inch Unit mm inch 23 2 00 126 minimum 4 1 20 16 minimum TE Ha e 3g NE o5 St 9 0 354 ot minimum EZHS EZHC EZHP Series Controller USER MANUAL 57 EZ limo easy linear motion 5 6 3 Connection of the Control Signal Power Supply Terminals Table 5 5 Conforming Usable Wires Conforming wire Solid wire 01 2 mm 020 05 inch Stranded wire AWG16 1 25 mm Usable wire Solid wire 20 4 to 01 2 mm 020 02 to 20 05 inch Stranded wire AWG22 to 16 0 3 to 1 25 mm strand diameter 20 18 mm 00 01 inch or more Standard strip length 11 mm 0 43 inch Conforming tool for button operation Flat head screwdriver shaft diameter 23 mm 020 12 inch blade tip width 2 6 mm 20 10 inch 5 6 4 Supplied Power 1 Connect a mains filter on the input side of the power supply 2 Connecta surge arrester on the input side of the power supply 5 6 5 Power Supply Protection The controller s power supply has a built in fuse of fixed type as below In the event the fuse blows call our Technical Support Line Single phase 100 115 V 10A Single phase 200 230 V 6
69. cy stop system This connection configuration has been verified as being safe against ground faults Figure 5 34 Connection Example of the Controller s Power System and Emergency Stop System 24 VDC Teaching pendant Controller optional Controller link connector optional KA2 24VDC A 9 Ae 1 The pin assignments of PENDANT PC pendant connector is as below 5 Pendant connector 227 e FU1 Ground fault protective fuse 500 mA FU2 FU4 Ground fault protective fuse 1 A FU1 FU2 FUA KA1 2 and SB2 must use EN compliant parts Relay ratings KA1 KA2 are 24 VDC 30 mA When the SA1 contacts are closed the pendant will be disabled Chapter 5 Installation and Wiring Provide a pendant enable disable switch SA1 After connecting the pendant set the pendant enable disable switch SA1 to Enable If the pendant enable disable switch SA1 is set to Disable pressing the emergency stop button SB3 on the teaching pendant will not active the emergency stop procedure Provide a means of identifying the pendant enable disable switch SA1 If the teaching pendant is disconnected while the power is supplied to the controller and the pendant enable disable switch SA1 is set to Enable the emergency stop procedure w
70. d held the slider cylinder will accelerate and operate at high speed When the SHIFT key is released the slider cylinder decelerates and operates at low speed Return to home operation A return to home operation is executed when the key is pressed Positioning operation A positioning operation is executed when the START key is pressed after selecting an operation data number or numbers using the lt keys When the STOP key is pressed the operation is stopped 86 Chapter 7 Controller Operation 7 5 Stop Operation 7 5 1 7 5 2 7 5 3 Softlimit Stop The movement range of the slider cylinder is an area limited by the upper softlimit and lower softlimit set by the teaching pendant If the upper or lower softlimit is exceeded during a positioning operation the table rod will return to the softlimit and an alarm signal will be output Escape from the softlimit by executing the following operations after the alarm clear e Return to home operation e Manual operation Related parameter Upper softlimit lower softlimit Refer to Chapter 5 in Controller Data Setting Manual Stop STOP When a STOP signal is input while the slider cylinder is operating the slider cylinder will stop according to a preset stop pattern If the operation is stopped via the STOP input the operation data will be cleared and the unexecuted data will not be executed whe
71. d sub CPUs e Motor action The motor current is cut off and electromagnetic brake is activated e Number of LED blinks 9 e Alarm code 29 e Alarm reset method Cycling of power EMG input An emergency stop input was detected detection Motor action The motor current is cut off and electromagnetic brake is activated e Number of LED blinks 6 Alarm code 68 e Alarm reset method Resetting of EMG input Abnormal operation There is an abnormality in the operation data data e Motor action The motor stops Number of LED blinks 7 e Alarm code 70 e Alarm reset method ACL input or cycling of power A 8 Functions Available in Combination with the Teaching Pendant A 8 1 External Mode Display in normal e Display of return to home condition e Display of push motion e Display of error occurrence monitor The current input output statuses are displayed e Input port monitor START ACL CK FREE STOP MO to M5 HOME PRESET REQ EMG FWP REV e Sensor monitor LS LS HOME Output port monitor ALM MOVE T UP OUT1 AREA OUTO END OUTR Input output monitor 1 status is indicated by bit image Alarm display e Current alarm information e Alarm history e Alarm history clear e Alarm clear upon occurrence Operation data Operation data Abs Inc POS operation function operation speed display push current A 8 2 Program Mode Operation data setting e Ab
72. der Cylinder Plug the connectors plugs at the ends of the motor cable and actuator communication cable of the slider cylinder into the corresponding connectors sockets on the controller Figure 5 35 Slider Cylinder Connection Controller Actuator communication cable Slider cylinder a ld nagara Motor cable 1 6 E mA amp amp Limo 5 8 2 Cable Wiring Length Always use an optional cable set or flexible cable set when extending the slider cylinder wiring Keep the overall extension length to 10 m 32 8 ft or less e Cable set Motor actuator communication cables set of two cables Model Cable length m ft CCO2EZ2 2 6 6 CCO5EZ2 5 16 4 CC10EZ2 10 32 8 e Flexible cable set Motor actuator communication cables set of two cables Model Cable length m ft CCO2EZ2R 2 6 6 CCO5EZ2R 5 16 4 CC10EZ2R 10 32 8 Do not modify the motor actuator communication cable in any way Do not extend the motor encoder cables by connecting two or more extension cables or allow the overall extension length to exceed 10 m 32 8 ft Doing so may cause a malfunction Do not allow the connectors plugs at the end
73. der cylinder using the controller as well as troubleshooting See the Controller Data Setting Manual for the method used to program operation data Chapter 7 Controller Operation This chapter explains the operating functions of the controller and how to operate each function Chapter 8 Maintenance This chapter explains the minimum maintenance required for the controller Chapter 9 Warranty This chapter explains the warranty repair period and scope of repair for the controller AppendixA Specifications This section explains the specifications of the controller Appendix B Optional Parts This section introduces the optional parts and accessories Accessories used with the controller Chapter 1 Introduction ll UL CSA Standards The EZHS EZHC EZHP series adopt a motor and controller certified by the UL CSA standards The motors and controllers are certified under the model names listed below The CE mark indicating their compliance with the Low Voltage EMC Directives If you are applying for approval by a certification body and require a copy of the relevant certificate by Oriental Motor or a voluntary declaration of conformance to the EC Directives please contact any Oriental Motor branch or sales office near you Unit Model Certified Products Applicable Standards File No Motor EZHS3A xx se EZHM46AA E Built into EZHMASMA 2 UL1004 UL2111 UL E64199 power unit 2 UL508C 1
74. e Broken line indicates a home offset Starting direction of return to home operation Motor side LS HOMELS LS Opposite the SUC motor side 1 Motor side LS HOMELS LS Opposite the motor side Motor side 15 motor side HOMELS ony LS Motor side HOMELS ony LS LS Opposite the motor side Motor side HOMELS LS Opposite the motor side HOMELS on 5 Motor side HOMELS LS LS Opposite the motor side Motor side Between HOMELS and LS LS Opposite the motor side HOMELS LS Motor side C 24 HOMELS ae LS Opposite the motor side Motor side Between HOMELS and LS 7 4 Manual Operation LS Opposite the motor side HOMELS m E LS Motor side HOMELS 28 377 LS Opposite the motor side Motor side The following operations can be performed manually using the teaching pendant The wiring condition and operation of the controller and slider cylinder can be checked in the manual operation mode Press the key until TST is displayed on the upper left corner of the pendant LCD screen Table 7 5 Manual Operation Manual operation The slider cylinder moves at low speed while the or key is pressed If the SHIFT key is pressed together an
75. e photo coupler is not energized OFF Figure 5 30 ALM Output Occurrence of alarm 2 MOVE output N A END output 4 ms less m ALM output N A Motor operation The time until the motor stops varies depending on the load and operating speed A active ON N A non active OFF TIM Output This output is enabled in the driver mode The TIM output is used to indicate that the rotor has turned 7 2 degrees The TIM output is enabled when it is active The active range is determined by the operating speed of the slider cylinder A TIM signal is output when the operating speed is 5 mm s 0 20 in sec or below Figure 5 31 Output 1 Pulse train een input NARRA Mo Mss i cete A TIM output Rotor rotation by 7 2 degrees movement by 0 24 mm 0 0094 inch Motor operation Operating A active ON N A non active OFF EZHS EZHC EZHP Series Controller USER MANUAL 51 EZ limo easy linear motion 52 5 3 18 5 3 19 ASG BSG Outputs ASG and BSG outputs are available in two types transistor open collector output and line driver output Use either type to suit the input system of the counter unit and other functions of the controller The use of ASG and BSG outputs requires separate 5 or 24 VDC power Counting ASG output pulses allows the slider cylinder
76. e power to the controller and start the slider cylinder as well as the steps to take in troubleshooting Warning To prevent injury or equipment damage confirm that all of the controller s input signals are set to the non active state before turning on the power Also confirm the emergency stop method of the machine beforehand and operate the slider cylinder in a condition where an emergency stop can be executed at any moment if necessary Some of the parts used in the controller are sensitive to static electricity When touching the controller first cut the power or provide an antistatic measure Touching the controller without cutting off the power or providing an antistatic measure may damage the controller 6 1 Turning on the Power to the Controller The procedure explained in this section assumes that the controller is properly wired and that the slider cylinder operation data has been set via the teaching pendant Turn on the power to the controller according to the following procedure e When the controller is the absolute type an alarm will be generated if power is supplied to the controller under the following conditions Take an appropriate action by referring to Alarm code on p 75 e The battery is not connected e The battery is not charged e The battery is used for the first time e When the controller is an incremental type it will generate a position lost alarm to alert the user that the unit needs to be homed
