"user manual"
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1. EzM 60M C EzS PD 60M C User Code Ezi SERVO 60M E EzM 60M E EzS PD 60M E Ezi SERVO 60L A EzM 60L A EzS PD 60L A Ezi SERVO 60L B EzM 60L B EzS PD 60L B Ezi SERVO 60L C EzM 60L C EzS PD 60L C Ezi SERVO 60L E EzM 60L E EzS PD 60L E Ezi SERVO 60XL A EzM 60XL A EzS PD 60XL A Ezi SERVO 60XL B EzM 60XL B EzS PD 60XL B Ezi SERVO 60XL C EzM 60XL C EzS PD 60XL C Ezi SERVO 86M A EzM 86M A EzS PD 86M A Jun 09 will Release Ezi SERVO 86L A EzM 86L A EzS PD 86L A Ezi SERVO 86XL A EzM 86XL A EzS PD 86XL A 2 Jul 09 will Release Advantages over Open loop Control Stepping Drive 1 Reliable positioning without loss of synchronism 2 Holding stable position and automatically recovering to the original position even after experiencing positioning error due to a external force such as mechanical vibration 3 EZi SERVO covers 100 full range of the rated torque contrary to a conventional open loop stepping driver that can use only up to 50 of the rated torque by considering loss of synchronism 4 Capability to operate at high speed owing to a load dependant current control whereas open loop drivers use a constant current control at all soeed range without considering load variations e Advantages over servo motor controller 1 No gain tuning Automatic adjustment of gain in response to a load change 2 Maintain the stable holding position without fluctuation after completing positioning 3 Possible to2. 1 6 2 8 2 3 HOLDING TORQUE mN m 120 51 140 100 ROTOR INTERTIA g a 13 9 18 16 WEIGHTS g 155 145 215 235 LENGTH L mm 59 0 58 5 66 0 77 8 ALLOWABLE 3mm 30 30 30 30 OVERHUNG LOAD 8mm N 38 38 38 38 DISTANCE FROM 13 53 53 53 53 END OF SHAFT 84 84 84 84 ALLOWABLE THRUST LOAD N Lower than MOTOR weight INSULATION RESISTANCE Mohm 100min at 500VDC DIELECTRIC STRENGTH V mm 500 at 50Hz 1min TEMPERATURE CLASS CLASS B 130 C OPERATING TEMPERATURE 0 to 55 ALLOWABLE TEMPERATURE C 85Max Motor Dimension mm and Torque Characteristics Thru Hole EzM 28x E Series 0 5 0 013 o SZOFZ EzM 28x D Series Torque mN m EzM 28 series EzM 28M D EzM 28L D EzM 28M E EzM 28L E 150 135 120 105 l Measured Condition Input Voltage 24VDC Motor Current Rated Current Refer to Motor Specification Drive Ezi SERVO FASTECH Ezi SERVO Motor Specifications FA EzM 42S A EzM 42M A EzM 42L A EzM 42XL A MODEL UNIT EzM 42S B EzM 42M B EzM 42L B EzM 42XL B EzM 42S C EzM 42M C EzM 42L C EzM 42XL C DRIVE METHOD BI POLAR BI POLAR BI POLAR BI POLAR NUMBER OF PHASES
3. 75 0 50 0 25 300 600 900 Measured Condition Input Voltage 24VDC 2100 Motor Current Rated Current Refer to Motor Specification Drive Ezi SERVO 2400 2700 3000 0 MODEL UNIT EzM 86M A EzM 86L A EzM 86XL A DRIVE METHOD BI POLAR BI POLAR BI POLAR NUMBER OF PHASES 2 2 2 VOLTAGE VDC 2 4 3 6 4 38 CURRENT per PHASE A 6 0 6 0 6 0 RESISTANCE per PHASE Ohm 0 4 0 6 0 73 INDUCTANCE per PHASE mH 3 5 6 5 8 68 HOLDING TORQUE mN m 4500 8500 12000 ROTOR INTERTIA g af 1400 2700 4000 WEIGHTS kg 2 4 3 9 5 4 LENGTH L mm 108 146 184 ALLOWABLE 3mm 2 0 270 270 OVERHUNG LOAD 8mm N 300 300 300 DISTANCE FROM 13mm 350 350 350 END OF SHAFT 48mm 400 400 400 ALLOWABLE THRUST LOAD N Lower than MOTOR weight INSULATION RESISTANCE Mohm 100min at 500VDC DIELECTRIC STRENGTH V mm 500 at 50Hz 1min TEMPERATURE CLASS CLASS B 130 C OPERATING TEMPERATURE C 0 to 55 ALLOWABLE TEMPERATURE C 85Max Motor Dimension mm and Torque Characteristics Torque N m EZM 86 series e 2 86 EzM 86L EzM 06XL N G Paton O O xMeasured Condition Input Voltage 0VDC Current Rated Current Refer to Motor Specification Dri
