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Fastech Ezi-SPEED Series User Manual

Bldc motor unit rs-485 modbus-rtu communication type
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BLDC Motor Unit
Ezi-SPEED Series
RS-485 Modbus-RTU communication type
USER MANUAL
⚫ Ezi-SPEED Modbus-RTU

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  • Page 1 BLDC Motor Unit Ezi-SPEED Series RS-485 Modbus-RTU communication type USER MANUAL ⚫ Ezi-SPEED Modbus-RTU...

  • Page 2: Table Of Contents

    T a b l e c o n t e n t s ◎ Table of contents ◎ 1 Entry ................. 1-1~1-5 1.1 Before use ..............................1-1 1.2 Safety precautions ..........................1-1 1.3 Checking the product ..........................1-4 1.4 Product number ............................1-5 2 Specifications and dimensions of the drive ....
  • Page 3 T a b l e c o n t e n t s 3.4 Installing the parallel shaft gearhead ....................3-22 3.4.1 Installing method ........................3-22 3.4.2 Load connection method ..................... 3-24 3.4.3 Rotation direction of gearhead and transmission efficiency ........3-24 3.4.4 Permissible radial load and permissible axial load ............
  • Page 4 T a b l e c o n t e n t s 5.4 Modbus-RTU frame ..........................5-5 5.4.1 Message ............................5-5 5.4.2 Query ............................5-5 5.4.3 Response ............................. 5-8 5.5 Function code ............................5-10 5.5.1 Reading from a holding register(s) (03h) ................. 5-10 5.5.2 Writing to a holding register (06h) ..................
  • Page 5 T a b l e c o n t e n t s 2.4 Specifications of motor with hollow shaft gearhead ..........Appendix 2-5 Appendix 3 Specifiactions compliance ....... Appendix 3-1 3.1 CE marking ..........................Appendix 3-1 Appendix 4 Revised history ........Appendix 4-1...

  • Page 6: Entry

    (2) Ezi-SPEED Modbus-RTU is BLDC motor speed control system that supports a Modbus-RTU network based on RS-485. (3) Ezi-SPEED series is for industrial use. Do not use it for any other purpose. Our company is not respon- sible for any damage caused by failure to comply with this.
  • Page 7 C h 1 E n t r y ● If the driver protective function (Alarm) has been activated, remove the cause and reset the protective function. Continuing to operate the equipment without removing the cause of problem will lead to a malfunction, resulting in injury or equipment damage. Installing ●...
  • Page 8 C h 1 E n t r y ● Do not touch the motor or drive while operating or immediately after stopping. The surface of the motor or drive may be hot and cause a skin burn. Do not forcibly bend, pull or pinch the cables. Failure to do so may result in damage to the product.

  • Page 9: Checking The Product

    C h 1 E n t r y 1.3 Checking the product Verify that the items listed below are included. If there is any problem, please contact our company cat +82- 32-234-6317. (a) Drive: 1 EA (b) Motor: 1 EA (c) Connector sets Purpose Item...

  • Page 10: Product Number

    C h 1 E n t r y 1.4 Product number Our company sells drive and motor in a set. The product number of units integrating the two products are as follows.

  • Page 11: Specifications And Dimensions Of The Drive

    C h 2 P r o d u c t 2 Specifications and dimensions of the drive 2.1 Characteristics The main characteristics of Ezi-SPEED Modbus-RTU are as follows. (1) BLDC motor unit over RS-485 communication Ezi-SPEED Modbus-RTU supports the Modbus-RTU protocol based on RS-485 communication, al- lowing for the construction of various control systems utilizing RS-485 communication in addition to traditional input and output signal-based control.
  • Page 12 C h 2 P r o d u c t (8) Operation by direct I/O Control of start/stop, rotation direction change, multi-speed operation, etc. is possible by direct I/O (e.g., PLC). Also, the speed can be changed by rotating the external potentiometer. (9) Multi-speed operation (16 speeds) Up to 16 operation data (No.0 to No.15) can be set.

