Fastech Ezi-Step Plus-R, Ezi-Step Plus-R Mini, Ezi-STEP-PR-MI, Ezi-STEP-PR User Manual

User Manual

Text

( Rev.08.05.028)

2

1. Safety Precautions

- Table of Contents -

1. Safety Precautions ................................ .................... 5

2. Specifications of the Drive ................................ ........... 7

2.1 Characteristic Table ................................ ............................ 7

2.2 Dimensions ................................ ................................ ...... 9

3. Specifications of the Motor ................................ .......... 10

3.1 BM-20 Series ................................ ................................ ....10

3.2 BM-28 Series ................................ ................................ ....11

3.3 BM-42 Series ................................ ................................ ....12

3.4 BM-56 Series ................................ ................................ ....13

3.5 BM-60 Series ................................ ................................ ....14

3.6 BM-86 Series ................................ ................................ ....15

4. Characteristics of Motor Torque ................................ ...... 16

5. Configuration 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) ................................ .......................... 26

6.7 Power Connector(CN4) ................................ ............................ 26

6.8 I/O Signal Connector(CN1) ................................ ....................... 27

6.9 Communication Connector(CN5) ................................ .................... 27

7. External Name and Function Setting of Ezi -STEP-PR-MI .................. 28

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1. Safety Precautions

7.1 Appearance and Part Name ................................ ........................ 28

7.2 Drive ID Switch Selection (SW1) and 7 -segmant ................................ ....28

7.3 Communication Speed and Terminal Resistance Select Switch(SW2) ...................28

7.4 Motor Connection (CN3) ................................ .......................... 29

7.5 Encoder Connection (CN2 ) ................................ ........................ 29

7.6 Power Connection(CN4) ................................ ........................... 29

7.7 I/O Signal Connection (CN1) ................................ ..................... 30

7.8 Communication Connecttion (CN5) ................................ .................30

8. Control I/O Signal ................................ ................... 31

8.1 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 Connection with the PC ................................ ......................... 52

11.2 Communication Interface Circuit ................................ ................ 54

12. Protective Function ................................ ................. 55

12.1 Alarm Type ................................ ................................ .....55

12.2 Acquiring Alarm Information ................................ .................... 55

12.3 Alarm Reset ................................ ................................ ....56

13. Parameter ................................ .......................... 57

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1. Safety Precautions

13.1 Parameter List ................................ ................................ .57

13.2 External Encoder Connection ................................ .................... 57

13.3 Parameter Description ................................ .......................... 58

Appendix ................................ ............................... 62

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1. Safety 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.

☞ 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.

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

1. Safety Precautions

※ Before getting started ※

l Thank you for purchasing Ezi-STEP of FASTECH, which is a full digital position

control servo system with a 32bit high performance DSP.

l This manual describes handling, maintenance, repair, diagnosis, and

troubleshooting of Ezi- STEP.

l Before operating Ezi- STEP, read this manual through.

◆ General Precautions

◆ Put the safety first

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

depending on the situation. Necessarily follow safety precautions.

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1. Safety Precautions

☞ Check if the product is dama ged or any component is omitted.

When an abnormal product is installed and operated, the user may get
injured.

☞ Carefully move the product.

Dropping the product on the ground or the user's foot may cause an
injury.

☞ Use non-flammable materials like metals in the place where the product

is to be installed.

Otherwise, a fire may occur.

☞ When installing several drives in a sealed place, install a cooling

fan to keep the ambient temperature of the drive at 50℃ or lower.
Otherwise, a fire o r other kinds of accidents may occur due to
overheating.

☞ Before connecting cables, check if input power is off.

Otherwise, an electric shock or a fire may occur.

☞ The case of the drive is insulated from the ground of the inte rnal

circuit by the condenser. Necessarily ground the driver.
Otherwise, an electric shock or a fire may occur.

☞ 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.

☞ 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 change cabling while power is being supplied.

Otherwise, the user may get injured or the drive may get damaged.

☞ Do not remodel the drive.

Otherwise, the user may receive an electric shock or the drive may
get damaged. The damaged product is not covered by the warranty.

Caution

Caution

Warning

Caution

Warning

◆ The Status of the Product

◆ Install

◆ Connecting Cables

◆ Change of operation and setting

◆ Repair and Check

Notes on Installation

1) This product has been designed for indoor uses. The ambient temperature of the room
should be 0℃~55℃.

2) If the temperature of the case is 50 ℃ or higher, radiate heat outside to cool down
the case.

3) Do not install this product under direct rays or near magnetic or radioactive

objects.

4) If more than 2 drives are installed in a line, keep the interval of 20mm or more
vertically and 50mm or more horizontally.

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1. Safety Precautions

2. Specifications of the Dri ve

2.1 Characteristic Table

1) Ezi-STEP-PR

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1. Safety Precautions

2) Ezi-STEP-PR-MI

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1. Safety Precautions

2.2 Dimensions

1) Ezi-STEP-PR

2) Ezi-STEP-PR-MI

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3. Specifications of the Motor

3. Specifications of the Motor

3.1 BM-20 Series

1) Specifications

2) Dimensions

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3. Specifications of the Motor

3.2 BM-28 Series

1) Specifications

2) Dimensions

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3. Specifications of the Motor

3.3 BM-42 Series

1) Specifications

2) Dimensions

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3. Specifications of the Motor

3.4 BM-56 Series

Ezi-STEP-PR drive only.

1) Specifications

2) Dimensions

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3. Specifications of the Motor

3.5 BM-60 Series

Ezi-STEP-PR drive only.

