Fastech Ezi-Step Plus-R User Manual Download Page 5

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1. Safety Precautions

. Safety Precautions

※ Before getting started ※

Thank you for purchasing Ezi-STEP of FASTECH, which is a full digital position
control servo system with a 32bit high performance DSP.

This

manual

describes

handling,

maintenance,

repair,

diagnosis,

and

troubleshooting of Ezi- STEP.

Before operating Ezi- STEP, read this manual through.

◆ General Precautions

☞ Contents of this manual are subject to change without prior notice for functional

improvement, change of specifications, or user's better understanding.

Thoroughly Read the manual provided with the purchased Ezi - STEP.

☞ When the manual is damaged or lost, contact a FASTECH agent or the address on the

last page of the manual.

☞ FASTECH is not responsible for a product breakdown due to user's dismantling the

product, and such a breakdown is not covered by the warranty.

◆ Put the safety first

☞ Before installing, operating, and repairing the product, thoroughly read the 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.

☞ 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 and damages may occur in the machine
only.

If the user does improperly handle the product, a dangerous situation
like an electric shock may occu r resulting in death or serious
injuries.

☞ Although the item mentioned is only , a serious result may be caused

depending on the situation. Necessarily follow safety precautions.

Caution

Warning

Caution

Manual Version : [ver08.05.028]

Supported Firmware version : F06~

Supported Drive(DSP) software version : 6.3.066.36

Supported GUI version : 6.24.3.626 ~

Fisrt Edition : Oct 02, 2008

Revised Edition : June 20, 2013

Summary of Contents for Ezi-Step Plus-R

Page 1: ...User Manual Text Rev 08 05 028 ...

Page 2: ...iguration of the Controller 18 5 1 Combination of Motor and Drive 18 5 2 Controller Configuration 19 5 3 External Wiring Diagram 21 6 External Name and Function Setting of Ezi STEP PR 24 6 1 Appearance and Part Name 24 6 2 Status Display LED 25 6 3 Drive ID Select Switch SW1 25 6 4 Communication Speed and Terminal Resistance Select Switch SW2 25 6 5 Motor Connector CN3 26 6 6 Encoder Connector CN2...

Page 3: ...1 Signal Cabling 31 8 2 Connection Circuit 32 8 3 Input Signal 34 8 4 Output Signal 42 9 Operation 45 9 1 Power Supply Timing 45 9 2 STEP ON OFF Operation 45 9 3 Operation Mode 45 10 Other Operation Functions 47 10 1 Position Table PT Operation Example 47 10 2 Jog Operation Example 47 10 3 Origin Return 48 10 4 Stop Operating 50 10 5 Trigger Pulse Output 50 11 Communication Function 52 11 1 Connec...

Page 4: ...www fastech co kr 4 1 Safety Precautions 13 1 Parameter List 57 13 2 External Encoder Connection 57 13 3 Parameter Description 58 Appendix 62 ...

Page 5: ...fety 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 This manual divides safety precaut...

Page 6: ... Change of operation and setting All parameters of the drive were accordingly set at the factory To change these parameters read the manual first Otherwise the machine may be damaged or out of order Repair and Check Stop supplying power to the main circuit wait for a while and then check or repair the drive Electricity remaining in the condenser may cause any danger like an electric shock Do not c...

Page 7: ...www fastech co kr 7 1 Safety Precautions 2 Specifications of the Dri ve 2 1 Characteristic Table 1 Ezi STEP PR ...

Page 8: ...www fastech co kr 8 1 Safety Precautions 2 Ezi STEP PR MI ...

Page 9: ...www fastech co kr 9 1 Safety Precautions 2 2 Dimensions 1 Ezi STEP PR 2 Ezi STEP PR MI ...

Page 10: ...www fastech co kr 10 3 Specifications of the Motor 3 Specifications of the Motor 3 1 BM 20 Series 1 Specifications 2 Dimensions ...

Page 11: ...www fastech co kr 11 3 Specifications of the Motor 3 2 BM 28 Series 1 Specifications 2 Dimensions ...

Page 12: ...www fastech co kr 12 3 Specifications of the Motor 3 3 BM 42 Series 1 Specifications 2 Dimensions ...

