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Safety Pre-caution and Note on Installation

4

Safety Pre-caution and Note on Installation

１．

※

Before Operation

● Thank you for purchasing our Ezi-STEPⅡ Plus-E products.
● Ezi-STEPⅡ Plus-E is a high-performance 32bit ARM chip embedded Full Digital position

control stepping driving unit.

● This manual describe the handling, maintenance, repair, diagnosis and troubleshooting of

Ezi-STEPⅡ Plus-E.

● Before start operation of Ezi-STEPⅡ Plus-E, thoroughly read this manual.
● After reading this manual, keep the manual near Ezi-STEPⅡ Plus-E, so that any user can read this

manual whenever needed.

Precautions

１－１．

◆

General Precautions

● Contents of this manual are subject to change without prior notice for functional improvements,

change of specifications or user’s better understanding. Thoroughly read is the manual which is
provided with purchased Ezi-STEPⅡ Plus-E

● In case of manual is damaged or lost, please contact with FASTECH’s agent or our company at the

address on the last page of this manual.

● FASTECH is not responsible for

◆ Safety Precaution

● Before installation, operation, repairing the products, thoroughly read the manual and fully

understand the contents. Before operating the products, please understand the mechanical
characteristics of this products and related safety information and precautions.

● This manual divides safety precautions into

Attention

and

Warning.

Attention

If user does not properly handle the products, the user may seriously or
slightly injured damages may occur in the machine.

Warning

If user does not properly handle the products, a dangerous situation (such as
an electric shock) may occur resulting in deaths or serious injuries.

● Although precaution is only a

Attention

, a serious result could be caused depending on the

situation. Follow safety precaution.

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Summary of Contents for Ezi-Step II Plus-E

Page 1: ... Rev 03 User Manual Text ...

Page 2: ...ing of Ezi STEPⅡ Plus E 20 ５ Appearance and Part name 20 ５１ Drive Status LED 21 ５２ Ethernet IP Display 21 ５３ Ethernet status LED 22 ５４ IP Address selection switch SW1 SW2 22 ５５ Motor Connection connector CN3 23 ５６ Encoder connection connector CN2 23 ５７ Power connection connector CN4 23 ５８ I O signal connector CN1 24 ５９ Ethernet connector 24 ５１０ Control I O signal 25 ６ Signal cabling 25 ６...

Page 3: ...ation function 49 ９ Parameter 50 １０ Parameter List 50 １０１ Parameter Description 51 １０２ Protection Function 59 １１ Type of Alarm 59 １１１ Acquiring the alarm information 59 １１２ Alarm check and Release 61 １１３ Appendix 62 １２ Option for Interface Board Ezi STEPⅡ Plus E 62 １２１ Option for Motor Drive 63 １２２ Brake Installed Motor Specification and Size 67 １２３ ...

Page 4: ...y read is the manual which is provided with purchased Ezi STEPⅡ Plus E In case of manual is damaged or lost please contact with FASTECH s agent or our company at the address on the last page of this manual FASTECH is not responsible for Safety Precaution Before installation operation repairing the products thoroughly read the manual and fully understand the contents Before operating the products p...

Page 5: ...r lower Otherwise a fire or other kinds of accidents may occur due to overheating Warning The process of installation Connection Operation Checking and Repairing should be done by qualified person Otherwise a fire or other kinds of accidents may occur Connect Cables Attention Keep the rated range of input Voltage for drive Otherwise a fire or other kinds of accidents may occur Cable connection sho...

Page 6: ...supply power to the main circuit and wait sufficient time before checking or repairing this Ezi STEPⅡ Plus E Electricity remaining in the condenser may cause of electric shock Do not change cabling while power is being supplied Otherwise the user may get injured or the product and machine may get damaged Do not reconstruct the Ezi STEPⅡ Plus E Otherwise an electric shock may occur or the product a...

Page 7: ...150 Selectable by parameter RUN current is flowing current value in the motor when motor is operating rotating It is set based on constant current of motor Default factory setting value 100 STOP Current 20 100 Selectable by parameter It is set as setting value of STOP current 0 1 sec after motor stop STOP current value is at a ratio against RUN current value of motor Default factory setting value ...

