Fastech Ezi-SERVO MINI User manual
Operating Manual
www.fastech-motions.com
www.fastech.co.kr - 2
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Table of Contents
1. Precautions
2. Main Characteristics
3. Ezi-SERVO MINI Part Numbering
4. Standard Combination
5. Combination with Brake
6. Combination with Gearbox
7. Drive Specification and Dimension
7.1 Specifications of Drive
7.2 Dimensions of Drive [mm]
8. Specifications of Motor
9. Torque Characteristics of Motor
10. Dimensions of Motor [mm]
11. Notes on Installation
12. Specifications of Motor with Brake
13. Dimensions of Motor with Brake [mm]
14. Specifications of Motor with Gearbox
15. Dimensions of Motor with Gearbox [mm]
16. Settings and Operation
16.1 Drive Status LED
16.2 Pulse Input Setting Switch(SW2.6)
16.3 Rotational Direction Setting Switch(SW2.5)
16.4 Resolution Setting Switch(SW1.5~1.8)
16.5 Position Controller Gain Settingn Switch(SW2.1~2.4)
16.6 In-Position Value Setting Switch(SW1.1~1.4)
16.7 Input/Output Signal Connector(CN1)
16.8 Encoder Connector(CN2)
16.9 Motor Connector(CN3)
16.10 Power Connector(CN4)
17. System Configuration
17.1 Options
17.2 Connector Specifications
18. External Wiring Diagram
19. Control Signal Input/Output Description
Appendix
www.fastech.co.kr - 3
※ Before operation ※
·Thank you for your purchasing Ezi-SERVO MINI.
·For high-speed and high-precision drive of a stepping motor, Ezi-SERVO MINI is an unique drive that
adopts a new control scheme owing to an on-board high-performance 32bit digital signal processor.
·This manual describes handling, maintenance, repair, diagnosis and troubleshooting of Ezi-SERVO MINI.
·Before operating Ezi-SERVO MINI, thoroughly read this manual.
·After reading the manual, keep the manual near the Ezi-SERVO MINI so that any user can read the
manual whenever needed.
1. Precautions
◆ General Precautions
·Contents of this manual are subject to change without prior notice for functional improvement, change of
specifications or
user's better understanding. Thoroughly read the manual provided with the purchased
Ezi-SERVO MINI.
·When the manual is damaged or lost, please go to the homepage(www.fastech-motions.com) and downloaded
the manual.
·Our company is not responsible for a product breakdown due to user's dismantling for the product, and such
a breakdown is not guaranteed by the warranty.
◆ Put the Safety First
·Before installation, operation and repairing the Ezi-SERVO MINI, thoroughly read the manual and fully understand
the contents. Before operating the Ezi-SERVO MINI please, understand the mechanical characteristics of the Ezi-
SERVO MINI and related safety information and precautions.
·This manual divides safety precautions into Attention and Warning.
·Although precaution is only a Attention, a serious result could be caused depending on the situation.
Follow safety precautions.
Attention : If user does not properly handle the product, the user may seriously or slightly injured
and damages may occur in the machine.
Warning : If user does not properly handle the product, a dangerous situation (such as an electric
shock) may occur resulting in deaths or serious injuries.
www.fastech.co.kr - 4
◆ Check the Product
Check the Product is damaged or parts are missing.
Otherwise, the machine may get damaged or the user may get injured.
Attention
◆ Installation
Carefully move the Ezi-SERVO MINI.
Otherwise the Product may get damaged or User's foot may get injured by dropping the
product.
Use non-flammable materials such as metal in the place where the Ezi-SERVO MINI is to
be installed.
Otherwise, a fire may occur.
When installing several Ezi-SERVO MINI in a sealed place, install a cooling fan to keep
the ambient temperature of the Ezi-SERVO MINI as 50℃ or lower.
Otherwise, a fire or other kinds of accidents may occur due to overheating.
The process of Installation, Connection, Operation, Checking and Repairing should be
done with qualified person.
Otherwise, a fire or other kinds of accidents may occur.
Attention
Warning
◆ Connect Cables
Keep the rated range of lnput Voltage for Ezi-SERVO MINI.
Otherwise, a fire or other kinds of accidents may occur.
Cable connection should follow the wiring diagram.
Otherwise, a fire or other kinds of accidents may occur.
Before connecting cables, check if input power is off.
Otherwise, an electric shock or a fire may occur.
The case of the Ezi-SERVO MINI is insulated from the ground of the internal circuit by
the condenser. Ground the Ezi-SERVO MINI.
Otherwise, an electric shock or a fire may occur.
Attention
Warning
www.fastech.co.kr - 5
◆ Operation
◆ Check and Repair
If a protection function(alarm) occurs, firstly remove its cause and then release(alarm reset)
the protection function.
If you operate continuously without removing its cause, the machine may get damaged or
the user may get injured.
Do not make Motor Free and make input signal to ON during operation.
Motor will stop and stop current will become zero. The machine may get damaged or the
user may get injured.
Make all input signals to OFF before supply input voltage to Ezi-SERVO MINI.
The machine may get damaged or the user may get injured by motor operation.
All parameter values are set by default factory setting value. Change this value after
reading this manual throughly.
Otherwise, the machine may get damaged or other kinds of accidents may occur.
Stop to supply power to the main circuit and wait for a while before checking or
repairing the Ezi-SERVO MINI.
Electricity remaining in the capacitor may cause danger.
Do not change cabling while power is being supplied.
Otherwise, the user may get injured or the product may get damaged.
Do not reconstruct the Ezi-SERVO MINI.
Otherwise, an electric shock may occur or the reconstructed product can not get
After-Service.
Attention
Attention
www.fastech.co.kr - 6
2. Main Characteristics
Ezi-SERVO automatically controls motor current according
to load. Ezi-SERVO reduces motor current when motor
load is low and increases motor current when load is
high. By optimizing the motor current, motor heat can
be minimized and energy can be saved.