1) Specifications

2) Dimensions

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3. Specifications of the Motor

3.6 BM-86 Series

Ezi-STEP-PR drive only.

1) Specifications

2) Dimensions

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4. Characteristics 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.

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4. 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)

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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

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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

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5. Configuration of the Controller

3) Configuration of Ezi-STEP-PR-MI

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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

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5. Configuration of the Controller

2) Diagram of Ezi-STEP-PR86

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5. Configuration of the Controller

3) Diagram of Ezi-STEP-PR-MI

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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

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6. External Name and Function Setting of Ezi-STEP-PR

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

The communication speed of drive modules connected to one segment must

be set to the same value.

Support max. 115200[bps] when using RS -232 to RS-485 conveter

SW2.1

SW2.2

SW2.3

SW2.4

Baud rate
[bps]

*1 : default setting value.

SW2.1 is OFF.: Terminator resistor is Off.

SW2.1 is ON. : Terminator resistor 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

115200 *1

X

ON

OFF

ON

230400

X

OFF

ON

ON

460800

X

ON

ON

ON

921600

Caution

Caution

6.2 Status Display LED

6.3 Drive ID Select Switch(SW1)

1) When several modules are connected to one daisy chain network, this switch is to

set intrinsic ID to each module.

2) The switch can set intrinsic ID to each module up to 16 numbers from 0 to F(15).

6.4 Communication Speed and Terminal Resistance Select Switch (SW2)

SW2 is to set the communication speed between central controller (PC) and Drive. If

corresponding drive module is connected to the end of one network segment, SW2 sets
whether terminal resis tance 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.

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6. External Name and Function Setting of Ezi-STEP-PR

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

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 : GND

No.

Function

1

Power input : GND

2

Power input : 24VDC ± 10%

6.5 Motor Connector(CN3)

Motor connector
(Connector Type : Molex 5569-04A2)

(86mm)

6.6 Encoder Connector(CN2)

Used for monitoring the external encoder signal.

Encoder connector (Connector Type : Molex 55959-1030)

For setup of connected encoder resolution, refer to 「12 Parameter」.

6.7 Power Connector(CN4)

Power supply connector ( Connector Type : Molex 5569-02A2)

(86mm)

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6. External Name and Function Setting of Ezi-STEP-PR

Connect the Brake (current consumption is under 200[mA]) for pin 24.
Refer to 7.4 Output signal for the Brake that is over 200[mA].

Function

No

No

Function

LIMIT+ (Dedicated Input)

1

14

Digital In2 ( Programmable Input)

LIMIT- (Dedicated Input)

2

15

Digital In3 ( Programmable Input)

ORIGIN (Dedicated Input)

3

16

Digital In4 ( Programmable Input)

Digital In1 (Programmable Input)

4

17

Digital In5 ( Programmable Input)

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 system( Output )

Digital Out4 (Programmable Output)

11

24

Control signal of brake system(Output)

Digital Out5 (Programmable Output)

12

25

GND external(Input)

Digital Out6 (Programmable Output)

13

26

+24V external(Input)

* This connector fixed pin is connected to frame GND through a mount hall.

Pin No.

Function

1,2,4,5,7,8

GND

3

Data+

6

Data-

case

Frame GND

LED No.

Display

Color

Lighting Condition

1,3

RUN

Green

Flash when CPU in the drive operates

2,4

COMM

Yellow

Flash when this communicates with the
upper controller

Caution

6.8 I/O Signal Connector(CN1)

Input/output signal connector ( Connector Type : 3M 10226-5A2JL)

The programmable input/output pin is set by using user program(GUI) or DLL library.

6.9 Communication Connector(CN5)

Connector Type : RJ45
Cable Type : UTP/STP CAT5E

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7. External Name and Function Setting of Ezi-STEP-PR-MI

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. External Name and Function Setting of Ezi -STEP-PR-MI

7.1 Appearance and Part Name

7.2 Drive ID Switch Selection (SW1) and 7 -segmant

1) When several modules are connected to one daisy chain network, this switch is to

set intrinsic ID to each module.

2) The switch can set intrinsic ID to each module up to 16 numbers from 0 to F(15).

3) 7-segmant of status monitor is display the ID number in normal status, but in

alarm status it display the protection number by flash times.

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 drive module is connected to the end of one network segment, SW2 sets

whether terminal resis tance 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 .

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7. External Name and Function Setting of Ezi-STEP-PR-MI

The communication speed of drive modules connected to one segment must

be set with same value.

Support max. 115200[bps] when using RS -232 to RS-485 conveter

No.

Function

1

B Phase

2

A Phase

3

/A Phase

4

/B Phase

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

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

115200 *1

X

ON

OFF

ON

230400

X

OFF

ON

ON

460800

X

ON

ON

ON

921600

No.

Function

1

Power input : 24VDC ± 10%

2

Power input : GND

Caution

Caution

7.4 Motor Connection (CN3)

7.5 Encoder Connection (CN2)

To setup connected encoder resolution, refer to 「13 Parameter」.

7.6 Power Connection(CN4)

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7. External Name and Function Setting of Ezi-STEP-PR-MI

No.

Function

Input/Output

1

24VDC

Input

2

24VDC GND

Input

3

BRAKE+

Output

4

BRAKE-

Output

5

+Limit sensor

Input

6

-Limit sensor

Input

7

Origin sensor

Input

8

Digital 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

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].

No.

Function

1

Data+

2

Data-

3

GND

Caution

7.7 I/O Signal Connection (CN1)

The programmable input/output pin is set by using user program(GUI) or DLL library.

7.8 Communication Con necttion (CN5)

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8. Control I/O Signal

Ezi-STEP-PR

CN1 No.