77. e top connector cover and assemble the top and bottom connector covers using the supplied screws M2 5 two pieces with hexagonal nuts Tighten the connector cover screws to the specified torque Torque 0 5 to 0 55 N m 71 to 78 1 oz in The input output functions of the controller vary depending on the controller s operation mode Before wiring the cables determine the mode in which the controller will be operated and set the operation mode switch accordingly Top connector cover Screw for connector cover M2 5 two pieces Screws for cable mounting bracket two pieces Spring SL washer Cable mounting bracket Hexagonal nut Flat washer Bottom connector cover Screw M2 5 two pieces Shielded cable is available as an option A half pitch connector socket is provided at one end of the cable 62 Chapter 5 Installation and Wiring 5 11 Wiring the I O Cable Use the supplied connector set 36 pin to plug the connector socket on the cable into the user I O connector on the controller Use a shield cable of AWG28 to AWG26 0 08 mm to 0 14 mm for the I O cable and keep the wiring distance as short as possible Shielded cable is available as an option A half pitch connector socket is provided at one end of the cable Figure 5 38 Connection of I O Connector Controller User I O connector s B
78. echanical engineering perform the installation connection operation maintenance and troubleshooting Failure to do so may result in fire electric shock or injury Always turn off the power supply before connecting or disconnecting the product to from the machine Failure to do so may result in electric shock If the controller s protective function has been actuated remove the cause and then reconnect the power source If the slider cylinder operation is continued without removing the cause the controller may malfunction and cause injury or equipment damage Always turn off the power supply to the controller before performing maintenance or repair of the machine Failure to do so may result in injury Do not disassemble or modify the slider cylinder When maintaining the slider do not disassemble parts other than those specified in this manual Doing so may result in injury When the product is used in a lifting application choose a type equipped with an electromagnetic brake Without an electromagnetic brake the slider cylinder will lose its holding brake force when the power is cut off or upon actuation of the controller s protective function or emergency stop function When this happens the moving part may drop causing injury or equipment damage Do not use the electromagnetic brake to decelerate nor use it as a safety brake The electromagnetic brake is designed to hold the slider cylinder position Failure to observe thi
79. edure e Asentence starting with a number indicates an operating procedure or a step in a procedure e Referenced titles are denoted in italics EZHS EZHC EZHP Series Controller USER MANUAL 11 EZ limo easy linear motion 12 Terms The meanings of key terms used in this manual are explained below Active Non active Profile Motor Rotor Communication connector An ON state of the photocoupler in a controller I O circuit With the ALM output active refers to the OFF state of the photocoupler An OFF state of the photocoupler in a controller I O circuit With the ALM output non active refers to the ON state of the photocoupler A positioning operation executed using the MO to M5 data select inputs and the START input A motor used to drive the slider cylinder A motor part that rotates A general term for the teaching pendant connector and controller link connector Chapter 2 Safety Chapter 2 Safety Read this manual before installing or wiring the controller By reading the manual you can better understand the installation methods and procedures and gain an understanding of how to operate the controller and slider cylinder both safely and effectively Always observe the items listed under 2 3 General Safety Guidelines on p 15 Warnings and precautions specific to the controller are explained in connection with the relevant items throughout this manual 2 1 Safety Precautions
80. er the replacement of consumable parts 9 2 Warranty Period The warranty period shall be two years from the delivery of the product 9 3 Exclusions Breakdowns arising out of the following conditions are excluded from the scope of this warranty 1 A breakdown caused by an inappropriate condition environment handling or use not confirmed in the catalog or specification sheet provided separately etc A breakdown not caused by the delivered product A breakdown caused by a modification or repair not performed by Oriental Motor A breakdown caused by an improper use not commonly expected of a product of this type A breakdown caused by a problem not predictable at the time of shipment from Oriental Motor based on the scientific technological standards available at the time 6 A breakdown caused by an act of God natural disaster or any other reason beyond the control of Oriental Motor ak wn 9 4 How to Receive Repair Contact the Oriental Motor branch or sales office from which you purchased the product and arrange a return 9 5 Repair Following Expiration of the Warranty Period Once the warranty period has expired Oriental Motor will perform repair for a fee only when the product function can be recovered maintained through such a repair EZHS EZHC EZHP Series Controller USER MANUAL 91 92 Appendix A Specifications Appendix A Specifications A 1 General Specifications A 1 1 Insulation Specifications
81. er 3rd controller EZHS EZHC EZHP Series Controller USER MANUAL 61 limo easy linear motion 5 10 Assembling the User I O Connector Sensor I O Connector Use the supplied connector set 36 pin 20 pin to plug the connector socket on the cable into the user I O connector on the controller For the pin assignments of the sensor user I O connector see Table 5 1 Pin Assignments of User I O Connector in Controller Mode on p 34 Table 5 2 Pin Assignments of User I O Connector in Driver Mode on p 36 and Table 5 3 Pin Assignments of Sensor I O Connector on p 38 Use a shield cable of AWG28 to AWG26 0 08 to 0 14 mm for the I O cable and keep the wiring distance as short as possible Assemble the connector as follows 1 Solder the I O cable to the connector pins I O cable is not supplied Use a shielded cable with a size of 0 08 to 0 14 mm AWG28 to 26 as the I O cable and wire the cable over the shortest possible distance 2 Place the screws M2 5 two pieces supplied with the connector in the bottom connector cover Place the screws so that their flat washers align with the indents in the connector cover and the spring washers sit on the outside of the connector cover 3 Place the connector with the cable in the bottom connector cover and screw the cable mounting bracket Tighten the mounting bracket screws M2 two pieces to the specified torque Torque 0 3 to 0 35 N m 42 6 to 49 7 oz in 4 Place th
82. er USER MANUAL 53 EZ limo easy linear motion The signals used with the current position output are shown below These signals are sent via two input pins and three output pins Normally the CK input and the OUTR OUTO and OUT1 outputs are inactive and their respective I O points are used by other I O signals When the REQ input is actived the CK input and OUTR OUTO and OUT1 outputs also become active Signal name Description REQ input The host controller uses this signal to request the transmission of data CK input normal ACL input This signal is used to request data clock OUTR output normal END output This signal indicates that data is ready for transmission OUTO output normal AREA output 1 These signals indicate two bits of data OUT1 output normal T UP output 2 The OUTO output represents the low order bit while the OUT output represents the high order bit TIM output the driver mode 2 No output in the driver mode Figure 5 33 A 6 REQ input L 5 ms 2 4 CK input inpu 3 5 A OUTR output 7 OUTO output OUT1 output na Twice Three times Twenty seven Twenty eight times times A active ON N A non active OFF The REQ input is always enabled When the REQ input is activated during operation the current position data status and alarm code are transmitted The controller activates the O
83. er and Can is cut off The detected during check the motor cable and not electromagnetic operation its connection to the be brake is activated controller and then used reconnect the power 2A Actuator The motor current An error occurred while Turn off the power and Can communication is cut off The communicating with the check the actuator not error electromagnetic slider communication communication cable and its be brake is activated board connection to the controller used and then reconnect the power 42 Sensor error The motor current A sensor error occurred Turn off the power and Can is cut off The when the power was check the motor cable and not electromagnetic turned on cable not its connection to the be brake is activated connected etc controller If the controller is used of the absolute type reconnect the battery 43 Rotation at The motor current Initialization failed Check the load An external Can initialization is cut off The because the motor was load or a load exceeding the not electromagnetic rotating when the specified value has been be brake is activated power was turned on applied to the moving part of used or for another reason the slider cylinder when the power was turned on 44 Nonvolatile The motor current Stored data for the Turn off the power and Can memory error is cut off The actuator check the actuator not electromagnetic communication circuit communication cable and its be b
84. ery disconnect the battery connector Store the battery in a place with an ambient temperature of 20 to 45 C 4 to 113 F or 20 to 35 C 4 to 95 F if the battery is to be stored for three months or more where humidity is not excessively high Failure to heed this instruction may result in leaked battery fluid rusting or performance deterioration of the battery Figure 5 4 Battery Installation Dimensions Unit mm inch 2xM4 13 0 3 0 51 0 012 32 Chapter 5 Installation and Wiring 5 2 Wiring Diagrams This section gives power and I O wiring diagrams for the EZHS EZHC EZHP Series controller 5 2 1 Power Wiring Diagram An example of wiring the power supply input and slider cylinder cables to the EZHS EZHC EZHP Series controller is shown below Figure 5 5 Example of Standard Power Wiring for EZHS EZHC EZHP Series Controller Teaching pendant Slider cylinder Actuator communication Ei cable ail IG Motor cable AS cen Surge arrester Mains filter i Battery P 1 icd This connection is necessary only for Lima the absolute type PE