  • Page 13: General Specification

    C h 2 P r o d u c t 2.2 General specification Ezi-SPEED Modbus-RTU drive has the following general specification. Specification Temperature 0 ~ 40 °C (Non-freezing) Temperature -25 ~ + 70 °C (Non-freezing) Usage Humidity Less than 85%RH (Non-condensing) Storage Humidity 85%RH (Non-condensing) In the case of intermittent vibration:...

  • Page 14: Performance Specification

    C h 2 P r o d u c t 2.3 Performance specification Ezi-SPEED Modbus-RTU drive has the following performance specification. ESD-MR-120- ESD-MR-200- ESD-MR-400- Unit Product Number ESD-MR-30-C ESD-MR-60-C Rated Output Power 120W 200W 400W (Continuous) Rated Voltage Single-phase 200~240V / Three-phase 200~240V Permissible ±10 % Voltage Range...

  • Page 15: Communication Specifications

    C h 2 P r o d u c t 2.4 RS-485 communication specifications Item Specification ・Complies with EIA-485 standards Electrical ・Twisted pair cable (TIA/EIA-568B Cat5e or higher) characteristics ・Total length: Within 50m Transmission mode Half duplex Transmission rate Selectable from 9,600/ 19,200/ 38,400/ 57,600/ 115,200bps (initial value: 115,200bps) Physical layer Asynchronous mode (data: 8bits, stop bit: 1bit/2bits, parity: none/even/odd) Protocol...

  • Page 16: System Configuration

    C h 2 P r o d u c t 2.5 System configuration The system configuration of Ezi-SPEED Modbus-RTU is as shown in the diagram below. ▶ 30, 60, 120W Type ▶ 200, 400W Type...

  • Page 17: Names And Functions Of Parts

    C h 2 P r o d u c t 2.6 Names and functions of parts (1) Motor The following figure is for 200 and 400W models. (2) Drive Status Indicator LED RS-485 Communication Connector USB Connector Slave Address Setting Switch Termination Resistor Switch Motor Sensor Connector Function Setting Switch...
  • Page 18 C h 2 P r o d u c t Name Description ① Status Indicator LED ■ Indicates the status of the drive. ② USB Connector (CN5) ■ Connects a drive to a PC. ③ Motor Sensor Connector (CN4) ■ Connects the motor sensor connector. ④...

  • Page 19: Led Indication

    C h 2 P r o d u c t 2.7 LED indication Depending on the state of the drive, each LED will display as follows. Item Color Function Description Lights up when AC power is applied and the internal CPU POWER LED Green Shows power status...

  • Page 20: Dimensions

    C h 2 P r o d u c t 2.8 Dimensions Ezi­SPEED Modbus-RTU Weight: 0.7kg 2-10...

  • Page 21: Operation

    C h 3 O p e r a t i o n 3 Operation 3.1 Operating sequence Ezi-SPEED Modbus-RTU can be operated using both Input/Output control and Modbus RTU control method. To illustrate the operational methods for each mode, consider the following: 3.1.1 I/O Control Method You can operate the motor by connecting input/output signal to an upper-level controller, such as a PLC.
  • Page 22 C h 3 O p e r a t i o n Item Description 1) Please install the motor and drive according to the installation conditions. 2) Verify operation in a no-load condition before making connections. Installation 3) Prior to operating the motor, ensure that you have checked the surroundings and secured safety.

  • Page 23: Modbus Rtu Control Method

    C h 3 O p e r a t i o n 3.1.2 Modbus RTU Control Method The upper-level controller utilizes RS-485 communication for control, and the protocol used in RS-485 commu- nication is the Modbus RTU protocol. Modbus operates in a single master/multi-slave mode, where only the master can send commands, and each slave responds with the appropriate response message after executing the commands.
  • Page 24 C h 3 O p e r a t i o n Item Description 1) Ensure proper grounding of the drive and motor according to the conditions. 2) Make sure to securely connect the following types of cables: • Drive power cable •...

  • Page 25: Installation

    C h 3 O p e r a t i o n 3.2 Installation 3.2.1 Installation location To ensure the reliability and stability of the product, you must comply with the instructions in this User Manual. In particular, do not install in the following environments. Places where ambient temperature or relative humidity exceeds the range of general stand- ards places where the ambient temperature changes rapidly...