Ezi-STEP-PR-

MI

CN1 No.

Signal

Name

Function

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+
Jog­AlarmReset
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 St art)
User input 0 ~ User input 5 (User IN 0 ~ User IN 5)

14

9

IN2

15

10

IN3

16

11

IN4

17

12

IN5

5

13

IN6

6

14

IN7

18

None

IN8

19

None

IN9

Ezi-SERVO-PR

CN1 No.

Ezi-SERVO-MI-PR

CN1 No.

Signal

Name

Function

7

15

COMP

Specific output signal (Compare Out)

8

16

OUT1

InPosition
Alarm
Moving
Acc/Dec
ACK
END
AlarmBlink
OriginSearchOK
ServoReady
Brake
Position Table output 0 ~ Position Table output 2

(PT OUT 0 ~ PT OUT 2)
User Output 0 ~ User Output 8

9

None

OUT2

10

None

OUT3

11

None

OUT4

12

None

OUT5

13

None

OUT6

20

None

OUT7

21

None

OUT8

22

None

OUT9

8. Control I/O Signal

8.1 Signal Cabling
All control I/O signals use connector CN1 as specified below.

1) Input : 「Limit+」, 「Limit-」, 「Origin」 signals are fixed to CN1 No. 1,2,3

respectively. Other signals like Reset are assigned to IN1~IN9 terminal blocks.

(3 dedicated input + 9 programmable input = total 12 input pins.)

Ezi-STEP-PR : 3 dedicated In + 9 programmable In = 12 Inputs

Ezi-STEP-PR-MI : 3 dedicated In + 7 programma ble In = 10 Inputs

2) Output : 「COMP」 signal is dedicated to CN1 No.7. Other signals like

Alarm are assigned to OUT1~OUT9 terminal blocks.
Ezi-STEP-PR : 1 dedicated Out + 9 programmable Out = 10 Outputs

Ezi-STEP-PR-MI : 1 dedicated Out + 1 programmable Out = 2 Outputs

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8. Control I/O Signal

Drive Internal Circuit

8.2 Connection Circuit

All drive I/O signals are insulated by a photocoupler. The signals display the

internal photocoupler status - [ON: Conduction] and [OFF: Non- Conduction], not the

signal voltage level.

1) Input Circuit

Input circuit power of 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 .

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8. Control I/O Signal

Drive Internal Circuit

DC 30V
Within 15㎃

Output Port

l Connect PNP type Input signal

Connect the ‘+24V external’signal of drive to ‘GND’ of Controller .

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

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8. Control I/O Signal

Limit-

Sensor

Origin

Sensor

Limit+

Sensor

Moving

Limit- Sensor

Limit+ Sensor

Origin Sensor

Reset Input Signal

Set the position to 0 at the rising/falling edge of this

8.3 Input Signal

1) Limit Sensor and Origin Sensor

Limit sensors and origin sensor are assigned to LIMIT+, LIMIT- , and ORIGIN pin in
the CN1 connector respectively. LIMIT+ and LIMIT- sensors are used to limit the

motion of each axis clockwise and counterclockwise 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 a ctual position to 0 in

relation to motion position control. The reset signal pulse scale is 10ms or more.

3) Position Table A0 – A7 (PT A0~A7) Input
The position table supports the machine so that its motion can be controlled by

I/O signals of central controller. It can directly transmit commands such as

position table number, start/ stop and origin return to the machine through the PLC.
Also, the user can check output signals such as 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 position table numbers can be set.

1) To set position table number(0 ~255) to be run by ‘PT start’ input signal.

2) To set position table number(0~255) to save current position values by

‘Teaching’ input signal.

By using PT A0~A7 signals, the position table address can be set from 0 to 255
with a binary number. A0 is LSB(least significant bit) and A7 is MSB(most

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8. Control I/O Signal

A7

A6

A5 ~ A3

A2

A1

A0

PT No.

0 0 0

0 0 0

0

0 0 0

0 0 1

1

0 0 0

0 1 0

2

0 0 0

0 1 1

3

… … … … … … … … … … … … … … … … … …

1 1 1

1 1 0

254

1 1 1

1 1 1

255

Motion Pattern

Position Table No. Input (PT A0-A7)

Position Table Start Input Signal (PT Start)

ACK Output Signal

END Output Signal

significant bit). The following table shows how to assign position table number.

*1. Save signal cabling : If ‘PT A0~A7’signal is not connected when motioning by

‘PT Start’signal, the position table number will be ‘0’

4) Position Table Start (PT Start) Input

By using PT A0~A7 signals, set and input the runn ing PT start number. Then the

motion pattern corresponding to the PT No. will be executed.
Following example shows that total 6 motion patter ns are in order executed 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 signal level is set to [OFF].

4) PT Start signal is edge trigger 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 will be executed.

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8. Control I/O Signal

Motion
Soft Stop Signal

*3. Checking the ‘Moving’ and ‘Inposition’signals :
Between sequencial ‘PT Start’ motion command signal, the checking step

for motion status(Moving, Inposition) is needed before next motion command.

5) Soft Stop Input

Soft stop input signal is to stop motion patter ns under 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 r otates 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).

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8. Control I/O Signal

Plus Direction

Motion Pattern

Minus Direction

Jog- Input

Jog+ Input

Alarm Output

Alarm Blink Output

Alarm Reset Input

(Pulse Scale : 0.1s or more)

Servo Ready Output

STEP ON command

Motion Pattern

Pause Input : A

Pause Input : B

7) AlarmReset Input

When the protective function of drive executes, alarm output is released. When
AlarmReset input is set to ON, alarm output and alarm blink output are released.