85. etic brake the electromagnetic brake is released when the power to the controller is turned on and actuated to provide the necessary holding brake force upon detection of an EMG input or actuation of a protective function Position Holding absolute type A slider cylinder of the absolute type monitors the table rod movement via the rotor positioning sensor even when the power supply is cut Therefore a positioning operation can be started immediately upon recovery of the power supply without the need to perform a return to home operation first 4 2 4 Setting Figure 4 2 shows a layout of LEDs and setting switches on the front panel of the controller and their functions are explained in the table that follows it Figure 4 2 Setting Switches LINEAR MOTION CONTROLLER SENSOR Chapter 4 Controller Overview Name Function OPERATION Green The LED is lit while voltage is being supplied to the control signal power supply terminals ALARM Red The LED blinks when an alarm is generated upon activation of the protective function or emergency stop Axis number setting switch Set an axis number for each controller ID 0 to 15 when two or more controllers are connected Each ID must be a unique number Pul
86. he motor current is cut off and electromagnetic brake is activated e Number of LED blinks 5 e Alarm code 20 e Alarm reset method Cycling of power Overheat protection The driver s heat sink temperature reached approx 85 C 185 F e Motor action The motor current is cut off and electromagnetic brake is activated e Number of LED blinks 2 e Alarm code 21 e Alarm reset method ACL input or cycling of power Overvoltage The DC voltage of the main circuit exceeded the allowable value protection Motor action The motor current is cut off and electromagnetic brake is activated e Number of LED blinks 3 e Alarm code 22 e Alarm reset method ACL input or cycling of power Motor overheat The motor temperature reached approx 85 C 185 F protection Motor action The motor current is cut off and electromagnetic brake is activated e Number of LED blinks 2 e Alarm code 26 e Alarm reset method ACL input or cycling of power Sensor error A sensor error was detected during operation 28 or at power on 42 Motor action The motor current is cut off and electromagnetic brake is activated e Number of LED blinks 8 e Alarm code 28 42 e Alarm reset method Cycling of power Overload A load exceeding the maximum thrust force was applied for five seconds or more Motor action The motor current is cut off and electromagnetic brake is activated e Number of LED blinks 2
87. il the END output becomes active varies depending on the load and operating speed 2 The time after the STOP input is activated until the motor stops varies depending on the load and operating speed A active ON N A non active OFF Figure 5 15 STOP Input deceleration stop and electromagnetic brake operation A STOP input I A ms ormore 200 ms or more START input N A A MOVE output N A END output Motor operation Run Stop 6 ms or less Motor excitation condition Motor is excited Delay when the motor 100 ms or less is not excited Time 200 ms or less Electromagnetic brake Release Hold Release 25 ms or less 150 ms or less The time after the operation stops until the END output becomes active varies depending on the load and operating speed A active ON N A non active OFF EZHS EZHC EZHP Series Controller USER MANUAL 43 EZ limo easy linear motion 44 5 3 8 5 3 9 ACL Input This input is common to the controller mode and driver mode The ACL input is used to reset the ALM output to the normal non active state when the ALM output has been activated due to an activation of the controller s protective function Note that the ACL input cannot reset the protective functions relating to a failure in the motor or controller nor to the teaching pendant Figure 5 16 ACL Input A ACL input 4 ms or more
88. ill be executed e Provide an emergency stop button SB2 when the teaching pendant is not used e Ensure safety before resetting the emergency stop button SB2 e Place the cabling indicated by 2 in an insulated duct in order to protect against ground faults e When two or more controllers are connected using controller link cables also configure an emergency stop circuit conforming to Category 0 under EN60204 1 Stop Function for the section indicated by 3 5 6 Connecting to the Power Supply Design and risk evaluation of the safety circuit is the responsibility of the customer that manufactures the machine Refer to the safety standards EN954 1 and EN60204 1 and observe the requirements 5 6 1 For Single phase 100 115 V Unit and Single phase 200 230 V Unit Connect the power supply to terminals L and N Connect the live side phase line of a power supply to terminal L e Connect the neutral side neutral line of a power supply to terminal e Connect the terminal marked to the grounding point on the power supply side Single phase 100 115 V 50 60 Hz Single phase 200 230v N f 50 60 Hz I 5 6 2 Connection of the Main Power Supply Terminals and Protective Earth Terminal Use an insulated round crimp terminal for the main power supply terminals Conformi bl i Application of ca
89. ing Refer to Chapter 5 in Controller Data Setting Manual P24 N24 Output These are power outputs used for sensors The power is supplied from the user I O EZHS EZHC EZHP Series Controller USER MANUAL 55 EZ limo easy linear motion 5 5 Emergency Stop Specification 56 The emergency stop function is designed under the following specification Design and risk evaluation of the safety circuit is the responsibility of the customer that manufactures the machine Refer to the safety standards EN954 1 and EN60204 1 and observe the requirements Detection condition An opening of input is detected normally closed contact B input Action upon detection The motor power is forcibly cut off using a hardware circuit rather than through CPU instruction in order to stop the slider cylinder via a coasting stop If the slider cylinder is equipped with an electromagnetic brake the electromagnetic brake will be actuated to provide the necessary holding brake force Emergency stop function emergency stop button of the teaching pendant uses EN compliant parts Emergency stop circuit Select the safety parts comprising the emergency stop circuit in accordance with the requirements under EN954 1 Category I AGGE Provide a measure the machine side so that the machine will operate safely when the slider cylinder is stopped Figure 5 34 shows a connection example of the controller s power system and emergen
90. inting copying microfilming or any other manner without prior written consent from Oriental Motor and ORIENTAL MOTOR are trademarks of Oriental Motor Co Ltd and are registered in Japan and other countries EZ limo is a registered trademark of Oriental Motor Co Ltd in Japan LIMO is a trademark of Oriental Motor Co Ltd Other product names and company names mentioned in this manual may be trademarks or registered trademarks of their respective companies and are hereby acknowledged The third party products mentioned in this manual are recommended products and references to their names shall not be construed as any form of performance guarantee Oriental Motor is not liable whatsoever for the performance of these third party products Copyright ORIENTAL MOTOR CO LTD 2005 Table of Contents Chapter 1 2 55 enda es 9 Intended Reader of the 9 a Purpose of the 9 Receipt Storage and Disposal of the Product 9 Product Support essen 9 Technical Assistance Regarding the Product 9 Structure and Contents of The Manual 10 Contents of the 10 UL CSA Standards eee 11 a Rules
91. ion Connector Cables A maximum of 16 controllers can be connected to the teaching pendant in a daisy chain using controller link cables optional 5 9 1 Teaching Pendant Follow the procedure below to connect the teaching pendant to the controller 1 Confirm that the emergency stop button on the teaching pendant is not pushed in 2 Plug the connector plug at the end of the teaching pendant cable into the pendant connector PENDANT PC on the controller The connector must be inserted in the correct orientation Confirm the orientation before plugging in the connector Figure 5 36 Connection of Teaching Pendant Teaching pendant Controller 999 Connector plug T Ee ere pem Pendant connector PENDANT PC M angan H ld A olg Pendant cable 60 Chapter 5 Installation and Wiring 5 9 2 Controller Follow the procedure below when connecting two or more controllers via a daisy chain Use optional controller link cables 002 72 0 2 m 0 7 ft for the connection 1 Determine the controller to which the teaching pendant is directly connected The emergency stop button on the teaching pendant will be enabled
92. l type 3 2 2 Oylinder Figure 3 2 Unit Model of Cylinder EZHCAA 05MA EZHCA Maximum transportable mass in the vertical direction 6 5 kg 14 3 Ib EZHCA Maximum transportable mass in the vertical direction 15 kg 33 Ib EZHCA Maximum transportable mass in the vertical direction 14 kg 30 8 Ib EZHCA Maximum transportable mass in the vertical direction 30 kg 66 Ib Power input A Single phase 100 115 V C Single phase 200 230 V Stroke 05 50 mm 1 97 inch 10 100 mm 1 97 inch 20 200 mm 7 87 inch 30 300 mm 11 81 inch Electromagnetic brake None Without electromagnetic brake M With electromagnetic brake A Absolute type Incremental type 18 Chapter 3 Unpacking Inspection and Storage _ _ _ _ _ _ __ _ lt _ L_L_ _L_ _ _ _ x _ _ __ _ _ _ _ _ _ _ _ __ E_ _ E Sa 3 3 Inspection Procedure It is recommended that you check the following points upon receipt of the product e Inspect the controller for any physical damage sustained during shipment e Check the combination of the controller and the slider or cylinder To check the combination see A 1 Combination List on p 55 of the EZHS EZHC EZHP Series Slider Cylinder Installation Manual and check the unit model and corresponding models of individual contro