3
Heat Reduction / Energy Saving
(Motor Current Control according to load)
1
Ezi-SERVO is an innovative Closed Loop System that
utilizes a high-resolution motor mounted encoder
constantly to monitor the current position. The encoder
feedback allows the Ezi-SERVO to update the current
position every 25 μs e c . It allows the Ezi-SERVO drive to
compensate for the loss of position, ensuring accurate
positioning. For example, due to a sudden load change,
a conventional stepper motor and drive could lose a
step but Ezi-SERVO automatically correct the position
by encoder feedback.
Closed Loop System
To ensure machine performance, smoothness, positional
error and low servo noise, conventional servo systems
require the adjustment of its servo’s gains as an initial
crucial step. Even systems that employ auto-tuning
require manual tuning after the system is installed,
especially if more that one axis are interdependent.
Ezi-SERVO employs the best characteristics of stepper,
closed loop motion controls and algorithms to eliminate
the need of tedious gain tuning required for conventional
closed loop servo systems. This means that Ezi-SERVO
is optimized for the application and ready to work right
out of the box. The Ezi-SERVO system employs the
unique characteristics of the closed loop stepping motor
control, eliminating these cumbersome steps and giving
the engineer a high performance servo system without
wasting setup time. Ezi-SERVO is especially well suited
for low stiffness loads (for example, a belt and pulley
system) that sometime require conventional
servo systems to inertia match
with the additional expensive
and bulky gearbox.
Ezi-SERVO also performs
exceptionally, even under
heavy loads and high
speeds.
2
No Gain Tuning
www.fastech.co.kr - 7
Compared with common step motors and drives, Ezi-
SERVO motion control systems can maintain a high torque
state over relatively long period of time. This means
that Ezi-SERVO continuously operates without loss of
position under 100% of the load. Unlike conventional
Microstep drives, Ezi-SERVO exploits continuous high
torque operation during high speed motion due to its
innovative optimum current phase control.
High Torque
8
Ezi-SERVO is a high-precision servo drive, using a
high-resolution encoder with 32,000 pulses/revolution.
Unlike a conventional Microstep drive, the on-board
high performance MCU (Micro Controller Unit) performs
vector control and filtering, producing a smooth rotational
control with minimum ripples.
Smooth and Accurate
5
Similar to conventional stepping motors, Ezi-SERVO
instantly synchronizes with command pulses providing
fast positional response. Ezi-SERVO is the optimum
choice when zero-speed stability and rapid motions
within a short distance are required. Traditional servo
motor systems have a natural delay called settling time
between the command input signals and the resultant
motion because of the constant monitoring of the current
position.
Fast Response
6
Traditional servo motor drives overshoot their position
and try to correct overshooting by moving the opposite
direction, especially in high gain applications. This is
called null hunt and is especially prevalent in systems
that the break away or static friction is significantly
higher than the running friction. The cure is lowering
the gain, which affects accuracy or using Ezi-SERVO
Motion Control System. Ezi-SERVO utilizes the unique
characteristics of stepping motors and locks itself
into the desired target position, eliminating Null Hunt.
This feature is especially useful in applications such
as nanotech manufacturing, semiconductor fabrication,
vision systems and ink jet printing in which system
oscillation and vibration could be a problem.
No Hunting
4
The unit of the position command can be divided
precisely. (Max. 32,000 pulses/revolution)
High Resolution
7
www.fastech.co.kr - 8
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 external forces, such as mechanical vibration or vertical positional holding.
3. Ezi-SERVO utilizes 100% of the full range of rated motor torque, contrary to a conventional open-loop stepping driver
that can use up to 50% of the rated motor torque due to the loss of synchronism.
4. Capability to operate at high speed due to load-dependent current control, open-loop stepping drivers use
a constant current control at all speed ranges without considering load variations.
1. No gain tuning. (Automatic gain adjustment in response to a load change)
2. Maintains the stable holding position without oscillation after completion of positioning.
3. Fast positioning due to the independent control by on-board MCU.
4. Continuous operation during rapid short-stroke movement due to instantaneous positioning.
The Ezi-SERVO operates well at high speed without the
loss of synchronism or positioning error. Ezi-SERVO’s
ability of continuous current position monitoring of
enables the stepping motor to generate high torque,
even under a 100% load condition.
High Speed
9
● Advantages over Open-Loop Control Stepping Drive
● Advantages over Servo Motor Controller
www.fastech.co.kr - 9
3. Ezi-SERVO MINI Part Numbering 4. Standard Combination
Product Name
MI : Mini Type
Drive Series Type
Brake
User Code
Reduction Gear Ratio
20
:
20mm
28
:
28mm
35 :
35mm
42
:
42mm
S
: Small
M
: Medium
L
: Large
XL
:
Extra Large
A :
10,000[ppr]
B : 20,000[ppr]
C :
32,000[ppr]
D :
16,000[ppr]
F :
4,000[ppr]
Motor Flange Size
Motor Length
Encoder Resolution
Blank : Without Brake
BK : Brake
Blank - Without Gear
PN03
- 1:3
PN05
- 1:5
PN08 - 1:8
PN10
- 1:10
PN15
- 1:15
PN25
- 1:25
PN40
- 1:40
PN50
- 1:50
Ezi-SERVO-MI-42M-A-BK-PN05-□
＊ When places an order for Stopper type 28mm, 35mm motor, please
write “M” additionally after motor length of Unit Part Number.