4. EzS PD 28M E Ezi SERVO 28L D EzM 28L D EzS PD 28L D Closed Loop Ezi SERVO 28L E EzM 28L E EzS PD 28L E Stepping System Name Ezi SERVO 42S A EzM 42S A EzS PD 42S A Ezi SERVO 42S B EzM 42S B EzS PD 42S B Motor Flange Size Ezi SERVO 42S C EzM 42S C EzS PD 42S C Ezi SERVO 42M A EzM 42M A EzS PD 42M A 28 28mm Ezi SERVO 42M B EzM 42M B EzS PD 42M B 42 42mm Ezi SERVO 42M C EzM 42M C EzS PD 42M C 56 56mm Ezi SERVO 42L A EzM 42L A EzS PD 42L A 60 60mm Ezi SERVO 42L B EzM 42L B EzS PD 42L B 86 86mm Ezi SERVO 42L C EzM 42L C EzS PD 42L C Ezi CSERVO 42XL A EzM 42XL A EzS PD 42XL A Ezi SERVO 42XL B EzM 42XL B EzS PD 42XL B Motor Length Ezi SERVO 42XL C EzM 42XL C EzS PD 42XL C S Short Ezi SERVO 56S A EzM 56S A EzS PD 56S A M Middle Ezi SERVO 56S B EzM 56S B EzS PD 56S B Ezi SERVO 56S C EzM 56S C EzS PD 56S C L Long Ezi SERVO 56M A EzM 56M A EzS PD 56M A XL Extra Long Ezi SERVO 56M B EzM 56M B EzS PD 56M B Ezi SERVO 56M C EzM 56M C EzS PD 56M C Ezi SERVO 56L A EzM 56L A EzS PD 56L A Encoder Resolution Ezi SERVO 56L B EzM 56L B EzS PD 56L B A 10 000 Rev Ezi SERVO 56L C EzM 56L C EzS PD 56L C B 20 000 Rev Ezi SERVO 56XL A EzM 56XL A EzS PD 56XL A C 32 000 Rev Ezi SERVO 56XL B EzM 56XL B EzS PD 56XL B D 16 000 Rev Ezi SERVO 56XL C EzM 56XL C EzS PD 56XL C E 2000 Rev Ezi GERVO 60S E _ EzM 60S E EzS PD 60S E Ezi SERVO 60M A EzM 60M A EzS PD 60M A Ezi SERVO 60M B EzM 60M B EzS PD 60M B Ezi SERVO 60M C
5. Non conduction not displaying the voltage levels of the signal Drive Drive AM26C31 or equ A Encoder signal Pin 5 6 7 8 9 10 1 N i gz f 0 AES 19 Alarm Pin 11 In Position Pin 12 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 sending a motor driving command When the driver detects an abnormal operation such as overload or overcurrent of the motor it sets the Alarm output to OFF flash the Alarm LED disconnect the power to a motor and stop the motor simultaneously Caution Only at the Alarm output port the photocoupler operation is in reverse When the driver is in normal operation the Alarm output is ON On the contrary when the driver is in abnormal operation that start protection mode the Alarm output is OFF 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 switch SW4 Motor speed rot stop rot stop In Position signal OFF Encoder signal Output The encoder signal is a line drive output This can be used to confirm the stop position FASTECH Ezi SERVO FASTECH Ezi SERVO FASTECH Co Ltd Rm 1403 Bucheon Technopark 401 Dong Yakdae d
6. fast positioning owing to the independent control by on board DSP 4 Favorable continuous operation at short stroke rapid movement process thanks to short positioning time FASTECH Ezi SERVO FASTECH Ezi SERVO Motor Model EzM 28 series EzM 42 series EzM 56 series EzM 60 series EzM 86 series Driver Model EzS PD 28series EzS PD 42series EzS PD 56series EzS PD 60series EzS PD 86series Input Voltage 24VDC 10 24VDC 10 24VDC 10 24VDC 10 40 70VDC Control Method Closed loop control with 32bit DSP Current Consumption Max 500mA Except motor current Function Ambient In Use 07 55 5 Temperature In Storage 20 70 C BS t In Use 3578596 Non condensing 28 In Storage 10 90 Non condensing Vib Resist 0 5G Rotation Speed 0 3000rpm Resolution P R 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 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 with Rotary switch Max Input Pulse 500KHz Duty 5096 Frequency Protection Overcurrent Overspeed Step ou
