User Manual - Mirai Inter-Tech
Contents
1. 17 O22 iratis DISDIAV LED uq Mas 17 6 3 Drive ID Select SWITCH OW puas atas 17 6 4 Communication Speed and Terminal Resistance Select Switch SW2 18 5 5 Motor CONNECTOR vta ou eens 18 O Encoder Connec tor COND us cios uta dera dures 18 6 7 Power Connector CNA 5 19 5 8 1 0 Connector ONTI ami 19 6 9 Communication Connector CN5 20 eames 21 Gab HO e sodes tethers VUES d 21 oe CONNECTION 22 f OI a E LEM LM EET 23 FA OU MOU SOOM aco risa sed X aoro his a eerie atum ae ae 30 Oe DCA Ul Aes oe eis aes eee 33 PIE eiae d oon ST IMIG ul g u us u evar 33 0 2 SOI VO JUN ODER dE TODA exc Rd EE co tlw WR de d te Dots acr le Gen rl ach waqa 33 OO MOOS MS ose Dele Bed ale tn Sa 33 9 Other Operation FUNCTIONS uo sse ane Ee ban ROS ES 35 9 1 Position Table PT Operation2. NwBEROFPHASES 2 2 2 VOLTAGE 72 HOLDING TORQUE mN m 270 400 490 750 ROTOR INTERTIA 114 WEIGHTS g 25 305 390 555 LENGTH L mm 83 0 ALLOWABLE di OVERHUNG LOAD 8mm e 3 26 DISTANCE FROM 13mm OF SHAFI rr 46 ALLOWABLE THRUST LOAD N Lower than MOTOR weight INSULATION RESISTANCE Mohm 100min at 500VDC DIELECTRIC STRENGTH V mm 500 at 50Hz imin TEMPERATURE CLASS CLASS B 130 C OPERATING TEMPERATURE 0 to 55 ALLOWABLE TEMPERATURE 85Max 2 Dimensions LJ 8 3 0 DC 3 3 EzM 56 Series 1 Specifications EzM 565 A EzM 56M A 2 561 EzM 56XL A MODEL JN EzM 565 B EzM 56M B EzM 56L B EzM 56XL B EzM 56S C EzM 56M C EzM 56L C EzM 56XL C DRIVE METHOD BI POLAR BI POLAR BI POLAR BI POLAR NUMBER OF PHASES 2 2 23 2 VOLTAGE 3 57 CURRENT per PHASE 3 0 RESISTANCE per PHASE 1 19 INDUCTANCE per PHASE 7 97 HOLDING TORQUE mN m 80 1320 3540 ROTOR INTERTIA ea i 737 WEIGHTS 55 70 185 1580 LENGTHIL 138 5 ALLOWABLE OVERHUNG LOAD DISTANCE FROM i END OF SHAFT 13 123 13 ALLOWABLE THRUST LOAD N Lower than MOTOR weight INSULATION RESISTANCE Moh 100min at 500VDC DIELECTRIC STRENGTH V mm 500 at 50Hz 1min TEMPERATURE CLASS CLASS 130
3. FASTECH Co Ltd Rm 1403 Bucheon Technopark 401 Dong Yakdae dong Wonmi Gu Bucheon si Gyeonggi do Rep Of Korea Zip 420 734 TEL 82 32 234 6300 e Please note that the specifications are subject to change without FAX 82 32 234 6302 notice due to product improvements Email fastech empal com Homepage www fastech co kr Copyright 2008 FASTECH Co Ltd All Rights Reserved Aug 05 2009 rev 05 01 03 _ 54
4. 35 O72 300 Operation Exam seii bd dave ae atte 35 OO OE TO EBD DUE T eee sua qu da doit inn die NR ieee 36 gA yu t Ya is ara Se or 38 10 Communication Function 39 Connect Ion WO hie orion oos oce cba er ce a eee Eu ae e NS 39 10 2 Communication Interface Circuil 40 11 Protective 41 EYDE 2 41 11 2 Acquiring Alarm 41 TIS 9A Fart Je ledsB ua eoe eu bord dot a ae ee eas 42 I2 x cuim atero t sauna 43 12 1 Pal ameter EIS its atc Se rid bred edad Esa E e tua 43 I Encoder us hooters code td eet 43 129 Pat ameter Descr ID GION sas iu baci diese di wee Mb en o De otto f dos 44 ADDS uoc retur ea n Au 48 Manual Version ver05 01 03 Supported Firmware version F05 Supported Drive DSP software version 5 01 oupported GUI version 5 0 Fisrt Edition Oct O2 2008 Revised Edition Aug
5. 7 4 Output Signal 1 Compare Out Output Compare out signal is displayed when specific conditions are performed It is fixed to CN1 connector s COMP pin And it is available when the motor needs to be synchronously controlled by an external controller 2 Inposition Output After the motor stop in target position exactly on Servo ON status the signal becomes ON The condition of this signal depends on parameter Position Loop Gain and Inpos Value Speed Time Jog command position signal 3 Alarm 4 AlarmBl ink Output When the motor operates normally alarm output becomes OFF When the protective function operates alarm output becomes ON Ihe upper controller being used by the user detects this alarm and then stops motor operation command If overload or overcurrent occurs while the motor is operating the drive detects it and cuts off the motor s current And alarm output is set to ON and also AlarmBlink flash so that the user can check abnormality type The following table shows alarm type according to flash count PUER Alarm Name Descr ipt ion Count The current through power devices in inverter exceeds Overcurrent AM the limit value Command speed for motor exceeds 3000 rpml 3 Epsom Position error value is higher than specified value in motor stop status The motor is continuously operated more than 5 second 4 Over load under a load exceeding the max torque The internal tempera
6. 6 Speed 1500 Jog Start Speed 8 Jog Acc Dec Time Speed 1500 Time 1500 i 200 J x Command Jog Command 35 Also when any value except 0 is set to the Jog Start Speed parameter the relation between jog command and in position is shown below opeed t1 Jog Acc Dec Time Servo ON Jog Command Inposition 9 3 Origin Return If the machine is operated by 1 0 signals the motor can execute origin return by inputting Origin Search signal Also the motor can execute origin return with User Program GUI and DLL program The following table shows parameter types related to origin return Org Speed Operation speed when origin return starts 1 50 000 pps Low speed operation speed after origin sensor 1 50 000 pps sensed The time assigned to the acceleration deceleration an 1 9 999 ms section when origin return starts and stops Method To select how to return the origin To select operation direct ion CW or CCW After origin return finished the motor moves additionally as this value and then stops 134 217 727 After origin return is finished Command value is set to this setting value 27 Org Search Speed Oro Acc Dec Time 1 Origin Return Method Setting To execute origin return Method parameter should be set as follows a Common Origin In cas
7. 24VDC optional FAS RCR FAS RCV USB Connection Cable for FAS RCV Universal USB A A type cable is used 85232 Connection Cable for FAS RCR Universal DB 9 male female type cable is used CGNR C 0093F For more information wiring diagram and connector refer to 10 Communication Function 48 ns 485 Connection Cable Universal RJ 45 STP CAT5 category straight type cable is used CGNR R OR6F 60cm CGNR R 001F 100 x CONF A OUGE CONF OOSE For more information wiring diagram and connector refer to 10 Communication Function For cabling position refer to D of 5 2 Controller Configuration 49 Option for Interface Board Terminal Block Interface Block Board No of Signal Signal name of Signal name of CN1 TB Plus TB Plus Extension cable for Interface Board Available to extend the distance between the terminal block board and the drive Item Length m Remark CIFD S LILILIF gog Normal Cable CIFD S LILILIM gog Robot Cable Ll is for Cable Length The unit is 1m and Max 20m length cable connection is 1 1 straight type Terminal Block Connector DB 26 male type connector Dr ive Connector Housing 10126 30000VE 3M connector CN1 Backshel 10320 52 0 008 50 Option for Motor Drive Cable for Input Output Signal Available to connect between Control System and Ezi SERVO Plus R Item Length m Remark CSVR