Page 13: ...www fastech co kr 13 3 Specifications of the Motor 3 4 BM 56 Series Ezi STEP PR drive only 1 Specifications 2 Dimensions ...

Page 14: ...www fastech co kr 14 3 Specifications of the Motor 3 5 BM 60 Series Ezi STEP PR drive only 1 Specifications 2 Dimensions ...

Page 15: ...www fastech co kr 15 3 Specifications of the Motor 3 6 BM 86 Series Ezi STEP PR drive only 1 Specifications 2 Dimensions ...

Page 16: ...cteristics of Motor Torque 4 Characteristics of Motor Torque Measured condition Motor Voltage 24VDC Motor Current Rated Current refer to motor speci fication BM 56 series Ezi STEP PR drive only BM 60 series Ezi STEP PR drive only ...

Page 17: ... Characteristics of Motor Torque Measured condition Motor Voltage 40VDC Motor Current Rated Current refer to motor specification Measured condition Motor Voltage 70VDC Motor Current Rated Current refer to motor specification ...

Page 18: ...www fastech co kr 18 5 Configuration of the Controller 5 Configuration of the Controller 5 1 Combination of Motor and Drive 1 Ezi STEP PR 2 Ezi STEP PR MI ...

Page 19: ...w fastech co kr 19 5 Configuration of the Controller 5 2 Controller Configuration 1 Configuration of Ezi STEP PR20 Ezi STEP PR28 Ezi STEP PR42 Ezi STEP PR56 Ezi STEP PR60 2 Configuration of Ezi STEP PR86 ...

Page 20: ...www fastech co kr 20 5 Configuration of the Controller 3 Configuration of Ezi STEP PR MI ...

Page 21: ...www fastech co kr 21 5 Configuration of the Controller 5 3 External Wiring Diagram 1 Diagram of Ezi STEP PR20 Ezi STEP PR28 Ezi STEP PR42 Ezi STEP PR56 Ezi STEP PR60 ...

Page 22: ...www fastech co kr 22 5 Configuration of the Controller 2 Diagram of Ezi STEP PR86 ...

Page 23: ...www fastech co kr 23 5 Configuration of the Controller 3 Diagram of Ezi STEP PR MI ...

Page 24: ... 6 External Name and Function Setting of Ezi STEP PR 6 External Name and Function Setting of Ezi STEP PR 6 1 Appearance and Part Name 1 Ezi STEP PR20 Ezi STEP PR28 Ezi STEP PR42 Ezi STEP PR56 Ezi STEP PR60 1 Ezi STEP PR86 ...

Page 25: ...een central controller PC and Drive If corresponding drive module is connected to the end of one network segment SW2 sets whether terminal resistance is used SW2 1 is to set the use of terminal resistance and SW2 2 SW2 4 is to set the communication speed as follows The communication speed of drive modules connec ted to one segment must be set to the same value Support max 115200 bps when using RS ...

Page 26: ...pe Molex 55959 1030 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 For setup of connected encoder resolution refer to 12 Parameter 6 7 Power Connector CN4 Power supply connector Connector Type Molex 5569 02A2 86mm No Function 1 A Phase 2 B Phase 3 A Phase 4 B Phase No Function 1 B Phase 2 B Phase 3 A Phase 4 A Phase No Function 1 Power input 24VDC 10 2 Power input G...

Page 27: ...nput Digital In6 Programmable Input 5 18 Digital In8 Programmable Input Digital In7 Programmable Input 6 19 Digital In9 Programmable Input Compare Out Dedicated Output 7 20 Digital Out7 Programmable Output Digital Out1 Programmable Output 8 21 Digital Out8 Programmable Output Digital Out2 Programmable Output 9 22 Digital Out9 Programmable Output Digital Out3 Programmable Output 10 23 24V for brake...

Page 28: ...segmant of status monitor is display the ID number in normal status but in alarm status it display the protection number by flash times Position ID No Position ID No 0 0 8 8 1 1 9 9 2 2 A 10 3 3 B 11 4 4 C 12 5 5 D 13 6 6 E 14 7 7 F 15 7 3 Communication Speed and Terminal Resistance Select Switch SW2 SW2 is to set the communication speed between central controller PC and Drive If corresponding dri...