7. 1 pulse input mode or 2 pulse input mode refer to switch No 1 SW1 The input schematic of CW CCW is designed for 5V TTL level When using 5V level as an input signal the resistor Rx is not used and connect to the driver directly When the level of input signal is more than 5V have to add Rx If this resistor is absent the inner schematic can be broken In input signal level is 12V case Rx value is 2 2kohm and in 24V case 4 kohm is suitable for Rx value Servo On Off Input This input can be used only to adjust the position by manually moving the motor shaft from the load side By setting the signal ON the driver cuts off the power supply to the motor Then one can manually adjust output position When setting the signal back to OFF the driver resumes the power supply to the motor and recovers the holding torque When driving a motor one needs to set the signal OFF Alarm Reset Input When a protection mode has been activated a signal to this alarm reset input cancels the Alarm output x By setting the alarm reset input signal ON cancel the Alarm output Before cancel the Alarm output have to remove the source of alarm Alarm reset more than 0 15 As the output signals from the driver there are the photocoupler outputs Alarm In Position and the line driver outputs encoder signal In the case of photocoupler outputs the signal indicates the status of internal photocouplers ON conduction OFF
8. 2 2 2 2 VOLTAGE VDC 2 2 2 7 3 0 7 2 CURRENT per PHASE A 1 5 1 5 1 5 1 2 RESISTANCE per PHASE Ohm 1 47 1 83 2 0 6 0 INDUCTANCE per PHASE mH 1 81 277 3 67 6 3 HOLDING TORQUE mN m 270 400 490 750 ROTOR INTERTIA g of 36 54 76 114 WEIGHTS g 250 305 390 555 LENGTH L mm 59 0 65 0 73 0 83 0 ALLOWABLE 3mm 22 22 22 22 OVERHUNG LOAD 8mm N 26 26 26 26 DISTANCE FROM 13mm 33 33 33 33 END OF SHAFT 46 46 46 46 ALLOWABLE THRUST LOAD N Lower than MOTOR weight INSULATION RESISTANCE Mohm 100min at 500VDC DIELECTRIC STRENGTH V mm 500 at 50Hz 1min TEMPERATURE CLASS CLASS B 130 C OPERATING TEMPERATURE C 0 to 55 ALLOWABLE TEMPERATURE 85Max FASTECH Ezi SERVO EZM 42 series 2 425 EzM 42M EzM 42L EzM 42XL ii 0 Le cv s d q G OXEIN b 0 00 5 0 01 E 4 520 10 S Torque mN m 2100 2400 2700 3000 XMeasured Condition Input Voltage 24VDC Motor Current Rated Current Refer to Motor Specification Drive Ezi SERVO 5 I U a U 2 565 EzM 56M A EzM 56L A EzM 56XL A MODEL UNIT EzM 56S B EzM 56M B EzM 56L B EzM 56XL B EzM 56S C EzM 56M C EzM 5
9. 6L C EzM 56XL C DRIVE METHOD e BI POLAR BI POLAR BI POLAR BI POLAR NUMBER OF PHASES 2 2 2 2 VOLTAGE VDC 1 89 2 28 2 82 3 57 CURRENT per PHASE A 3 0 3 0 3 0 3 0 RESISTANCE per PHASE Ohm 0 63 0 76 0 94 1 19 INDUCTANCE per PHASE mH 2 64 3 80 6 30 7 97 HOLDING TORQUE mN m 810 1320 2490 3540 ROTOR INTERTIA g ar 189 249 493 737 WEIGHTS g 505 710 1185 1580 LENGTH L mm 65 5 78 5 108 5 138 5 ALLOWABLE 3mm 52 52 52 52 OVERHUNG LOAD 8mm N 65 65 65 65 DISTANCE FROM 13mm 85 85 85 85 END OF SHAFT 18mm 123 123 123 123 ALLOWABLE THRUST LOAD N Lower than MOTOR weight INSULATION RESISTANCE Mohm 100min at 500VDC DIELECTRIC STRENGTH V mm 500 at 50Hz 1min TEMPERATURE CLASS CLASS B 130 C OPERATING TEMPERATURE 0 to 55 ALLOWABLE TEMPERATURE 85Max FASTECH Ezi SERVO 56 14 47 142020 EzM 56 series 2 565 EzM 56M EzM 56L EZM 56XL ocorpTl Zv 9S 2 50 2 25 2 00 1 75 Thru Hole I 1 50 2384103 1 25 26 3538 0 00 pi 1 00 5 85 010 E jg 0 75 0 50 0 25 Measured Condition Input Voltage 24VDC Motor Current Rated Current Refer to Motor Specification Drive Ezi SERVO FASTECH Ezi SERVO Motor Specifications GAGs EzM 60