8. 5 485 Motor Flange Size 2B 2B8mm 2 42mm 5 amp mm B mm 85mm Motor Length M Middle L Long ML Extra Long Encoder Resolution 10 000 Rev 20 000 Rev C 32 000 Rev 16 000 Rev 2 000 Rev Erzi ERVD PR BIKS E E M H S E EzM B50N A EzM BUMC H EzM GOUM C 6 EzM 80L A EzM 50L B EzM 8 L C 601 8 Ez SERVO PR BOM A Ex SERVD PR B0M E Ez SERVO PR BOM C Ezi SERVO PR BOM E Ez SERVO PR BOL A Ez 5EtRVD PR BDI B Ez SERVO PR BDL AZ Ezi SERVO PR BOL E Ez SERVO PR BOXL A Ez 5ERVDO PR BOXD B U EzM 60XL B Ez SERVO PR BOXL C EzM 50XL Z Ez SERVI PR BREM A FrM HSM A Evi SERVO PR BEL A Ez SERVO PR BEXI A TIT Ezi 5ERVD PR 28M LD s Ezi SERVO PR 2aL E Ezi SERVO PR 425 A Ezi SERVO PR428 B SERVO PRAISE Ezi BERVD PRI2M A Ezi SERVD PR 42M B 4 Ezi SERVOCPRAE2L A Ezi SERVO PROI2L 8 Ezi SERVO CPRAXE2L C Ez SERVO PRALXL A Ez SERVO PRAI2XL B Ezi SERVO PROI2XL C E 5ERVC PR 5 amp S A Ezi BERVD PR 555 B En SERVO PR SES C E2 amp ERVO PR ESM A Ez SERVO PR SENET Ez SERVO PRSLA Ez SERVO PR SBL Ez SERVO PRSE Ez SERVO PR SENICA EZ SERVO Ez SERVO PR SENLLE EzM 80S E __ EzM B M A EzM 0M B EzM SOM EzM SOM E O EzM 0L B
9. S LILILIF 000 Normal Cable CSVR S LILILIM OOo Robot Cable LJ is for Cable Length The unit is im and 20m length Refer to D of 5 2 Controller Configuration Cable for Power Available to connect between Power and Ezi SERVO Plus R Item Length m Remark CSVO P LIDILIF mimim Normal Cable CSVO F LILILIM OOO Robot Cable LJ is for Cable Length The unit is im and Max 2m length Next is for 86mm drive Item Length m Remark Normal Cable Robot Cable is for Cable Length The unit is im and Max 2m length Refer to of 5 2 Controller Configuration Extension Cable for Motor Available to extended connection between motor and Ezi SERVO Plus R Item Length m Remark CSVO M OOOF 000 Cable CSVO M LIBDM 000 Robot Cable LJ is for Cable Length The unit is 1m and Max 20m length Next is for 86mm drive Item Length m Remark CSVP M LILILIF 00 Normal Cable CSVP M LILILIM 00 Robot Cable LJ is for Cable Length The unit is 1m and Max 20m lenath Refer to of 5 2 Controller Configuration 51 Wiring Diagram Drive Connector CN3 able Fin Layout Pin No 1 C t Motor Connector onnect ion eus 1 3 Sie x D MEM 2 ele _ I E 3 4 2 4 a TF uo See 4 A 2 Connector Specification Extension cable for Enc
10. S W Limit Plus Value When position moving commands absolute move incremental move jog are given this move set the maximum input limit that the motor can move to the plus direction with 28 bits When position reach to this value during Limit Origin it will Be recognized to Origin S W Limit Minus Value When position moving commands absolute move incremental move jog are given this move set the minimum input limit that the motor can move to the minus direction with 28 bits When position reach to this value during Limit Origin it will Be recognized to Origin S W Limit Stop Method Sets how to stop the motor by SW Limit Plus Minus Value not stop motion by the limit sensor 0 stops the motor immediately by emergency stop mode 1 stops the motor gradually by soft stop mode H W Limit Stop Method In case of stop motion by the limit sensor this mode sets how to stop the motor 0 stops the motor immediately by emergency stop mode stops the motor gradually by soft stop mode Limit Sensor Logic sets the signal level so that the motor can recognize limit sensor s input to ON 0 0V Active low level 1 24V Active high level Org Speed In case of origin return command this modes sets the operation speed until the motor senses the origin sensor to pps unit Org Search Speed In case of origin return command Ihe low operation speed for precise origin return
11. Type Funct ion At Bt For setup of connected encoder resolution 86mm No Function pil Molex 55959 1030 refer to 12 Parameter 6 7 Power Connector CN4 Power supply connector Connector Type Molex 5569 0242 Te mum bal 86mm Cw Power input GND Power input 24VDC 10 6 8 1 0 Signal Connector CN1 Input output signal connector Connector Type 10226 5A2JL LIMIT Dedicated Input 1 14 Digital In2 Programmable Input LIMIT Dedicated Input Digital In3 Programmable Input ORIGIN Dedicated Input 3 6 Digital In4 Programmable Input Digital In1 Programmable Input 4 Digital In5 Programmable Input Digital In6 Programmable Input Digital In8 Programmable Input Digital In7 Programmable Input Digital In9 Programmable Input Compare Out Dedicated Output Digital Out7 Programmable Output ENE 8 9 1 2 Digital Out8 Programmable Output Digital Out9 Programmable Output 24V for brake system Output Digital Out1 Programmable Output Digital Out2 Programmable Output Digital Out3 Programmable Output 10 Digital Out4 Programmable Output Control signal of brake system Output Digital Out5 Programmable Output GNO external Input Digital Out6 Programmable Output 24V external Input BRAKE function
12. and damages may occur in the machine If the user does improperly handle the product a dangerous situation like an electric shock may occur resulting in death or serious injuries gt Although the item mentioned is only Caution serious result may be caused depending on the situation Necessarily safety precautions The Status of the Product s Check if the product is damaged or any component is omitted When an abnormal product is installed and operated the user may get injured Install Carefully move the product Dropping the product on the ground or the user s foot may cause an injury Use non flammable materials like metals in the place where the product is to be installed Otherwise a fire may occur gt When installing several drives in a sealed place install a cooling fan to keep the ambient temperature of the drive at 50 C or lower Otherwise a fire or other kinds of accidents may occur due to overheat ing Connecting Cables gt Before connecting cables check if input power is off Otherwise an electric shock or a fire may occur m The case of the drive is insulated from the ground of the internal circuit by the condenser Necessarily ground the driver Otherwise an electric shock or a fire may occur Change of operation and setting i All parameters of the drive were accordingly set at the factory change these parameters read the manual f
13. following table shows how to assign position table number 3932 1 Save signal cabling If AO A7 signal is not connected when motioning by 4 5 PT Start signal the position table number will be 0 Position Table Start PT Start Input By using PT AQ A signals set and input the running PI start number Then the motion pattern corresponding to the PT No will be executed Following example shows that total 6 motion patterns are in order executed from 0 to No 32 and then stopped 1 All of PT 7 is set to 0O and PT number is set to 0 2 Set PT Start signal to ON and PT 0 motion pattern will be executed 3 When the motion pattern is started by PT ACK signal and ENO signal are displayed to ON at CN1 output port as illustrated below The signal is kept until one motion pattern loop is stopped After all motions are stopped the output signal level is set to OFF 4 PT Start signal pulse scale is 10ms or more Motion Pattern 0 Position Table No Input PT 7 ON Position Table Start Input Signal PT Start ACK Output Signal END Output Signal soft Stop Input soft stop input signal is to stop motion patterns under operation The deceleration condition until they stop complies with the deceleration time value and the start speed value set previously The soft stop signal pulse scale is 10ms or more 24 T ZZ ES N 22 Datta
