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Fastech Ezi-Servo II BT, Руководство пользователя

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www.fastech-motions.com - 3

※ Before operation ※  

·Thank you for your purchasing Ezi-SERVOⅡ BT.
·Ezi-SERVOⅡ BT is an all-in-one Unit. For high-speed and high-precision drive of a stepping motor, 
  Ezi-SERVOⅡ BT is an unique drive that adopts a new control  scheme  owing to an on-board high-
  performance 32bit MCU.
·This manual describes handling, maintenance, repair, diagnosis and troubleshooting of Ezi-SERVOⅡ BT.
·Before operating Ezi-SERVOⅡ BT, thoroughly read this manual.
·After reading the manual, keep the manual near the Ezi-SERVOⅡ BT so that any user can read the 
  manual whenever needed.

1. Precautions

◆ 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-SERVOⅡ BT.

 ·

When the manual is damaged or lost, please go to the homepage(www.fastech-motions.com) and downloaded 

    the manual.

 ·

Our company is not responsible for a product breakdown due to user's dismantling for the product, and such 

    a breakdown is not guaranteed by the warranty.

◆ Put the Safety First

 ·

Before installation, operation and repairing the Ezi-SERVOⅡ BT, thoroughly read the manual and fully understand 

    the contents. Before operating the Ezi-SERVOⅡ BT please, understand the mechanical characteristics of the Ezi-
    SERVOⅡ BT and related safety information and precautions.

·

This manual divides safety precautions into Attention and Warning.

 ·

Although precaution is only a 

Attention

, a serious result could be caused depending on the situation. 

    Follow safety precautions. 

Attention :

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

Warning  :

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

Содержание Ezi-Servo II BT

Страница 1: ...Operating Manual www fastech motions com ...

Страница 2: ...VOⅡ BT 28 series 16 1 Options 16 2 Connector Specifications 17 External Wiring Diagram Ezi SERVOⅡ BT 28 series 18 Control Signal Input Output Description Ezi SERVOⅡ BT 28 series 19 Parameter Settings Ezi SERVOⅡ BT 28 series 20 Specifications of Drive Ezi SERVOⅡ BT 42 56 60 series 21 Settings and Operation Ezi SERVOⅡ BT 42 56 60 series 21 1 Drive status LED 21 2 Pulse Input Setting Switch SW1 21 3 ...

Страница 3: ...he manual is damaged or lost please go to the homepage www fastech motions com and downloaded the manual Our company is not responsible for a product breakdown due to user s dismantling for the product and such a breakdown is not guaranteed by the warranty Put the Safety First Before installation operation and repairing the Ezi SERVOⅡ BT thoroughly read the manual and fully understand the contents...

Страница 4: ...r Otherwise a fire or other kinds of accidents may occur due to overheating The process of Installation Connection Operation Checking and Repairing should be done with qualified person Otherwise a fire or other kinds of accidents may occur Attention Warning Connect Cables Keep the rated range of lnput Voltage for Ezi SERVOⅡ BT Otherwise a fire or other kinds of accidents may occur Cable connection...

Страница 5: ...o Ezi SERVOⅡ BT The machine may get damaged or the user may get injured by motor operation All parameter values are set by default factory setting value Change this value after reading this manual throughly Otherwise the machine may get damaged or other kinds of accidents may occur Stop to supply power to the main circuit and wait for a while before checking or repairing the Ezi SERVOⅡ BT Electric...

Страница 6: ...al tuning after the system is installed especially if more that one axis are interdependent Ezi SERVOⅡ employs the best characteristics of stepper closed loop motion controls and algorithms to eliminate the need of tedious gain tuning required for conventional closed loop servo systems This means that Ezi SERVOⅡ is optimized for the application and ready to work right out of the box The Ezi SERVOⅡ...

Страница 7: ...OⅡ utilizes the unique characteristics of stepping motors and locks itself into the desired target position eliminating Null Hunt This feature is especially useful in applications such as nanotech manufacturing semiconductor fabrication vision systems and ink jet printing in which system oscillation and vibration could be a problem 7 Smooth and Accurate Ezi SERVOⅡ is a high precision servo drive u...

Страница 8: ...sition and automatically recovering to the original position even after experiencing positioning error due to external forces such as mechanical vibration or vertical positional holding 3 Ezi SERVO utilizes 100 of the full range of rated motor torque contrary to a conventional open loop stepping driver that can use up to 50 of the rated motor torque due to the loss of synchronism 4 Capability to o...