(Ex : Ezi-SERVO-MI-28LM-D, Ezi-SERVO-MI-35LM-D)
Unit Part
Number Motor Model
Number Drive Model
Number
Ezi-SERVO-MI-20M-F EzM-20M-F EzS-PD-MI-20M-F
Ezi-SERVO-MI-20L-F EzM-20L-F EzS-PD-MI-20L-F
Ezi-SERVO-MI-28S-D EzM-28S-D EzS-PD-MI-28S-D
Ezi-SERVO-MI-28SM-D EzM-28SM-D EzS-PD-MI-28S-D
Ezi-SERVO-MI-28M-D EzM-28M-D EzS-PD-MI-28M-D
Ezi-SERVO-MI-28MM-D EzM-28MM-D EzS-PD-MI-28M-D
Ezi-SERVO-MI-28L-D EzM-28L-D EzS-PD-MI-28L-D
Ezi-SERVO-MI-28LM-D EzM-28LM-D EzS-PD-MI-28L-D
Ezi-SERVO-MI-35M-D EzM-35M-D EzS-PD-MI-35M-D
Ezi-SERVO-MI-35MM-D EzM-35MM-D EzS-PD-MI-35M-D
Ezi-SERVO-MI-35L-D EzM-35L-D EzS-PD-MI-35L-D
Ezi-SERVO-MI-35LM-D EzM-35LM-D EzS-PD-MI-35L-D
Ezi-SERVO-MI-42S-A EzM-42S-A EzS-PD-MI-42S-A
Ezi-SERVO-MI-42S-B EzM-42S-B EzS-PD-MI-42S-B
Ezi-SERVO-MI-42S-C EzM-42S-C EzS-PD-MI-42S-C
Ezi-SERVO-MI-42M-A EzM-42M-A EzS-PD-MI-42M-A
Ezi-SERVO-MI-42M-B EzM-42M-B EzS-PD-MI-42M-B
Ezi-SERVO-MI-42M-C EzM-42M-C EzS-PD-MI-42M-C
Ezi-SERVO-MI-42L-A EzM-42L-A EzS-PD-MI-42L-A
Ezi-SERVO-MI-42L-B EzM-42L-B EzS-PD-MI-42L-B
Ezi-SERVO-MI-42L-C EzM-42L-C EzS-PD-MI-42L-C
Ezi-SERVO-MI-42XL-A EzM-42XL-A EzS-PD-MI-42XL-A
Ezi-SERVO-MI-42XL-B EzM-42XL-B EzS-PD-MI-42XL-B
Ezi-SERVO-MI-42XL-C EzM-42XL-C EzS-PD-MI-42XL-C
www.fastech.co.kr - 10
5. Combination with Brake 6. Combination with Gearbox
Unit Part
Number Motor Model
Number Drive Model
Number
Ezi-SERVO-MI-42S-A-BK EzM-42S-A-BK EzS-PD-MI-42S-A
Ezi-SERVO-MI-42S-B-BK EzM-42S-B-BK EzS-PD-MI-42S-B
Ezi-SERVO-MI-42M-A-BK EzM-42M-A-BK EzS-PD-MI-42M-A
Ezi-SERVO-MI-42M-B-BK EzM-42M-B-BK EzS-PD-MI-42M-B
Ezi-SERVO-MI-42L-A-BK EzM-42L-A-BK EzS-PD-MI-42L-A
Ezi-SERVO-MI-42L-B-BK EzM-42L-B-BK EzS-PD-MI-42L-B
Ezi-SERVO-MI-42XL-A-BK EzM-42XL-A-BK EzS-PD-MI-42XL-A
Ezi-SERVO-MI-42XL-B-BK EzM-42XL-B-BK EzS-PD-MI-42XL-B
Unit Part
Number Motor Model
Number Drive Model
Number Reduction
gear ratio
Ezi-SERVO-MI-42S-A-PN3 EzM-42S-A-PN3 EzS-PD-MI-42S-A 1:3
Ezi-SERVO-MI-42S-B-PN3 EzM-42S-B-PN3 EzS-PD-MI-42S-B
Ezi-SERVO-MI-42S-A-PN5 EzM-42S-A-PN5 EzS-PD-MI-42S-A 1:5
Ezi-SERVO-MI-42S-B-PN5 EzM-42S-B-PN5 EzS-PD-MI-42S-B
Ezi-SERVO-MI-42S-A-PN8 EzM-42S-A-PN8 EzS-PD-MI-42S-A 1:8
Ezi-SERVO-MI-42S-B-PN8 EzM-42S-B-PN8 EzS-PD-MI-42S-B
Ezi-SERVO-MI-42S-A-PN10 EzM-42S-A-PN10 EzS-PD-MI-42S-A 1:10
Ezi-SERVO-MI-42S-B-PN10 EzM-42S-B-PN10 EzS-PD-MI-42S-B
Ezi-SERVO-MI-42S-A-PN15 EzM-42S-A-PN15 EzS-PD-MI-42S-A 1:15
Ezi-SERVO-MI-42S-B-PN15 EzM-42S-B-PN15 EzS-PD-MI-42S-B
Ezi-SERVO-MI-42S-A-PN25 EzM-42S-A-PN25 EzS-PD-MI-42S-A 1:25
Ezi-SERVO-MI-42S-B-PN25 EzM-42S-B-PN25 EzS-PD-MI-42S-B
Ezi-SERVO-MI-42S-A-PN40 EzM-42S-A-PN40 EzS-PD-MI-42S-A 1:40
Ezi-SERVO-MI-42S-B-PN40 EzM-42S-B-PN40 EzS-PD-MI-42S-B
Ezi-SERVO-MI-42S-A-PN50 EzM-42S-A-PN50 EzS-PD-MI-42S-A 1:50
Ezi-SERVO-MI-42S-B-PN50 EzM-42S-B-PN50 EzS-PD-MI-42S-B
Ezi-SERVO-MI-42M-A-PN3 EzM-42M-A-PN3 EzS-PD-MI-42M-A 1:3
Ezi-SERVO-MI-42M-B-PN3 EzM-42M-B-PN3 EzS-PD-MI-42M-B
Ezi-SERVO-MI-42M-A-PN5 EzM-42M-A-PN5 EzS-PD-MI-42M-A 1:5
Ezi-SERVO-MI-42M-B-PN5 EzM-42M-B-PN5 EzS-PD-MI-42M-B
Ezi-SERVO-MI-42M-A-PN8 EzM-42M-A-PN8 EzS-PD-MI-42M-A 1:8
Ezi-SERVO-MI-42M-B-PN8 EzM-42M-B-PN8 EzS-PD-MI-42M-B
Ezi-SERVO-MI-42M-A-PN10 EzM-42M-A-PN10 EzS-PD-MI-42M-A 1:10
Ezi-SERVO-MI-42M-B-PN10 EzM-42M-B-PN10 EzS-PD-MI-42M-B
Ezi-SERVO-MI-42M-A-PN15 EzM-42M-A-PN15 EzS-PD-MI-42M-A 1:15