  • Page 26: Installation Method

    C h 3 O p e r a t i o n 3.2.2 Installation method (1) When installing two or more drives side by side, keep a distance of more than 20mm in the hori- zontal direction and more than 25mm in the vertical direction. (2) If the ambient temperature exceeds the normal level, install a cooling fan or widen the gap be- tween the drives.

  • Page 27: Wiring

    C h 3 O p e r a t i o n 3.3 Wiring 3.3.1 External wiring diagram...

  • Page 28: Wiring The Power Supply

    C h 3 O p e r a t i o n 3.3.2 Wiring the power supply (1) Power supply connector ▶ Product number: CPF5.08-05P [STELVIO] Pin No. Purpose Regenerative resistor connection (RG1) Regenerative resistor connection (RG2) Power input (L1) Power input (L2) Power input (L3) Input voltage supply...

  • Page 29: Regenerative Resistor Connection

    C h 3 O p e r a t i o n Single-phase 200-240 V Three-phase 200-240 V (3) Circuit-Breaker To protect the primary wiring, be sure to connect the Circuit-Breaker to the power side wiring of the drive. 3.3.3 Regenerative resistor connection When driving loads with short deceleration times or significant inertia, high voltage may be generated due to counter electro motive Force, leading to overvoltage alarm and motor stoppage.
  • Page 30 C h 3 O p e r a t i o n (1) Motor Connection cable This cable is used to extend the wiring distance between the motor and drive. ▶ Wire Specifications: AWG 18 ~ 14 (0.75 ~ 2.0 mm²) Connector of drive side Connector of motor side Connection...

  • Page 31: Grounding

    C h 3 O p e r a t i o n 3.3.5 Grounding (1) Grounding of the drive (a) The drive has two protective ground terminals. Ground one of the terminals. It does not matter which protective ground ter- minal is grounded.

  • Page 32: Wiring The Usb Cable

    C h 3 O p e r a t i o n 3.3.7 Wiring the USB cable For connection of the drive and PC, connect below USB cable to CN5 connector. Specification USB 2.0 Mini Type B Pin No. Terminal name VBUS 3.3.8 Wiring the I/O signals I/O cables are used to connect input/output signals.
  • Page 33 C h 3 O p e r a t i o n (c) IN0~IN6: Input signal The input signals are photocoupler inputs and can operate with either internal power or exter- nal power. When using external power, you can adapt to either sink or source inputs by changing the wiring.
  • Page 34 C h 3 O p e r a t i o n (e) VH/VM/VL: Analog speed setting external input You can set the rotational speed using analog methods by connecting an potentiometer or DC voltage. ▶ When using a potentiometer: Connect the potentiometer to CN7, and you can adjust the rotational speed by turning it to the left or right.
  • Page 35 C h 3 O p e r a t i o n (2) Using an external controller with a built-in clamp diode Turning off the external controller, when the drive power is still on, may result in leakage current. If the leakage current flows to the photocoupler inside the drive input terminal, the motor may rotate suddenly.
  • Page 36 C h 3 O p e r a t i o n (3) Connection example for I/O signals and External controller This is connection example for operating a motor using upper-level controller with a transistor output type. (a) Using external power source •...
  • Page 37 C h 3 O p e r a t i o n ■ Source LOGIC 3-17...
  • Page 38 C h 3 O p e r a t i o n (b) Using internal power source Below is an example of using input and output devices such as switches and relays. 3-18...

  • Page 39: Option (Sold Separately)

    C h 3 O p e r a t i o n 3.3.9 Option (sold separately) 30/60/120W Type 3-19...
  • Page 40 C h 3 O p e r a t i o n 200/400W Type (1) Sensor/Motor connection cable for 30, 60, 120W This is the connection cable used to connect a drive to a 30, 60, 120W motor and sensor. Purpose Product No.
  • Page 41 Product No. Length [m] Cable type Note CGNR-R-0R6F CGNR-R-001F RS-485 Communi CGNR-R-1R5F Stationary Maximum available cation cable length: 30m CGNR-R-002F Connection CGNR-R-003F CGNR-R-005F For cable lengths not specified in the table (1m unit), please inquire with FASTECH Co., Ltd. separately. 3-21...
  • Page 42 C h 3 O p e r a t i o n (4) RS-485 converter This converter is used to convert RS-485 to RS-232C. Purpose Specificaitons Product Image Product No Baud rate Max. 115.2kbps Comm. RS-232C: Max. 15m Distance RS-485: Max. 1.2km RS-232C: DB9 Female RS-232C Connector...
  • Page 43 C h 3 O p e r a t i o n Note ▶ Please contact us separately for cables other than the length shown in the table above. ▶ The maximum available length of each cable is as follows. Maximum available Cable Note...