Страница 9: ...M B Ezi SERVOⅡ BT 42L A Ezi SERVOⅡ BT 42L B Ezi SERVOⅡ BT 42XL A Ezi SERVOⅡ BT 42XL B Ezi SERVOⅡ BT 56S A Ezi SERVOⅡ BT 56S B Ezi SERVOⅡ BT 56M A Ezi SERVOⅡ BT 56M B Ezi SERVOⅡ BT 56L A Ezi SERVOⅡ BT 56L B Ezi SERVOⅡ BT 60S A Ezi SERVOⅡ BT 60S B Ezi SERVOⅡ BT 60M A Ezi SERVOⅡ BT 60M B Ezi SERVOⅡ BT 60L A Ezi SERVOⅡ BT 60L B Unit Part Number Motor Model Number Drive Model Number Ezi SERVOⅡ BT 42S A...

Страница 10: ...ERVOⅡ BT 42XL A PN40 1 40 Ezi SERVOⅡ BT 42XL B PN40 Ezi SERVOⅡ BT 42XL A PN50 1 50 Ezi SERVOⅡ BT 42XL B PN50 Unit Part Number Motor Model Number Drive Model Number Reduction gear ratio Ezi SERVOⅡ BT 56S A PN3 Motor Drive Integrated 1 3 Ezi SERVOⅡ BT 56S B PN3 Ezi SERVOⅡ BT 56S A PN5 1 5 Ezi SERVOⅡ BT 56S B PN5 Ezi SERVOⅡ BT 56S A PN8 1 8 Ezi SERVOⅡ BT 56S B PN8 Ezi SERVOⅡ BT 56S A PN10 1 10 Ezi SE...

Страница 11: ...60M A PN25 1 25 Ezi SERVOⅡ BT 60M B PN25 Ezi SERVOⅡ BT 60M A PN40 1 40 Ezi SERVOⅡ BT 60M B PN40 Ezi SERVOⅡ BT 60M A PN50 1 50 Ezi SERVOⅡ BT 60M B PN50 Ezi SERVOⅡ BT 60L A PN3 1 3 Ezi SERVOⅡ BT 60L B PN3 Ezi SERVOⅡ BT 60L A PN5 1 5 Ezi SERVOⅡ BT 60L B PN5 Ezi SERVOⅡ BT 60L A PN8 1 8 Ezi SERVOⅡ BT 60L B PN8 Ezi SERVOⅡ BT 60L A PN10 1 10 Ezi SERVOⅡ BT 60L B PN10 Ezi SERVOⅡ BT 60L A PN15 1 15 Ezi SERV...

Страница 12: ...T LOAD N Lower than motor weight INSULATION RESISTANCE Mohm 100 MIN at 500VDC INSULATION CLASS CLASS B 130 OPERATING TEMPERATURE 0 to 55 MODEL Ezi SERVOⅡ BT 56 series Ezi SERVOⅡ BT 60 series UNIT 56S 56M 56L 60S 60M 60L DRIVE METHOD BI POLAR NUMBER OF PHASES 2 2 2 2 2 2 CURRENT per PHASE A 3 0 3 0 3 0 4 0 4 0 4 0 HOLDING TORQUE N m 0 64 1 0 1 5 0 88 1 28 2 4 ROTOR INERTIA g cm2 180 280 520 240 490...

Страница 13: ...0 0 08 0 06 0 04 0 02 0 10 500 1 000 1 500 2 000 2 500 3 000 28S 28M 28L 24V Motor Voltage 1 5 1 2 0 9 0 6 0 3 0 10 500 1 000 1 500 2 000 2 500 3 000 24V Torque N m Speed rpm 56S 56M 56L Motor Voltage Ezi SERVOⅡ BT 28 series Ezi SERVOⅡ BT 56 series Ezi SERVOⅡ BT 42 series Ezi SERVOⅡ BT 60 series 1 8 1 5 1 2 0 9 0 6 0 3 0 10 500 1 000 1 500 2 000 2 500 3 000 24V 60S 60M 60L Motor Voltage Speed rpm ...

