Oriental motor LIMO EZS Series User manual

HL-0121-4
EZS/EZC Series Controller
EZMC36A /EZMC36I
ORIENTAL MOTOR CO., LTD.
USER MANUAL

4
● This product must be handled by qualified personnel with expert knowledge of elec-
trical and mechanical engineering. Before using the product, please read Chapter
1, “Safety”, carefully to ensure correct use.
● This product is designed and manufactured for use as an internal component for
general industrial equipment. Do not use the product for any other purpose. Oriental
Motor shall not be liable whatsoever for any damage arising from a failure to ob-
serve this warning.
● Should you require the inspection or repair of internal parts, please contact the
Oriental Motor branch or sales office from which you purchased the product.
● The figures and tables provided in this document are intended to help you under-
stand the content of the text. They should not be construed in any way as guar-
anteeing the resultant operation.
● Oriental Motor shall not be liable whatsoever for any patent-related problem aris-
ing in connection with the use of any information, circuit, equipment or device de-
scribed in this document.
● The technical specifications are subject to change without prior notice for the pur-
pose of improvement in product performance.
● This document is protected under the applicable copyright laws. No part of this
document may be reproduced, stored, changed, duplicated or transmitted digitally
(via printing, copying, microfilming or any other manner) without prior written con-
sent from Oriental Motor.
● and are trademarks of Oriental Motor Co., Ltd.
● Other product names and company names are the trademarks or registered trade-
marks of their respective companies. The products by other manufacturers referred
to in this installation manual are mentioned for reference purposes only; their use
is not enforced in any way. Oriental Motor shall not be liable whatsoever for the
performance of another manufacturer’s product or any problem arising from the use
thereof.
© Copyright ORIENTAL MOTOR CO., LTD. 2003
Notes to the User

EZS/ EZC Series Controller EZMC36 USER MANUAL
i
Table of Contents
Introduction ………………………………………………………… vi
Intended Reader of the Manual …………………………… vi
Purpose of the Manual …………………………………… vi
Receipt, Storage and Disposal of the Product …………… vi
Product Support …………………………………………… vi
Technical Assistance Regarding the Product …………… vi
Structure and Contents of the Manual …………………… vii
Contents of the Manual …………………………………… vii
Rules of Notation …………………………………………… viii
Chapter Safety ………………………………………………… 1-1
1.1 Safety Precautions …………………………………… 1-1
1.2 Potential Dangers ……………………………………… 1-1
1.2.1 Electric Shock ………………………………… 1-1
1.2.2 Electrical Fire …………………………………… 1- 1
1.2.3 Danger Posed by the Machine ……………… 1- 2
1.2.4 Electromagnetic Disturbance ………………… 1-2
1.3 General Safety Guidelines …………………………… 1- 3
1
Chapter Unpacking, Inspection
and Storage …………………………………… 2-1
2.1 Unpacking the Controller……………………………… 2-1
2.2 Explanation of Unit Model …………………………… 2-2
2.2.1 Slider …………………………………………… 2-2
2.2.2 Cylinder ………………………………………… 2-2
2.3 Inspection Procedure ………………………………… 2-3
2.4 Storing the Controller ………………………………… 2-3
2
Chapter
Controller Overview ………………… 3-1
3.1 Overview………………………………………………… 3-1
3.2 Functions ……………………………………………… 3-3
3.2.1 Operation ……………………………………… 3-3
3.2.2 Electromagnetic Brake………………………… 3-3
3.2.3 Position Holding (absolute type) …………… 3-3
3.2.4 Setting …………………………………………… 3-4
3.3 Operating Requirements ……………………………… 3-6
3.3.1 Axis Number (ID) ……………………………… 3-6
3.3.2 Pendant Switch ………………………………… 3-6
3.3.3 Power Cutoff During Controller
Communication ………………………………… 3-7
3.3.4 Battery Backup (absolute type) ……………… 3-8
3