Before releasing alarm output, the user must remove any cause of alarm working.

When ‘STEP OFF’button click of ‘Motion Test’ window, the drive stops supplying

the current to the motor and so the user can directly adjust the output position.
When you click ‘STEP ON’, the drive restarts to supply the current to the motor

and its torque is recovered. Befo re operating the motor, the user must set it to

ON.

8) Pause Input

When Pause signal is set to ON, the motion in service is stopped. There are two

pause signal operation modes as follows.

① Case A : When Pause signal is set to ON, the motor starts to decelerate. Pause

② Case B : When Pause signal is set to ON, the motor starts to decelerate. The

Pause signal pulse scale is 10ms or more.

*1. This function is not applied while ‘Repeat Test’ of the User Program(GUI) is

signal becomes OFF before the motor is completely stopped. To start motion,
Pause signal should be set to ON.

signal is continuously main tained since the motor is completely stopped. To
start motion, Pause signal should be set to OFF.

executing.

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8. Control I/O Signal

Motion Pattern

PT No. Input A0-A7

Teaching Signal

9) Origin Search Input

When ‘Origin Search’ signal is set to ON (10ms or more), it starts to search the
origin position according to selected conditions. The conditions are subject to

parameters such as No. 20: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

‘12.Parameter’.) When the origin search command is ended, ‘Origin Search OK’

signal is set to ON to CN1 connector ’s output port.

10) Teaching Input
Teaching signal functions that the position 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 commands(Absolute 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 save to the

position value of corresponding PT . At this time, it becomes the absolute
position value.

4) Teaching signal pulse scale is 10ms or more.

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8. Control I/O Signal

PT No.

Position Value [pulse] of Corresponding PT

3

12010

4

15300

12

-12800

255

38520

Motion Pattern

Emr Stop Input

* After executing Teaching, click ‘Refresh’ icon, and the position value will

* Click ‘Save to ROM’ icon, and the position value will be saved to the ROM

* Teaching signal can be used by two methods; the user assigns actual signal to

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 is 10ms or more.

be displayed to the position table.

area.

the motor, or he clicks ‘Teaching’ icon at the ‘I/O Monitoring’ window of
User Program(GUI).

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8. Control I/O Signal

PT No.

…

JP Table No.

JPT 0

JPT 1

JPT 2

14 … 15

115

116

225

12) JPT Input0~Input2 (Jump Position Table Input) Input
To select motion pattern(position table number) to be subsequently executed
according to input signal conditions.

【 Example 】 If PT 14 motion is operating, when there is no other input signal,
next motion becomes PT 15 as shown in Figure 1). However, if ‘JPT 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

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8. Control I/O Signal

PT No.

…

Wait Time

JP Table No

JPT 0

JPT 1

JPT 2

14 … 500

10015

10115

10116

10255

13) JPT(Jump Position Table) Start Input

To select motion pattern(position table number) to be subsequently executed
according to input signal conditions . The difference from Paragraph 「 13) ‘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 execute d.

【Example】

PT 14 Data

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8. Control I/O Signal

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 drive exceeds 55℃

6

Over Regenerative

voltage

Back-EMF more high limit value*1

7

Motor Connect error

The power is ON without connection of the motor
cable to drive

9

Motor Voltage error

Motor voltage is out of limited value*2

11

System error

Error occurs in drive system

12

ROM error

Error occurs in parameter storage device(ROM)

14

Input voltage error

Power source voltage is out of limited value*3

8.4 Output Signal

1) ‘Compare Out’/ ’Trigger Pulse Output’Output

‘Trigger Pulse Output ’ signal is displayed when specific conditions are

performed. It is fixed to CN1 connector ’s COMP (Compare Out) pin. And it is
available when the motor needs to be sy nchronously controlled by an external

controller. Refer to 「10.5 Trigger Pulse Output」.

2) ‘Alarm’ & ‘AlarmBlink’ Output

When the motor operates normally, alarm output becomes OFF. When the protective
function operates, alarm output becomes ON. The upper controller being used by the

user detects this alarm and then stops motor operation command. If overload or

overcurrent occurs while the motor is ope rating, the drive detects it and cuts off
the motor’s current. And alarm output is set to ON and also ‘AlarmBlink’ flash

so that the user can check abnormality type. The following table shows alarm type

according to flash count.

*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

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8. Control I/O Signal

Motion Pattern

Acc/Dec Signal

Moving Signal

3) ‘PT ACK’ and ‘PT END’ Output

‘ACK’ and ‘END’ signals are available only when the motion is executed by
position table. When ACK signal is set to ON and END signal is set to OFF, all

motion loops are finished. Then ACK signal becomes OFF and END signal becomes ON.

Refer to 「Ezi-STEP Plus-R User Manual – ‘Position Table Function ’」.

4) ‘Moving’ and ‘Acc/Dec’ Output

As shown below, the position sta rts to move by motion command, and Moving signal
becomes ON and Acc/Dec signal becomes ON in the acceleration and deceleration

section only.

5) ‘Org Search OK’ Output

When the origin return motion is executed by origin search command, ‘Origin
Search OK’ signal is set to OFF. When the origin retu rn motion is normally
finished by the origin sensor, ‘Origin Search OK ’ is set to ON. Refer to 「 7.3

Input Signal - 9) Origin Search Input」.

6) ‘PT(Position Table) Output 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 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 Output 2’.

For more information, refer to 「 Ezi-STEP Plus-R User Manual – Position Table

Function」.

7) ‘BRAKE+’ and ‘BRAKE-‘
This function is used for protect motor rotation in STEP ON status.