Страница 14: ...1 8 0 2 54 20 0 2 69 5 4 M3 DP4 5 Ø5 0 011 0 Ø4 5 0 1 Ø22 0 05 0 Ø0 075 A 0 1 A 0 025 A 60 0 5 L 33 1 20 6 0 5 4 50 0 25 60 L 1 6 3 0 25 1 6 0 2 54 44 15 0 2 77 4 Ø5 0 THRU 0 3 Ø8 0 013 0 2 7 5 0 1 Ø36 0 039 0 Ø0 075 A 0 1 A 0 025 A 28mm Model name Length L 28S 32 28M 45 28L 50 56mm Model name Length L 56S 46 56M 55 56L 80 42mm Model name Length L 42S 34 42M 40 42L 48 42XL 60 60mm Model name Lengt...

Страница 15: ...otor Unit Weight including Motor and Electronic Brake Motor specification and torque characteristic are same as Standard Motor Unit Part Number Motor Model Number Electronic Brake Motor Unit Weight g Permitted Overhung Load N Permitted Thrust Load N Type Voltage Input V Rated Current A Power Consumption W Statical Friction Torque N m Length from Motor Point mm 3 8 13 18 Ezi SERVOⅡ BT 42S BK Motor ...

Страница 16: ...63 0 5 L 96 1 5 L 33 1 42 Ø 22 0 02 0 Ø 5 0 015 0 0 075 A 0 025 A 0 1 A SMR 04V N JST Lead wire UL3398 AWG26 Length 400mm 54 4 Ø4 5 THRU P C D 70 7 7 5 15 6 2 19 2 1 5 46 5 L 1 60 44 77 65 7 0 5 L 98 7 1 5 L 33 1 60 Ø 36 0 02 0 Ø 8 0 028 0 012 0 075 A 0 025 A 0 1 A 56mm 42mm 60mm Model Name Length L Weight kg 42S 34 0 58 42M 40 0 65 42L 48 0 72 42XL 60 0 85 Model Name Length L Weight kg 56S 46 1 1...

Страница 17: ...Ⅱ BT 42M PN15 4 14 5 7 15 0 0024 6 12 0 200 1 06 410 540 Ezi SERVOⅡ BT 42M PN25 6 90 25 0 00144 9 18 0 120 490 640 Ezi SERVOⅡ BT 42M PN40 9 00 40 0 0009 9 18 0 75 570 640 Ezi SERVOⅡ BT 42M PN50 9 00 50 0 00072 9 18 0 60 620 640 Ezi SERVOⅡ BT 42L PN3 0 93 77x10 7 3 5 3 0 012 6 12 0 1000 1 02 240 270 Ezi SERVOⅡ BT 42L PN5 1 55 5 0 0072 9 18 0 600 290 330 Ezi SERVOⅡ BT 42L PN8 2 48 8 0 0045 9 18 0 37...

Страница 18: ...7 2 50 0 00072 27 50 0 60 1100 1100 Ezi SERVOⅡ BT 56M PN3 2 0 280x10 7 3 5 3 0 012 18 35 0 1000 2 15 430 310 Ezi SERVOⅡ BT 56M PN5 3 4 5 0 0072 27 50 0 600 510 390 Ezi SERVOⅡ BT 56M PN8 5 5 8 0 0045 27 50 0 375 600 480 Ezi SERVOⅡ BT 56M PN10 6 9 10 0 0036 18 35 0 300 640 530 Ezi SERVOⅡ BT 56M PN15 10 15 0 0024 18 35 0 200 2 35 740 630 Ezi SERVOⅡ BT 56M PN25 16 7 25 0 00144 27 50 0 120 870 790 Ezi ...

Страница 19: ...PN50 24 7 50 0 00072 27 50 0 60 1100 1100 Ezi SERVOⅡ BT 60M PN3 2 6 490x10 7 3 5 3 0 012 18 35 0 1000 2 0 430 310 Ezi SERVOⅡ BT 60M PN5 4 4 5 0 0072 27 50 0 600 510 390 Ezi SERVOⅡ BT 60M PN8 7 0 8 0 0045 27 50 0 375 600 480 Ezi SERVOⅡ BT 60M PN10 8 8 10 0 0036 18 35 0 300 640 530 Ezi SERVOⅡ BT 60M PN15 12 8 15 0 0024 18 35 0 200 2 2 740 630 Ezi SERVOⅡ BT 60M PN25 21 4 25 0 00144 27 50 0 120 870 79...