93. lack N24 T LS sensor Black Blue m i Pink P24 i n Brown y LS sensor Black LS LS sensor Black N24 T t Blue HOME sensor Black Pink Ro P24 i Brown X HOMELS 3 HOME sensor Black 5 N24 Blue OV The pink lead broken line is connected to the brown lead if the sensor logic is N C normally closed If the sensor logic is N O normally open the pink lead is not connected Sensor wire connection The power supply must be 5 VDC or more and 24 VDC or less The current must not exceed 100 mA If the current exceeds 100 mA connect an external resistance Ro If the sensor set PAEZ S is used and the wiring length between the controller and a given sensor exceeds 2 m 6 6 ft provide a capacitor of approx 10 uF and a withstand voltage of 50 V or more at a point within 2 m 6 6 ft of the sensor e Sensor Set Model PAEZ S 5 13 Compliance with the EC Directives The EZHS EZHC EZHP Series sliders cylinders and controllers bear the CE mark indicating their compliance with the Low Voltage EMC Directives The installation conditions needed to satisfy the EC directives are as follows 1 Install a mains filter on the power input side 2 Use optional cables for slider cylinder connection 3 Install the slider cylinder and controller in an industrial grade enclosure so that only appropriate qualified personnel can access these parts Install and wire the product by pa
94. larm At the same time the ALM output becomes active and an alarm code is displayed on the pendant To clear the alarm code activate the ACL input one shot or reconnect the power e Acceptance of operation commands is enabled when the alarm is cleared with the ACL input If the alarm cannot be cleared with the ACL input reconnect the power Note that alarms arising from a failure in the motor or controller itself cannot be cleared Additionally alarms will not be cleared when the ALARM LED is lit Should you encounter any such alarm call our Technical Support Line Following an actuation of the overheat protection function in the controller or motor reconnect the power after the controller motor temperature has dropped to below 40 C 104 Figure 6 5 Blink Pattern of ALARM LED Example of blink pattern Overvoltage protection function three blinks 1 2 3 1 2 3 Chapter 6 Startup and Troubleshooting Table 6 3 Numbers of LED Blinks and Alarm Codes No of LED Condition eligen uncer Causes Action Bee code action input blinks 21 2 Overheat The motor current The driver s heat sink Review the ventilation Can protection is cut off The temperature reached conditions within the be electromagnetic approx 85 C 185 F enclosure used brake is activated 26 Motor overheat The motor current The motor temperature Reduce the load Can protection is cut off The re
95. lations and observing the standard safety guidelines and specific precautionary notes supplemental thereto This product poses no danger associated with chemical products or radiation Electric Shock To prevent electric shock be sure to install the product in an enclosure to prevent contact with any hands If the product is likely to come in contact with any hands be sure to provide a protective grounding The moving parts table rod and stainless sheet are not provided with protective grounding continuity so do not touch them while the power is supplied The battery is connected to the primary circuit so do not touch the battery while the power is on Electrical Fire Electrical fire can be avoided by conforming to the general procedures implemented in industrial power equipment works It is essential that appropriate qualified personnel conduct the electrical work Please note that a safe distance must be ensured from the machine in which the slider cylinder is installed so that only appropriate qualified personnel can access the slider cylinder EZHS EZHC EZHP Series Controller USER MANUAL 13 EZ limo easy linear motion 14 2 2 3 2 2 4 Danger Posed by the Machine Provide a safety barrier when operating the product at speeds exceeding the range of safety 250 mm s 9 84 in sec Danger posed by the machine relates to unexpected movement of the slider cylinder table rod in an uncontrolled situation If
96. ler 4 1 Overview The EZHS EZHC EZHP Series controller is equipped with a communication function feedback function and other functions needed to operate the slider cylinder using programmed data and to perform positioning controls such as home position detection The data and parameters used in the slider cylinder positioning control are set in the controller via the teaching pendant optional The teaching pendant can set and maintain data for up to 16 controllers However in the manual operation mode the teaching pendant can only access one selected controller Figure 4 1 shows the configuration of a system comprised of EZHS EZHC EZHP Series controllers and sliders cylinders as well as a teaching pendant The absolute type controller provides a position data remembering function whereby the movement of the slider table or cylinder rod is monitored via the rotor position sensor when the power supply to the controller is cut off Figure 4 1 System Configuration incremental type Teaching pendant Controller link cable optional
97. lider cylinder Causes Action AGT code 2 action input blinks 60 7 LS logic error The motor stops The LS and LS Reset the alarm using ACL Can sensors were detected and then check the logic of be in the sensor enable the installed sensors and the used mode logic setting in the LS logic setting parameter 61 LS reverse The motor stops The LS sensor Reset the alarm using ACL Can connection error opposite to the and then check the LS and be operating direction was LS wiring used detected during a return to home operation 2 sensor mode 3 sensor mode 62 Return to home The motor stops A return to home e An unanticipated load may Can error operation did not have been applied during be complete normally the return to home used operation Check the load If the installation positions of LS LS and HOMELS are close to one another the return to home sequence may not end properly depending on the starting direction of return to home operation Review the sensor installation positions and the starting direction of return to home operation e Return to home operation may have been performed in a condition where both LS and LS were detected Check the logic of the installed sensors and the logic setting in the LS logic setting parameter 63 HOMELS The motor stops The HOMELS signal is Set a HOME sensor Can non detection not output at a position between the limit sensors be error between LS and LS LS L
98. ller and slider cylinder If the product is found to be damaged during the unpacking process or if the combination is wrong or the controller does not operate properly when tested please contact the Oriental Motor branch or sales office from which you purchased the product Report problems to Oriental Motor as soon as possible after your receipt of the product 3 4 Storing the Controller Use the product packing materials to wrap the controller and put it back into the shipping carton Store the controller in a place that satisfies the following conditions e Aclean place not subject to excessive humidity or salt A place away from direct sunlight e An ambient temperature of 0 to 50 C 32 to 122 F non freezing Arelative humidity of 85 or below non condensing e A place not exposed to corrosive gases e A place not subject to continuous vibration Some of the parts used in the controller are sensitive to static electricity When touching the controller provide an antistatic measure Also place the metal surface of the controller on a conductive material A failure to provide an appropriate antistatic measure may damage the controller EZHS EZHC EZHP Series Controller USER MANUAL 19 20 Chapter 4 Controller Overview Chapter 4 Controller Overview This chapter explains the basic controller functions and operating requirements that must be understood and observed in order to ensure correct use of the control
99. ller will function as specified These procedures include the following e Unpacking the EZHS EZHC EZHP Series controller Inspecting the controller for damage sustained during shipment Checking the combination of controller and slider cylinder Storage guidelines for the controller 3 1 Unpacking the Controller Each EZHS EZHC EZHP Series product comes with a controller and a slider or cylinder packed in the same carton 1 Remove the EZHS EZHC EZHP Series controller from the shipping carton and remove all packing materials from around the product You may keep the packing materials and shipping carton for storage or shipment of the controller at a later time 2 Check all items in the carton against the packing list The nameplate on the product indicates the following information e Product model e Serial number e Manufacture date code Packing list EZHS Series e Slider 1 unit Hexagonal socket head screw M5 4 pcs e Controller 1 unit Controller mounting brackets 2 pcs e Installation manual 1 copy Screws for controller mounting brackets 4 e User manual for controller 1 pcs this document M3 Data setting manual for controller 1 copy e I O connector plug 2 sets e Battery 1 pc absolute type only e Battery holder 1 pc absolute type only Only for EZHS4 and EZHS6 EZHC EZHP Series e Cylinder 1 unit e Hexagonal nut 1 pc e Controller 1 unit e Controller mounting brackets
100. ly input NA gt 0 s or more 2sorless START input N A 2sorless A ALM output N A 2 s or less A Motor excitation TA Motor is excited A active ON N A non active OFF Do not activate the FWD input and RVS input before the controller power input turns ON Doing so will generate a main power OFF detection error Figure 6 3 Output Statuses at Power On driver mode Control signal A power supply 5 input N A Main power A supply input 0 s more A 2sorless Pulse train input D 0 2sorless ALM output 2sorless A 7 Motor excitation Motor is excited A active ON N A non active OFF 72 Chapter 6 Startup and Troubleshooting 6 2 Starting the Slider Cylinder I O To perform a positioning operation via user 1 start the slider cylinder according to the following procedure 1 Activate the HOME input and cause the slider cylinder to return to home 2 Select the positioning data using the MO to M5 inputs 3 Activate the START input A positioning operation of the slider cylinder is executed 6 3 Starting the Slider Cylinder teaching pendant To perform a manual operation using a teaching pendant start the slider cylinder according to the following procedure 1 Confirm that the emergency stop button on the teaching pendant is not pushed in 2 Plug the connector plug of
101. n detection in accordance with the return to home operation pattern The input logic can be set to normally open contact A or normally closed contact B However the logic must be the same for both the LS and LS See 7 3 Return to Home Operation on p 84 for details on the return to home operation Related parameter LS detection enable disable LS logic Overtravel action Return mode Coordinate direction setting Refer to Chapter 5 in Controller Data Setting Manual If the LS and LS inputs are to be used in an operation other than return to home be sure to enable the LS detection in the applicable I O parameter LS Input This is the sensor input on the bracket side motor side During operation other than return to home Detects a mechanical limit and stops the slider cylinder During return to home operation Supports home position detection in accordance with the return to home operation pattern The input logic can be set to normally open contact A or normally closed contact B However the logic must be the same for both the LS and LS HOMELS Input This input detects the mechanical home position when a return to home operation is executed in the 3 sensor mode The input logic can be set to normally open contact A or normally closed contact B See 7 3 Return to Home Operation on p 84 for details on the return to home operation Related parameter HOME logic Return mode Coordinate direction sett