14. is option This connector fixed pin is connected to frame GND through a mount hall The programmable input output pin is set by using user program GUI or DLL library PO DO DO O A 19 6 9 Communication Connector CN5 LEDs LED3 LED LED Connector RJ45 ye pac Cable Type UTP STP CAT5E LED No Display Color Lighting Condition 152 299 41 mm Flash when CPU in the drive operates when CPU in the drive Flash when CPU in the drive operates Datat COM Yellow Flash when this communicates with the upper controller Lowe ping pini pint pin8 pint 20 7 Control 1 0 Signal 7 1 Signal Cabling All control 1 0 signals use connector CN1 as specified below 1 Input Limitt Limit Origin signals are fixed to No 1 2 3 respectively Other signals like Reset are assigned to IN1 IN9 terminal blocks 3 dedicated input 9 programmable input total 12 input pins Positive limit sensor signal Limit Negative limit sensor signal s 7 Position table AO Position table A7 PT AO PT A7 Position table start execution PT Start Jogt Jog Pause Origin Search Emergency Stop E Stop Jump Position Table input 0 Jump Position Table input 2 JPT IN O JPT IN 2 18 ING Jump Position Table start JPT Start User input O User input 5 User IN O User IN 5 2 Output COMP
15. position moving commands absolute move incremental move are given the operation speed is subject to the ratio set to Move Speed Ex If current move speed is 10 000 and speed override is 200 actual motion speed is set to 20 000 Jog Speed When jog position moving command is given this mode sets the motor revolution value to pps unit Jog Start Speed When jog position moving command is given this mode sets the operation start speed to pps unit Jog Acc Dec Time In case of jog operation this mode sets the time of acceleration and deceleration sections to msec unit servo Alarm Logic When the motor or the drive is defective and so alarm signal output is ON through CN1 connector this mode sets the output Signal level 0 OV Active low level Ceo 1 24V Active high level servo On Logic By using the input pin of CNI connector the drive may be converted into Servo ON In this case this mode sets the input signal condition so that the drive can be Servo ON 0 When O V low level is inputted servo is set to ON 1 When 24V high level is inputted servo is set to ON 44 servo Alarm Reset Logic When the motor or the drive is defective and so an alarm occurs this mode sets the input signal level to release the alarm signal Before releasing the alarm signal the user must release its cause 0 0V Active low level 1 24V Active high level
16. pulse is input and INP Yel low MN then the position deviation is within the value set by the parameter this lights On servo On light On 3 SON Servo On Off indication Servo Off light Off Flash when protective function is run If Alarm indication you count LED flash time you can check what protective function is run 6 3 Drive ID Select Switch SW1 1 When several modules are connected to one daisy chain network this switch is to set intrinsic ID to each module 2 The switch can set intrinsic ID to each module up to 16 numbers from O to F 15 sd 6 4 Communication Speed and Terminal Resistance Select Switch SW2 SW2 is to set the communication speed between central controller PC and Drive 11 corresponding drive module is connected to the end of one network segment SW2 sets whether terminal resistance is used SW2 1 is to set the use of terminal resistance and SW2 2 SW2 4 is to set the communication speed as follows oW2 1 oW2 2 oW2 SW2 4 rate 1 default setting value OFF 230400 SW2 1 is OFF Terminal resistance is Off 460800 52 1 is ON Terminal resistance is On Support max 115200 bps when using RS 232 to RS 485 conveter 6 5 Motor Connector CN3 Motor connector Connector Type Molex 5569 0442 No Function 2 Bms EZE Phase Phase 4 2 6 6 Encoder Connector CN2 Encoder connector Connector
17. 05 2009 1 Safety Precautions X Before getting started e you for purchasing Ezi SERVO of FASTECH which is a full digital position control servo system with a 32bit high performance DSP e This manua descr ibes handling maintenance repair diagnosis and troubleshooting of Ezi SERVO Before operating Ezi SERVO read this manual through 1 Safety Precautions General Precautions c Contents of this manual are subject to change without prior notice for functional improvement change of specifications or user s better understanding Thoroughly Read the manual provided with the purchased Ezi SERVO When the manual is damaged or lost contact a FASTECH agent or the address on the last page of the manual FASTECH is not responsible for a product breakdown due to user s dismantling the product and such a breakdown is not covered by the warranty Put the safety first Before installing operating and repairing the product thoroughly read the manual and fully understand contents Before operating the product understand the mechanical characteristics of the product and related safety information and precautions After reading the manual keep the manual near the product so that any user can read the manual whenever needed gt This manual divides safety precautions into Warning and Caution If the user does improperly handle the product the user may get seriously or slightly injured
18. C OPERATING TEMPERATURE 0 to 55 ALLOWABLE TEMPERATURE 85Max 2 Dimensions Thru Hale 3 4 EzM 60 Series 1 Specifications EzM 60M A EzM 60L A EzM 60XL A MODEL EzM 60M B EzM 60L B EzM 60XL B 2 605 6 EzM 60L E EzM 60L C EzM B0XL C DRIVE METHOD BI POLAR BIPOLAR BEPOLAR BIPOLAR BIPOLAR BIPOLAR NUMBER OF PHASES 2 2 VOLTAGE VDC 252 336 417 14 17 2 6 CURRENT A 28 28 28 40 40 RESISTANCE per PHASE 0 65 NDUCTANCE per PHASE 24 HOLDING TORQUE 2700 ROTOR INTERTIA 400 840 WEIGHTS 1 38 LENGTH L 99 3 K OVERHUNG LOAD 87 DISTANCE FROM m ll 65 165 165 165 165 165 ALLOWABLE THRUST LOAD N Lower than MOTOR weight INSULATION RESISTANCE Mohm 100 at 500 0 DIELECTRIC STRENGTH 500 at 50Hz 1min TEMPERATURE CLASS CLASS B 130 C OPERATING TEMPERATURE 0 to 55 ALLOWABLE TEMPERATURE 85Max 2 Dimensions Te gt o ul EzM 60x E Series EzM 60x A B C Series 10 3 5 86 Series 1 Specifications MODEL UNT EzM 86M A DRIVE METHOD BIPOLAR BIPOLAR NUMBER OF PHASES 2 2 VOLTAGE voc CURRENT per PHASE RESISTANCE per PHASE INDUCTANCE per mH 35 5 HOLDING TORQUE ROTOR INTERTIA WEIGHTS LENGTH L ALLOWABLE OVERHUNG LOAD DISTANCE FROM ALLOWABLE
19. EzM SOL E EzM 0XL B __ EzM 86L A ed Drive Model Number 5 Lr5 HNDOR R D EZES HDR ZRL E 5 425 425 5 425 EZSG NOR 42ML B ErB HDR 42M C EzS NDOR 42L A ErB HDR 42L H EZS NDOR 42L C ErS NDR 42XL EZE CNOR 42XL H EZSG CNOR SBS A 5 565 89 PFS NOR S65 C 5 5 Er5 HDOR SE WCB ErE HDR SBAC Er5 NOR 5E amp Ez5 NDR 56L B Erz5 NDR SB8L Ez5 NDR 58XL A Ez5 NDR 586XL B Ez5 NDR 58XL C EFS NOR G0S E 75 NOR GOM 4 eFS NOR 60M 8 rEz5 HDH BOM U EzS NOR GOM E EzS NOR GOL A Ez5 NDR 60L B Ez5 NDR BDL C EzS NDR GOL E EzS NDR GOxL A Ez5 NDR 6DXxL B EzS NDR GOxL C PrECHNOR BBM A Fra HOR BBL A PrE CHOR BEXL A 5 2 Controller Configurtion RS 485 Convert er Oplion R5 232 input USB input LIMIT ORIGIN e 3 dedicated and 9 programmable Inputs dedicated and 9 programmable Outputs E FECA i Ty T AFE Exi SERVO 86mm motor drive only EzS NDR 86 Series Network ID setting SW 4 Status monitor Network ID display LED LED gt Input Output connection gt RS 485 connection 5 Encoder connection CN2 Speed and Terminator r