  • Page 44: Installing The Parallel Shaft Gearhead

    C h 3 O p e r a t i o n 3.4 Installing the parallel shaft gearhead 3.4.1 Installing method ▶ Make four holes on the mounting plate for attaching the gearhead. ▶ Securely fasten the gearhead using hexagon socket set bolts to ensure there is no gap between the gearhead and the mounting surface.
  • Page 45 C h 3 O p e r a t i o n (b) Installing the gearhead ▶ Before assembling the motor and gearhead, please determine the position of the motor cable. The motor cable's position can be changed at 90-degree intervals as shown in the dia- gram below.

  • Page 46: Load Connection Method

    C h 3 O p e r a t i o n 3.4.2 Load connection method The output shaft of the gearhead has a key slot that is used to secure the load. On the load side, make a key slot and secure it with a parallel key. When coupling the load, please keep the following points in mind: ▶...
  • Page 47 C h 3 O p e r a t i o n (2) Transmission efficiency of gearhead Gearhead Product No. ESG-60-H-R□-P 86 % 81 % ESG-80-H-R□-P 90 % ESG-90-H-R□-P ESG-104-H-R□-P 86 % 3-27...
  • Page 48 C h 3 O p e r a t i o n 3.4.4 Permissible radial load and permissible axial load The radial and axial loads applied to the gearhead output shaft are as shown in the table. Permissible radial load [N]* Permissible axial Distance from the output shaft end Product No.

  • Page 49: Installing The Hollow Shaft Gearhead

    C h 3 O p e r a t i o n 3.5 Installing the hollow shaft gearhead 3.5.1 Installing method You can install the mounting plate on either the front or rear side of the hollow shaft gearhead. ▶ Create four holes on the mounting plate to attach the gearhead. ▶...
  • Page 50 C h 3 O p e r a t i o n (1) Using the front side as the mounting surface When installing the mounting plate on the front, you can align the center using the boss section of the output shaft. Mounting hole dimension (mm) Product No.
  • Page 51 C h 3 O p e r a t i o n (2) Using the rear side as the mounting surface Mounting hole dimension (mm) Product No. ØA ØC ØD ESG-60-H-R□-H ESG-80-H-R□-H ESG-90-H-R□-H ESG-104-H-R□-H * The number indicating the gear ratio of the gearhead is placed in □. Note ▶...
  • Page 52 C h 3 O p e r a t i o n (3) Removing/Changing the gearhead The sequence for removing the gearhead or changing the position of the motor cable is as follows. (a) Removing the gearhead Remove the hexagonal bolts binding motor to gearhead. And then detach the motor from the gearhead.
  • Page 53 C h 3 O p e r a t i o n (c) Please pay attention to the following when separating or attaching the gearhead. ▶ Be especially cautious not to forcefully assemble the gearhead and motor, or allow metallic foreign objects to enter the gearhead, as this can lead to damage to the motor's output shaft or the gearhead.

  • Page 54: Load Connection Method

    C h 3 O p e r a t i o n 3.5.2 Load connection method In cases of significant impact due to instantaneous stop or when there is a high radial load, please use a stepped load shaft. (1) Stepped load shaft (a) Fixing method using a hole stop ring Use a spacer, flat washer, and spring washer to tighten the hole stop ring with a hexagonal socket head bolt.
  • Page 55 C h 3 O p e r a t i o n (b) Fixing method using an end plate Use a flat washer, and spring washer to tighten the hole stop ring with a hexagonal socket head bolt. Recommended load shaft dimension (mm) Recommended Hollow shaft Hole stop...
  • Page 56 C h 3 O p e r a t i o n (2) Non-stepped load shaft On the load shaft side, insert a spacer, and use flat washers and spring washers to tighten the hole stop ring with a hexagonal socket head bolt. Recommended load shaft dimension (mm) Hollow shaft Recommended...