DC +24V is connect to ‘BRAKE+’for brake logic and brake control signal
is connect to ‘BRAKE-‘.
It takes some times to supply the current to the motor after STEP ON.
So the Brake signal change to release status after 500[msec] delay.
This function is optional.

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8. Control I/O Signal

8) ‘Brake’ Output

This function can be used when the Brake signal is assigned to one of OUTPUT1~
OUTPUT9 of CN1 connector. This is used for protect motor 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

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9. Operation

9. Operation

9.1 Power Supply Timing

Ezi-STEP Plus-R is supplied power through drive module to motor. Therefore, connect

the drive and the motor with a cable and then supply power to the drive module. After
power is supplied, the motor is basically set to STEP ON status.

9.2 STEP ON/OFF Operation
Drive is ‘STEP ON’status after power is supplied.

(1)Click 「STEP OFF」on ‘Motion Test’ window :

It is possible to rotate motor to move initial position by hands. Because
there’s no current supplied to motor (‘motor free’ status).

(2)Click 「STEP ON」on ‘Motion Test’ window :

The motor is prepared to normal motioning by current supply to motor.

‘AlarmReset’command is used for this function through DLL program.

9.3 Operation Mode

This controller can do three control operations such as I/O command, communication

command(DLL 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 in -position control operation is
executed by operating position table with I/O command

Position Table Operation Sequence

In case of Ezi-STEP Plus-R, the system can execute continuous operation by

position table at the I/O command mode.

① By using PT A0 ~ PT A7 input signal or DLL program, set PT number to be

operated.

② In case of Servo OFF, set the controller to Servo ON by communication program

or Servo ON control input.

③ Start to operate by rising edge of PT Start input signal or communication

program.

Stopping Continuous Operation of Position Table

When the motor is executing continuous operation of position table with Ezi-STEP

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9. Operation

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 from stop status

1~9,999[ms]

Axis Dec Time

Required time until the motor reaches from the axis

max speed to the stop status

1~9,999[ms]

Motion Dir

To select motion direction (CW or CCW)

0~1

Pulse per

Revolution

Number of pulses per revolution.
The range of ‘Axis Max Speed’parameter is depend
on this value.

0~15

Plus-R, stop executing position table by following methods.

① To use DLL program or control input signal corresponding to ‘Stop’ and ‘E-

Stop’. In this case, operation is completely finished and is not connected to
next operation.

② The user can click 「 Pause 」 at User Program(GUI) to temporarily stop

operating. In this case, click 「 Pause 」 again, and remaining operation will
be executed again.

Speed Control Operation

To operate the motor by parameters set by User Program(GUI) or DLL program. (This

is not connected with PT operation.)

Once speed control operation is started, PT operation command is overridden.
Likewise, while PT operation is executing, speed control operation command is

overridden.

The followings show parameters applied to speed control op eration. All position
table item values are overridden.

Teaching Function
Teaching can be executed only by User Program(GUI). For more information, refer to

「User Manual – Position Table Function」.

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10. Other Operation Functions

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

-

No.

Parameter Name

Setting Value

Unit

6

Jog Speed

1500

[pps]

7

Jog Start Speed

100

[pps]

8

Jog Acc Dec Time

200

[msec]

Jog+

Command

Jog-

Command

10. Other Operation Functions

10.1 Position Table(PT) Operation Example

Input ‘PT A0~ PT A7’ signals to set PT number. Input ‘PT Start’number to execute

speed control operation. For more information, refer to 「User Manual – Position Table

Function」.

【Position Table Setting】

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】

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10. Other Operation Functions

Parameter Name

Description

Range

Org Speed

Operation speed when origin return starts

1~500,000[pps]

Org Search Speed

Low-speed operation speed after origin sensor is
sensed and operation start speed when origin start.

1~50,000[pps]

Org Acc Dec Time

The time assigned to the acceleration/deceleration
section when origin return starts and sto ps.

1~9,999[ms]

Org Method

To select how to return the origin

0~2

Org Dir

To select operation direction(CW or CCW)

0~1

Org Offset

After origin return is finished, the motor moves
additionally as this setting value and then 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

Origin Search Command

Origin Sensor Signal Input

Origin Search OK Signal Output

10.3 Origin Return

If the machine is operated by I/O signals, the motor can execute origin return by
inputting ‘Origin Search’ signal. Also, the motor can execute origin return with

User Program(GUI) and DLL program. The following table shows parameter types related

to origin return.

(1) Origin Return Method Setting

To execute origin return, ‘Org Method’ parameter should be set as follows.

① Common Origin (In case of ‘Org Method’= 0)

The machine moves up to the origin sensor by ‘Org Speed’ and ‘Org Acc Dec

Time’ parameters and then finishes precise origin return at the low speed set
to ‘Org Search Speed’. The machine senses the origin sensor and moves as far

as D1 and then stops. And the machine changes its moving direction and

additionally moves as far as D 2 and then stops. D1 and D2 are the same moving
distance. If Org Offset parameter is not ‘0’, the machine moves additionally

as much as the parameter (ex: D3) and then stops. If the limit sensor is sensed

while the machine is under origin return, the machine stops and reverses its
moving direction and then continu es to origin return operation.

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10. Other Operation Functions

Origin Search OK Output

Origin Sensor Signal

Origin Return Command

Z Pulse

② Z-pulse Origin (In case of ‘Org Method’= 1)

This method can be used when external encoder is connected.