10. Ezi SERVO Closed Loop Stepping System 3 5 0ANIS zJ3 Z A Ezi SERVO Closed Loop Stepping System The Ezi SERVO is an innovative closed loop stepping motor controller that utilizes a high resolution encoder to constantly monitor the current motor shaft position With the encoder feed back feature the Ezi SERVO keeps updating the current position information every 25 micro seconds If necessary the Ezi SERVO takes a corrective action to compensate the loss of synchronization for example due to a sudden load change eliminating missing step error which is a typical drawback with stepping motors Goal pos i _ error Feedback a In order to improve a control performance tuning the gains of a servo system is the most crucial step Depending on the source of a load change this is a long tedious troublesome and time consuming job for an application field engineer The Ezi SERVO fully employs the unique characteristics of the closed loop stepping motor control eliminating these cumbersome steps and giving the engineer a similar satisfaction with a high perf ormance servo system Especially a Ezi SERVO is well suited for low stiffness loads for example a a belt and pulley system that are common problems experienced in a most servo system while still maintaining the best performance in all situations Contrary to a traditional servo motor drive there is no problem of hunti
11. M A EzM 60L A EzM 60XL A MODEL UNIT EzM 60M B EzM 60L B EzM 60XL B EzM 60S E EzM 60M E EzM 60L E EzM 60M C EzM 60L C EzM 60XL C DRIVE METHOD BI POLAR BI POLAR BI POLAR BI POLAR BI POLAR BI POLAR NUMBER OF PHASES 2 2 2 2 2 2 VOLTAGE VDC 2 52 3 36 4 17 1 4 1 7 2 6 CURRENT per PHASE A 2 8 2 8 4 0 4 0 4 0 RESISTANCE per PHASE Ohm 1 2 1 5 0 35 0 43 0 65 INDUCTANCE per PHASE mH 4 6 6 8 0 8 1 38 2 4 HOLDING TORQUE mN m 2100 3100 880 1370 2 00 ROTOR INTERTIA g cn 570 840 275 400 840 WEIGHTS kg 1 26 1 46 0 63 0 81 1 38 LENGTH L mm 91 5 112 5 58 3 67 3 99 3 ALLOWABLE 3mm 70 70 70 70 70 OVERHUNG LOAD 8mm Y 87 87 87 87 87 DISTANCE FROM 13 114 114 114 114 114 END OF SHAFT 18mm 165 165 165 165 165 ALLOWABLE THRUST LOAD N Lower than MOTOR weight INSULATION RESISTANCE Mohm 100min at 500VDC DIELECTRIC STRENGTH V mm 500 at 50Hz 1min TEMPERATURE CLASS e CLASS 130 C OPERATING TEMPERATURE C 0 to 55 ALLOWABLE TEMPERATURE C 85Max 4 9 4 500 True Hole 0 000 36 0 039 EF OFOS XYNZ L 920 A lt 20 9 1 EzM 60x E Series G 0 9 02 Torque N m EzM 60x A B C Series EZM 60 series 2 605 EzM 60M A B C EzM 60M E EzM 60L AB C EZM 60L E EzM 60XL A B C 2 50 2 25 2 00 1 75 1 50 1 25 1 00 0
12. OO OOO LJ is for Cable Length The unit is 1m and Max 20m length Power Cable Available to connect between Power and Ezi SERVO Length m Item Remark CSVO P LILILIF CSVO P LILILIM Robot Cable OOO OOO is for Cable Length The unit is 1m and Max 2m length Normal Cable Normal Cable e System Configuration Only for 86mm motor drive EzS PD 86 series Control Unit Type Power Cable Motor Cable Encoder Cable Control Cable Standard Length 30cm 30cm Max Length 2m 20m 20m 20m 1 Cable Option DSignal Cable Available to connect between Control System and Ezi SERVO Item Length m Remark CSVO S OOO Normal Cable CSVO S LILILIM OOO Robot Cable LJ is for Cable Length The unit is 1m and Max 20m length 3Motor Extension Cable Available to extended connection between motor and Ezi SERVO Item Length m Remark CSVP M OOOF OOO Normal Cable CSVP M OOOM OOO Robot Cable LJ is for Cable Length The unit is 1m and Max 20m length Q Encoder Extension Cable Available to extended connection between Encoder and Ezi SERVO Item Length m Remark CSVO E LIEIEIF OOO Normal Cable CSVO E LILILIM ETE TE Robot Cable lis for Cable Length The unit is 1m and Max 20m length Power Cable Available to connect between Power and Ezi SERVO Item Length m 1 CSVP P LIPILIM Remark Normal Cable Robot Cable LJ is