102. n the Power to the Controller 71 6 2 Starting the Slider Cylinder 1 73 6 3 Starting the Slider Cylinder teaching pendant 73 6 4 Troubleshooting oot esee tete eee ntes 74 Chapter 7 Controller Operation 79 7 1 Positioning 79 7 1 1 Single Motion Positioning Operation 80 7 1 2 Linked Motion Positioning Operation 80 7 1 3 Sequence Forward 81 7 2 Push Motion 83 7 3 Return to Home 84 7 3 1 Return to Home Operation Sequence 84 7 4 Manual 86 7 5 Stop Operaltilon n ite ie d dert 87 7 541 Softlimit i eed ee ea 87 75 2 Slop STOP acetate ite pti tbe eset ud 87 7 5 3 Emergency Stop 87 7 6 Coordinate Position 88 EZHS EZHC EZHP Series Controller USER MANUAL 5 EZ limo easy linear motion Chapter8 Maintenance 89 External Check us tercer Peor 89 Chapter 9 Warranty 91 9 1 Scope of Warranty 91 9 2 Warranty
103. n the operation is resumed via the START input The input logic of the STOP signal and the stop pattern of the slider cylinder can be changed using the teaching pendant Input logic Normally open contact A or normally closed contact B Stop pattern Immediate stop Deceleration stop Immediate stop and electromagnetic brake operation Deceleration stop and electromagnetic brake operation Emergency Stop EMG When the emergency stop button on the teaching pendant is pressed the power to the motor will be cut and the slider cylinder will stop via a coasting stop If the slider cylinder is equipped with an electromagnetic brake the electromagnetic brake will be actuated to provide the necessary holding brake force To move the slider cylinder s moving part release the electromagnetic brake by FREE input The load may drop if the slider cylinder is installed vertically Design and risk evaluation of the safety circuit is the responsibility of the customer that manufactures the machine Refer to the safety standards EN954 1 and EN60204 1 and observe the requirements Note Refer to 5 5 Emergency Stop Specification on p 56 EZHS EZHC EZHP Series Controller USER MANUAL 87 EZ limo easy linear motion 7 6 Coordinate Position Management Table 7 6 shows the coordinate position management condition used as the controller s position information Table 7 6 Coordinate Position Management Condition Item
104. nd Contents Item What to check Action if problem is found Controller Are there any loose mounting screws Tighten the screws securely Are there any deposits of dust or dirt Remove dust and dirt using a soft cloth Cables Are there any scratches or areas under Disconnect and reconnect the connector stress or is the cable slack at the or replace the cable controller connection Some of the parts used in the controller are sensitive to static electricity When touching the controller provide an antistatic measure Touching the controller without providing an antistatic measure may damage the controller EZHS EZHC EZHP Series Controller USER MANUAL 89 90 Chapter 9 Warranty Chapter 9 Warranty Any problem with the controller will be repaired free of charge if the following conditions are met 9 1 Scope of Warranty If a breakdown occurs during the warranty period due to a reason for which Oriental Motor is responsible the affected product will be repaired free of charge The warranty is provided strictly in the form of repair of the main body of the product in the case of a circuitry product the main body of the product and software installed in the main body Oriental Motor shall not be liable for any physical loss or opportunity loss on the part of the customer arising out of the breakdown of a delivered product This warranty does not cover breakdowns due to normal product wear and tear nor does it cov
105. nder Product Stroke mm inch EZHS3 Series 50 1 97 100 3 94 150 5 91 200 7 87 250 9 84 300 11 81 400 15 75 500 19 69 Total 8 types EZHS4 Series 50 1 97 100 3 94 150 5 91 200 7 87 250 9 84 300 11 81 400 15 75 500 19 69 Total 8 types EZHC4 Series 50 1 97 100 3 94 200 7 87 300 11 81 Total 4 types EZHP4 Series 50 1 97 100 3 94 200 7 87 300 11 81 Total 4 types EZHS6 Series 100 3 94 150 5 91 200 7 87 250 9 84 300 11 81 400 15 75 500 19 69 Total 7 types EZHC6 Series 50 1 97 100 3 94 200 7 87 300 11 81 Total 4 types EZHP6 Series 50 1 97 100 3 94 200 7 87 300 11 81 Total 4 types A 2 2 Electromagnetic Brake All sliders cylinders are available with or without electromagnetic brakes A 2 3 Teaching Pendant It is possible to perform data parameter setting I O monitoring and manual operation by connecting a teaching pendant only one unit can be connected A 2 4 Battery A battery is required only for the absolute type EZHS EZHC EZHP Series Controller USER MANUAL 93 EZ limo easy linear motion A 3 Common Specifications A 3 1 Power Supply Operating Environment Main power supply voltage EZMC130 A Single phase 100 115 V 40 50 60 Hz 3 3A EZMC240 A Single phase 100 115 V 10 50 60 Hz 5 0A EZMC1
106. nnected controllers Upon detection of an axis number duplication the teaching pendant displays the error message shown in Figure 4 3 the operation will be disabled thereafter until the axis number duplication is rectified The ALARM LED on the controller does not blink when an axis number duplication is detected Figure 4 3 Error Message for Axis Number Duplication ID duplication Fl Check 10 again F2 lgnore Dup ID The color of the LCD screen changes from green to red e Change the duplicated axis numbers to other unique numbers See Chapter 8 Troubleshooting on p 8 1 in EZHS EZHC EZHP Series Controller Data Setting Manua for details on how to reset an error in the teaching pendant Power Cutoff During Controller Communication Do not cut off the power to the controller while controller data is being written inserted deleted or cleared via the teaching pendant Doing so damages the data written to the controller and results in a nonvolatile memory error Data is being written inserted deleted or cleared under the following conditions e The moment the displayed value is confirmed with the key when entering data etc e The moment a data clear is confirmed e While any of the data processing messages in Figures 4 4 4 5 4 6 and 4 7 is shown on the Screen XXXXX Wait for a moment Figure 4 4 Data Insertion PRG Ins 01 Inserting data Wait for a moment Figure 4 5 Data Deletion PRG Del 01 Deleting
107. of Notation 11 Chapter 2 Salty i ssi a P 13 2 1 Safety 13 2 2 Potential Dangers 13 2 2 1 kElectric Shock eiit iere 13 2 2 2 Electrical Fire ineo 13 2 2 3 Danger Posed by the 14 2 2 4 Electromagnetic Disturbance 14 2 3 General Safety 15 2 4 Warning Display need toe 16 Chapter 3 Unpacking Inspection and Storage 17 31 Unpacking the Controller 17 3 2 Explanation of Unit 18 9 2 niii Ronson o te secto totins 18 3 22 Oylinder cierre freenet rts 18 3 3 Inspection 19 3 4 Storing the 19 Chapter 4 X Controller Overview 21 4 1 OVervIew eode n eed 21 42 Functilons s nn teneret teer utra qe 22 4 24 Operation eene rennen 22 4 2 2 Electromagnetic 22 4 2 3 Position Holding absolute 22 4 24 23 4 3 Operating Requirements 24 4 3 1 Axis Number ID 24 4 3 2 Po
108. on positioning operation is performed for single operation data In the linked motion positioning operation positioning operation is performed continuously for two or more operation data Sequence forward operation is a positioning operation mode that becomes effective when No 00 is selected To select this mode turn off inputs MO to M5 In this mode positioning automatically begins at motion profile No 01 when a START signal is initiated The next START input executes profile No 02 and so on until an empty profile is reached The sequence then begins again at No 01 This function is useful for executing a repetitive sequence of motions EZHS EZHC EZHP Series Controller USER MANUAL 79 EZ limo easy linear motion 7 1 1 7 1 2 80 Single Motion Positioning Operation When a motion profile is chosen for which single motion is selected as the operation function the positioning operation is performed only once using the motion profile Figure 7 2 shows the operation profile of single motion positioning operation when operation data is set as shown in Table 7 2 Table 7 2 Example of Data Setting No Operation function 01 Single motion 02 Single motion 03 Single motion 04 Single motion Figure 7 2 Operation Profile of Single Motion Positioning Operation Speed Started after selecting No 03 Started after selecting No 04 No 03 No 04 0 Time START input l END output
109. ondition is not achieved an END signal will be output and the motor will stop AT UP signal will not be output If the cylinder rod has moved due to the application of external force in the push or pull direction of the load an excessive position deviation alarm will be generated and the motor will stop EZHS EZHC EZHP Series Controller USER MANUAL 83 EZ limo easy linear motion 7 3 Return to Home Operation 84 7 3 1 When a HOME signal is input a return to home operation is started in the preset direction The mechanical home is set at the specified position internal setting to which the slider cylinder returns after contacting the stopper end The table rod will be offset away form the mechanical home position by the value of the home offset variables This is the softlimit position The softhome becomes the reference point in coordinate management and is reset to 00000 00 Figure 7 7 shows the operation profile of return to home operation Related parameter Return mode Home offset Return direction Starting speed of return Operating speed of return Refer to Chapter 5 in Controller Data Setting Manual Figure 7 7 Return to Home Operation Mechanical home Effective stroke Table limit position Table limit position Stopper end Stopper end Return to home operation 43 Offset movement Stopper end Softhome Mechanical home Return to Home Operation Sequence Return