20. Ezi SERVO Closed Loop Stepping System with Network based Motion Controller User Manual Text www fastech co kr Table of Contents gt OALELY FrecaUt ONS u u asia eda hades 4 Manual Versions ad sci Ada th oS OLET Eb bere RU ning two apa s eal 4 abdo LOI STAC teret 6 2 21D TONS tact satan 6 gt eDeclTrcattonscolt ING en ot tatis 7 9o EZM 20 SOL BS 145 aire viso bir wee ee lease unusapa S s hieu un yuyu 8 duo EZM OO SOL Te st dc sd ME 9 00 ba So E Ee E d esum tabat kes 10 949 EZMEOO SOLITOS MORAG Leet 11 Characteristics of Motor Torque 12 Configuration of the Controller 13 Combination OF Motor ana Dr TV ote cena E OE SIUS Yea es ULCUS CER UP D PEPERIT 13 CONTOH ET CONTOUlT VON 14 De Externa Wil 15 External Name and Function Setting 17 6 1 Appearance and Part
21. Operation After power is supplied set the drive module to Servo as follows D Click Servo OFF button at the User Program GUI 2 Give the drive a command through DLL library 3 Assign Servo ON to a control input pin and supply the drive with the signal through the pin After Servo ON command is given In position is finished to the time as shown below Servo ON Commander In Position 0 t tl is the time until Servo ON command is given and then the position is decided It is about 800 msec It is subject to the rising time of supplying power and the motor status 8 3 Operation Mode This controller can do three control operations such as 1 0 command communication command DLL program and User Program GUI 1 1 0 Command Mode This controller can execute control operation like in position by 1 0 command transmitted from the upper controller The in position control operation is executed by operating position table with 1 0 command 2 Communication Command Mode This controller can execute control operation like in position by command transmitted from the upper controller The in position control operation is executed by operating position table with 1 0 command Position Table Operation Sequence In case of Ezi SERVO Plus R the system can execute continuous operation by position table at the 1 0 command mode 33 1 By using A7 input signal or DLL program set PT number to b
22. THRUST LOAD Lower than MOTOR weight INSULATION RESISTANCE Mohm 100 at 500VDC DIELECTRIC STRENGTH V mm 500 at 50Hz 1 TEMPERATURE CLASS CLASS 130 OPERATING TEMPERATURE 0 to 55 ALLOWABLE TEMPERATURE 85Max 2 Dimensions EzM 86XL A BI POLAR 2 4 38 6 0 0 73 8 68 12000 4000 5 4 184 270 300 350 400 Torque mM m Torque N m forque N m Characteristics of Motor Torque Measured Condition Input Voltage 24VDC Motor Current Regular Current Refer to Motor Specification Drive Ezi SERVO Plus R EzM 28 series EzM 28M D EzM 28L D EzM 28M E EzM 28L E TNR apeediHPM EzM 56 series 2 565 z EzM 56M EzM 56L EzM 56XL 2 50 a 2 00 1 75 1 50 1 25 1 00 0 75 0 50 0 25 Speed RPM EzM 86 series EzM 60M EzM 60L SS 10 9 8 7 5 5 4 3 2 1 Speed RPM 1000 600 2 50 2 25 2 00 1 75 1 50 1 25 1 00 0 75 0 50 0 25 Torque N sl m un EzM 42 series 2 425 2 42 EzM A 2 EzM 42XL opeed RPM EzM 60 series 7 605 m FzM 560M A B C EzM 50M F 2 EZMI 60L E FEzM B0XL AJB C e Speed RPM 5 Configuration of the Controller 5 1 Combination of Motor and Drive 5 425 Closed Loop Slapping System Name Communication Type
23. after the motor senses the origin sensor is set to pps unit by this mode Org Acc Dec Time In case of origin return command the acceleration deceleration section time of the operation start stop segment is set to msec unit by this mode Org Method The user can select origin return command types 0 The motor moves up to the origin sensor spot Org Speed and then executes precise origin return at the low value of Org Search Speed 1 The motor moves up to the origin sensor spot by Org Speed and then executes Z pulse origin return at the low value of Org Search Speed 2 The motor moves up to the limit sensor spot by Org Speed and then immediately stops 3 The motor moves up to the wall Org Torque Ratio and then immediately stops For more information refer to 9 3 Origin Return Dir In case of origin return this mode sets the revolution direction of the motor 0 moves the motor clockwise moves the motor counterclockwise m dice 184 217 H34 217 124 217 727 727 727 jig 7184217 134 217 134 217 727 727 727 EN ND EN 22 Offset After origin return is finished the motor moves additionally as this setting value and then stops Command Pos Actual Pos is set to 0 If Org Method is set to 2 this value is ignored Org Position Set After origin return is finished Comm
24. and Pos Actual Pos value is set to this setting value Org Sensor Logic Sets the origin sensor signal level so that the motor recognize origin sensor s input to ON 0 0V low level 1 24V high level Position Loop Gain After the motor stops this mode controls the motor s response by a load attached to the motor The user can control this value by the motor s load and so get the motor s performance that responds fast and stably Set this mode as follows 1 Set the value to 0 2 Increase the value until the motor s response is stabilized 3 Preciously adjust the setting status by increasing decreasing one or two steps the current setting value Integral Integral Part s Time Part s Time 710000016 Constant Constant nal Gain x The above value is not the actual value used inside the drive but the relative value Inpos Value Sets the output condition of the in position finish signal After position command pulse is finished when the position deviation from target position is within Inpos Value this mode displays in position finish signal 46 194 217 134 217 727 727 3421 184 217 727 727 I 15 4 15 27 28 29 30 Fast response and accurate response be controlled as illustrated below Position In Position Output Fast Response In Position Output Accurate Response 0 Pos Tracking Limi
25. e operated 2 n case of Servo OFF set the controller to Servo ON by communication program or Servo ON control input 3 Start to operate by rising edge of PT Start input signal or communication program stopping Continuous Operation of Position Table When the motor is executing continuous operation of position table with Ezi SERVO Plus R stop executing position table by following methods D To use DLL program or control input signal corresponding to Stop and t Stop In this case operation is completely finished and is not connected to next operation 2 The user can click Pause at User Program GUI to temporarily stop operating In this case click Pause again and remaining operation will be executed again opeed Control Operation To operate the motor by parameters set by User Program GUI or OLL program This is not connected with PT operation Once speed control operation is started PT operation command is overridden Likewise while PT operation is executing speed control operation command is overridden The followings show parameters applied to speed control operation All position table item values are overridden Axis Max Speed Operation speed after acceleration is finished 1 500 000 pps Axis Start Speed Operation start speed before acceleration starts 1 35 000 pps Required time until the motor reaches the axis max Axis Acc Time 1 9 999 ms speed from stop status Required time until the motor reac