Ezi-SERVO-MI-42M-B-PN15 EzM-42M-B-PN15 EzS-PD-MI-42M-B
Ezi-SERVO-MI-42M-A-PN25 EzM-42M-A-PN25 EzS-PD-MI-42M-A 1:25
Ezi-SERVO-MI-42M-B-PN25 EzM-42M-B-PN25 EzS-PD-MI-42M-B
Ezi-SERVO-MI-42M-A-PN40 EzM-42M-A-PN40 EzS-PD-MI-42M-A 1:40
Ezi-SERVO-MI-42M-B-PN40 EzM-42M-B-PN40 EzS-PD-MI-42M-B
Ezi-SERVO-MI-42M-A-PN50 EzM-42M-A-PN50 EzS-PD-MI-42M-A 1:50
Ezi-SERVO-MI-42M-B-PN50 EzM-42M-B-PN50 EzS-PD-MI-42M-B
Ezi-SERVO-MI-42L-A-PN3 EzM-42L-A-PN3 EzS-PD-MI-42L-A 1:3
Ezi-SERVO-MI-42L-B-PN3 EzM-42L-B-PN3 EzS-PD-MI-42L-B
Ezi-SERVO-MI-42L-A-PN5 EzM-42L-A-PN5 EzS-PD-MI-42L-A 1:5
Ezi-SERVO-MI-42L-B-PN5 EzM-42L-B-PN5 EzS-PD-MI-42L-B
Ezi-SERVO-MI-42L-A-PN8 EzM-42L-A-PN8 EzS-PD-MI-42L-A 1:8
Ezi-SERVO-MI-42L-B-PN8 EzM-42L-B-PN8 EzS-PD-MI-42L-B
Ezi-SERVO-MI-42L-A-PN10 EzM-42L-A-PN10 EzS-PD-MI-42L-A 1:10
Ezi-SERVO-MI-42L-B-PN10 EzM-42L-B-PN10 EzS-PD-MI-42L-B
Ezi-SERVO-MI-42L-A-PN15 EzM-42L-A-PN15 EzS-PD-MI-42L-A 1:15
Ezi-SERVO-MI-42L-B-PN15 EzM-42L-B-PN15 EzS-PD-MI-42L-B
Ezi-SERVO-MI-42L-A-PN25 EzM-42L-A-PN25 EzS-PD-MI-42L-A 1:25
Ezi-SERVO-MI-42L-B-PN25 EzM-42L-B-PN25 EzS-PD-MI-42L-B
Ezi-SERVO-MI-42L-A-PN40 EzM-42L-A-PN40 EzS-PD-MI-42L-A 1:40
Ezi-SERVO-MI-42L-B-PN40 EzM-42L-B-PN40 EzS-PD-MI-42L-B
Ezi-SERVO-MI-42L-A-PN50 EzM-42L-A-PN50 EzS-PD-MI-42L-A 1:50
Ezi-SERVO-MI-42L-B-PN50 EzM-42L-B-PN50 EzS-PD-MI-42L-B
Ezi-SERVO-MI-42XL-A-PN3 EzM-42XL-A-PN3 EzS-PD-MI-42XL-A 1:3
Ezi-SERVO-MI-42XL-B-PN3 EzM-42XL-B-PN3 EzS-PD-MI-42XL-B
Ezi-SERVO-MI-42XL-A-PN5 EzM-42XL-A-PN5 EzS-PD-MI-42XL-A 1:5
Ezi-SERVO-MI-42XL-B-PN5 EzM-42XL-B-PN5 EzS-PD-MI-42XL-B
Ezi-SERVO-MI-42XL-A-PN8 EzM-42XL-A-PN8 EzS-PD-MI-42XL-A 1:8
Ezi-SERVO-MI-42XL-B-PN8 EzM-42XL-B-PN8 EzS-PD-MI-42XL-B
Ezi-SERVO-MI-42XL-A-PN10 EzM-42XL-A-PN10 EzS-PD-MI-42XL-A 1:10
Ezi-SERVO-MI-42XL-B-PN10 EzM-42XL-B-PN10 EzS-PD-MI-42XL-B
Ezi-SERVO-MI-42XL-A-PN15 EzM-42XL-A-PN15 EzS-PD-MI-42XL-A 1:15
Ezi-SERVO-MI-42XL-B-PN15 EzM-42XL-B-PN15 EzS-PD-MI-42XL-B
Ezi-SERVO-MI-42XL-A-PN25 EzM-42XL-A-PN25 EzS-PD-MI-42XL-A 1:25
Ezi-SERVO-MI-42XL-B-PN25 EzM-42XL-B-PN25 EzS-PD-MI-42XL-B
Ezi-SERVO-MI-42XL-A-PN40 EzM-42XL-A-PN40 EzS-PD-MI-42XL-A 1:40
Ezi-SERVO-MI-42XL-B-PN40 EzM-42XL-B-PN40 EzS-PD-MI-42XL-B
Ezi-SERVO-MI-42XL-A-PN50 EzM-42XL-A-PN50 EzS-PD-MI-42XL-A 1:50
Ezi-SERVO-MI-42XL-B-PN50 EzM-42XL-B-PN50 EzS-PD-MI-42XL-B
www.fastech.co.kr - 11
7. Drive Specification and Dimension
7.1 Specifications of Drive
7.2 Dimensions of Drive [mm]
Motor Model EzM-20
series EzM-28
series EzM-35
series EzM-42
series
Driver Model EzS-PD-MI-20
series EzS-PD-MI-28
series EzS-PD-MI-35
series EzS-PD-MI-42
series
Input Voltage 24VDC ±10%
Control Method Closed loop control with 32bit MCU
Current Consumption Max 500mA (Except motor current)
Operating
Condition
Ambient
Temperature
·In Use: 0~50℃
·In Storage: -20~70℃
Humidity ·In Use: 35~85% RH (Non-Condensing)
·In Storage: 10~90% RH (Non-Condensing)
Vib. Resist. 0.5g
Function
Rotation Speed 0~3,000 [rpm] *1
Resolution [ppr]
4,000/Rev. Encoder model: 500 1,000 1,600 2,000 3,600 5,000 6,400 7,200 10,000
4,000
10,000/Rev. Encoder model: 500 1,000 1
,600 2,000 3,600 5,000 6,400 7,200 10,000
16,000/Rev. Encoder model: 500 1,000 1
,600 2,000 3,600 5,000 6,400 7,200 10,000
16,000