The machine moves up to the origin sensor by ‘Org Speed’ and ‘Org Acc Dec

Time’ parameters and then finishes Z-pulse origin return at the low speed set
to ‘Org Search Speed’. That is, after the origin sensor is sensed, the machine

moves slowly to the original moving direction until Z -pulse signal is sensed.

③ Limit Origin (In case of ‘Org Method’= 2)

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 following procedure.

j Set parameters required to origin return.

k Start origin return operation to the r ising edge of control input origin

search or the communication program.

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10. Other Operation Functions

Setting Item

Description

Range

Start/Stop

Setting start/stop of pulse output

0~1

Pulse Start
Position

Setting the start position of first
pulse output

-134,217,727 ~
134,217,727

Pulse Period

Setting the pulse period.
( 0 : pulse output only 1 time in
Pulse start position.
1~ : pulse output repeatedly
depends on setting.)

0~134,217,727
[pulse]

Pulse Width

Setting the pulse width

1~1000[ms]

(3) Interruption of Origin Return

When the machine is under origin return, click ‘Stop’ or ‘E-Stop’ to stop the
machine. In this case, the machine ’s origin is not edited and origin return is

not finished either.

(4) Output of Origin Return Finish

The completion of origin return operation can be decided with related bit values

of either ‘Origin Search OK ’ of control output or ‘Axis Status’ of
communication program.

10.4 Stop Operating
By using two methods of control input and communication program command, the user can

input stop and emergency stop commands. Even though the emergency stop command is

inputted, the motor will not ‘STEP OFF’(‘motor free’ status). In case emergency
stop, the machine stops immediately without deceleration. So, a special caution 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 table shows the setting conditi ons and refer to

「User Manual – Communication Function」.

(2) Signal Output
This output pin of CN1 connector for Trigger Pulse is fixed to 「Compare Out」and

the signal disgram is as follows.

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10. Other Operation Functions

The pulse is output only in bigger position area than ‘pulse start
position’and is output in both motion direction.

Caution

(3) Status Check
By using DLL program, the user can check the trig ger pulse output status.

Refer to 「User Manual – Communication Function」.

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11. Communication Function

If Windows goes to the stand -by mode, serial communication is
basically disconnected. So, after recovering from the stand -by mode,

the user should connect communication again. This content is equally

applied to the library provided with the product.

RS-485 Converter (to RS-232)

Caution

11. Communication Function

In case of RS-485, up to 16 axes can be controlled by the multi -drop link(daisy chain).

11.1 Connection with the PC
There are one method of 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 PC) and Converter (RS232 ↔ RS-485)

Normally Power does not need to be supplied to the converter module. But when

the communication have problems without power, DC 5~24V external power can connect.
The signal is wired as follows.

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11. Communication Function

RJ45 Pin No.

UTP CAT5E cable

Function

1

White/Orange

GND

2

Orange

GND

3

White/Green

Data+

4

Blue

GND

5

White/Blue

GND

6

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.

Pin No.

Function

1

Data+

2

Data-

3

GND

Cautio

Caution

Caution

2) Cable of connecting RS-485 Converter and Drive Module(CN5: Ezi-STEP-PR only)
Connector Type : RJ45

Cable Type : LAN cable, CAT5 or better (UTP or STP)
Signal Wiring : Standard Straight Wiring

(1↔1, 2↔2, 3↔3,…, 8↔8)

If multi-axis connection is required at one segment, up to 16 drive modules can be
connected by the daisy -chain method. The pin signal content is as follows.

3) Cable of connecting RS-485 Converter and Drive Module(CN5 : Ezi-STEP-PR-MI only)
Signal Wiring : Standard Straight Wiring

(1↔1, 2↔2, 3↔3)

If multi-axis connection is required at one segment, up to 16 drive modules can be
connected by the daisy -chain method. The pin signal content is as follows.

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11. Communication Function

Terminal

Resistance

Internal Circuit

Drive

11.2 Communication Interface Circuit

The above figure shows an I/O circuit of RS485 communication interface 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.

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12. Protective Function

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 drive exceeds 55℃

6

Over Regenerative

voltage

Back-EMF more high limit value*1

7

Motor Connect error

The power is ON without connection of the motor
cable to drive

9

Motor Voltage error

Motor voltage is out of limited value*2

11

System error

Error occurs in drive system

12

ROM error

Error occurs in parameter storage device(ROM)

14

Input voltage error

Power source voltage is out of limited value*3

12. Protective Function

12.1 Alarm Type

When an alarm occurs while the controller is operating, a red LED among status display

LEDs flash and the following protective function will be display ed according to flash
count.

12.2 Acquiring Alarm Information

When an alarm occurs, the motor become S TEP OFF(motor free) and then stops by free run

and at the same time displays alarm message.
Also, ‘AlarmBlink’ signal repeats On/Off according to the timing as illustrated

below. The red LED flash every 0.5 second in accordance with alarm number and wait for

2 seconds. And then red LED flash repeatedly until inputting ‘AlarmReset’signal.

(Example) Alarm 3： ‘AlarmBlink’display signal occurred when the Stall is occur.

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12. Protective Function

Flash

Count

Alarm Name

Description

Reset

1

Over Current

Check the mechanical status such as parameter setting,
motor’s short-circuit, or machine load (whether
machine edge is collided), etc.

Valid

2

Over Speed

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 status of drive and motor.

Invalid

9

Motor Voltage

error

Check if power is supplied to the drive.

Invalid

11

System error

Check the green LED of CN5.

Invalid

12

ROM error

Check the green LED of CN5.

Invalid

14

Input voltage

error

Check if power is supplied to the drive.