26. e of Org Method 0 Org Speed Search Speed Origin Sensor Signal Input Origin Search OK Signal Output 36 The machine moves up to the origin sensor Org Speed and Org Acc Dec Time parameters and then finishes precise origin return at the low speed set to Org Search Speed The machine senses the origin sensor and moves as far as 01 and then stops And the machine changes its moving direction and additionally moves as far as D2 and then stops 01 and 02 are the same moving distance If Org Offset parameter is not 0 the machine moves additionally as much as the parameter ex D3 and then stops If the limit sensor is sensed while the machine is under origin return the machine stops and reverses its moving direction and then continues to origin return operation 2 Z pulse Origin In case of Org Method 1 Org Speed Search Speed ON S OFF Origin Return Command Origin Sensor Signal Z PULS Ln M M Origin Search OK Output The machine moves up to the origin sensor by Org Speed and Org Acc Dec Time parameters and then finishes Z pulse origin return at the low speed set to Org Search Speed That is after the origin sensor is sensed the machine moves slowly to the original moving direction until Z pulse signal is sensed 3 Limit Origin In case of Org Method 2 Org Speed Origin Return Command Limiit S
27. ed to the converter module But when the communication have problems without power DC 5 24V external power can connect signal is wired as follows PC Connector Cable Converten Connector DB 9 female Connection DB 9 male 3 Cable of connecting RS 485 Converter and Drive Module CN5 Connector RJ45 Cable Type LAN cable CAT5 or better UTP or STP Signal Wiring Standard Straight Wiring 191 202 393 868 If multi axis connection is required at one segment up to 16 drive modules can be connected by the daisy chain method The pin signal content is as follows The cable length of RS 485 Conver ter lt gt Drive or Drive lt Drive must be Caution longer than 60 Signal cable Data and Data are differential type signals AN Caution These two signal cables must be twisted connector fixed is connected to Frame GND through the mount hall of the PCB At this time it is recommended to use STP cable 10 2 Communication Interface Circuit 75HVDIO Data o Drive Resistance Internal Circuit The above figure shows an O circuit of RS485 communication interface signal When communication is connected Ezi SEVO Plus R maintains the receive stand by status It performs sending only when it receives the signal from upper communication and then replies For more information about communicatio
28. eed Override 0 1 1 1 1 1 Jog Speed pe 1 1 0 0 500 000 5 000 Jog Start Speed pps 35 000 1 8 jog Acc Dec Time nsec servo Alarm Logic 0 500 0 0 9 999 10 Servo On Logic 11 Servo Alarm Reset Logic 0 a 12 S W Limit Plus Value pulse 18 S W Limit Minus Value pulse 14 S W Limit Stop Method E 1 15 M W Limit Stop Method 16 Limit sensor Logic 134 217 721 194 217 721 E 134 217 727 134 217 127 134 217 727 134 217 727 1 NEN CENE 1 0 9999 0 0 1 1 1 500 000 5 000 18 Search Speed 500 000 1 000 19 Acc Dec Time 9 999 50 0 0 1 1 0 m NEM NN Ooa A E aaar naea 0 134 217 727 0 24 Sensor Logic 0 ae 25 Position Loop 0 26 inosValue 0 F ds G 4 0 0 02 0 20 Org Method 0 28 Motion Dir 29 Limit sensor Dir 80 Torque Ratio 10 12 2 Encoder Setup The setup of encoder can do in No 0 Pulse per Revolution item on next table Normally the resolution of encoder is 10000 If the resolution is 20000 32000 or other value you have to set 0 in parameter setup If you don t use default value for No 0 Pulse per Revolution Position Error can happen because of the function of Electronic Gear Ratio d de 12 3 Param
29. ensor Signal Origin Search OK Output The machine moves up to the spot which the limit sensor is sensed by Speed parameter and stops by Org Acc Dec Time value The moving direction complies with as set in Dir If there s no limit sensor on your system you can set Origin by S W 37 Limit Plus Value and S W Limit Minus Value of parameters 0 Torque Origin In case of Org Method 3 The machine moves up to the wall which the pushing torque is reached to Org Torque Ratio value This method can be used without origin sensor and without limit sensor 2 Origin Return Procedure Origin return is executed to the following procedure D Set parameters required to origin return 2 f the Servo is OFF reset an alarm when it occurs input a control input servo ON command or send a communication program so that the Servo can be ON 3 Start origin return operation to the rising edge of control input origin search or the communication program 3 Interruption of Origin Return When the machine is under origin return click Stop t Stop to stop the machine In this case the machine s origin is not edited and origin return is not finished either 4 Output of Origin Return Finish The completion of origin return operation can be decided with related bit values of either Origin Search of control output Axis Status of communication program 9 4 Stop Operating By us
30. esistor selection Motor connection CN3 4 SW Power connection 14 5 3 External Wiring Diagram Ez SERVO Plus R Encoder Input voltage 1 24 VTX 1055 Input vcliage GND Motion System NOG 26 m Pt MS HK ORIGIN uu LE no 7 Ind ns p 5 icd ing aL u In8 c Loi 4 HP GND at Oui Tete Baje oo m uc oh 718 nde O 3t amp 24VDC 15 86mm motor drive only EzS NDR 86 Series Ezi SERVO Plus R Encoder Input voltage 40 TQVDC Input voltage GND Motion System e4VDC LIMIT LIMIT ORIGI m n Ini Ini na Ind Ing In n8 m m P Ind Compare Out e4VDC GND c Twisted zr Cable Dut 6 Out3 a Outi a Outs c c Out c c FG 6 External Name and Function Setting 6 1 Appearance and Part Name Network ID setting SW1 tatus it Network ID display LED Status monitor LED Input Output connection 25 485 connection CN5 Encoder connection CN2 Speed and Terminator Motor connection CN3 selection Power connection 4 6 2 Status Display LED POW Power input indication Lights On when power is applied fomite Dositionin When position command
31. eter Description T Lower Upper Pulse per Revolution Number of pulses per revolution 500 000 500 000 If this value is changed the motor is set to Servo OFF 35 000 Value Pulse Revolution Value Pulse Revolution 9 999 100 500 2 320000 on 5000 9 999 100 a 6400 Ba s 1600 7200 2000 10000 BD When position moving commands absolute move incremental move are a given this mode sets the maximum speed which the motor can operate So the motor cannot be operated faster than this value in any case This value is set to pps unit Axis Start Speed When position moving commands absolute move incremental move are given this mode sets the operation start speed to pps unit Axis Acc Time When position moving commands absolute move incremental move are given this mode sets the acceleration section of operation start segment to msec unit Possible range is different from Axis Speed Ex 1 Axis Start Speed 1 Move Speed 400000 1 1430 msec Ex 2 Axis Start Speed 1 Move Speed 10000 1 350 msec Axis Dec Time When position moving commands absolute move incremental move are given this mode sets the deceleration section of operation stop segment to msec unit Possible range is different from Axis Speed same as Axis Acc Time parameter opeed Override When