110. ontact any Oriental Motor branch or sales office Sales information and assistance for product selection e Technical support regarding the product e Warranty repair Technical Assistance Regarding the Product Should you require technical assistance from Oriental Motor first check the applicable information in Chapter 6 Startup and Troubleshooting If the problem persists after the appropriate measures have been taken call our Technical Support Line So that we can promptly respond to your inquiry please have the product model ready when you call EZHS EZHC EZHP Series Controller USER MANUAL 9 EZ limo easy linear motion 10 ll Structure and Contents of The Manual This manual serves as a user s guide for EZHS EZHC EZHP Series controllers Operating any EZHS EZHC EZHP Series slider or cylinder requires the slider cylinder and the controller as well as the setup of an optional teaching pendant or data editing software and the programming of operation data Please refer to the following manuals for the EZHS EZHC EZHP Series and follow the instructions e EZHS EZHC EZHP Series Controller User Manual this document EZHS EZHC EZHP Series Controller Data Setting Manual This manual explains the process of creating operation data setting parameters and performing troubleshooting using the teaching pendant EZHS EZHC EZHP Series Slider Cylinder Installation Manual This manual explains the installation and troubleshooting of
111. ontroller mounting brackets provided M3 four pieces 2 Secure the controller mounting brackets to the metal plate using four screws M4 not supplied Figure 5 3 Installation Method 2 Controller ee mounting brackets PA S Metal plate lt Screws M4 not supplied Do not use the mounting holes four locations for the controller mounting brackets provided in the back of the controller for any purpose other than securing the controller mounting brackets e Be sure to use the supplied screws when securing the controller mounting brackets EZHS EZHC EZHP Series Controller USER MANUAL 31 EZ limo easy linear motion 5 1 3 Installing the Battery The battery has a built in protective circuit Use the supplied battery holder to secure the battery Figure 5 4 shows the battery s installation dimensions Always observe the following items when using the battery Failure to handle the battery correctly may cause electric shock and the battery to leak or burst resulting in injury or equipment damage The battery is connected to the primary circuit so do not touch the battery while the power is on Do not heat the battery or throw it into a fire Never short circuit the battery or connect the positive and negative terminals in reverse When carrying storing the battery do not place it together with metal necklaces hairpins coins keys or other conductive objects Also store the battery
112. otor direction The time after the operation stops until the END output becomes active varies depending on the load and operating speed A active ON N A non active OFF MO to M5 Input These inputs are enabled in the controller mode The six bit input is used to select positioning motion profiles set by the teaching pendant The selected value should be held until an operation based on the selected profile is executed Table 5 4 Signal Statuses of MO to M5 Input M5 M4 M3 M2 M1 MO Selected data OFF OFF OFF OFF OFF OFF Sequence forward operation OFF OFF OFF OFF OFF ON 1 OFF OFF OFF OFF ON OFF 2 e e e e e e e e e e e e e e e e e ON ON ON ON OFF ON 61 ON ON ON ON ON OFF 62 ON ON ON ON ON ON 63 OFF Non active ON Active 5 3 5 5 3 6 Chapter 5 Installation and Wiring HOME Input This input is enabled in the controller mode The return to home operation of the slider cylinder starts when the HOME input is activated See 7 3 Return to Home Operation on p 84 for details on the return to home operation Figure 5 11 Input 4 ms or more gt HOME input 6 ms less MOVE output 10 ms or less Le END output Opposite the motor direction Motor operation The time after the operation stops until the END output becomes active varies depending on the load and operating
113. p to 1000 m 3280 ft No corrosive gas dust water or oil Shipping Maximum 20 to 60 C 25 to 70 C 20 to 60 C environment surround air 74 to 140 F 713 to 158 F 74 to 140 F temperature non freezing non freezing non freezing Humidity 85 or less non condensing Altitude Up to 3000 m 9842 ft corrosive gas dust water or oil Applicable standards EN60950 EN60034 1 EN60034 5 IEC60664 1 ENSO178 EN60950 EN60204 1 Installation conditions Slider cylinder and controller are to be used as a component within other equipment Overvoltage category II Pollution degree 2 Class Teaching pendant is to be used as a component within other equipment Overvoltage category II Pollution degree 2 Class Il 66 Chapter 5 Installation and Wiring 5 13 2 5 13 3 5 13 4 EMC Directives 89 336 EEC 92 31 EEC The EZHS EZHC EZHP Series controllers sliders cylinders and the teaching pendant have been confirmed to comply with the standards below by conducting EMC measurements in accordance with 5 13 5 Example of EMC Compliant Wiring on p 69 The degree of EMC compliance with respect to a given machine depends on the configuration wiring installation conditions and hazard level of other control systems equipment and electrical parts used with the controller and slider cylinder Therefore it is the customer s responsibility to perform EMC measurements and
114. put at a position between LS and LS during non detection error HOME operation 3 sensor mode e Motor action The motor stops Number of LED blinks 7 e Alarm code 63 e Alarm reset method ACL input LS detection error The LS or LS sensor was detected in the sensor enable mode e Motor action The motor stops e Number of LED blinks 7 e Alarm code 66 e Alarm reset method ACL input HOME offset error The LS signal was detected during home offset operation e Motor action The motor stops e Number of LED blinks 7 e Alarm code 6A e Alarm reset method ACL input Actuator An error occurred while communicating with the slider communication board communication Motor action The motor current is cut off and electromagnetic error brake is activated e Number of LED blinks 8 e Alarm code 2A e Alarm reset method Cycling of power Actuator A slider cylinder not supported by the controller was connected combination error Motor action The motor current is cut off and electromagnetic brake is activated e Number of LED blinks 8 e Alarm code 45 e Alarm reset method Connect the applicable slider cylinder and cycling of power 100 Appendix A Specifications gt EEEEEEE E E _ _ _ _ _ _ _ _LL_L___ _ _ _ xL ___ _ EX2E Sa Subsystem error An error occurred during communication between the main an
115. rake is activated was damaged connection to the controller used and then reconnect the power 45 Actuator The motor current A slider cylinder not Check the controller model Can combination error is cut off The supported by the and slider cylinder model not electromagnetic controller was and then connect a be brake is activated connected controller and a used slider cylinder in the correct combination 29 9 Subsystem error The motor current An error occurred Turn off the power and then Can is cut off The during communication reconnect the power not electromagnetic between the main and be brake is activated sub CPUs used 41 Nonvolatile The motor current The stored data was Initialize the controller using Can memory error is cut off The damaged the teaching pendant not electromagnetic be brake is activated used Rewrite life of the Call our Technical Support Can EEPROM approx Line or contact your nearest not 100 000 times was Oriental Motor branch or be reached sales office used EZHS EZHC EZHP Series Controller USER MANUAL 77 78 Chapter 7 Controller Operation Chapter 7 Controller Operation This chapter describes the positioning operation push motion operation return to home operation and manual operation stopping in the controller mode as well as the management of coordinate positions in the controller The controller operates in the controller mode and driver mode The operations
116. returns to No 01 and performs a single motion operation based on data No 01 since no data is set in No 13 Selecting No 00 when no operation data is set in No 01 No operation is performed and an operation data error is generated Selecting No 00 after executing No 11 and No 12 when no operation data is set in No 01 After single motion operations based on data No 11 and No 12 are complete no operation is performed and an operation data error is generated The operation data number is reset to No 01 under the following conditions e When the HOME signal is input e When the STOP signal is input e When the FWD RVS signal is input e When the EXT mode is switched to another mode if the teaching pendant is used e When the E STOP signal is input if the teaching pendant is used e When an alarm is generated e When the PRESET signal is input e When the FREE signal is input 2 Stop When a STOP signal is input the current positioning operation stops and the sequence forward operation ends Chapter 7 Controller Operation 7 2 Push Motion Operation An operation in which the load is continuously subjected to pressure is called push motion operation Push motion operation is performed when push motion is selected as the operation function as part of that motion profile is set Figure 7 6 shows the operation profile of push motion operation Refer to EZHS EZHC EZHP Series Controller Data Setting Man
117. ric string in Error xx format shown on the pendant when an alarm has generated The number in each alarm code shown on the pendant is a hexadecimal Example An emergency stop is active and the pendant shows Error 68 Alarm code 0110 1000 104 decimal 68 hexadecimal 4 Checksum 8bit The 48 bits of current position data and status information are divided into bytes and all bytes are added up The checksum represents the lowest eight bits in the result obtained by a total of six additions addition of six bytes The checksum provides the information used to check if the absolute data status and alarm code have been read correctly Example If the actuator is stopped at 123 45 mm following an emergency stop the following data will be output from the controller 0000 0000 0000 0000 0011 0000 0011 1001 0000 0000 0110 1000 1101 0001 Current position data Status Alarm Checksum After the current position data 32 bits status 8 bits and alarm code 8 bits have been read to the host controller the respective bytes of data will be added up one by one Example 00000000 00000000 00110000 00111001 00000000 01101000 0000 0000 1101 0001 T Lowest 8 bits 1 byte D1 hexadecimal The checksum represents the lowest eight bits or 1101 0001 in the above example If the calculated result matches the checksum value read from the controller the data have been read correctly EZHS EZHC EZHP Series Controll