ii
Chapter
Installation and Wiring …………… 4-1
4.1 Installing the Controller ……………………………… 4-1
4.1.1 Required Installation Conditions …………… 4-1
4.1.2 Mounting on a Wall …………………………… 4-2
4.1.3 Mounting to a DIN Rail………………………… 4-3
4.1.4 Installing the Battery…………………………… 4-5
4.2 Front Panel……………………………………………… 4-7
4.2.1 Connectors ……………………………………… 4-7
4.2.2 Controller Panel Layout ……………………… 4-8
4.3 User I/O Specification ………………………………… 4-11
4.3.1 COM Input ……………………………………… 4-11
4.3.2
+
COM/
-
COM Inputs ………………………… 4-11
4.3.3 START Input …………………………………… 4-12
4.3.4 M0 to M5 Input ………………………………… 4-12
4.3.5 HOME Input …………………………………… 4-13
4.3.6 STOP Input……………………………………… 4-14
4.3.7 PAUSE Input …………………………………… 4-15
4.3.8 ACL Input ……………………………………… 4-16
4.3.9 CW/CCW (PLS / DIR) Inputs ………………… 4-17
4.3.10 C.OFF Input ………………………………… 4-19
4.3.11 RUN0 to RUN2 Input………………………… 4-19
4.3.12 STOP0 to STOP2 Input …………………… 4-20
4.3.13 READY Output ……………………………… 4-21
4.3.14 END Output…………………………………… 4-21
4.3.15 MOVE Output ………………………………… 4-21
4.3.16 AREA Output ………………………………… 4-21
4.3.17 T-UP Output ………………………………… 4-23
4.3.18 ALM Output …………………………………… 4-24
4.3.19 ALM0 to ALM4 Output ……………………… 4-24
4.3.20 TIM Output …………………………………… 4-25
4.4 Sensor I/O Specification ……………………………… 4-26
4.4.1
+
LS Input ……………………………………… 4-26
4.4.2
-
LS Input ……………………………………… 4-26
4.4.3 HOMELS Input ………………………………… 4-26
4.4.4
+
24 V/GND Outputs ………………………… 4-26
4.4.5 Return-to-Home Operation Sequence ……… 4-27
4.5 Emergency Stop Specification ……………………… 4-28
4.6 Wiring the Power Cable ……………………………… 4-30
4.6.1 Supplied Power ………………………………… 4-30
4.6.2 Power-Supply Protection ……………………… 4-30
4.6.3 Insulation Resistance
Measurement /Dielectric Strength Test……… 4-30
4.6.4 Grounding Work ……………………………… 4-30
4.7 Wiring the Emergency Stop Cable ………………… 4-31
4.8 Wiring /Charging the Battery ………………………… 4-31
4

EZS/ EZC Series Controller EZMC36 USER MANUAL
iii
4.9 Wiring the Slider /Cylinder Cables …………………… 4-32
4.9.1 Connecting the Slider/Cylinder ……………… 4-32
4.9.2 Cable Wiring Length…………………………… 4-32
4.9.3 Protecting the Motor …………………………… 4-32
4.10 Wiring the Communication Connector Cables …… 4-33
4.10.1 Teaching Pendant ………………………… 4-33
4.10.2 Controller …………………………………… 4-33
4.11 Wiring the I/O Cable ………………………………… 4-34
4.12 Wiring the Sensor Cables ………………………… 4-35
4.13 Compliance with the EC Directives ……………… 4-36
4.13.1 EMC Directives
(89/ 336 / EEC, 92/31/ EEC ) ……………… 4-36
4.13.2 Installation/Wiring Methods ……………… 4-37
4.14 Wiring Diagrams……………………………………… 4-39
4.14.1 Power Wiring Diagram …………………… 4-39
4.14.2 I/O Wiring Diagrams ……………………… 4-40
4.14.3 Example of EMC-Compliant Wiring……… 4-42
Chapter Startup and Troubleshooting …5-1
5.1 Turning on the Power to the Controller……………… 5-1
5.2 Starting the Slider /Cylinder (I/ O) …………………… 5-2
5.3 Starting the Slider /Cylinder (teaching pendant)…… 5-3
5.4 Troubleshooting………………………………………… 5-4
5
Chapter Controller Operation ………………… 6-1
6.1 Positioning Operation ………………………………… 6-1
6.1.1 Single-Motion Positioning Operation………… 6-2
6.1.2 Linked-Motion Positioning Operation ……… 6-2
6.1.3 Sequence-Forward Operation ……………… 6-3
6.2 Push-Motion Operation ……………………………… 6-5
6.3 Return-to-Home Operation …………………………… 6-6
6.4 Manual Operation ……………………………………… 6-6
6.5 Stop Operation ………………………………………… 6-7
6.5.1 Pause (PAUSE) ……………………………… 6-7
6.5.2 Softlimit Stop …………………………………… 6-7
6.5.3 Stop (STOP) …………………………………… 6-7
6.5.4 Emergency Stop (EMG) ……………………… 6-8
6.6 Coordinate Position Management …………………… 6-8
6