32. fer to 7 3 Input Signal 7 Servo On and AlarmReset Input PT Position Table Output 0 2 Control output used for Start Stop Message Function When these items are set this signal enables the user to check if corresponding PI motion starts or stops through control output signal If Start Stop Message Function is not used this signal should be set to 0 or 8 At the position set with other values the motion operates as follows If PT set items are set to 1 7 when the position starts to move PT Output HEX value is displayed to PT Output O PT Output 2 If PT set items are set to 9 15 the position motion is finished and then PT Output HEX value is displayed to PT Output 0 PT Output 2 For more information refer to Ezi SERVO Plus R User Manual Position Table Function BRAKE and BRAKE This function is used for protect motor rotation in Servo ON status DC 24V is connect to BRAKE for brake logic and brake control signal is connect to BRAKE lt Alarm or Servo ON command Servo OFF command oervo ON EE about 800msec x Brake ON 7 Hold gt 4 about400msec Brake OFF Release 230 8 Operation 8 1 Power Supply Timing Ezi SERVO Plus R is supplied power through drive module to motor Therefore connect the drive and the motor with a cable and then supply power to the drive module After power is supplied the motor is basically set to Servo OFF 8 2 Servo
33. hes from the axis Axis Dec Time 1 9 999 ms max speed to the stop status To select motion direction CCW O Number of pulses per revolution The range of Axis Max Speed parameter is depend on this value Pulse per Revolution Teaching Function Teaching can be executed only by User Program GUI For more information refer to User Manual Position Table Function 2845 9 Other Operation Functions 9 1 Position Table PT Operation Example Input AO PT signals to set PT number Input PT Start number to execute speed control operation For more information refer to User Manual Position Table Function Position Table Setting Command POSER High Decel Wait Cont inuous JP Table No type a Speed time mus po 3 100 0 200 50 300 i a EE 2 1 x 3 85 200 0 1000 30 30 0 Speed PTO Accel PTO Decel 2500 PT2 Accel 1500 portee LE m crc u ss ss d Accel Decel End Time P ON i Waittime PTA0 PT Start input Moving output Acc Dec output output 9 2 Jog Operation Example The machine executes speed control operation at the speed set by parameters according to inputting Jogt and Jog signals Parameter Setting Setting Value
34. ing two methods of control input and communication program command the user can input stop and emergency stop commands Even though the emergency stop command is inputted the Servo will be not OFF In case emergency stop the machine stops immediately without deceleration So a special caution for mechanical impact is required 38 10 Communication Function In case of RS 485 up to 16 axes can be controlled by the multi drop link daisy chain If Windows goes to the stand by mode serial communication is aution basically disconnected So after recovering from the stand by mode the user should connect communication again This content is equally applied to the library provided with the product 10 1 Connection with the PC There are two methods of connecting the drive and the PC by RS 485 serial communication PC s USB port or RS 232C port is used By using following communication converters according to each communication type the user can connect the and the drive module The maximum communication speed is 115200 bps with RS 232 to RS 485 converter RS 485 Converter to USB For connection with the PC refer to 5 2 Controller Configuration 1 Cable of Connecting USB Port to PC and Converter USB lt gt RS 485 As illustrated right universal USB type cable is used 2 Cable of Connecting RS232 Port to PC and Converter RS233 lt gt RS 485 Normally Power does not need to be suppli
35. inuous Wait Loop Jump and External start etc Current Consumption Max 500mA Except motor current Ambient In Use O 55 Temperature In Storage 20 70 In Use 35 85 Non condensing g 5 Humidity In Storage 10 909 Non condensing Vib Resist 0 56 Rotation Speed O 3000rpm 2000 Rev Encoder model 500 1000 1600 2000 3600 5000 6400 7200 10000 10000 Rev Encoder model 500 1000 1600 2000 3600 5000 6400 7200 10000 Resolution P R 16000 Rev Encoder model 500 1000 1600 2000 3600 5000 6400 7200 10000 16000 20000 Rev Encoder model 500 1000 1600 2000 3600 5000 6400 7200 10000 20000 32000 Rev Encoder model 500 1000 1600 2000 3600 5000 6400 7200 10000 32000 Selectable by parameter Protection Overcurrent Overspeed Stall error Overload Overheat Overvoltage Inposition error 2 Functions Motor disconnect Encoder disconnet Input low voltage LED Display Power status Alarm status In Position status Servo On status L In Position Selection O 15 Selectable by parameter Position Gain Selection 0715 Selectable by parameter Rotational Direction CW CCW Selectable by parameter Input Signals 3 dedicated input LIMIT LIMIT ORIGIN 9 programmable input photocoupler Output Signals 1 dedicated output Compare Out 9 programmable output photocoupler Communication The 5 4 5 serial communication with PC Interface Tran
36. irst Otherwise the machine may be damaged or out of order Repair and Check gt Stop supplying power to the main circuit wait for a while and then check or repair the drive Electricity remaining in the condenser may cause any danger like an electric shock o not change cabling while power is being supplied Otherwise the user may get injured or the drive may get damaged c Do not remodel the drive Otherwise the user may receive an electric shock or the drive may get damaged The damaged product is not covered by the warranty Notes on Installation 1 This product has been designed for indoor uses The ambient temperature of the room should be 0 55 2 If the temperature of the case is 50 C or higher radiate heat outside to cool down the case 3 Do not install this product under direct rays or near magnetic or radioactive objects 4 If more than 2 drives are installed in a line keep the interval of 20mm or more vertically and 50mm or more horizontally 83 2 Speci fications of the Drive 2 1 Characteristic Table Motor Model EzM 28 series EzM 42 series EzM 56 series 60 series EzM 86 series Driver Model EzS NDR 28series EzS NDR 42series Ez5 NDR 56series EzS NDR SOseries Er5 NDR Baseries Input Voltage 40 70VDC Control Method Closed loop control with 32bit DSP Multi Axes Drive Maximum 16 axes through Daisy Chain Position Table 256 motion command steps Cont
37. ition Table Input Input To select motion pattern position table number to be subsequently executed according to input signal conditions Example If PT 14 motion is operating when there is no other input signal next motion becomes PT 15 as shown in Figure 1 However if JPT InputO Input2 input signal is set to ON while 14 is executing each corresponding position number is executed as shown in Figure 2 4 PI 14 Data PIN gt JP Table No JPT 0 JPT 1 JPT 2 Lowe qe i 14 115 JPT inputO or JPT input JPT JPT inputO Pulse scale 10ms or more or input overridden amp 14 PT 116 14 225 JPT inputi Pulse scale 10ms or more JPT input2 Pulse scale 10ms or more 8 28 13 JPT Jump Position Table Start Input To select motion pattern position table number to be subsequently executed according to input signal conditions The difference from Paragraph 13 JT InputO Input2 Input is 1 PT number to be jumped must be composed to 10 2 Next motion is not executed until JPT Start is set to ON If Wait Time value of PT data is more than 0 the time lapses additionally and then next motion is executed Example PT 14 Data Wait Tine wero wri JPT Start Input 3 JPT Start Input JPT Start 29