20,000/Rev. Encoder model: 500 1,000 1,600 2,000 3,600 5,000 6,400 7,200 10,000 20,000
32,000/Rev. Encoder model: 500 1,000 1,600 2,000 3,600 5,000 6,400 7,200 10,000
32,000
(Selectable with DIP switch) *2
Max. Input Pulse
Frequency 500kHz (Duty 50%)
Protection Functions
Over Current Error, Over Speed Error, Position Tracking Error, Over Load Error, Over Temperature Error,
Over Regenerated Voltage Error, Motor Connect Error, Encoder Connect Error, In-Position Error,
System Error, ROM Error, Position Overflow Error
LED Display Power status, In-Position status, Servo On status, Alarm status
In-Position Selection 0~F (Selectable with DIP switch)
Position Gain Selection 0~F (Selectable with DIP 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 Position Command Pulse, Servo On/Off, Alarm Reset (Photocoupler Input)
Output Signals In-Position, Alarm (Photocoupler Output)
Encoder Signal (A+, A-, B+, B-, Z+, Z-, 26C31 of Equivalent) (Line Driver Output), Brake
*1 : Up to the resolution of 10,000[ppr], maximum speed can be reached by 3,000[rpm] and with the resolution more than 10,000[ppr], maximum speed
shall be reduced accordingly.
*2 : When selected resolution is more than encoder resolution, motor shall be operated by microstep between pulses.
PWR MOTOR ENCODER IN/OUT PWR ALM
INP SON
mini
77
82.8
9
9
21.5
3.5
3.5
2.9
21.5 53.9
(55)
69.8
www.fastech.co.kr - 12
8. Specifications of Motor
9. Torque Characteristics of Motor
Ezi-SERVO-MI-20 series Ezi-SERVO-MI-28 series
Torque[N.m]
Speed[rpm]
0.012
0.010
0.008
0.006
0.004
0.002
0
10 500 1,000 1,500 2,000 2,500 3,000
20M
20L
24V
Motor Voltage :
Torque[N.m]
Speed[rpm]
0.12
0.10
0.08
0.06
0.04
0.02
0
10 500 1,000 1,500 2,000 2,500 3,000
28S
28M
28L
24V
Motor Voltage :
Ezi-SERVO-MI-35 series Ezi-SERVO-MI-42 series
Motor Voltage :
Torque[N.m]
Speed[rpm]
0.18
0.15
0.12
0.09
0.06
0.03
0
10 500 1,000 1,500 2,000 2,500 3,000
35M
35L
24V
0.6
0.5
0.4
0.3
0.2
0.1
0
10 500 1,000 1,500 2,000 2,500 3,000
24V
42S
42M
42L
42XL
Motor Voltage :
Torque[N.m]
Speed[rpm]
MODEL
EzM-20
series EzM-28
series EzM-35
series EzM-42
series
UNIT 20M 20L 28S 28M 28L 35M 35L 42S 42M 42L 42XL
DRIVE METHOD -BI-POLAR
NUMBER OF PHASES -2 2 2 2 2 2 2 2 2 2 2
CURRENT per PHASE A0.5 0.5 0.95 0.95 0.95 1.5 1.5 1.2 1.2 1.2 1.2
HOLDING TORQUE N·m 0.016 0.025 0.069 0.098 0.118 0.13 0.23 0.32 0.44 0.5 0.65
ROTOR INERTIA g·c m
2
2.5 3.3 9.0 13 18 15 20 35 54 77 114
WEIGHTS g79 104 147 204 232 194 226 299 364 433 567
LENGTH(L) mm 28 38 32 45 50 32 36 34 40 48 60
PERMISSIBLE
OVERHUNG LOAD
(DISTANCE FROM
END OF SHAFT)
3mm
N
18 18 30 30 30 22 22 22 22 22 22
8mm 30 30 38 38 38 26 26 26 26 26 26
13mm - - 53 53 53 33 33 3 3 33 33 33
18mm - - - - - 46 46 46 46 46 46
PERMISSIBLE THRUST LOAD NLower than motor weight
INSULATION RESISTANCE Mohm 100 MIN.(at 500VDC)
INSULATION CLASS -CLASS B(130℃)
OPERATING TEMPERATURE ℃0 to 55
www.fastech.co.kr - 13
10. Dimensions of Motor [mm]
20mm
Model name Length(L)
EzM-20M 28
EzM-20L 38
28mm
Model name Length(L)
EzM-28S 32
EzM-28M 45
EzM-28L 50
28mm
(Stopper type)
Model name Length(L)
EzM-28SM 32
EzM-28MM 45
EzM-28LM 50
35mm
Model name Length(L)
EzM-35M 32
EzM-35L 36
※ When ordering 28mm Stopper type of motor, please add“M”after standard motor model number.