Page 29: ... CN2 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 To setup connected encoder resolution refer to 13 Parameter 7 6 Power Connection CN4 SW2 1 SW2 2 SW2 3 SW2 4 Baud rate bps 1 default setting value SW2 1 is OFF Terminal resistance is Off SW2 1 is ON Terminal resistance is On X OFF OFF OFF 9600 X ON OFF OFF 19200 X OFF ON OFF 38400 X ON ON OFF 57600 X OFF OFF ON 115...

Page 30: ... IN1 Input 9 Digital IN2 Input 10 Digital IN3 Input 11 Digital IN4 Input 12 Digital IN5 Input 13 Digital IN6 Input 14 Digital IN7 Input 15 Comapre Out COMP Output 16 Digital OUT1 Output The programmable input output pin is set by using user program GUI or DLL library Connect the Brake current consumption is under 200 mA for pin 24 Refer to 8 4 Output signal for the Brake that is over 200 mA 7 8 Co...

Page 31: ...ction 1 5 Limit Positive limit sensor signal 2 6 Limit Negative limit sensor signal 3 7 Origin Origin sensor signal 4 8 IN1 Clear Pos Position table A0 Position table A7 PT A0 PT A7 Position table start execution PT Start Soft Stop Stop Jog Jog AlarmReset 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...

Page 32: ...splay the internal photocoupler status ON Conduction and OFF Non Conduction not the signal voltage level 1 Input Circuit Input circuit power of DC24V 10 consumed current about 5mA circuit should be separately prepared l Connect NPN type Input signal Connect the 24V external signal of drive to 24V of Controller Drive Internal Circuit ...

Page 33: ... 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 Drive Internal Circuit DC 30V Within 15 Output Port ...

Page 34: ...rectly transmit commands such as position table number start stop and origin return to the machine through the PLC Also the user can check output signals such as completion of origin return and Servo ready through the PLC Position Table A0 A7 inputs are total 8 bits of input signal It is used to set 256 position table numbers There are two application methods as follows Ezi STEP PR MI maximum 64 p...

Page 35: ...cuted from No 0 to No 32 and then stopped 1 All of PT A0 A7 is set to 0 and PT number is set to 0 2 Set PT Start signal to ON and PT No 0 motion pattern will be executed 3 When the motion pattern is started by PT ACK signal and END 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 ...

Page 36: ...r operation The deceleration condition until they sto p complies with the deceleration time value and the start speed value set previously The soft stop signal is active in ON level and pulse scale is 10ms or more 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 t...

Page 37: ...use signal is set to ON the motion in service is stopped There are two pause signal operation modes as follows 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 Case B When Pause signal is set to ON the motor starts to decelerate The signal is continuously main tained...

Page 38: ...tion value pulse being working can be automatically inputted into a position value of a specific position table If it is hard to calculate the exact moving distance position value of specific motion mechanically the user can measure the distance position value easily by using this signal 1 By using User Program GUI set a command type of corresponding PT number among 4 kinds of absolute moving comm...

Page 39: ...to ROM icon and the position value will be saved to the ROM area Teaching signal can be used by two methods the user assigns actual signal to the motor or he clicks Teaching icon at the I O 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 is active in ON level and pulse scale i...

Page 40: ...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 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 No JPT 0 JPT 1 JPT 2 14 15 115 116 225 ...

Page 41: ...conditions The difference from Paragraph 13 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 No Wait Time JP Table No JPT 0 JPT 1 JPT 2 14 500 10015 10115 10116 10255 ...

Page 42: ... following table shows alarm type according to flash count 1 50V EzT NDR 20 EzT NDR 28 EzT NDR 42 EzT NDR 56 EzT NDR 60 90V EzT NDR 86 2 20V EzT NDR 20 EzT NDR 28 EzT NDR 42 EzT NDR 56 EzT NDR 60 36V EzT NDR 86 3 Lower limit 20V EzT NDR 20 EzT NDR 28 EzT NDR 42 EzT NDR 56 EzT NDR 60 36V EzT NDR 86 Upper limit 28V EzT NDR 20 EzT NDR 28 EzT NDR 42 EzT NDR 56 EzT NDR 60 70V EzT NDR 86 Flash Count Ala...