Страница 20: ...on will be marked in The code of encoder resolution will be marked in Unit Part Number Motor Stage Reduction Gear Ratio L Length mm Ezi SERVOⅡ BT 42S PN Motor Drive Integrated Single Stage 3 5 8 10 34 Ezi SERVOⅡ BT 42M PN 3 5 8 10 40 Ezi SERVOⅡ BT 42L PN 3 5 8 10 48 Ezi SERVOⅡ BT 42XL PN 3 5 8 10 60 Unit Part Number Motor Stage Reduction Gear Ratio L Length mm Ezi SERVOⅡ BT 42S PN Motor Drive Inte...

Страница 21: ...63 69 5 M5 DP12 5 2 The code of encoder resolution will be marked in The code of encoder resolution will be marked in Unit Part Number Motor Stage Reduction Gear Ratio L Length mm Ezi SERVOⅡ BT 56S PN Motor Drive Integrated Single Stage 3 5 8 10 46 Ezi SERVOⅡ BT 56M PN 3 5 8 10 55 Ezi SERVOⅡ BT 56L PN 3 5 8 10 80 Unit Part Number Motor Stage Reduction Gear Ratio L Length mm Ezi SERVOⅡ BT 56S PN Mo...

Страница 22: ...69 5 M5 DP12 5 2 The code of encoder resolution will be marked in The code of encoder resolution will be marked in Unit Part Number Motor Stage Reduction Gear Ratio L Length mm Ezi SERVOⅡ BT 60S PN Motor Drive Integrated Single Stage 3 5 8 10 47 Ezi SERVOⅡ BT 60M PN 3 5 8 10 56 Ezi SERVOⅡ BT 60L PN 3 5 8 10 85 Unit Part Number Motor Stage Reduction Gear Ratio L Length mm Ezi SERVOⅡ BT 60S PN Motor...

Страница 23: ...00kHz Duty 50 Protection Functions Over Current Error Over Speed Error Position Tracking Error Over Load Error Over Temperature Error Motor Connect Error Encoder Connect Error In Position Error ROM Error Position Overflow Error In Position Selection 0 63 Selectable by parameter Default 0 Position Gain Selection 0 63 Selectable by parameter Default 3 Pulse Input Method 1 Pulse 2 Pulse Selectable by...

Страница 24: ... operation is finished position error more than 1 pulse is continued for more than 3 seconds 12 ROM Error Error occurs in parameter storage device ROM 15 Position Overflow Error Position error value is higher than 180 in motor stop state Alarm LED flash Ex Position tracking error Status LED Description Disable Green Red Green light flashing Red light off Enable Green Red Green light on Red light o...

Страница 25: ...e Item Length m Remark CSVB A OR4F 0 4m Normal Cable This cable is provide item as standard option Purpose Item Part Number Manufacturer Signal Housing Terminal GHR 12V S SSHL 002T P0 2 JST 16 2 Connector Specifications Connector specifications for cabling to drive Above connector is the most suitable product for the drive applied Another equivalent connector can be used 16 System Configuration Ez...

Страница 26: ...hielded Twisted Pair Cable When connects I O cable between controller and drive please turn off the power of both controller and drive in order to protect the drive from any damage 17 External Wiring Diagram Ezi SERVOⅡ BT 28 series ...

Страница 27: ...from the load side By setting the signal LOW the drive cuts off the power supply to the motor Then one can manually adjust output position When setting the signal back to High the drive resumes the power to the motor and recovers the holding torque When driving a motor one needs to set the signal High Servo On Off and Alarm Reset of the drive are operated with voltage level ON High and OFF Low Ala...

Страница 28: ...g this drive setting program user can find the optimal condition to Ezi SERVOⅡ BT to fit with the user s own system Please be noticed that connection for drive setting program shall be done when the Ezi SERVOⅡ BT is disable staus for safety reason Graphic User Interface GUI Program can be downloaded from website www fastech motions com Graphic User Interface GUI Program can support Window 7 8 10 G...

Страница 29: ...or Over Temperature Error Over Regenerated Voltage Error Motor Connect Error Encoder Connect Error In Position Error ROM Error Position Overflow Error In Position Selection 0 63 Selectable by parameter Default 0 Position Gain Selection 0 63 Selectable by parameter Default 3 Pulse Input Method 1 Pulse 2 Pulse Selectable with DIP switch Default 2 Pulse Mode Speed Position Control Command Pulse Train...

Страница 30: ...0 1 5 3 600 1 500 6 5 000 2 1 000 7 6 400 3 1 600 8 7 200 4 2 000 9 10 000 Protection functions and LED flash times Times Protection Conditions 1 Over Current Error The current through power devices in inverter exceeds the 4 8A 2 Over Speed Error Motor speed exceeds 3 000 rpm 3 Position Tracking Error Position error value is higher than 180 in motor run state 4 Over Load Error The motor is continu...