118. ries Controller USER MANUAL 29 EZ limo easy linear motion 5 1 30 Installing the Controller This section explains the installation conditions and method 5 1 1 Required Installation Conditions e The controller is designed for use in an environment with a pollution degree of 2 e When the controller is used in an environment with a pollution degree of 3 install the controller inside an enclosure that can provide protection confirming to IP54 e Install the controller vertically onto a flat metal surface satisfying the following conditions Vibration Altitude Temperature Humidity Atmosphere Installation condition Do not subject to continuous vibration or excessive shock Up to 1000 m 3280 ft above sea level 0 to 40 C 32 to 104 F non freezing 85 or below non condensing e Indoor e Free from explosive or toxic gases e g sulfuric gas or liquids e Free from contact with water or oil e Away from direct sunlight e Not exposed to air with high salt content e Built in component Overvoltage category 11 e Pollution degree 2 e Protection against electric shock Class equipment Design so that the temperature within the enclosure will not exceed 40 104 e When ventilating the enclosure filter the air supply in order to prevent dust and dirt from adhering to the controller The air must be free from oils or corrosive conductive pollutants Do not install near
119. s precaution may result in injury or equipment damage If the product is of the absolute type perform a return to home operation or absolute positioning operation immediately after recovery of the power supply Failure to do so may result in injury or equipment damage If an incremental positioning operation is performed immediately after recovery of the power supply the following accidents may occur e If the moving part of the slider cylinder has shifted during the battery backup period due to an external force the new position of the moving part will be recognized as the origin in the positioning operation and the stopping position will deviate accordingly Do not touch the controller immediately after the power is cut off or until the CHARGE LED lit in red turns off Doing so may result in electric shock due to residual voltage EZHS EZHC EZHP Series Controller USER MANUAL 15 Do not use the controller and slider cylinder beyond their specified values Doing so may result in injury or equipment damage No one should come close to the slider cylinder beyond the safety distance except for qualified personnel To do so may result in injury When transporting the slider cylinder do so by holding the body of the slider cylinder Holding the slider cylinder by the cables table or rod may result in injury Do not supply power to the machine when the slider cylinder covers are not installed in their specified positions Doing so ma
120. s Inc position operating speed operation function push current Operation data clear Data insertion Data deletion All operation data clear EZHS EZHC EZHP Series Controller USER MANUAL 101 L EZ limo easy linear motion A 8 3 Parameter Mode setting e Stop action stop logic LS detection enable disable LS logic HOME logic overtravel logic FREE logic HOME PRESET switch PRESET position Motor setting e Operating current standstill current Return to home setting Return direction home offset return mode starting speed of return operating speed of return Parameter initialization Speed setting e Starting speed acceleration deceleration common operating speed Common item setting Soft limit enable disable upper soft limit lower soft limit area 1 area 2 coordinate setting A 8 4 Test Mode Manual operation e Positioning operation e Manual operation e Return to home operation 102 Appendix B Optional Parts and Accessories Appendix B Optional Parts and Accessories B 1 Teaching Pendant The teaching pendant is a human interface essential to the EZHS EZHC EZHP Series products in the execution of positioning control It provides data setting functions and position alarm monitoring functions The teaching pendant can be used to program operation data perform manual operation and monitor the operation data current position and I O
121. s of the cable and connectors sockets on the controller side to receive any mechanical stress such as bending or tensile force e When extending the cable cover the connector with a tube to protect it against dust water and oil When connecting an optional extension cable plug in the connector until the lock lever is securely fixed Slide coupler cover from motor wires over connector then slide coupler cover from extension cable side over motor side coupler cover Secure the cover so that the connector and covers do not move EZHS EZHC EZHP Series Controller USER MANUAL 59 EZ limo easy linear motion 5 8 3 Protecting the Motor The controller provides motor protection functions that operate under the conditions specified below Overheat Protection When actuated the overheat protection function stops the motor cuts the power to the motor With the electromagnetic brake type the electromagnetic brake will be actuated When a signal from the encoder s built in temperature sensor has been output to the controller Overload Protection When actuated the overload protection function stops the motor cuts the power to the motor With the electromagnetic brake type the electromagnetic brake will be actuated e When a load exceeding the maximum torque has been applied for five seconds or more during an operation other than push motion operation or sensorless return to home operation 5 9 Wiring the Communicat
122. s the EMS Electromagnetic Susceptibility of the EZHS EZHC EZHP Series controller slider cylinder and teaching pendant Failure to do so may result in a serious impairment of machine functions The basic wiring requirements for the EZHS EZHC EZHP Series controller slider cylinder and teaching pendant are described below 1 Mains filter Connect a mains filter on the input side in order to prevent noise generated in the controller from being transmitted outward via the power line Oriental Motor recommends the mains filters shown in the table below based on our internal measurement results Manufacturer Model Schaffner Electronik AG FN2070 10 06 EPCOS B84113 C B110 EZHS EZHC EZHP Series Controller USER MANUAL 67 EZ limo easy linear motion 68 e Install the mains filter in a position as close as possible to the controller Also secure the input and output cables using cable clamps etc so the cables won t lift from the surface of the enclosure e Use as thick a cable as possible for the ground terminal of the mains filter and connect the terminal to the ground point over the shortest possible distance Do not wire the cable on the AC input side AWG18 0 75 mm or more and the output cable of the mains filter AWG18 0 75 mm or more in parallel Wiring these cables in parallel connects the noise inside the enclosure to the power cable via stray capacitance thus reducing the effect of the mains
123. se input mode switch No 2 This switch becomes effective when the driver mode is selected as the operation mode Turning the switch to OFF sets the 2 pulse input mode while turning it to ON sets the 1 pulse input mode Operation mode switch No 1 Turning this switch to OFF sets the controller mode while turning it to ON sets the driver mode The switch is factory set to OFF controller mode See Chapter 7 Controller Operation on p 79 for details CHARGE LED Red This LED is lit while voltage is being supplied to the main power supply terminals Once the power is turned off the LED will turn off when the residual voltage in the controller drops to a safe level which takes approximately 4 minutes f you have changed the switch setting you must turn the power off and then on to make the new setting effective EZHS EZHC EZHP Series Controller USER MANUAL 23 limo easy linear motion 4 3 Operating Requirements 24 4 3 1 4 3 2 The following items must be strictly observed when using the EZHS EZHC EZHP Series controller Axis Number ID When two or more controllers are connected via daisy chain up to 16 controllers set each controller s axis number setting switch while making sure there is no duplication of numbers When a teaching pendant is connected to the controllers the teaching pendant starts checking the axis numbers of all co
124. tan ambient temperature of 20 C 68 F 2 After the power is cut off with the battery fully charged 94 Appendix Specifications A 4 Control Specifications A 4 1 Mode The controller has two modes set by the DIP switches on the front panel and four modes set via the teaching pendant The modes set via the teaching pendant are effective in the controller mode Setting by DIP switches Controller mode The controller functions as a stored data controller Driver mode The controller functions as a driver that operates in the pulse train input mode The I O details vary between the controller mode and driver mode Setting via Teaching Pendant External EXT mode Operation mode based on I O Program PRG mode Data setting mode Parameter PAR mode Parameter setting mode Test TST mode Test operation mode A 4 2 Controller Mode Language setting Positioning operation mode Operation mode that can be set for 63 sets of data from No 01 to No e Japanese English Absolute mode incremental mode Single motion positioning operation In the case of a data number for which single motion is set only that data is executed Linked motion positioning operation 63 Linked data is executed continuously from the selected data number until a data number for which single motion has been set is reached A maximum of four points
125. the controller any equipment that generates large amounts of heat or noise e Install the controller by maintaining the distances specified in Figure 5 1 from the enclosure walls and other equipment Install the controller vertically with the power supply connector section facing downward Provide the minimum distance required to ensure sufficient ventilation and easy access to the controller and in accordance with the cable s radius of curvature Figure 5 1 Controller Clearances Required at Installation Top 20 mm 0 8 inch Front 80 mm 3 2 inch or more or more to allow cable connection i Y Side 20 mm 0 8 inch or more Side 20 mm q IZA Eee 016919 FEO 0 8 inch or more E Bottom 20 mm 0 8 inch or more Chapter 5 Installation and Wiring 5 1 2 Mounting on a Wall 1 Attach the controller mounting brackets to the rear panel of the controller by tightening the supplied screws M3 four pieces into the mounting holes provided four locations Tightening torque 0 5 to 0 6 N m 71 to 85 oz in Figure 5 2 Installation Method 1 Mounting holes for mounting brackets M3 four locations I Controller mounting brackets provided two pieces Screws for c
