FASTECH

Setting & Operation

◆ 86mm Motor Drive(EzS-PD-86 series)

Status Monitor LED

1. Drive Status LED

Indication	Color	Function	ON/OFF Condition
PWR	Green	Power input indication	LED is turned ON when power is applied
INP	Yellow	Complete Positioning Motion	Lights On when Positioning error reaches within the preset pulse selected by rotary switch
SON	Orange	Servo On/Off Indication	Servo On: Lights On, Servo Off: Lights Off
ALM	Red	Alarm indication	Flash when protection function is activated(Identifiable which protection mode is activated by counting the blinking times)

◆ Protection functions and LED flash times

Times	Protection	Conditions
1	Over Current Error	The current through power devices in inverter exceeds the limit value^*1
2	Over Speed Error	Motor speed exceeds 3,000 [rpm]
3	Position Tracking Error	Position error value is higher than 180˚ in motor run state
4	Over Load Error	The motor is continuously operated more than 5 seconds under a load exceeding the max. torque
5	Over Temperature Error	Inside temperature of drive exceeds 85℃
6	Over Regenerated Voltage Error	Back-EMF is higher than limit value^*2
7	Motor Connection Error	The power is ON without connection of the motor cable to drive
8	Encoder Connect Error	Cable connection error in Encoder connection of drive
10	In-Position Error	After operation is finished, position error more than 1 pulse is continued for more than 3 seconds
11	System Error	Error occurs in drive system
12	ROM Error	Error occurs in parameter storage device(ROM)
15	Position Overflow Error	Position error value is higher than 180˚ in motor stop state

* 1 : Limit value depends on motor model(Refer to the Manual)
* 2 : Voltage limit of Back-EMF depends on motor model (Refer to the Manual)
※ For the details, please refer to the Manual.

Alarm LED flash
(Ex, Position tracking error)

Switch

1. Pulse Input Setting Switch(SW1.1)

Indication	Switch Name	Function
2P/1P	Selecting Pulse Input Mode	Selectable 1-Pulse input mode or 2-Pulse input mode as Pulse input signal. ON: 1-Pulse mode OFF: 2-Pulse mode ※ Default: 2-Pulse mode

2. Rotational Direction Setting Switch(SW1.2)

Indication	Switch Name	Function
DIR	Switching Rotational Direction	Based on CW(+Dir signal) input to driver. ON: CCW(-Direction) OFF: CW(+Direction) ※ Default: CW mode

CCW Direction
Direction setting switch : ON

CW Direction
Direction setting switch : OFF

3. Resolution Setting Switch(SW3)

The Number of pulse per revolution. .

Position	Pulse/Revolution
0	500^*1
1	500
2	1,000
3	1,600
4	2,000

Position	Pulse/Revolution
5	3,600
6	5,000
7	6,400
8	7,200
9	10,000^*2

* 1 : Resolution of position “0” will be different according to the resolution of encoder adopted to the product. But in case of the encoder with 10,000[ppr] resolution, it will be set as 500.
* 2 : Default value of resolution will be the same as the resolution of encoder adopted to the product.
※ When selected resolution is more then encoder resolution, motor shall be operated by microstep between pulses.

4. Position Controller Gain Setting Switch(SW2)

The Position Controller Gain Switch allows for the correction of the motor position deviation after stopping caused by load and friction. Depending on the motor load, the user may have to select a different gain position to stabilize and to correct positional error quickly.

To tune the controller
1. Set the switch to “0” position.
2. Start to rotate the switch until system becomes stable.
3. Rotate the switch 1~2 position to reach better performance.

Position	Time Constant of the Integral part	Proportional Gain^*1
0	1	1
1	1	2
2	1	3
3^*2	1	4
4	1	5
5	1	6
6	2	1
7	2	2
8	2	3
9	2	4
A	2	5
B	3	1
C	3	2
D	3	3
E	3	4
F	3	5

* 1 : Value in the columns are in relative units. They only show the parameter changes depending on the switch’s position.
* 2 : Default = 3.

5. In-Position Value Setting Switch(SW4)

To select the output condition of In-Position signal, In-Position output signal is generated when the pulse number of positional error is lower than selected In-Position value set by this switch after positioning command is executed.

Position	In-Position Value [Pulse] Fast Response
0^*1	0
1	1
2	2
3	3
4	4
5	5
6	6
7	7

Position	In-Position Value [Pulse] Accurate Response
8	0
9	1
A	2
B	3
C	4
D	5
E	6
F	7

* 1 : Default = 0.
※ Please refer to the Manual for setting.

Connector

1. Encoder Connector(CN2)

No.	Function	I/O
1	A+	Input
2	A-	Input
3	B+	Input
4	B-	Input
5	Z+	Input
6	Z-	Input
7	5VDC	Output
8	GND	Output
9	F.GND	-
10	F.GND	-

2. Input / Output Signal Connector(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

No.	Function	I/O
11	Alarm	Output
12	In-Position	Output
13	Servo On/Off	Input
14	Alarm Reset	Input
15	NC	-
16	BRAKE+	Output
17	BRAKE-	Output
18	S-GND	Output
19	EXT_GND	Input
20	EXT_24VDC	Input

3. Motor Connector(CN3)

No.	Function	I/O
1	A Phase	Output
2	B Phase	Output
3	/ A Phase	Output
4	/ B Phase	Output

No.	Function	I/O
1	/ B Phase	Output
2	B Phase	Output
3	/ A Phase	Output
4	A Phase	Output

※ 86mm Motor Drive

4. Power Connector(CN4)

No.	Function	I/O
1	24VDC	Input
2	GND	Input

No.	Function	I/O
1	GND	Input
2	40~70VDC	Input

※ 86mm Motor Drive

Connector Specifications

Connector specifications for cabling to drive.

Purpose		Item	Part Number	Manufacture
Power (CN4)		Housing Terminal	5557-02R 5556T	MOLEX
Motor	Drive Side (CN2)	Housing Terminal	5557-04R 5556T	MOLEX
Motor	Motor Side	Housing Terminal	5557-04R 5556T	MOLEX
Encoder	Drive Side (CN2)	Housing Terminal	51353-1000 56134-9000	MOLEX
Encoder	Encoder Side	Housing Terminal	SMP-09V-NC SHF-001T-0.8BS	JST
Signal (CN1)		Connector Backshell	10120-3000PE 10320-52A0-008	3M

※ Above connector is the most suitable product for the drive applied. Another equivalent connector can be used.

Connector Specifications_ 86mm

Connector specifications for cabling to drive.

Purpose		Item	Part Number	Manufacture
Power (CN4)		Terminal Block	AK950-2	PTR
Motor	Drive Side (CN3)	Terminal Block	AK950-4	PTR
Motor	Motor Side	Housing Terminal	3191-4R1 1381T	MOLEX
Encoder	Drive Side (CN2)	Housing Terminal	51353-1000 56134-9000	MOLEX
Encoder	Encoder Side	Housing Terminal	SMP-09V-NC SHF-001T-0.8BS	JST
Signal (CN1)		Connector Backshell	10126-3000PE 10326-52F0-008	3M

※ Above connector is the most suitable product for the drive applied. Another equivalent connector can be used.