Ø16 -0.05
0
□20±0.5
4-16±0.1
4-M2 DP2.5
L±1
L+15±1
4 -0.012
0
3.5±0.1
10±0.5
7±0.2
1.5±0.2
20.6
27.6
A
0.075 A
Ø 0.075 A
0.025
Ø
15±0.5
L±1
L+13.6±1
10±0.2
2±0.2
Ø5 -0.012
0
4.5±0.1
Ø22 -0.05
0
□28±0.5
4-23±0.15
4-M2.5 DP2.5
31
28
0.075 A
Ø 0.075 A
A0.025
15±0.5
L±1
L+13.6±1
10±0.2
2±0.2
Ø5 -0.012
0
4.5±0.1
Ø22 -0.05
0
□28±0.5
4-23±0.1528.3
4-M2.5 DP2.5
47.2
A
0.075 A
Ø 0.075 A
0.025
□35
4-29±0.2
20±0.5
L MAX
Ø5 -0.013
0
Ø22 -0.05
0
L+14±1
2
41.5
35
0.1 A
Ø 0.075 A
A
0.025
4-M3 DP3 MIN
www.fastech.co.kr - 14
10. Dimensions of Motor [mm]
□35
4-29±0.2
20±0.5
L MAX
Ø5 -0.013
0
Ø22 -0.05
0
L+14
2
52
35
0.1 A
Ø 0.075 A
A0.025
4-M3 DP3 MIN ±1
42mm
Model name Length(L)
EzM-42S 34
EzM-42M 40
EzM-42L 48
EzM-42XL 60
4-M3 DP4.5
L±1
L+24±1
22 -0.05
0
Ø5 -0.011
0
4.5±0.1
24±0.5
1.8±0.2
20±0.2
42
54
□42 0
+1
4-31±0.2
0.1 A
Ø 0.075 A
A0.025
Ø
35mm
Model name Length(L)
EzM-35MM 32
EzM-35LM 36
(Stopper type)
※ When ordering 35mm Stopper type of motor, please add“M”after standard motor model number.
11. Notes on Installation
1) Ezi-SERVO MINI is designed for indoor use only.
2) The ambient temperature of the room should be 0℃~50℃.
3) If the temperature of the product case is higher than 50℃, radiate heat of the outside to
cool down.
4) Do not install Ezi-SERVO MINI under direct rays, near magnetic or radioactive objects.
5) If you set more than 2 drives, you must set over 20mm vertically and over 50mm horizontally
as shown below.
PWR MOTOR ENCODER IN/OUT PWR ALM
INP SON
PWR MOTOR ENCODER IN/OUT PWR ALM
INP SON
PWR MOTOR ENCODER IN/OUT PWR ALM
INP SON
PWR MOTOR ENCODER IN/OUT PWR ALM
INP SON
More than 50mm
More than
20mm
www.fastech.co.kr - 15
* Brake Operation Timing Chart
Ezi-SERVO MINI controls Brake by Drive automatically.
Please refer to below Timing Chart when Brake is controlled
by the upper controller other than using Ezi-SERVO MINI Brake control.
Otherwise, Drive malfunctioning and loads can be fall down.
Also, please do not operate Brake while motor operation to prevent damage.
Drive Enable
ON
OFF
ON
OFF
Brake power
0.5second ~ 1second
Unit Part
Number
Motor Model
Number
Electronic Brake Motor
Unit
Weight
[g]
Permitted Overhung
Load [N] Permitted
Thrust
Load
[N]
Type
Voltage
Input
[V]
Rated
Current
[A]
Power
Consumption
[W]
Statical
Friction
Torque
[ N·m ]
Length from Motor
Point [mm]
3 8 13 18
Ezi-SERVO-MI-42S-■-BK
EzM-42S-■-BK Non-
exci-
tation
run
Type
24VDC
±10% 0.2 50.2
510
22 26 33 46
Must be
Lower
than
Unit’s
Weight
Ezi-SERVO-MI-42M-■-BK
EzM-42M-■-BK 570
Ezi-SERVO-MI-42L-■-BK
EzM-42L-■-BK 640
Ezi-SERVO-MI-42XL-■-BK
EzM-42XL-■-BK 770
＊ The code of encoder resolution will be marked in“■”
＊ Electronic Brake cannot be used for braking. Position hold purpose only when power OFF.
＊ The weight means Motor Unit Weight including Motor and Electronic Brake.
＊ Motor Model Number is combined model name of Motor and Brake.
＊ Motor specification and torque characteristic are same as Standard Motor.