38. mit the motion of each axis clockwise and counterclockwise to prevent mechanical collision Origin sensor is to set the origin of equipment Screw MMW Moving Origin Limit Sensor Sensor Limit Sensor Limit Sensor Limit Sensor Origin Sensor 2 Clear Pos This input signal sets the command position and the actual position to 0 in relation to motion position control The reset signal pulse scale is 10ms or more ON OFF Reset Input Signal Set the position to 0 at the rising falling edge of this 3 Position Table AO PT 7 Input The position table supports the machine so that its motion can be controlled by I O signals of central controller It can directly transmit commands such as position table number start stop and origin return to the machine through the PLC Also the user can check output signals such as in position completion of origin return and Servo ready through the PLC Position Table A0 A7 inputs are total 8 bits of input signal It is used to set 256 position table numbers There are two application methods as follows 1 To set position table number 0 255 to be run by PT start input signal 2 To set position table number 0 255 to save current position values by Teaching input signal By using PI AO A signals the position table address can be set from 0 to 255 with a binary number AO is least significant bit 7 is most significant bit
39. n function refer to User Manual Communication Function in a separate volume 40 11 Protective Function 11 1 Alarm Type When an alarm occurs while the controller is operating a red LED among status display LEDs flash and the following protective function will be displayed according to flash count Alarm Table Weer Alarm Name Descr ipt ion Count The current through power devices in inverter exceeds Overcurrent un the limit value Step out The motor can not follow the command pulses The motor is continuously operated more than 5 second Over load under a load exceeding the max torque The internal temperature of the drive exceeds 55 C internal The internal temperature of the drive exceeds 55 C of the drive exceeds 55 E NON Back EMF more than 70 voltage Wt connection The connection of drive an motor Te dece a Encoder connection The connect ion of drive and encoder is defective 9 Meter voltage error The power supplied to the motor is Tess tran 38V 11 2 Acquiring Alarm Information When an alarm occurs the motor become Servo OFF and then stops by free run and at the same time displays alarm message Also AlarmBlink signal repeats On Off according to the timing as illustrated below Ihe red LED flash every 0 5 second in accordance with alarm number and wait for 2 seconds And then red LED flash repeatedly until inputting AlarmRese
40. o ON the motion in service is stopped There are two pause Signal operation modes as follows D Case A When Pause signal is set to ON the motor starts to decelerate Pause signal becomes OFF before the motor is completely stopped To start motion Pause signal should be set to ON 2 Case B When Pause signal is set to ON the motor starts to decelerate The signal is continuously maintained since the motor is completely stopped start motion Pause signal should be set to OFF Pause signal pulse scale is 10ms or more Motion Pattern Pause Input A Pause Input B x1 This function is not applied while Repeat Test of the User Program GUI is executing Origin Search Input When Origin Search signal is set to ON 10ms or more it starts to search the origin position according to selected conditions The conditions are subject to parameters such as No 20 0rg Method 17 0 0 Speed No 18 Org Search Speed No 19 0rg AccDec Time No 21 0rg Dir For more information refer to 2 Parameter When the origin search command is ended Origin Search OK Signal is set to ON to CN1 connector s output port Motion Pattern Motion mUl Origin Sensor Signal Input OriginSearchOK Output ON OriginSearch Input OFF 10 Teaching Input Teaching signal functions that the position value pulse being working can be automatically inputted into a p
41. oder Available to extend the distance between the encoder and Ezi SERVO Plus R Item Length m Remark CSVO E LILILIF OOO Normal Cable CSVO E LILILIM Robot Cable LU is for Cable Length The unit is 1m and Max 20m length Refer to of 15 2 Controller Configuration Wiring Diagram Drive Connector 2 CRISE Motor Connector able Connect ion Pin Layout Pin No Pin No Pin Layout 1 2 3 A 9 6 7 8 9 Connector Specification Speci f icat ion Housing 51353 100 MOLEX Drive Connector CN2 Terminal 56134 9000 MOLEX Hous i ng SMP 09V NC JST Motor Connector Terminal SHF 001T 0 8BS dT _ 52 Connector for cabling These connectors are serviced together with Ezi SERVO Plus R except when purchasing option cables CN1 Input Output Connector Item Specification Connector 10126 3000PE Shell 10326 52F0 008 CN3 Motor Connector Item Specification Housing 5557 04 Terminal 5556 CN3 Motor Connector 86mm motor drive only Item Specification AK850 4 Terminal Block Maker 3M 3M Maker MOLEX MOLEX Maker PTR 53 CN2 Encoder Connector Item Specification Housing 51353 1000 Terminal 56134 9000 Power Connector Item Specification Housing 5557 02 Terminal 5556 CN4 Power Connector 86mm motor drive only Item Specification Terminal Block Maker MOLEX MOLEX Maker MOLEX MOLEX Maker
42. osition value of a specific position table If 26 it is hard to calculate the exact moving distance position value of specific motion mechanically the user can measure the distance position value easily by using this signal 1 By using User Program GUI set a command type of corresponding PT number among 4 kinds of absolute moving commands Absolute Move 2 By using input signal PT 0 7 select corresponding PT number 3 When Teaching signal is set to ON the position value pulse is save to the position value of corresponding PT At this time it becomes the absolute position value 4 Teaching signal pulse scale is 10ms or more Motion Pattern PT No Input A0 A7 ON Teaching Signal Position Value pulse of Corresponding PT 12010 15300 12 12800 12 38520 After executing Teaching click Refresh icon and the position value will be displayed to the position table Click Save to ROM icon and the position value will be saved to the ROM area eaching signal can be used by two methods the user assigns actual signal to the motor or he clicks Teaching icon at the 1 0 Monitoring window of User Program GUI 11 E Stop Input When Emergency stop signal is set to ON the current motion is stopped immediately without deceleration E Stop signal pulse scale is 0 15 or more Motion Pattern ON OFF Emr Stop Input Nm 12 JPT InputO Input2 Jump Pos