13. command executed In Position Value Pulse In Position Value Pulse Fast Response Accurate Response 0 0 8 0 1 Position Position 1 Default 0 XPlease refer to User Manual for setup OO CO 5 Motor Connector CN3 NO Function 1 A Phase 2 B Phase 3 A Phase 4 B Phase NO Function 1 B Phase 8 2 B Phase EO 3 A Phase 4 A Phase O X Only for 86mm motor drive 6 Power Connector CN4 NO Function 2 1 1 24VDC 10 2 GND NO Function T 1 GND 2 40 70VDC 000 Only for 86mm motor drive 8 Encoder connector CN2 NO Function I O 1 A Input 2 A Input 3 B Input 4 B Input 5 ZF Input 6 L Input 7 5VDC Output 8 GND Output 9 Frame GND 10 Frame GND 7 Input Output signal CN1 NO Function I O 1 CW Pulse Input 2 CW Pulse Input 3 CCW Dir Input 4 CCW Dir Input 5 A 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 24VDC GND Input 20 24VDC I
14. es and realizes a short and fast response in a positioning action hus it is a great feature of Ezi SERVO when rapid motions with a short distance are required For the case of traditional servo motor systems there is a considerable delay between the commanding input signals and the resultant motion because of the constant monitor of the current position necessitating a waiting time until it settles called speed settling time The Ezi SERVO functions well at high speed without the loss of synchronism The ability of continuous monitoring of current positions enables a stepping motor to generate high torque even Servo under a 10096 load condition SPESE EET reed Settling Time High Speed speed 0 v time time The unit of the position command can be divided precisly max 10 000 pulses revolution time 500 since the drive controls the operating current depending on the 1000 variation of a load condition it is possible to reduce the heat 1600 generation in turn improving the efficiency 2000 3600 5000 Ezi SERVO Stepper 6400 Part Numbering e Combination list of Ezi SERVO Ezi SERVO 42S A O Unit Part Number Motor Model Number Drive Model Number Ezi SERVO 28M D EzM 28M D EzS PD 28M D Ezi SERVO 28M E EzM 28M E
15. for Cable Length The unit is 1m and Max 2m length FASTECH Ezi SERVO FASTECH Ezi SERVO External Wiring Diagram Ezi SERVO Motor and Encoder GND 24VDC 10 GND 40 70 VDC Encoder o Controller CW Pulse o CW Pulse o CCW Dir CCW Dir O O In position 24VDC GND 24V DC Servo On Off Twisted Pair Shield Cable Alarm Reset o x1 BRAKE BRAKE NC FG O O O XRed color is only for 86mm motor drive EZS PD 86 series Pay attention to red color that describe the difference XThere is no BRAKE function for 86mm motor drive e Control Signal input output Description Input signals of the drive are all photocoupler inputs The signal shows the status of internal photocouplers ON conduction OFF Non conduction not displaying the voltage levels of the signal Drive Drive ME 20 L 24VDC 11 12 24 GND 13 14 CW Pin 1 2 CCW Pin 3 4 Alarm Reset Pin 13 Servo On Off Pin 14 CW CCW Input This signal can be used to receive a positioning pulse command from a user side host motion controller A user can select