  • Page 57: Rotation Direction Of Gearhead And Transmission Efficiency

    C h 3 O p e r a t i o n 3.5.3 Rotation direction of gearhead and transmission efficiency (1) Rotation direction of gearhead When viewed from the front view and the rear view, the rotation direction of hollow shaft is differ- ent.

  • Page 58: Permissible Radial Load And Permissible Axial Load

    C h 3 O p e r a t i o n 3.5.4 Permissible radial load and permissible axial load The radial and axial loads applied to the gearhead output shaft are as shown in the table. Permissible radial load [N]* Permissible Product No.

  • Page 59: Test Run

    C h 3 O p e r a t i o n 3.6 Test run When using the test run function, simply applying AC power allows you to check the connection status of the drive and motor. (1) Connect the motor and drive. (2) Apply AC power.

  • Page 60: Input/Output (I/O) Signals

    C h 3 O p e r a t i o n 3.7 Input/Output (I/O) signals In this product, two types of I/O signals can be used: ⚫ Direct I/O: I/O signals directly connected to the input/output connector (CN7). ⚫ Network I/O: I/O signals transmitted via RS-485 communication.
  • Page 61 C h 3 O p e r a t i o n ■ Related parameters Parameter name Description Initial value IN0 function select 1: FWD IN1 function select 2: REV IN2 function select 19: STOP-MODE Assigns the input signals to the input termi- IN3 function select 48: P0 nal IN0 ~ IN6.
  • Page 62 C h 3 O p e r a t i o n Assignment Signal name Function P0_R P1_R Output in response to the P0~P3 inputs P2_R P3_R TL_R Output in response to the TL input ALARM-OUT Output the alarm status of the drive. Output the warning status of the drive MOVE Output while the motor operates...

  • Page 63: Assignment Of Network I/O

    C h 3 O p e r a t i o n 3.7.2 Assignment of Network I/O (1) NET-IN function assignment Using the Ezi-SPEED Setting program, you can assign the input signals listed in the table to NET- IN0~NET-IN15. Assignment Signal name Function Not used...
  • Page 64 C h 3 O p e r a t i o n Parameter name Description Initial value NET-IN6 function select 54: TL NET-IN7 function select NET-IN8 function select NET-IN9 function select NET-IN10 function select NET-IN11 function select 0: Not used NET-IN12 function select NET-IN13 function select NET-IN14 function select...
  • Page 65 C h 3 O p e r a t i o n Assignment Signal name Function P3_R TL_R Output in response to the TL input ALARM-OUT Output the alarm status of the drive Output the warning status of the drive MOVE Output while the motor operates Output when the motor torque reaches the torque limiting value...

  • Page 66: Input Signals

    C h 3 O p e r a t i o n 3.7.3 Input signals The state of the input signal refers not to the voltage level of the signal but to the internal photocoupler's ‘ON (conducting)’ or ‘OFF (non-conducting)’ status. (1) FWD input, REV input The motor rotates forward when the FWD input is On and stops when it's Off.
  • Page 67 C h 3 O p e r a t i o n Operation data Speed setting method *Analog setting is set by the ‘Analog input signal select’ parameter. (6) TL input When this input is turned On, the torque limit is released, and when it's turned Off, the torque limit is activated.

  • Page 68: Output Signals

    C h 3 O p e r a t i o n 3.7.4 Output signals The state of the output signal refers not to the voltage level of the signal but to the internal photocoupler's ‘ON (conducting)’ or ‘OFF (non-conducting)’ status. (1) SPEED-OUT output Output 30 pulses with each revolution of the motor output shaft.
  • Page 69 C h 3 O p e r a t i o n (4) VA output The VA output turns ON when the motor speed reaches the command speed. The target speed recognition range can be set in ‘Velocity attainment width’ in ‘Function setting parameters’. (5) DIR output This output signal shows the rotation direction of motor output shaft.