iv
Appendix Specifications…………………………………A-1
A.1 General Specifications …………………………………A-1
A.1.1 Insulation Specifications ………………………A-1
A.1.2 Installation Conditions …………………………A-1
A.1.3 Operating Environment ………………………A-1
A.2 Configuration of Equipment Connected
to the EZMC36 …………………………………………A-1
A.2.1 Slider/ Cylinder …………………………………A-1
A.2.2 Encoder …………………………………………A-1
A.2.3 Electromagnetic Brake…………………………A-1
A.2.4 Teaching Pendant ………………………………A-1
A.2.5 Battery……………………………………………A-1
A.3 Common Specifications ………………………………A-2
A.3.1 Power Supply, Operating Environment………A-2
A.3.2 LED Indication …………………………………A-2
A.3.3 Battery……………………………………………A-2
A.4 Control Specifications …………………………………A-2
A.4.1 Mode ……………………………………………A-2
A.4.2 Controller Mode…………………………………A-3
A.4.3 Driver Mode ……………………………………A-4
A.5 I /O Setting ………………………………………………A-5
A.5.1 Area ………………………………………………A-5
A.5.2 Soft limit …………………………………………A-5
A.5.3 Stop ………………………………………………A-5
A.6 Emergency Stop ………………………………………A-5
A.7 Protective Functions……………………………………A-6
A.8 Functions Available in Combination
with the Teaching Pendant ……………………………A-8
A.8.1 External Mode …………………………………A-8
A.8.2 Program Mode …………………………………A-9
A.8.3 Parameter Mode ………………………………A-9
A.8.4 Test Mode ………………………………………A-9
A
Chapter
Maintenance …………………………………… 7-1
7.1 External Check ………………………………………… 7-1
7
Chapter Repair ………………………………………………… 8-1
8.1 Scope of Warranty Repair …………………………… 8-1
8.2 Warranty Period ……………………………………… 8-1
8.3 How to Receive Repair ……………………………… 8-1
8.4
Repair Following Expiration of the Warranty Period … 8-1
8

EZS/ EZC Series Controller EZMC36 USER MANUAL v
Appendix
Optional Parts and
Accessories ……………………………………B-1
B.1 Teaching Pendant ………………………………………B-1
B.2 I /O Cable ………………………………………………B-1
B.3 Controller Link Cable …………………………………B-1
B.4 DIN Rail Mounting Plate ………………………………B-1
B.5 Cable Set ………………………………………………B-2
B.6 Sensor Set ………………………………………………B-2
B.7 Sensor Cable ……………………………………………B-2
B.8 Data Editing Software …………………………………B-3
B.9 Battery……………………………………………………B-3
B

vi
Please read this “Introduction ” section and familiarize yourself with the key aspects
of the manual.
This section covers the following:
● Intended reader of the manual
● Purpose of the manual
● Receipt, storage and disposal of the product
● Product support by Oriental Motor
● Rules of notation used in the manual
This manual is intended for qualified personnel with expert knowledge of electrical
and mechanical engineering.
Those in charge of the design, installation, wiring, setting, maintenance and trou-
bleshooting of EZS/EZC Series products should read this manual.
This manual explains the installation, wiring, setting and troubleshooting procedures
for EZS/EZC Series controllers.
The customer should inspect the exterior of the equipment before accepting the prod-
uct. Check the delivered product by verifying it against the specification on the order
sheet. If the product is damaged, please contact the Oriental Motor branch or sales
office from which you purchased the product.
Leave the product in the packing carton until immediately before installation. If the
product is not to be used for an extended period of time, store it in a place that sat-
isfies the following conditions:
● A clean place not subject to excessive humidity or salt
● A place away from direct sunlight
● An ambient temperature of 0°C to
+
50°C (
+
32˚F to
+
122˚F) (nonfreezing)
● A relative humidity of 85% or below (noncondensing)
● A place not exposed to corrosive gases
● A place not subject to continuous vibration
When disposing of the product, treat it as industrial waste.
Engage a certified waste-disposal service to carry out the disposal.
The product uses nickel-cadmium batteries. Dispose of the used batteries in accor-
dance with local laws and regulations. If you have any questions regarding disposal
of the product, please contact any Oriental Motor branch or sales office.
Should you require any of the following services, please contact any Oriental Motor
branch or sales office.
● Sales information and assistance for product selection
● Technical support regarding the product
● Warranty repair
Should you require technical assistance from Oriental Motor, first check the applica-
ble information in Chapter 5, “Startup and Troubleshooting ”. If the problem persists
after the appropriate measures have been taken, call our Technical Support Line. So
that we can promptly respond to your inquiry, please have the product model ready
when you call.
Introduction
Intended Reader of the
Manual
Purpose of the Manual
Product Support
Receipt, Storage and
Disposal of the Product
Technical Assistance
Regarding the Product