43. rn is Soft Stop Signal 6 Jogt and Jog Input When Jogt or Jog signal is ON the motor rotates clockwise or counterclockwise until it reaches the hardware limit or the software limit Jog motion pattern is subject to jog related parameters No 7 start speed No 6 speed No 8 Acc Dec time Plus Direction Motion Pattern Jog Input Jog Input 7 Servo ON and AlarmReset Input When the protective function of drive executes alarm output is released When AlarmReset input is set to ON alarm output and alarm blink output are released Before releasing alarm output the user must remove any cause of alarm working When Servo ON OFF signal is set to OFF the drive stops supplying the current to the motor and so the user can directly adjust the output position When Servo ON OFF signal is set to ON the drive restarts to supply the current to the motor and its torque is recovered Before operating the motor the user must set it to ON When the drive is set to Servo ON CN1 connector s ServoReady output signal is set to ON ON Servo On Input OFF Alarm Output Alarm Blink Output Alarm Reset Input Pulse Scale 0 1 or more x1 If No 0 Pulse per Revolution in the parameter list is changed the motor is set to Servo OFF 2 After ServoON signal is assigned to input pin it is impossible to use 25 SERVO ON button in UserProgram GUI Pause Input When Pause signal is set t
44. signal is dedicated to CN1 No 7 Other signals like Inposition are assigned to OUT1 OUI9 terminal blocks 1 dedicated input 9 programmable input total 10 input pins COMP Specific output signal InPosition Alarm Mov i ng Acc Dec ACK ENO AlarmBlnk OriginSearchOK Ser voReady Position Table output 0 Position Table output 2 PT OUT O PT OUT 2 User Output 0 User Output 8 T 7 2 Connection Circuit All drive 1 0 signals are insulated by a photocoupler The signals display the internal photocoupler status ON Conduction and OFF Non Conduction not the signal voltage level 1 Input Circuit Input circuit power of 0 24 10 consumed current about 5mA circuit should be separately prepared 24 GND 14 15 16 Drive Internal Circuit 2 Output Circuit Output circuit power should be separately prepared This may share input circuit power In this case working power capacity should add output power capacity to input power capacity Applied voltage and power capacity in the control output port are as follows Applied voltage lt 30V Electrified current lt 15mA Output Port 7 8 9 10 11 lt j DC 30V Within 15mA Drive Internal Circuit 24V GND 22 7 3 Input Signal 1 Limit Sensor and Origin Sensor Limit sensors and origin sensor are assigned to LIMIT LIMIT and ORIGIN pin in the CN1 connector respectively LIMIT and LIMIT sensors are used to li
45. smission speed 9 600 230 400 bps action Incremental mode Absolute mode osition Contro Data range 134 217 727 to 134 217 727 pulse Operating speed 500 Return to Origin Origin Sensor Z phase tLimit sensor GUI User Interface Program within Windows Software Motion Library DLL for windows 2000 XP 2 2 Dimensions a a X Only for 86mm motor drive EzS NDR 86 series 3 Specifications of the Motor 3 1 28 Series 1 Specifications MODEL EzM 28L E NUMBER OF PHASES 2 7 VOLTAGE 35 per HASE RESISTANCE per PHASE TOROUE o ROTOR INTERTIA ew 9 9 WEIGHTS ng 155 145 215 235 LENGTH L mm 590 585 778 ALLOWABLE 3 30 30 30 OVERHUNG LOAD Smmm _ 38 DISTANCE FROM 13mm 84 ALLOWABLE THRUST LOAD ze Lower than MOTOR weight INSULATION RESISTANCE 100min at 500VDC DIELECTRIC STRENGTH 500 at 50Hz imin TEMPERATURE CLASS CLASS B 130 C OPERATING TEMPERATURE 0 to 55 ALLOWABLE TEMPERATURE 85Max 2 Dimensions 5 Nin EzM 2Bx E Series EzM 2B8x D Series 3 2 42 Ser ies 1 Specifications EzM 428 A EzM 42M A EzM 42L A EzM 42XL A MODEL UNIT EzM 42S B EzM 42M B EzM 4 2L B EzM 42XL B EzM 428 C EzM 42M C EzM 42L C EzM 42XL C DRWE METHOD BFPOLAR B POLAR
46. t Acts to protect the motor and the drive While the motor stops and is set to Servo ON when Position Error is greater than this setting value this mode generates an alarm to stop a flow of electricity to the motor and then set it to Servo OFF Motion Dir When the motor operates by position command this mode sets the revolution direction of the motor 0 moves the motor clockwise moves the motor counterclockwise If this parameter is changed normally Limit Sensor Dir is also changed Limit Sensor Dir Sets the limit sensor direction to stop the motor to the limit spot under operation 0 When operation direction is CW input the sensor signal to the Limitt direction and the motor will stop 1 When operation direction is CW input the sensor signal to the Limit direction and the motor will stop If this parameter is changed normally Motion Sensor Dir is also changed Org Torque Ratio This parameter can be used only when Origin Method is Q To set the maximum torque value to stop the motor with some material wall 47 Target Position n Posi tion Value 134 217 21 100 2 500 50 Appendix Option for RS 485 Communication 85485 Conver ter Available to communicate the PC and the drive One module per multi drop link is required Max comm Speed bps External Power RS485 to USB FAS RCV 921 600 RS485 to RS232 FAS RCR 115 200 No need 5
47. t signal Example Alarm 3 AlarmBlink display signal occurred when the step out is occur 4 11 3 Alarm Release If an alarm occurs remove its cause and then release it The alarm can be released as follows In case of alarms of which Reset column is indicated to Invalid power must get downed prior to releasing the alarms Flash E Alarm Name Descr ipt ion Reset Count Check the mechanical status such as parameter setting Overcurrent motor s short circuit or machine load whether Valid machine edge is collided etc Check parameter setting and abnormal operation of the 2 Over speed Valid motor Get down the load or increase the acceleration or 3 Step out Valid deceleration speed Compare the motor s rating with load scale Get down the ambient temperature or install a cooling Overheat Valid an Over In case of high speed operation check if the regenerat i ved Valid vol tage acceleration or deceleration speed is low EE Check the connection status of drive and encoder connect I on ME Check if power is supplied to the drive D Check if parameters are set correctly or the machine Inposition error Valid is over loaded EB Check the connection status of drive and motor E 42 12 Parameter 12 1 Parameter List Pulse per Revolution Axis Max Speed Lower Limit Default 500 000 500 000 35 000 9 999 2 laxis otart Speed msec 5 Sp
48. ture of the drive exceeds 55 Over regeneratived more than 704 voltage The connection of drive and motor is defective 8 Encoder connection The connection of drive and encoder is defective The power supplied to the motor is less than low limit Motor voltage error After operation is finished a position error occurs 30 ACK and END Output ACK and END signals are available only when the motion is executed by position table When ACK signal is set to ON and END signal is set to OFF all motion loops are finished Then ACK signal becomes OFF and END signal becomes ON Refer to Ezi SERVO Plus R User Manual Position Table Function Moving and Acc Dec Output As shown below the position starts to move by motion command and Moving signal becomes ON and Acc Dec signal becomes ON in the acceleration and deceleration section only Motion Pattern ON Acc Dec Signal OFF ON OFF Moving Signal Org Search OK Output When the origin return motion is executed by origin search command Origin Search signal is set to OFF When the origin return motion is normally finished by the origin sensor Origin Search is set to ON Refer to 7 3 Input Signal 9 Origin Search Input Servo Ready Output When the drive supplies power to the motor by Servo ON signal or command and is ready to perform motion command ServoReady signal displays ON signal Re
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