Invalid

12.3 Alarm Reset

If an alarm occurs, remove its cause and then release it. The alarm can be released as
follows. In case of alarms of which ‘Reset’column is indicated to ‘Invalid’, power

must get downed prior to releasing the alarms.

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13. Parameter

No.

Name

Unit

Lower Limit

Upper Limit

Default

0

Pulse per Revolution

0 15

10

1

Axis Max Speed

[pps] 1 500,000

500,000

2

Axis Start Speed

[pps] 1 35,000

1

3

Axis Acc Time

[msec] 1 9,999

100

4

Axis Dec Time

[msec] 1 9999

100

5

Speed Override

[%] 1 500

100

6

Jog Speed

[pps] 1 500,000

5,000

7

Jog Start Speed

[pps] 1 35,000

1

8

Jog Acc Dec Time

[msec] 1 9,999

100

9

Servo Alarm Logic

0 1

0

10

Servo On Logic

0 1

0

11

Servo Alarm Reset Logic

0 1

0

12

S/W Limit Plus Value

[pulse]

-134,217,727

+134,217,727

+134,217,727

13

S/W Limit Minus Value

[pulse]

-134,217,727

+134,217,727

-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

Motion Dir 0 1 0

27

Limit Sensor Dir

0 1

0

28

Encoder Multiply Value

0 3

0

29

Encoder Dir

0 1

0

30

Pos. Value Counting Method

0 1

0

13. Parameter

13.1 Parameter List

13.2 External Encoder Connection

When external encoder is conne cted to Ezi-STEP PlusR, the user have to set correct
parameters for specification of encoder.

‘No.0 (Pulse per Revolution)’: resolution value that include the multiply value.
‘No.28 (Encoder Multiply Value) ’: encoder multiply value

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58

13. Parameter

No.

Description

Unit

Lower
Limit

Upper
Limit

Default

0

Pulse per Revolution :

Number of pulses per revolution.

Vaule

ppr

Vaule

ppr

0

500 8 6400

1

1000 9 8000

2

1600

10

10000

3

2000

11

20000

4

3200

12

25000

5

3600

13

36000

6

4000

14

40000

7

5000

15

50000

0

15

10

1

Axis Max Speed :

When position moving commands (absolute move, incremental move) are
given, this mode sets the maximum speed which the motor can
operate. So, the motor cannot be operated faster than this value
in any case. This value is set to [pps] unit.

pps 1 500,000

500,000

2

Axis Start Speed :

When position moving commands (absolute move, incremental move) are
given, this mode sets the operation start speed to [pps] unit.

pps 1 35,000

1

3

Axis Acc Time :

When position moving commands (absolute move, incremental move) are
given, this mode sets the acceleration section of operation start
segment to [msec] unit.
Possible range is different from Axis Speed.
(Ex.1) Axis Start Speed=1, Move Speed=400000 : 1~1430 [msec]
(Ex.2) Axis Start Speed=1, Move Speed=10000 : 1~350 [msec]

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 move, incremental move) are
given, the operation speed i s subject to the ratio set to ‘Move
Speed’. (Ex) If current move speed is 10,000 and speed override
is 200, actual motion speed is set to 20,000.

% 1 500

100

6

Jog Speed :

When jog position moving command is given, this mode sets the
motor revolution valu e to [pps] unit.

pps 1 500,000

5000

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

Alarm Logic :

When the motor or the drive is defective and so alarm signal
output is ON through CN1 connector, this mode sets the output
signal level.

♦ 0 : 0 V (Active low level)
♦ 1 : 24V (Active high level)

0 1

0

13.3 Parameter Description

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59

13. Parameter

10

Run/Stop Logic:

When the motor is run, this signal output is ON through CN1
connector, this mode sets the output signal level.

♦ 0 : When motor is run, 0 V (low level) is outputted.
♦ 1 : When motor is run, 24V(high level) is outputted.

0 1 0

11

Alarm Reset Logic :

When the motor or the drive is defective and so an alarm occurs,
this mode sets the input signal level to release the alarm signal.
Before releasing the alarm signal, the user must release its
cause.

♦ 0 : 0 V (Active low level)
♦ 1 : 24V(Active high level)

0 1 0

12

S/W Limit Plus Value :

When position moving commands (absolute move, incremental move ,
jog) are given, this move set the maximum input limit that the
motor can move to the plus(+) direction with 28 bits.

When this value set to ‘0’, S/W Limit function is canceled

pulse

-134,217,
727

+134,217,

727

+134,217,

727

13

S/W Limit Minus Value :

When position moving commands (absolute move, incremental move ,
jog) are given, this move set the minimum input limit that the
motor can move to the minus(-) direction with 28 bits..

When 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 mode sets how to
stop the motor.

♦ 0 : stops the motor immediately by e mergency stop mode.
♦ 1 : stops the motor gradually by s oft stop mode.

0 1

1

16

Limit Sensor Logic :

Sets the signal level so that the motor can recognize limit
sensor’s input to ON.

♦ 0 : 0 V (Active low level)
♦ 1 : 24V(Active high level)

0 1

0

17

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

18

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 by this mode.

pps 1 500,000

1,000

19

Org Acc Dec Time :

In case of origin return command, the acceleration/deceleration
section time of the operation start/stop segment is set to [msec]
unit by this mode.

msec 1 9,999

50

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60

13. Parameter

20

Org Method :

The user can select origin return command types.

♦ 0 : The motor moves up to the origin sensor spot by ‘Org

Speed’ and then executes precise origin return at the low
value of ‘Org Search Speed’.

♦ 1 : The motor moves up to the origin sensor spot by ‘Org

Speed’ and then executes Z-pulse origin return at t he low
value of ‘Org Search Speed’.