Page 43: ...0 2 output Control output used for Start Stop Message Function When these items are set this signal enables the user to check if corresponding PT 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 star...

Page 44: ...rotation in Servo ON status The signal timing diagram between Servo ON command and Brake signal is same as 7 BRAKE and BRAKE Output This signal used for the Brake that is over 200 mA DC24V o f 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 45: ... program and User Program GUI 1 I O Command Mode This controller can execute control operation like in position by I 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...

Page 46: ...speed control operation command is overridden The followings show parameters applied to speed control op eration 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 reach...

Page 47: ... 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 10 2 Jog Operation Example The machine executes speed control operation at the speed set by parameters according to inputting Jog and Jog signals Parameter Setting No Parameter Name Se...

Page 48: ...stops 134 217 727 134 217 727 Org Position 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 Origin Return Method Setting To execute origin return Org Method parameter should be set as follows Common Origin In case of Org Method 0 The machine moves up to the origin sensor by Org Sp...

Page 49: ...Limit Origin In case of Org Method 2 The machine moves up to the spot which the limit sensor is sensed by Org Speed parameter and stops by Org Acc Dec Time value The moving direction complies with as set in Org Dir If there s no limit sensor on your system you can set Origin by S W Limit Plus Value and S W Limit Minus Value of parameters 2 Origin Return Procedure Origin return is executed to the f...

Page 50: ...ution for mechanical impact is required 10 5 Trigger Pulse Output This function is used when the output signal becomes ON periodicallyin in specific condition External encoder is needed for this function 1 Setting This function is working with RS 485 communication DLL library method This command can be executed during the positioning command or before the positioning command also The following tab...

Page 51: ...he pulse is output only in bigger position area than pulse start position and is output in both motion direction 3 Status Check By using DLL program the user can check the trig ger pulse output status Refer to User Manual Communication Function Caution ...

Page 52: ... connecting the drive and the PC by RS 485 serial communication PC s RS 232C port is used By using following communication converters according to each communication type the user can connect the PC and the drive module The maximum communication speed i s 115200 bps with RS 232 to RS 485 converter For connection with the PC refer to 5 2 Controller Configuration 1 Cable of Connecting RS232 Port to ...

Page 53: ...Green Data 7 White Brown GND 8 Brown GND case Frame GND The cable length of RS 485 Converter Drive or Drive Drive must be longer than 60 cm Signal cable Data and Data are differential type signals These two signal cables must be twisted The connector fixed pin is connected to Frame GND through the mount hall of the PCB At this time it is recommended to use STP CAT5E cable 3 Cable of connecting RS ...

Page 54: ...rface signal When communication is connected Ezi STEP Plus R maintains the receive stand by status It performs sending only when it receives the signal from upper communication and then replies For more information about communication function refer to User Manual Communication Function in a separate volume Terminal Resistance Internal Circuit Drive ...

Page 55: ...s And then red LED flash repeatedly until inputting AlarmReset signal Example Alarm 3 AlarmBlink display signal occurred when the Stall is occur Flash Count Alarm Name Condition 1 Over Current The current through power devices in inverter exceeds the limit value 2 Over Speed Motor speed exceed 3000rpm 3 Step Out Abnormally motor do not followed pulsed input 5 Over Temperature Inside temperature of...

Page 56: ...d Check parameter setting and abnormal operation of the motor Valid 3 Step Out Get down the load or increase the acceleration or deceleration speed Valid 5 Over Temperature Get down the ambient temperature or install a cooling fan Valid 6 Over Regenerative voltage In case of high speed operation check if the acceleration or deceleration speed is low Valid 7 Motor Connect error Check the connection...

Page 57: ...134 217 727 14 S W Limit Stop Method 0 1 1 15 H W Limit Stop Method 0 1 1 16 Limit Sensor Logic 0 1 0 17 Org Speed pps 1 500 000 5 000 18 Org Search Speed pps 1 500 000 1 000 19 Org Acc Dec Time msec 1 9 999 50 20 Org Method 0 2 0 21 Org Dir 0 1 0 22 Org Offset pulse 134 217 727 134 217 727 0 23 Org Position Set pulse 134 217 727 134 217 727 0 24 Org Sensor Logic 0 1 0 25 Stop current 10 100 50 26...