42mm
Model Name Length(L) Weight(kg)
EzM-42S 34 0.51
EzM-42M 40 0.57
EzM-42L 48 0.64
EzM-42XL 60 0.77
4-M3 THRU
SMR-04V-N(JST) Lead wire UL 3398 AWG26
Length : 400mm
P.C.D 43.8
0.075 A
15
8
19 44
2
L
±1
63
±0.5 L+24±1
54
42
L+87(±1.5)
□
42
Ø
22
-0.02
0
Ø
5
-0.015
4.5
0
0.025
0.1 A
A
12. Specifications of Motor with Brake
13. Dimensions of Motor with Brake [mm]
www.fastech.co.kr - 16
42mm
Unit Part Number
Maximum
Holding
Torque
[ N·m ]
Rotor
Inertia
Moment
[ k g·m
2
]
Back-
lash
[min]
Angle
Trans-
mission
Error
[min]
Re-
duction
Gear
Ratio
Resolution
(10,000
[ppr]
Standard)
Permitted
Torque
[ N·m ]
Maximum
Torque
[ N·m ]
Permitted
Speed
Range
[rpm]
Unit
Weight
[kg]
Permitted
Overhung
Load [N] Permitted
Thrust
Load
[N]
Axis
Center
Standard
Ezi-SERVO-MI-42S-■-PN3 0.55
35x10
-7
3 5
30.012 ° 612 0~1000
0.89
240 270
Ezi-SERVO-MI-42S-■-PN5 0.92 50.0072 ° 918 0~600 290 330
Ezi-SERVO-MI-42S-■-PN8 1.47 80.0045 ° 918 0~375 340 410
Ezi-SERVO-MI-42S-■-PN10 1.84 10 0.0036 ° 612 0~300 360 450
Ezi-SERVO-MI-42S-■-PN15 2.67
5 7
15 0.0024 ° 612 0~200
0.99
410 540
Ezi-SERVO-MI-42S-■-PN25 4.46 25 0.00144 ° 918 0~120 490 640
Ezi-SERVO-MI-42S-■-PN40 7.13 40 0.0009 ° 918 0~75 570 640
Ezi-SERVO-MI-42S-■-PN50 9.00 50 0.00072 ° 918 0~60 620 640
Ezi-SERVO-MI-42M-■-PN3 0.85
54x10
-7
3 5
30.012 ° 612 0~1000
0.96
240 270
Ezi-SERVO-MI-42M-■-PN5 1.42 50.0072 ° 918 0~600 290 330
Ezi-SERVO-MI-42M-■-PN8 2.28 80.0045 ° 918 0~375 340 410
Ezi-SERVO-MI-42M-■-PN10 2.85 10 0.0036 ° 612 0~300 360 450
Ezi-SERVO-MI-42M-■-PN15 4.14
5 7
15 0.0024 ° 612 0~200
1.06
410 540
Ezi-SERVO-MI-42M-■-PN25 6.90 25 0.00144 ° 918 0~120 490 640
Ezi-SERVO-MI-42M-■-PN40 9.00 40 0.0009 ° 918 0~75 570 640
Ezi-SERVO-MI-42M-■-PN50 9.00 50 0.00072 ° 918 0~60 620 640
Ezi-SERVO-MI-42L-■-PN3 0.93
77x10
-7
3 5
30.012 ° 612 0~1000
1.02
240 270
Ezi-SERVO-MI-42L-■-PN5 1.55 50.0072 ° 918 0~600 290 330
Ezi-SERVO-MI-42L-■-PN8 2.48 80.0045 ° 918 0~375 340 410
Ezi-SERVO-MI-42L-■-PN10 3.10 10 0.0036 ° 612 0~300 360 450
Ezi-SERVO-MI-42L-■-PN15 4.51
5 7
15 0.0024 ° 612 0~200
1.12
410 540
Ezi-SERVO-MI-42L-■-PN25 7.52 25 0.00144 ° 918 0~120 490 640
Ezi-SERVO-MI-42L-■-PN40 9.00 40 0.0009 ° 918 0~75 570 640
Ezi-SERVO-MI-42L-■-PN50 9.00 50 0.00072 ° 918 0~60 620 640
Ezi-SERVO-MI-42XL-■-PN3 1.42
114x10
-7
3 5
30.012 ° 612 0~1000
1.15
240 270
Ezi-SERVO-MI-42XL-■-PN5 2.38 50.0072 ° 918 0~600 290 330
Ezi-SERVO-MI-42XL-■-PN8 3.80 80.0045 ° 918 0~375 340 410
Ezi-SERVO-MI-42XL-■-PN10 4.76 10 0.0036 ° 612 0~300 360 450
Ezi-SERVO-MI-42XL-■-PN15 6.00
5 7
15 0.0024 ° 612 0~200
1.25
410 540
Ezi-SERVO-MI-42XL-■-PN25 9.00 25 0.00144 ° 918 0~120 490 640
Ezi-SERVO-MI-42XL-■-PN40 9.00 40 0.0009 ° 918 0~75 570 640
Ezi-SERVO-MI-42XL-■-PN50 9.00 50 0.00072 ° 918 0~60 620 640
＊ The code of encoder resolution will be marked in“■”
14. Specifications of Motor with Gearbox
www.fastech.co.kr - 17
42mm
Unit Part Number Motor Stage □Reduction Gear Ratio L Length [mm]
Ezi-SERVO-MI-42S-■-PN□EzM-42S-■-PN□
Single
Stage
3, 5, 8, 10 34
Ezi-SERVO-MI-42M-■-PN□EzM-42M-■-PN□3, 5, 8, 10 40
Ezi-SERVO-MI-42L-■-PN□EzM-42L-■-PN□3, 5, 8, 10 48
Ezi-SERVO-MI-42XL-■-PN□EzM-42XL-■-PN□3, 5, 8, 10 60
Unit Part Number Motor Stage □Reduction Gear Ratio L Length [mm]
Ezi-SERVO-MI-42S-■-PN□EzM-42S-■-PN□
Double
Stage
15, 25, 40, 50 34
Ezi-SERVO-MI-42M-■-PN□EzM-42M-■-PN□15, 25, 40, 50 40
Ezi-SERVO-MI-42L-■-PN□EzM-42L-■-PN□15, 25, 40, 50 48
Ezi-SERVO-MI-42XL-■-PN□EzM-42XL-■-PN□15, 25, 40, 50 60
4-ø3.4 THRU
P.C.D 50
2
54
□
42
M4 DP10
5
26
R 0.4
19.5
162
88.5
L+112.5±1
L+24±1
62.5
4 42
5.5
L
±1
ø35
-0.025
(g6)
-0.009
ø13
-0.003
(j6)
+0.008
0.025
0.1 A
0.5 A
A
4-ø3.4 THRU
P.C.D 50
54
□
42 42
26
R 0.4
19.5
162
105
L+129±1
L+24±1
79
4
5.5
L
±1
ø35
-0.025(g6)
-0.009
ø13
-0.003(j6)
+0.008
0.025
0.1 A
0.05 A
A
A
2
M4 DP10
5
＊ The code of encoder resolution will be marked in“■”
＊ The code of encoder resolution will be marked in“■”
15. Dimensions of Motor with Gearbox [mm]
www.fastech.co.kr - 18
16. Settings and Operation
Drive status LED
Encoder connection(CN2)
Motor connection(CN3)
Power connection(CN4)
Input/Output signal
connection(CN1)
In-Position value setting switch
(SW1.1~1.4)
Pulse input setting switch(SW2.6)
Resolution setting switch(SW1.5~1.8)
Direction setting switch(SW2.5)
Position controller gain setting
switch(SW2.1~2.4)
16.1 Drive Status LED
16.2 Pulse Input Setting Switch(SW2.6)
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 dip 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)
Indication Switch Name Functions
PSelecting 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
CW(Pulse) Pin
CCW(Dir) Pin
Rotational Direction CW CWCCW CCW
2-Pulse Mode 1-Pulse Mode
◆ Protection functions and LED flash times
Times Protection Conditions
1Over Current Error
The current through power devices in inverter exceeds 4.8A
2Over Speed Error Motor speed exceeds 3,000 [rpm]
3Position Tracking Error Position error value is higher than 180˚ in motor run state
4Over Load Error The motor is continuously operated more than 5 seconds under
a load exceeding the max. torque
5Over Temperature Error Inside temperature of drive exceeds 85℃
6Over Regeneratived
Voltage Error Back-EMF is higher than 48V
7Motor Connect 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 1 8 0˚ in motor stop state
Alarm LED flash
(Ex, Position tracking error)
www.fastech.co.kr - 19
16.3 Rotational Direction Setting Switch(SW2.5)
Indication Switch Name Functions
DSwitching Rotational
Direction
Based on CW(+Dir signal) input to driver.