16. h power devices in inverter exceeds the limit value 2 Overspeed Motor speed exceed 3000rpm Emm 3 Step out Position value is higher than specified value in motor stop status 0 5s 20s The motor is continously operated more than 5 second 4 Overload under a load exceeding the max torque 5 Overheat Inside temperature of drive exceeds 55 C Alarm LED flash ex Step out 6 Over regeneratived voltage Back EMF more than high limit value 7 Motor Connection The power is ON without connection of the motor cable to drive 8 Encoder Connection Cable connection error with Encoder connector in drive 1 Voltage limit of Back EMF depends on 9 Motor Voltage error The power supplied to the motor is less than low limit value 2 motor model 10 Inposition error After operation is finished a position error occurs 2 Low limit voltage value depends on motor model 2 Pulse input and motor direction selection switch SW1 FASTECH Ezi SERVO Indication Swich Name Functions Selectable 1 Pulse input mode or 2 Pulse input mode as 2P IP Selecting pulse pulse input signal pin 1 input mode ON 1 Pulse mode OFF 2 Pulse mode Default 2 Pulse mode Based on CW Dir signal input to driver DIR Swiching Rotational 2 ON CCW Direction OFF CW Direction Default CW mode Direcition Selection ON Direction Selection OFF 3 Position Controller Gain Selection switch SW2 The purpose of the Po
17. ng in the Ezi SERVO that utilizes the unique feature of stepping motors After reaching a desired target position Ezi SERVO does not experience a fluctuation in motion This feature is especially useful in an application such as vision systems in which vibration could be a problem Motor Complete stop Hunting Ezi SERVO Servo motor CW pulse 0 0 pulse CCW E Time FASTECH Ezi SERVO FASTECH Ezi SERVO Ezi SERVO is a high precision servo drive using a high resolution Compared with common step motors Ezi SERVO can maintain a encoder with 10 000 pulses revolution high torque state over relatively long period of time It is possible Unlike a conventional for the driver to continuously operate without loss of synchronism microstep drive the under 100 of the load there is no need to concern the load on board high per 8 tolerance opposing to conventional microstep drives Ezi SERVO formance DSP B phase exploits high torque in high speed regime owing to the innovative Digital Signal optimum current phase control accordance with rotational Processor performs Torque speeds a vector control and filtering producing a smooth rotational control with minimum ripples torque Rotor pos A phase current Stepping Similar to conventional stepping motors Ezi SERVO shows good synchronization with commanding puls
18. nput BRAKE function is optional x There is no BRAKE function for 86mm motor drive FASTECH Ezi SERVO FASTECH Ezi SERVO System Configuration p SFE CPA REGES PP See ne our 7 TH PTT DEFE lt 7 y Power Cable Control Unit Motion Controller Network Motion Controller DSignal Cable Encoder Extension Cable Motor Extension Cable Input DC Power Type Power Cable Motor Cable Encoder Cable Control Cable Standard Length 30 30 Max Length 2m 20m 20m 20m 1 Cable Option DSignal Cable Available to connect between Control System and Ezi SERVO Item Length m Remark CSVO S LILILIF CSVO S LILILIM Normal Cable Robot Cable OOO OOO lis for Cable Length The unit is 1m and Max 20m length 3Motor Extension Cable Available to extended connection between motor and Ezi SERVO Length m Item Remark CSVO M LILILIF CSVO M LILILIM Normal Cable Robot Cable HOO OOO LJ is for Cable Length The unit is 1m and Max 20m length Q Encoder Extension Cable Available to extended connection between Encoder and Ezi SERVO Length m Item Remark CSVO E LILILIF CSVO E LILILIM Robot Cable O
19. ong Wonmi Gu Bucheon si Gyeonggi do Rep Of Korea Zip 420 734 TEL 82 32 234 6300 6301 FAX 82 32 234 6302 Email fastech fastech co kr Homepage www fastech co kr Copyright 2007 FASTECH Co Ltd All Rights Reserved Apr 10 2009 rev 07