Page 8: ...www fastech co kr Specifications of the Drive 8 ...

Page 9: ...www fastech co kr 9 Specifications size of the Motor Specifications size of the Motor ３ Motor Specification and Torque Characteristic ３１ ...

Page 10: ...www fastech co kr Specifications size of the Motor 10 Motor Voltage Motor Voltage Motor Voltage Motor Voltage Motor Voltage Motor Voltage ...

Page 11: ...www fastech co kr 11 Specifications size of the Motor Motor Size ３２ ...

Page 12: ...www fastech co kr Specifications size of the Motor 12 ...

Page 13: ...www fastech co kr 13 Configuration Configuration ４ Motor and Drive Combination ４１ 1 Ezi STEPⅡ Plus E Part Numbering ...

Page 14: ...M 60M EzT2 PE 60M Ezi STEPⅡ PE 60L BM 60L EzT2 PE 60L Ezi STEPⅡ PE 86M BM 86M EzT2 PE 86M Ezi STEPⅡ PE 86L BM 86L EzT2 PE 86L Ezi STEPⅡ PE 86XL BM 86XL EzT2 PE 86XL 3 Ezi STEPⅡ Plus E Motor Drive combination Brake integration Unit Part Number Motor Part Number Drive Part Number Ezi STEPⅡ PE 42S BK BM 42S BK EzT2 PE 42S Ezi STEPⅡ PE 42M BK BM 42M BK EzT2 PE 42M Ezi STEPⅡ PE 42L BK BM 42L BK EzT2 PE...

Page 15: ... 56M 1150 BM 56L 1580 BM 60S 6 6 0 7 1060 70 87 114 165 BM 60M 1250 BM 60L 1790 BM 86M 0 54 10 13 4 3580 270 300 350 400 BM 86L 5110 BM 86XL 6630 Electric brake cannot be used for braking It s for Position hold purpose only when power OFF The weight means motor unit weight including motor and electric brake Brake Operation Timing Chart The Brake is automatically controlled by Ezi STEPⅡ Plus E Driv...

Page 16: ...www fastech co kr Configuration 16 Controller configuration ４２ 1 General Drive For 20 60 mm motor ...

Page 17: ...www fastech co kr 17 Configuration 2 86 mm motor drive ...

Page 18: ...www fastech co kr Configuration 18 External Wiring Diagram ４３ 1 General Drive For 20 60 mm motor ...

Page 19: ...www fastech co kr 19 Configuration 2 86 mm Motor Drive ...

Page 20: ...tech co kr External Name and Function Setting of Ezi STEPⅡ Plus E 20 External Name and Function Setting of Ezi STEPⅡ ５ Plus E Appearance and Part name ５１ 1 General Drive For 20 60 mm motor 2 86 mm motor drive ...

Page 21: ...protection function is activating Ethernet IP Display ５３ 1 It displays the setting ID of SW1 2 Drive ID Selection Switch 2 In case of ID setting after power input status 7 Segments are flushing and changed ID is not applied The IP must be changed when power off status 3 When Alarm generating from drive Alarm value is displayed on 7 Segment not ID value Alarm value is displayed on 7 Segment as E 0...

Page 22: ...nd SW2 6 9 1 6 16 105 IP address 192 168 0 105 7 Segment display 69 3 If set to switch as 255 FF IP Address is setting automatically Because it uses DHCP IP address is set automatically only when using router Connect the Ethernet to Ethernet IN connector When connecting directly to the controller PC PLC it need to be sure to set the OP address with switch Set the IP address automatically only when...

Page 23: ...６ For 86 mm motor drive Encoder connection connector CN2 ５７ No Function 1 A 2 A 3 B 4 B 5 Z 6 Z 7 5VDC 8 5VDC GND 9 Frame GND 10 Frame GND Power connection connector CN4 ５８ For 86 mm motor drive No Function 1 A 2 B 3 A 4 B No Function 1 B 2 B 3 A 4 A No Function 1 24VDC 10 2 GND No Function 1 GND 2 40 70VDC ...