ON: CCW(-Direction) OFF: CW(+Direction) ※ Default: CW mode
Direction setting
switch: ON
Direction setting
switch: OFF
Position Pulse/
Revolution
Position Pulse/
Revolution
8 7 6 5 8 7 6 5
ON ON ON ON 500*1 OFF ON ON ON 7,200
ON ON ON OFF 500 OFF ON ON OFF 10,000
ON ON OFF ON 1,000 OFF ON OFF ON NC
ON ON OFF OFF 1,600 OFF ON OFF OFF NC
ON OFF ON ON 2,000 OFF OFF ON ON NC
ON OFF ON OFF 3,600 OFF OFF ON OFF NC
ON OFF OFF ON 5,000 OFF OFF OFF ON NC
ON OFF OFF OFF 6,400 OFF OFF OFF OFF NC
16.4 Resolution Setting Switch(SW1.5~1.8)
*1 : 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.
※ When selected resolution is more than encoder resolution, motor shall be operated by microstep between pulse.
16.5 Position Controller Gain Settingn Switch(SW2.1~2.4)
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 “ON” position.
2. Start to rotate the switch until system becomes stable.
3. Rotate the switch 1~2 position to reach better performance.
*1 : Value in the columns are in relative units. They only show the parameter changes depending on the switch’s position.
*2 : Default = ON ON OFF OFF
The Number of pulse per revolution.
Position Time Constant of the
Integral part Proportional Gain*1
4 3 2 1
ON ON ON ON 1 1
ON ON ON OFF 1 2
ON ON OFF ON 1 3
ON ON OFF OFF 1 4
*2
ON OFF ON ON 1 5
ON OFF ON OFF 2 1
ON OFF OFF ON 2 2
ON OFF OFF OFF 2 3
OFF ON ON ON 2 4
OFF ON ON OFF 2 5
OFF ON OFF ON 3 1
OFF ON OFF OFF 3 2
OFF OFF ON ON 3 3
OFF OFF ON OFF 3 4
OFF OFF OFF ON 3 5
OFF OFF OFF OFF 3 6
www.fastech.co.kr - 20
Position
In-Position Value[Pulse]
Fast Response
Position
In-Position Value[Pulse]
Accurate Response
4 3 2 1 4 3 2 1
ON ON ON ON 0
*1
OFF ON ON ON 0
ON ON ON OFF 1OFF ON ON OFF 1
ON ON OFF ON 2OFF ON OFF ON 2
ON ON OFF OFF 3OFF ON OFF OFF 3
ON OFF ON ON 4OFF OFF ON ON 4
ON OFF ON OFF 5OFF OFF ON OFF 5
ON OFF OFF ON 6OFF OFF OFF ON 6
ON OFF OFF OFF 7OFF OFF OFF OFF 7
16.6 In-Position Value Setting Switch(SW1.1~1.4)
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.
*1 : Default = 0
1 19
2 20
16.7 Input/Output Signal Connector(CN1) 16.8 Encoder Connector(CN2)
NO. Function I/O
1A+ Input
2A- Input
3B+ Input
4B- Input
5Z+ Input
6Z- Input
75VDC Output
8GND Output
9F.GND ----
10 F.GND ----
14
16.9 Motor Connector(CN3)
NO. Function I/O
1B Phase Output
2/B Phase Output
3/A Phase Output
4A Phase Output
16.10 Power Connector(CN4)
NO. Function I/O
124VDC Input
2GND Input 1 2
NO. Function I/O
1CW+(Pulse+) Input
2CW-(Pulse-) Input
3CCW+(Dir+) Input
4CCW-(Dir-) Input
5A+ Output
6A- Output
7B+ Output
8B- Output
9Z+ Output
10 Z- Output
11 Alarm Output
12 In-Position Output
13 Servo On/Off Input
14 Alarm Reset Input
15 NC ----
16 BRAKE+ Output
17 BRAKE- Output
18 S-GND Output
19 EXT_GND Input
20 EXT_24VDC Input
1 9
2 10
Setting method of Fast Response and Accurate Response
In-Position
(Fast Response)
Position
In-Position
(Accurate Response)
Target Position
In-Position
Time
Time
This manual suits for next models
23
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