20. sition Controller is to correct motor position deviation after stopping caused by load and friction Depending on the motor load the user have to select position of the switch because the system to be Stable and to correct the error as fast as possible To tune the controller 1 Set the switch to position 2 Start to rotate the switch until system becomes stable 3 Rotate the switch 1 2 position to reach better performance Time Constant of the Integral Part 1 Position Proportional Gain O N 1 Values in the columns are in relative units They only show the parameter changes depending on the switch s position 2 Default 3 TT IH OD D O GD W OW GOD CO BS N N I OO O Q G EN 4 Resolution selection switch SW3 0 The number of pulse per revolution 1 Resolution value depend on encoder type Position Pulse Rotation Position Pulse Rotation 2 Default 10 000 0 500 5 3600 500 6 5000 olo 2 1000 7 6400 3 1600 8 7200 3 N 4 2000 9 10000 E 5 In position value setting switch SW4 10 select the output condition of In position signal In position output signal is generrated when the pulse number of position error Is lower than selected In position value set by this switch after positioning
21. t Overload Overheat Overvoltage Inposition error Functions Motor disconnect Encoder disconnet Input low voltage LED Display Power status Alarm status In Position status Servo On status In Position Selection 0 F Selectable with Rotary switch Position Gain Selection O F Selectable with Rotary switch Pulse Input Method 1 Pulse 2 Pulse Selectable with DIP switch Rotational Direction CW CCW Selectable with DIP switch Speed Position Control Command Pulse train input I O Signal Input Signals Output Signals Position command pulse Servo On Off Alarm reset Photocoupler input In Position Alarm Photocoupler output Encoder signal A A B Z Z 26C31 or Equivalent Line driver output e Drive dimension mm 134 157 127 100 5 14 5 26 5 I XOnly for 86mm motor drive EZS PD 86 series Motor Specifications 00 AUO MODEL UNIT EzM 28M D EzM 28M E EzM 28L D EzM 28L E DRIVE METHOD c BI POLAR BI POLAR BI POLAR BI POLAR NUMBER OF PHASES 2 2 2 2 VOLTAGE VDC 3 0 2 5 3 0 3 5 CURRENT per PHASE A 0 95 1 0 0 95 1 0 RESISTANCE per PHASE Ohm 3 2 2 5 3 2 3 5 INDUCTANCE per PHASE mH 2 5
22. ve Ezi SERVO EzS PD 86 Series FASTECH Ezi SERVO FASTECH Ezi SERVO Pulse input and direction selection SW1 Position Controller Gain selection SW2 Resolution setting SW3 In Position value setting SW4 Encoder connection CN2 Motor connection CN3 Power connection CN4 Setting and Operating gt Status monitor LED gt Input Output connection CN1 86mm motor drive only EzS PD 86 Series SW1 SW2 SW3 SW4 Pulse input and direction selection Position Controller Gain selection Resolution setting OL In Position value setting Encoder connection CN2 Motor connection CN3 Power connection CN4 gt Status monitor LED Input Output connection CN1 1 Status Monitor LED Indication Color Function ON OFF Condition POW Green Power input indication LED is turned ON when power is applied V Lights On when positioning error reaches within INP Complete positioning motion the preset pulse selected by rotary switch Servo On Lights On SON Orange Servo On Off indication Servo Off Lights Off Flash when protection function is activated ALM Red Alarm indication Identifiable which protection mode is activated by counting the blinking times Protection functions and LED flash times Times Protection Conditions 1 Overcurrent The current throug
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