Page 24: ...8 Digital Out1 Programmable output 21 Digital Out8 Programmable output 9 Digital Out2 Programmable output 22 Digital Out9 Programmable output 10 Digital Out3 Programmable output 23 Brake 24V Output 11 Digital Out4 Programmable output 24 Control signal for Brake Output 12 Digital Out5 Programmable output 25 GND external Input 13 Digital Out6 Programmable output 26 24V external Input This connector ...

Page 25: ... Positive Limit sensor signal 2 Limit Negative Limit sensor signal 3 Origin Origin sensor signal 4 IN1 Clear Pos Position Table A0 Position Table A7 PT A0 PT A7 Position Table start execution PT Start Soft Stop Stop Jog Jog Alarm Reset STEP ON Pause Origin Search Teaching Emergency Stop E Stop Jump Position Table input 0 Jump Position Table input 2 JPT IN 0 JPT IN 2 Jump Position Table start JPT S...

Page 26: ...e signals display the internal photo coupler status ON Conduction and OFF Non Conduction not the signal voltage level 1 Input Circuit Input circuit power of DC24V 10 consumed current about 5mA circuit should be separately prepared Connect NPN type Input signal Connect the 24V external signal of drive to 24V of Controller ...

Page 27: ...ller 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 30V Electrified current 15mA Output ...

Page 28: ...MIT and LIMIT sensors are used to limit the motion of each axis to prevent mechanical collision Origin sensor is to set the origin of equipment 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 Position value is to be 0 from the rising falling edge of this signal Reset input signa...

Page 29: ... number 0 255 to be set by PT start input signal 2 To set position table number 0 255 to save current position values by Teaching input signal By using PT A0 A7 signals the position table address can be set from 0 to 255 with a binary number A0 is least significant bit and A7 is most significant bit The following table shows how to assign position table number 1 Save signal cabling If PT A0 A7 sig...

Page 30: ...ort as illustrated below The signal is kept until one motion pattern loop is stopped After all motions are stopped the output signal level is set to OFF 4 PT Start signal is edge trigger type and pulse scale is 10ms or more 1 Timing of signals PT A0 A7 signals must be set before 50msec PT Start signal set to ON 2 If the PT A0 A7 signals are not used and the PT Start signal set to ON the PT No 0 wi...

Page 31: ...oft stop signal is active in ON level and pulse scale is 10ms or more 6 Jog and Jog Input When Jog 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 Motion pattern po Soft Stop signal input po Plus direction po Motion patt...

Page 32: ...r must set it to ON When the drive is set to Step ON CN1 connector s StepReady output signal is set to ON Step ON signal is edge trigger type and pulse scale is 10ms or more 1 In case of Step On by input signal No 0 Pulse per Revolution of the parameter list cannot be changed 2 After StepON signal is assigned to input pin it is impossible to use STEP ON button in User Program GUI Likewise the FAS_...

Page 33: ...arch 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 Org Method No 17 Org Speed No 18 Org Search Speed No 19 Org AccDec Time No 21 Org Dir For more information refer to 1 2 Parameter When the origin search command is completed Origin Search OK signal is set to O...

Page 34: ...ute Move 2 By using input signal PT A0 A7 select corresponding PT number 3 When Teaching signal is set to ON the position value pulse is saved 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 1 After executing Teaching click Refresh icon and the position value will be displayed to the position table 2 Click ...

Page 35: ...Select motion pattern position table number to be subsequently executed according to input signal conditions Example If PT 14 motion operates when there is no other input signal next motion becomes PT 15 as shown in Figure 1 However if JPT Input0 Input2 input signal is set to ON while PT 14 is executing each corresponding position number is executed as shown in Figure 2 4 PT 14 Data PT No JP Table...

Page 36: ...ditions The difference from Paragraph 12 JPT Input0 Input2 Input is 1 PT number to be jumped must be composed to 10XXX 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 PT Number Wait Time JP Table No JPT 0 JPT 1 JPT 2 14 500 10015 10115 10116 10255 ...

