FASTECH

Settings and Operation

Switch

1. EtherCAT ID Display and Setting Switch (SW1, SW2): Use two rotary switches to set EtherCAT ID (ECAT Device ID). Set ones digit (x1) of EtherCAT ID on the right rotary switch (SW1), and set tens digit (x10) of EtherCAT ID on the left rotary switch (SW2).

Status LED

1. EtherCAT Status LED

LED indicates communication status of EtherCAT. Link/Activity LED exists on each port of EtherCAT.

LED	Color	Status	Description
RUN	Green	OFF	State INIT or Power OFF
		Blinking	State PRE-OPERATIONAL
		Single Flash	State SAFE-OPERATIONAL
		ON	State OPERATIONAL
		Flickering	State BOOTSTRAP
ERR	Red	OFF	No Error or Power OFF
		Blinking	Invalid Configuration
		Single Flash	Local Error
		Double Flash	Watchdog Time Out

LED	Color	Status	Description
Link / Activity	Green	OFF	Link not Established
		ON	Link Established
		Flickering	Link Established and in Operation

2. Drive Status LED

LED	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 parameter
SON	Orange	Servo On/Off Indication	Servo On: Lights On, Servo Off: Lights Off
ALM	Red	Alarm indication	Flash when an error occurs

◆ Error Types and LED Flash Times

Times	Error Code^*4	Error Type	Description
1	E-001	Over Current Error	The current through power devices in inverter exceeds the limit value.^*1
2	E-002	Over Speed Error	Motor speed exceed 3,000r/min.
3	E-003	Position Tracking Error	Position error value is higher than 180˚ in motor run state.^*2
4	E-004	Over Load Error	The motor is continuously operated more than 5 seconds under a load exceeding the max. torque.
5	E-005	Over Temperature Error	Inside temperature of drive exceeds 85℃.
6	E-006	Over Regenerated Voltage Error	Back-EMF more high limit value.^*3
7	E-007	Motor Connection Error	The power is ON without connection of the motor cable to drive
8	E-008	Encoder Connect Error	Cable connection error in Encoder connection of drive
9	E-009	Main Power Voltage Error	The main power voltage is lower than 18V.
10	E-010	In-Position Error	After operation is finished, position error more than 1 pulse is continued for more than 3 seconds
12	E-012	ROM Error	Error occurs in parameter storage device(ROM)
15	E-015	Position Overflow Error	Position error value is higher than 180˚ in motor stop state^*2
16	E-016	Abnormal Safety State Error	Input states of TQOFF1 and TQOFF2 are different from each other.

* 1 : Limit value depends on motor model. (Refer to the User Manual)
* 2 : Default value can be changed by parameter. (Refer to the User Manual)
* 3 : Voltage limit of Back-EMF depends on motor model. (Refer to the User Manual)
* 4 : When an alarm occurs, error code is displayed on the 7-segment instead of EtherCAT ID.
※ Please refer to the User Manual for the details of error types.

Alarm LED flash
(e.g., Position tracking error)

Connector

1. Input/Output Signal Connector(CN1)

NO.	Function	I/O
1	LIMIT+	Input
2	LIMIT-	Input
3	ORIGIN	Input
4	Digital In1	Input
5	Digital In2	Input
6	Digital In3	Input
7	Digital In4	Input
8	Digital In5	Input
9	Digital In6	Input
10	Digital Out1	Output

NO.	Function	I/O
11	Digital Out2	Output
12	Digital Out3	Output
13	Digital Out4	Output
14	Digital Out5	Output
15	BRAKE+	Output
16	BRAKE-	Output
17	EXT_GND	Input
18	EXT_24VDC	Input
19	F.GND	---
20	F.GND	---

2. Encoder Connector(CN2)

NO.	Function	I/O
1	A+	Input
2	A-	Input
3	B+	Input
4	B-	Input
5	Z+	Input

NO.	Function	I/O
6	Z-	Input
7	DC5V	Output
8	GND	Output
9	F. GND	----
10	F. GND	----

3. Motor Connector(CN3)

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

4. Main Power Connector(CN4)

NO.	Function	I/O
1	DC24V	Input
2	GND	Input

5. Control Power Connector(CN5)

NO.	Function	I/O
1	DC24V	Input
2	GND	Input

6. TQOFF Connector(CN6)

NO.	Function	I/O
1	TQOFF1_P	Input
2	TQOFF1_N	Input
3	TQOFF2_P	Input
4	TQOFF2_N	Input
5	TQMON_P	Output
6	TQMON_N	Output
7	OVRTQ	Input
8	GND	Output

7. EtherCAT Communication Connector(CN7, CN8)

NO.	Function
1	TD+
2	TD-
3	RD+
4	----
5	----

NO.	Function
6	RD-
7	----
8	----
Connector hood	F.GND

8. USB Connector(CN9)

NO.	Function
1	V_BUS
2	D-
3	D+
4	----
5	GND

Connector Specifications

Available to connect between Input/Output signals and Ezi-SERVOⅡ EtherCAT TO.

Function		Item	Product No.	Manufacturer
Main Power Connector (CN4)		Housing Terminal	5557-02R 5556T	MOLEX
Control Power Connector (CN5)		Housing Terminal	PAP-02V-S SPHD-001T-P0.5	JST
Motor Connector	Drive Side (CN3)	Housing Terminal	5557-04R 5556T	MOLEX
Motor Connector	Motor Side	Housing Terminal	5557-04R 5556T	MOLEX
Encoder Connector	Drive Side (CN2)	Housing Terminal	51353-1000 56134-9000	MOLEX
Encoder Connector	Encoder Side	Housing Terminal	SMP-09V-NC SHF-001T-0.8BS	JST
I/O Connector (CN1)		Housing Terminal	PADP-20V-1-S SPH-002T-P0.5L	JST
TQOFF Connector (CN6)		Housing Terminal	PAP-08V-S SPHD-001T-P0.5 or SPHD-002T-P0.5	JST

※ The connectors are supplied with the product. If you use other connectors, make sure those are equivalent in specifications to the supplied connectors.