♦ 2 : The motor moves up to the limit sensor spot by ‘Org

Speed’ and then immediately stops .

*Z-pulse mode : can used when external encoder connected

For more information, refer to ‘9.3 Origin Return’.

0 2

0

21

Org Dir :

In case of origin return, this mode sets the revolution direction
of the motor.

♦ 0 : moves the motor clockwise.
♦ 1 : moves the motor counterclockwise.

0 1

0

22

Org Offset :

After origin return is finished, the motor moves additionally as
this setting value and then stops. ‘Command Pos/Actual Pos’is
set to ‘0’.

pulse

-134,217,
727

+134,217,

727

0

23

Org Position Set :

After origin return is finished, ‘Command Pos/Actual Pos’value
is set to this setting value.

pulse

-134,217,
727

+134,217,

727

0

24

Org Sensor Logic :

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 when stop status.

%

10

100

50

26

Motion Dir :

When the motor operates by position command, this mode sets the
revolution direction of the motor.

♦ 0 : moves the motor clockwise.
♦ 1 : moves the motor counterclockwise .

If this parameter is changed, normal ly ‘Limit Sensor Dir’is
also changed.

0 1

0

27

Limit Sensor Dir :

Sets the limit sensor direction to stop the motor to the limit
spot under operation.

♦ 0 : When operation direction is ‘CW’, input the sensor

signal to the Limit+ direction, and the motor will stop.

♦ 1 : When operation direction is ‘CW’, input the sensor

signal to the Limit- direction, and the motor will stop.

If this parameter is changed, normally ‘Motion Sensor Dir’is
also changed.

pulse 0 1

0

28

Encoder Multiply Value :

Can select if the external encoder is connected or not.

♦ 0 : No external encoder connected.
(‘Actual Pos/Pos Error ’value display to ‘0’)

♦ 1 : External encoder connected and the value will be

Multiply by ‘1’.

♦ 2 : External encoder connected and the valu e will be

0 3

0

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61

13. Parameter

Multiply by ‘2’.

♦ 3 : External encoder connected and the value will be

Multiply by ‘4’.

29

Encoder Dir :

Can select the encoder 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

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62

Appendix

Type

Item

Max comm. Speed [bps]

External Power

RS485 to RS232

FAS-RCR

115,200

No need (5~24VDC

optional)

Item

Length

CGNR-C-1R8F

1.8m

CGNR-C-003F

3m

CGNR-C-005F

5m

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

Appendix

Option for RS-485 Communication

■ RS485 Converter

Available to communicate the PC and the drive. One module per multi -drop link is required.

FAS-RCR

■ RS-232 Connection Cable for FAS-RCR

Universal DB-9 male-female type cable is used.

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.

For more information wiring diagram and connector, refer to 「10. Communication Function」.

For cabling position, refer to ⑤ of 「5.2 Controller Configuration 」.

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63

Appendix

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

■ RS-485 Connection Cable :for Ezi -STEP-PR-MI

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64

Appendix

Use

Item

Specification

Maker

Terminal Block

connector

Connector

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

O3

11

OUT4

O4

12

OUT5

O5

13

OUT6

O6

20

OUT7

O7

21

OUT8

O8

22

OUT9

O9

23

Brake+

B+

24

Brake-

B-

Option for Interface Board

■ Terminal Block

■ Extension cable for Interface Board

Available to extend the distance between the terminal block board and the drive.

The cable connection is 1:1 straight type.

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65

Appendix

Option for Motor Drive : for Ezi-STEP-PR

■ Cable for Input/Output Signal

Available to connect between Control S ystem and Ezi-STEP Plus-R.

Refer to ① 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 ④ 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 ③ of 「5.2 Controller Configuration」.

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66

Appendix

Drive Connector(CN3)

Cable Connection

Motor Connector

Pin Layout

Pin No.

Pin No.

Pin Layout

1 1

2

2

3

3

4

4

Item

Specification

Maker

Housing

5557-04

MOLEX

Terminal

5556

MOLEX

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

Type

Item

Specification

Maker

Drive Connector (CN2)

Housing

Terminal

51353-100

56134-9000

MOLEX

MOLEX

Motor Connector

Housing

Terminal

SMP-09V-NC

SHF-001T-0.8BS

JST

JST

Wiring Diagram

Connector Specification

■ Extension cable for Encoder

Available to extend the distance between the encoder and Ezi-STEP Plus-R.

Refer to ② of 「5.2 Controller Configuration」.

Wiring Diagram

Connector Specification

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67

Appendix

■ Connector for cabling

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68

Appendix

Option for Motor Drive : f or Ezi-STEP-PR-MI

■ Cable for Input/Output Signal

Available to connect between Control S ystem and Ezi-STEP-PR-MI.

Refer to ① of 「5.2 Controller Configuration」.

■ Cable for Power

Available to connect between Power and Ezi -STEP-PR-MI.

Refer to ④ of 「5.2 Controller Configuration」.

■ Extension Cable for Motor

Available to extended connection between motor and Ezi -STEP-PR-MI.

Refer to ③ of 「5.2 Controller Configuration」.

■ Extension cable for Encoder

Available to extend the distance between the encoder and Ezi -STEP-PR- MI.

Refer to ② of 「5.2 Controller Configuration」.

■ Connector for cabling

These connectors are serviced together with Ezi -STEP-PR-MI except when purchasing
Option cables.

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69

Appendix

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70

Appendix

ⓒ Copyright 2008 FASTECH Co.,Ltd.

All Rights Reserved Sep 13, 2012 rev.08.05.027

www.fastech.co.kr