Page 37: ...or overcurrent occurs while the motor is operating the drive detects it and cuts off the motor s current In addition alarm output is turned on and Alarm LED flashes to indicate the type of alarm occurrence 4 PT ACK와 PT End output PT ACK and PT End signals are available only when the motion is executed by position table When motion start PT ACK signal is set to ON and PT End signal is set to OFF if...

Page 38: ...l 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 O PT Ou...

Page 39: ...motor rotation in STEP ON status The signal timing diagram between STEP ON command and Brake signal is same as 9 BRAKE and BRAKE Output This signal used for the Brake that is over 300 mA DC24V of current consumption Brake Relay and diode is needed for this function and the signal connection diagram is as follows 1 Brake User selected Brake 2 Relay under 15 mA DC24V 3 Diode 1N4004 or equivalent ...

Page 40: ...O command transmitted from the upper controller The in position control operation is executed by operating position table with I O 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 I O command Position Table Operation Sequ...

Page 41: ...mand is overridden The followings show parameters applied to position control operation All position table item values are overridden Parameter Name Setting Content Range 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 Axis Acc Time Required time until the motor reaches the axis max speed fro...

Page 42: ...ut PT Start number to execute speed control operation For more information refer to User Manual Position Table Function Position Table Setting PT No Command type Position Low Speed High Speed Accel time Decel time Wait time Continuous Action JP Table No 0 3 10000 1 2500 50 300 0 1 1 1 3 1000 1 500 0 1 2 2 3 5000 1 1500 50 300 300 0 3 3 3 2500 1 1000 300 300 0 0 ...

Page 43: ...g signals Parameter Setting No Parameter Name Setting Value Unit 6 Jog Speed 1500 pps 7 Jog Start Speed 100 pps 8 Jog Acc Dec Time 200 msec Also when any value except 0 is set to the Jog Start Speed parameter the relation between jog command and in position is indicating as below diagram Jog command po Jog command po Jog Moving pulse po Jog Speed po Jog Start speed po Jog command po ...

Page 44: ...n Set After origin return is finished Command Pos value is set to this setting value 134 217 727 134 2177 27 Org Sensor Logic To set the origin sensor signal level 0 1 1 The range differs from the product version listed as below V06 01 2x xx 134 217 728 134 217 727 V06 01 3x xx 2 147 483 648 2 147 483 647 1 Origin Return method setting To execute origin return Org Method parameter should be set as...

Page 45: ...case of position of sensor Dog is in the origin sensor In case of position of sensor Dog is between origin and Limit Sensor 2 Z Origin In case of Org Method 1 In case of position of sensor Dog is between the origin and Limit Sensor In case of position of sensor Dog is in the origin sensor In case of position of sensor Dog is between origin and Limit Sensor ...

Page 46: ...arch is completed a the position when Limit Sensor is off 4 Z Limit Origin In case of Org Method 3 In case of Org Dir is 1 CCW In case of Org Dir is 0 CW 5 Set Origin In case of Org Method 4 It designates current mechanics position as origin irrespective sensor 6 Z Phase In case of Org Method 5 In case of Org Dir is 1 CCW In case of Org Dir is 0 CW ...

Page 47: ...ergency stop commands Even though the emergency stop command is inputted the STEP will be not OFF In case emergency stop the machine stops immediately without deceleration So a special caution for mechanical impact is required Trigger Pulse Output ８５ This function is used when the output signal becomes ON periodically in specific condition 1 Control Method This function is working with communicat...

Page 48: ...t end is not set to 0 and the move command with the target position is sent the trigger output will be activated Start end is automatically set to 0 if a command without a target position is delivered such as Jog command after trigger output execution 2 Output signal This output pin of CN1 connector for Trigger Pulse is fixed to Compare Out and the signal diagram is as follows 3 Out put Status Che...