Page 58: ... 1 1430 msec Ex 2 Axis Start Speed 1 Move Speed 10000 1 350 msec msec 1 9 999 100 4 Axis Dec Time When position moving commands absolute move incremental move are given this mode sets the deceleration sect ion of operation stop segment to msec unit Possible range is different from Axis Speed same as Axis Acc Time parameter msec 1 9 999 100 5 Speed Override When position moving commands absolute mo...

Page 59: ...s When this value set to 0 S W Limit function is canceled pulse 134 217 727 134 217 727 134 217 727 14 S W Limit Stop Method Sets how to stop the motor by SW Limit Plus Minus Val ue not stop motion by the limit sensor 0 stops the motor immediately by e mergency stop mode 1 stops the motor gradually by soft stop mode 0 1 1 15 H W Limit Stop Method In case of stop motion by the limit sensor this mod...

Page 60: ...gic Sets the origin sensor signal level so that the motor can recognize origin sensor s input to ON 0 0 V low level 1 24V high level 0 1 0 25 Stop Current To set the ratio value of current that supplied to the motor on Stop status Ex1 50 Compare to normal running status 50 of current Is supplied to the motor w hen stop status 10 100 50 26 Motion Dir When the motor operates by position command this...

Page 61: ...er signal direction by controller 0 set to clockwise 1 set to counterclockwise 0 1 0 30 Pos Value Counting Method To select the display type of position value 0 When the position value is display in positive and negative value together 1 When the position value is display only in positive value This type can be used in one direction motioning 0 1 0 ...

Page 62: ...e female type cable is used Item Length CGNR C 1R8F 1 8m CGNR C 003F 3m CGNR C 005F 5m For more information wiring diagram and connector refer to 10 Communication Function RS 485 Connection Cable for Ezi STEP PR Universal RJ 45 STP CAT5 category straight type cable is used Item Length CGNR R 0R6F 60cm CGNR R 001F 100cm CGNR R 1R5F 150cm CGNR R 002F 200cm CGNR R 003F 300cm CGNR R 005F 500cm For mor...

Page 63: ...www fastech co kr 63 Appendix RS 485 Connection Cable for Ezi STEP PR MI Item Length CGNA R 0R5F 50cm CGNA R 001F 100cm CGNA R 1R5F 150cm CGNA R 002F 200cm CGNA R 003F 300cm CGNA R 005F 500cm ...

Page 64: ...ctor DB 26 male type Drive connector CN1 Connector Housing Backshell 10126 30000VE 10320 52AO 008 3M 3M Type Item Interface Terminal Block Board TB Plus No of CN1 Signal name Signal name of TB Plus 1 Limit L 2 Limit L 3 Origin ORI 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...

Page 65: ...Ezi STEP Plus R Refer to of 5 2 Controller Configuration Cable for Power Available to connect between Power and Ezi STEP Plus R Next is for 86mm drive Refer to of 5 2 Controller Configuration Extension Cable for Motor Available to extended conne ction between motor and Ezi STEP Plus R Next is for 86mm drive Refer to of 5 2 Controller Configuration ...

Page 66: ...for Encoder Available to extend the distance between the encoder and Ezi STEP Plus R Refer to of 5 2 Controller Configuration Wiring Diagram Drive Connector CN2 Cable Connection Motor Connector Pin Layout Pin No Pin No Pin Layout 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 Connector Specification Type Item Specification Maker Drive Connector CN2 Housing Terminal 51353 100 56134 9000 MOLEX MOLEX Motor C...

Page 67: ...www fastech co kr 67 Appendix Connector for cabling ...

Page 68: ...wer and Ezi STEP PR MI Refer to of 5 2 Controller Configuration Extension Cable for Motor Available to extended connection between motor and Ezi STEP PR MI Refer to of 5 2 Controller Configuration Extension cable for Encoder Available to extend the distance between the encoder and Ezi STEP PR MI Refer to of 5 2 Controller Configuration Connector for cabling These connectors are serviced together w...

Page 69: ...www fastech co kr 69 Appendix ...

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