EZS/ EZC Series Controller EZMC36 USER MANUAL vii
Introduction
This manual serves as a user’s guide for EZS / EZC Series controllers.
Operating any EZS/EZC Series slider or cylinder requires the slider/cylinder and the
controller, as well as the setup of an optional teaching pendant or data editing soft-
ware and the programming of operation data. Please refer to the following manuals
for the EZS/EZC Series, and follow the instructions:
● EZS/EZC Series Controller User Manual (this document)
● EZS/EZC Series Controller Data Setting Manual
This manual explains the process of creating operation data, setting parameters
and performing troubleshooting using the teaching pendant.
● EZS/EZC Series Slider/Cylinder Installation Manual
This manual explains the installation and troubleshooting of sliders and cylinders.
● Teaching Pendant EZT1 User Manual
This manual explains the key layout of the teaching pendant.
● Data Editing Software EZED1
This manual explains the installation and operating method of the data editing soft-
ware.
This manual consists of chapters 1 through 8 and appendixes A and B. The table be-
low gives a brief explanation of the content of each chapter and section. The rules
of notation, as well as warnings and precautions specific to the controller, are also
explained.
Chapter
Chapter 1
Safety
Description
Read this chapter carefully in order to understand the safety precautions. The information
provided in this chapter is designed to ensure safety at the customer’s site and help pro-
tect the controller against damage.
Chapter 2
Unpacking, Inspection
and Storage
This chapter lists the items included in the controller package and explains the basic in-
spection procedure to be performed prior to installation or storage.
Chapter 3
Controller Overview
This chapter gives an overview of the controller and explains the functions set by the var-
ious switches, as well as the operating requirements.
Chapter 4
Installation and Wiring
This chapter explains how to install the controller in the machine and connect the slider/cylin-
der, power supply, emergency stop circuit and I / Os.
Chapter 5
Startup and
Troubleshooting
This chapter explains the procedure to be taken before actually operating the slider/cylin-
der using the controller, as well as troubleshooting.
See the Controller Data Setting Manual for the method used to program operation data.
Chapter 6
Controller Operation
This chapter explains the operating functions of the controller and how to operate each func-
tion.
Chapter 7
Maintenance This chapter explains the minimum maintenance required for the controller.
Chapter 8
Repair This chapter explains the warranty repair period and scope of repair for the controller.
Appendix A
Specifications This section explains the specifications of the controller.
Appendix B
Optional Parts and
Accessories
This section introduces the optional parts and accessories used with the controller.
Structure and Contents
of This Manual
Contents of the Manual

viii
The following symbols are used throughout this manual to indicate safety warnings,
precautions, important notes and tips:
Warning
Handling the product without observing the in-
structions that accompany a “Warning” symbol
may result in death or serious bodily injury.
Caution
Handling the product without observing the in-
structions that accompany a “Caution” symbol
may result in bodily injury or property damage.
These notes appear throughout the manual and
describe items that must be observed by the
user in certain situations to ensure correct use
of the product.
Notation
The description of text in this manual follows the notation rules specified below:
● A sentence starting with a filled circle provides information, not an operating pro-
cedure.
● A sentence starting with a number indicates an operating procedure or a step in a
procedure.
● Referenced titles are denoted in italics.
Terms
The meanings of key terms used in this manual are explained below:
Active
An ON state of the photocoupler in a controller I/O circuit
With the ALM output, “active” refers to the OFF state of the photocoupler.
Non-active
An OFF state of the photocoupler in a controller I/O circuit
With the ALM output, “non-active” refers to the ON state of the photocoupler.
Profile
A positioning operation control using the M0 to M5 (data select) inputs and the
START input
Motor
A motor used to drive the slider/cylinder
Rotor
A motor part that rotates (and is directly connected to an encoder)
Communication connector
A general term for the teaching-pendant connector and controller-link connector
Note
Rules of Notation