Страница 31: ...Output 6 A Output 7 B Output 8 B Output 9 Z Output 10 Z Output 11 Alarm Output 12 In Position Output 13 Servo On Off Input 14 Alarm Reset Input 15 NC 16 BRAKE Output 17 BRAKE Output 18 S GND Output 19 EXT_GND Input 20 EXT_24VDC Input NO Function I O 1 24VDC Input 2 GND Input 2 1 21 6 Parameter Setting Communication Connector CN3 NO Function I O 1 Tx Output 2 Rx Input 3 GND 20 2 19 1 ...

Страница 32: ...gth Parameter Setting Cable Cable to connect Ezi SERVOⅡ BT series and computer Please use this cable to change parameter of Drive Item Length m Remark CBTS C F Normal Cable is for Cable Length The unit is 1m and Max 3m length Power Cable Available to connect between Power and Ezi SERVOⅡ BT Item Length m Remark CSVA P F CSVA P M Normal Cable Robot Cable is for Cable Length The unit is 1m and Max 2m...

Страница 33: ...gnal CN1 Housing Terminal 501646 2000 501648 1000 AWG 26 28 MOLEX Parameter setting CN3 Housing Terminal 5264 03 5263PBTL MOLEX 22 2 Connector Specifications Connector specifications for cabling to drive Above connector is the most suitable product for the drive applied Another equivalent connector can be used ...

Страница 34: ...onnects I O cable between controller and drive please turn off the power of both controller and drive in order to protect the drive from any damage Ⅱ Shielded Twisted Pair Cable 23 External Wiring Diagram Ezi SERVOⅡ BT 42 56 60 series ...

Страница 35: ...displaying the voltage levels of the signal In Position Output In Position signal is ON when positioning is completed This signal is ON when the motor position error is within the value set by the Parameter Alarm Output The Alarm output indicates ON when the driver is in a normal operation If a protection mode has been activated it goes OFF A host controller needs to detect this signal and stop se...

Страница 36: ...vel Alarm Output Level Users can use Ezi SERVOⅡ BT according to its own system Please connect parameter setting GUI when Ezi SERVOⅡ BT is Disable state For safety reason Ezi SERVOⅡ BT can not be connected to setting GUI when it is Enable state User Interface Parameter Settings GUI 1 Ezi SERVOⅡ BT 42 56 60 Series Parameter Settings wiring Diagram 2 Graphic User Interface GUI Program can be download...

Страница 37: ...haft moves only one direction Pulse Mode of Drive is set as CW CCW input method 2Pulse input method then Controller send Pulse by Pulse Dir method 1Pulse method Please check signal method of Controller Pulse Mode of Drive is set as Pulse Dir input method 1Pulse input method then Controller send Pulse by CW CCW method 2Pulse method Please check signal method of Controller Motor axis moves in the op...

Страница 38: ...Checking the assemble status of the unit unscrews debris and deformation structures Fix the defected structure of the equipment Operate motor when brake is locked Checking the brake cable by brake operation sound Checking if 24V is supplied to No 16terminal of I O connector Checking the terminal signal of No 17 of I O connector If brake hold it self it means 24V if not it is 0V Fix the defect of b...

Страница 39: ...ng ele ment is near the drive Checking the ambient tempera ture and make sure no heating element near the drive Lower the room ambient temperature to under 25 and do heat dissipation by fan when the temperature of the case is over 50 Remove the heating element from the drive Distance between drive is below 50mm so heat dissi pation is difficult Make sure the distance between drive is more than 50m...

Страница 40: ... tension gage After Enable motor does not grab the STEP degree by external force Checking whether mechanical part not moving due to external force Reassemble the mechanical part The wiring of extension cable of motor and encoder is not correct Checking the wiring status of extension cable of motor and encoder Fix the wiring of the cable The motor may have problem Checking the status of the short c...

Страница 41: ...www fastech motions com 41 MEMO ...

Страница 42: ...www fastech motions com 42 MEMO ...

Страница 43: ...www fastech motions com 43 MEMO ...

Страница 44: ...or reproduced in whole or in part described in the User s Guide If you need a user manual 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 SERVOⅡ is registered trademark of FASTECH Co Ltd in the national registration ⓒ Copyright 2016 FASTECH...

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