Page 49: ...connect and use the drive at the same time from GUI Graphical User Interface and one or more application programs user programs However If you connect more than 2 applications communication delay may occur 5 Please refer to 5 2 System Configuration for PC connection example 6 The signal contents of the RJ45 connector of the drive are as follows Same as general Ethernet 10 100 Base T RJ45 Pin No Fu...

Page 50: ...8 11 S W Limit Stop Method 0 2 2 12 H W Limit Stop Method 0 1 0 13 Limit Sensor Logic 0 1 0 14 Org Speed pps 1 500 000 5 000 15 Org Search Speed pps 1 50 000 1 000 16 Org Acc Dec Time msec 1 9 999 50 17 Org Method 0 5 0 18 Org Dir 0 1 1 19 2 Org OffSet pulse 134 217 728 134 217 727 0 20 2 Org Position Set pulse 134 217 728 134 217 727 0 21 Org Sensor Logic 0 1 0 22 Motion Dir 0 1 0 23 Limit Sensor...

Page 51: ...ult 0 Pulse per Revolution It means number of pulses per revolution If this value is changed the motor is set to STEP OFF Pulse per revolution is not changed when the input signal is Step On Value Pulse Revolution Value Pulse Revolution 0 500 8 10 000 1 1 000 9 8 000 2 1 600 10 10 000 3 2 000 11 20 000 4 3 600 12 25 000 5 5 000 13 36 000 6 6 400 14 40 000 7 7 200 15 50 000 0 15 10 1 Axis Max Speed...

Page 52: ...osition moving command is given this mode sets the motor revolution value to pps unit pps 1 500 000 5 000 7 Jog Start Speed When jog position moving command is given this mode sets the operation start speed to pps unit pps 1 35 000 1 8 Jog Acc Dec Time In case of jog operation this mode sets the time of acceleration and deceleration sections to msec unit msec 1 9 999 100 9 2 S W Limit Plus Value W...

Page 53: ...ze limit sensor s input to ON 0 0 V Active low level 1 24V Active high level 0 1 0 14 Org Speed In case of origin return command this modes sets the operation speed until the motor senses the origin sensor to pps unit pps 1 500 000 5 000 15 Org Search Speed In case of origin return command The low operation speed for precise origin return after the motor senses the origin sensor is set to pps unit...

Page 54: ...igin return by a Z pulse after the completion of low speed origin return in Org Search Speed value Z pulse origin return fixed rate is done twice to complete the return to origin with 10 pps speed Fixed speed It is method for precise return to Z pulse origin In case of using Home Return by Z pulse be sure to connect external encoder 0 5 0 18 Org Dir In case of origin return this mode sets the revo...

Page 55: ...torque in operating of motor if this value is big motor torque getting high in operation So in case of lack of torque it can be raising the torque by increasing the run current value Precaution 1 To be notified If Run Current value is high heat temperature can be increasing 2 Maximum set value of Run Current 150 is limited by 4 A So in case of motor 56 60mm of rated current value is exceed 2 7 A s...

Page 56: ...rnal encoder value Pulse rotation 0 Do not use 1 1 2 2 3 4 0 3 3 29 Encoder Direction Set count direction of encoder 0 CW Count increases when CW is driven 1 CCW Count increases when CCW is driven 0 1 0 30 Jog EXT FUNC USE It is used to change Jog movement command by input signal to other speed than setting speed in parameter 6 0 Jog Disable speed expansion 1 Jog Enable speed expansion In addition...

Page 57: ... off Return error 0x85 if another move is received during the move Move commands are only available for Incremental Absolute commands If more than one command is received only one is executed and other commands return error 0 1 0 39 Disconnection Option Code This function is used to stop the movement command when the communication end or communication cable disconnection is issued while the moveme...

Page 58: ...of Axis Status is On and Origin search is interrupted while searching 1 Same as No 0 2 When Drive Alarm Axis Status Err Servo Alarm flag On occurs including No 0 3 Drive Alarm Axis Status Err Servo Alarm flag On occurs or Servo off command executed including No 0 0 3 0 1 In the case of drive for 86 mm motor this parameter not be used 2 The range of parameter 9 10 19 20 differs from the product ver...