126. top logic Setting range Normally open contact A Normally closed contact B A 6 Emergency Stop When the EMG input becomes open or when the emergency stop button on the teaching pendant is pressed the motor power is forcibly cut off using a hardware circuit rather than through CPU instruction in order to stop the slider cylinder If the slider cylinder is equipped with an electromagnetic brake the electromagnetic brake will be activated to provide the necessary holding brake force Input logic e Normally closed contact B input Categories and Applicable Standards Item Category Applicable Standards Safety category 1 EN954 1 Stop category 0 EN60204 1 EZHS EZHC EZHP Series Controller USER MANUAL 97 EZ limo easy linear motion A 7 Protective Functions When the controller s protective function is activated the ALM output becomes active and an alarm code is displayed on the pendant At the same time the ALARM LED blinks in red The number of blinks varies depending on the alarm Excessive position The deviation between the command position and actual position exceeded deviation three motor shaft revolutions Motor action The motor current is cut off and electromagnetic brake is activated e Number of LED blinks 4 e Alarm code 10 e Alarm reset method ACL input or cycling of power Overcurrent The motor cable was shorted protection Motor action T
127. ual for the procedure to set motion profiles To prevent injury or equipment damage check and set an appropriate push current for the machine when operating the cylinder in the push motion mode To prevent injury or equipment damage do not operate the slider in the push motion mode Figure 7 5 Operation Mode Selection Screen PRG 01 Op Func Func Push Motion ENT Set Mode A Push Motion operation allows the user to set the amount of thrust delivered by the cylinder When the Push Motion function is selected the user will be prompted to set the Push Current The Push Current is related to thrust force in Fig 7 6 If the cylinder delivers all of the pre programmed thrust force the T UP output will activate Otherwise the cylinder will travel to the position set in the motion profile The operating speed should be set to 6 mm s 0 24 in s or less for a push motion When performing a Push Motion if the load stops the cylinder from moving the cylinder will not alarm out Thus the cylinder can hold a force against a load for an indefinite amount of time The Push Motion can be released by giving a STOP signal or executing another motion profile Figure 7 6 Operation Profile of Push Motion Operation Speed Push Position 1 1 0 START input END output e AT UP signal is output when a push condition is achieved An END signal will not be output If a push c
128. urpose of the Manual This manual explains the installation wiring setting and troubleshooting procedures for EZHS EZHC EZHP Series controllers Receipt Storage and Disposal of the Product The customer should inspect the exterior of the equipment before accepting the product Check the delivered product by verifying it against the specification on the order sheet If the product is damaged please contact the Oriental Motor branch or sales office from which you purchased the product Leave the product in the packing carton until immediately before installation If the product is not to be used for an extended period of time store it in a place that satisfies the following conditions Aclean place not subject to excessive humidity or salt e A place away from direct sunlight e A maximum surround air temperature of 0 to 50 C 32 to 122 F non freezing e Arelative humidity of 85 or below non condensing e A place not exposed to corrosive gases e A place not subject to continuous vibration When disposing of the product treat it as industrial waste Engage a certified waste disposal service to carry out the disposal The product uses nickel cadmium batteries Dispose of the used batteries in accordance with local laws and regulations If you have any questions regarding disposal of the product please contact any Oriental Motor branch or sales office Product Support Should you require any of the following services please c
129. wer Cutoff During Controller Communication 24 4 3 3 Battery Backup absolute 25 EZHS EZHC EZHP Series Controller USER MANUAL 3 EZ limo easy linear motion 44 FrontPanel sese 26 4 4 1 Controller Front Panel 26 4 44 2 Qonneclors iet reta ERR I eroi Rn 27 Chapter5 Installation and Wiring 29 5 1 Installing the 30 5 1 1 Required Installation Conditions 30 5 1 2 Mounting on a Wall 31 5 1 3 Installing the Battery 32 5 2 Wiring 33 5 2 1 Power Wiring 33 5 2 2 User I O Wiring Diagrams Controller Mode 34 5 2 3 User I O Wiring Diagrams Driver Mode 36 5 2 4 Pin Assignments of Sensor I O Connector 38 5 3 User 1 0 Specification 39 5 3 1 Internal Input 39 5 3 2 Internal Output Circuit 39 5 53 START inp l otro a Eai 40 5 3 4 MO to M5 ene ree 40 5 3255 HOME Inptit iiie iach di bene 41 5 3 6 PRESET Input iieri ttt i eet rn 41 5 3 7 STOP INPUT OE 42
130. when the teaching pendant is connected to the controller 2 Connect the link connector PENDANT PC on the controller directly connected to the teaching pendant to the pendant connector PENDANT PC on the second controller 3 When three or more controllers are connected follow the same procedure to connect the link connector PENDANT PC on each subsequent controller to the pendant connector PENDANT PC on the next controller Figure 5 37 Connection of Communication Connectors Teaching pendant Vena f CCELI Cr Controller link cable aano aaa Controller Controller Controller B Pendant connector 2 ee PENDANT PC J mil J Pendant cable Link connector o JC Ba oy cH Le Lo 2 9 9 q EN o LIMO LIMO 1st controller 2nd controll
131. y result in electric shock or injury Do not touch the table or rod while the slider cylinder is in operation To do so may result in injury Connect the slider cylinder cables to the appropriate connectors on the controller Failure to do so may result in equipment damage Precautionary note on emergency stop When the emergency stop button on the teaching pendant is pressed or an EMG input to the controller is detected the controller cuts off the motor s output current and stops the motor If the slider cylinder is equipped with an electromagnetic brake the brake is actuated and the position is held However if there is no electromagnetic brake the holding brake force is lost and it may take longer to stop If the load installed on the table or rod is likely to contact other equipment during this period provide a safety mechanism on the machine side Failure to do so may result in injury or equipment damage Precautionary note on static electricity Static electricity may cause the controller to malfunction or sustain damage Do not touch the controller while the power is being supplied When adjusting the controller s axis number setting switch or DIP switches while the power supply is active always use an insulated screwdriver 2 4 Warning Display e The terminals on the controller s front panel marked with AN symbol indicate the presence of high voltage e Words of warning on handling such as those shown below are displa
132. yed on the controller and battery Be sure to observe the information written on the label plate when handling the controller and battery Controller warning label for electric shock A WARNING Risk of electric shock Read manual before installing Do not touch the controller immediately after the power is cut off or until the CHARGE LED lit in red turns off Doing so may result in electric shock due to residual voltage AZ E I BEOStHMHVET AN HAT EROU RRRA 6 BRe Wo KBR CHARGE LED HERI SHIT SECIAYEA Fic LY RBORAICGVES Material PET e Battery warning label for electric shock e Battery rating plate Ni Cd BATTERY A 88 _ A ORY oe A KyFY amp 4 amp NTT A 24 DC 2000mAh 00510 i AR A WARNING Risk of electric shock The battery is connected to the primary Ni Cd FIRE OR SHORT CIRCUIT il BATTERY MUST BE RECYCLED OR DISPOSED A AC power circuit Do touch the battery OF PROPERLY OCT 2002 hile th i E DATE OF MFG f SARAR M THE FURUKAWA BATTERY CO LTD MADE IN JAPAN Material Polypropylene Material PET 16 Chapter 3 Unpacking Inspection and Storage Chapter 3 Unpacking Inspection and Storage This chapter explains the receiving procedures that must be carried out in order to ensure that the contro
133. ying attention to the following point e Protect the product within an enclosure during use Teaching pendants conform to different EC directives depending on their respective serial numbers Serial number ending with T The teaching pendant conforms to the Low Voltage and EMC Directives e Serial number ending with J The teaching pendant conforms to the EMC Directive only EZHS EZHC EZHP Series Controller USER MANUAL 65 EZ limo easy linear motion 5 13 1 Low Voltage Directive 73 23 EEC This product is designed for use within equipment so always install itin an enclosure The product must be enclosed to prevent contact by any hands If the product is likely to come in contact with any hands be sure to provide a protective grounding Securely connect the slider cylinder and controller s protective ground terminal to the grounding point Slider cylinder Controller Teaching pendant Protective range IP20 IP10 40 Operation Maximum environment surround air 0 to 40 C 32 to 104 F non freezing temperature Humidity 85 or less non condensing Altitude Up to 1000 m 3280 ft dE No corrosive gas dust water or oil Storage Maximum 0 to 50 C 25 to 70 C 0 to 50 C environment surround air 32 to 122 F 13 to 158 F 32 to 122 F temperature non freezing non freezing non freezing Humidity 85 or less non condensing Altitude U
134. ylinder operates in the motor direction when a pulse train is input to the FP input while the RP input is non active The moving part of the slider cylinder moves by 0 01 mm 0 0004 inch per one pulse EZHS EZHC EZHP Series Controller USER MANUAL 45 EZ limo easy linear motion 46 Figure 5 20 FP RP Inputs 1 pulse input mode EET UL RP input 3 ms or less 3 ms or less A END output N A Opposite the motor direction Motor operation Motor direction The time after the pulse train input ends until the END output becomes active varies depending on the load and operating speed A active ON N A non active OFF 4 FP RP inputs Phase difference input mode e When the FP input pulse train leads the RP input pulse train by 90 the slider cylinder will move away from the motor e When the RP input pulse train leads the FP input pulse train by 90 the slider cylinder will move toward the motor e The moving part of the slider cylinder moves by 0 01 mm 0 0004 inch at the rise and fall of the pulse train for the FP input and RP input as indicated by arrows in Figure 5 21 Related parameter Pulse input mode switching Refer to Chapter 5 in Controller Data Setting Manual AGGE If the controller is to be used in the phase difference input mode set the I O parameter Pulse Input Switching to Phase Difference Input Figure 5 21 FP RP Inputs

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