Page 59: ...inks at the rate of flickering every 0 5 seconds waits for 2 seconds and then it outputs repeatedly until the alarm is released by Alarm Reset command or signal Ex1 Alarm 3 AlarmBlink display signal occurred when the step out is occurred Flash Count Alarm Name Description 1 Overcurrent The current through power devices in inverter exceeds the limit value 1 2 Overspeed Command speed for motor excee...

Page 60: ...www fastech co kr Protection Function 60 Ex2 Alarm 15 7 Segment displays when position error overflow is occurred ...

Page 61: ... a cooling fan 2 Check the distance is over 50mm between drivers Valid 6 Over regeneratived voltage 1 In case of high speed operation check if the acceleration or deceleration speed is low Valid 7 Motor connection 1 Check the connection status of drive and motor Invalid 12 ROM error 1 Contact to distributor Invalid 14 Drive voltage error 1 Check if power is supplied to the drive Invalid 50 Interna...

Page 62: ... is 20 m The cable connection is 1 1 straight type Type Item Interface Board Terminal Block TB Plus No of CN1 Signal name Signal name of TB Plus 1 Limit L 2 Limit L 3 Origin ORG 4 IN1 I1 5 IN6 I6 6 IN7 I7 14 IN2 I2 15 IN3 I3 16 IN4 I4 17 IN5 I5 18 IN8 I8 19 IN9 I9 No of CN1 Signal name Signal name of TB Plus 7 COMP CO 8 OUT1 O1 9 OUT2 O2 10 OUT3 O3 11 OUT4 O4 12 OUT5 O5 13 OUT6 O6 20 OUT7 O7 21 OU...

Page 63: ... cable CSVO P M Robot cable is cable length The unit is 1 m maximum length is 2 m Refer to 4 of 5 2 Controller Configuration 1 2 Extension cable for motor Available to extended connection between motor Drive Item Length m Remark CSVO M F Normal cable CSVO M M Robot cable is cable length The unit is 1 m maximum length is 20 m Refer to 3 of 5 2 Controller Configuration 1 Wiring Diagram Connector Spe...

Page 64: ...ension cable to connect between drive for 86 mm motor and motor Part Name Length m Remark CSVO M F Normal cable CSVO M M Robot cable is cable length The unit is 1 m maximum length is 20 m Refer to of 4 2 Controller configuration Wiring Diagram ...

Page 65: ...r Configuration 1 Wiring Diagram Drive Connector CN2 Cable Connection Motor shaft open Pin Layout Pin No 1 2 3 4 5 6 7 8 9 Connector Specification Type Item Specification Maker Drive Connector CN2 Housing Terminal 51353 1000 56134 9000 MOLEX MOLEX Ethernet Cable for Ezi STEPⅡ Plus E Use STP Shielded Twisted Pair cable CAT5E Item Length m Remark CGNR EC F Normal cable is cable length The unit is 1 ...

Page 66: ... CN3 Housing 5557 04R MOLEX Terminal 5556T MOLEX Terminal Block 1 AK950 4 PTR Motor Housing 5557 04R MOLEX Terminal 5556T MOLEX Housing 1 3191 4RI MOLEX Terminal 1 1381T MOLEX Encoder Connection Drive CN2 Housing 51353 1000 MOLEX Terminal 56134 9000 MOLEX I O connection CN1 Connector 10126 3000VE 3M Backshell 10326 52AO 008 3M 1 Drive for 86 mm motor The above connectors are suitable to Ezi STEPⅡ ...

Page 67: ...www fastech co kr 67 Appendix Brake Installed Motor Specification and Size １２３ ...

Page 68: ...anual to the loss or damage etc please contact us or your nearest distributor User manual are subject to change without notice to improve the product or quantitative changes in specifications and user s manual Ezi STEPⅡ Plus E is registered trademark of FASTECH Co Ltd in the national registration ⓒ Copyright 2016 FASTECH Co Ltd Mar 25 2021 Rev 03 ...

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