  • Page 70: General Signals

    C h 3 O p e r a t i o n 3.7.5 General signals (R0 ~ R15) The R0 to R15 are general signals that enable control via RS-485 communication. Using the R0 to R15 signals, the external I/O device can be controlled by master via the drive. The direct I/O of the driver can be used as an I/O unit.

  • Page 71: Maintenance

    C h 3 O p e r a t i o n 3.8 Maintenance 3.8.1 Inspection The drive consists of several semiconductor elements. When performing the inspection, handle the product carefully so that the semiconductor elements are not damaged by static electricity. The main inspection items are as follows.

  • Page 72: Method Of Control Via I

    C h 4 I / O 4 Method of control via I/O 4.1 Type of Parameters To control via I/O, below two types of parameters should be set. ⚫ Operation data ⚫ User parameter All parameters have their own validation properties for safety. The validation time varies depending on the validation property, and the types of validation properties are as follows.

  • Page 73: User Parameter

    C h 4 I / O Item Description Setting range Initial value Effective Analog setting: Rotational speed No.0 50 ~ 4000r/min Sets the rotational speed Digital setting: Rotational speed No.15 50 ~ 4000r/min Acceleration No.0 Sets the time needed for the motor to reach the higher rotation speed Acceleration No.15 0.2 ~ 15s...
  • Page 74 C h 4 I / O Category Item • Communication time out • Communication error alarm • Communication parity Communication parameters • Communication stop bit • Communication transfer wait time Function setting parameters Initial Name Description Setting range Effective value If enter the gear ratio of the gearhead, the Reduction gear rate 100 ~ 9999...
  • Page 75 C h 4 I / O ◼ Setting the speed reduction ratio Set the speed reduction ratio as a combination of the ‘Reduction gear rate’ parameter and ‘Decimal place for reduction gear rate’ parameter. [Configuration Example] Actual speed ‘Reduction gear rate’ ‘Decimal place for reduction gear rate’...
  • Page 76 C h 4 I / O Direct I/O parameters Name Description Setting range Initial value Effective IN0 function select 1: FWD IN1 function select 2; REV IN2 function select 19: STOP-MODE Assigns the input IN3 function select signals to the input See table next.
  • Page 77 C h 4 I / O Network I/O parameters (RS-485) Name Description Setting range Initial value Effective NET-IN0 function select 48: P0 NET-IN1 function select 49: P1 NET-IN2 function select 50: P2 NET-IN3 function select 1: FWD NET-IN4 function select 2;...
  • Page 78 C h 4 I / O ◼ Setting range for NET-IN input function selection 0: Not used 33: R1 38: R6 43: R11 48: P0 1: FWD 34: R2 39: R7 44: R12 49: P1 2: REV 35: R3 40: R8 45: R13 50: P2 19: STOP-MODE...
  • Page 79 C h 4 I / O Operation setting parameters Initial Name Description Setting range Effective value Sets the setting method of operation 0: Analog invalid Analog input signal data. 1: Analog speed select See table next. 2: Analog torque 0: Normal No operation at initial Sets the behavior when the power is operation...
  • Page 80 C h 4 I / O Communication parameters Initial Name Description Setting range Effective value Communication Sets the conditions for RS-485 communi- 0: Not Monitored timeout cation timeout to occur. 1 ~ 10000 ms Communication Sets the condition for RS-485 communica- 0: Not Monitored error alarm tion error alarm to occur...

  • Page 81: Operation Method

    C h 4 I / O Operation method 4.2.1 Setting the operation data When control via I/O, Operation data can be set by analog or digital settings. ⚫ Digital setting: Setting up to 16 fixed operation data via Ezi-SPEED Setting program or RS-485 communication.

  • Page 82: Setting The Rotational Speed

    C h 4 I / O When setting the following four pieces of data required for operating the motor, please select the ‘Analog input signal select’ parameter according to the purpose. Setting Item Description Setting range Initial value method Analog setting 80~4000 r/min Rotational speed Sets the rotation speed.
  • Page 83 C h 4 I / O (b) Setting by the external DC voltage For the external voltage, use a DC power supply (0 to 5 V) and connect it to the pin 15pin(VM), 16pin(VL) of CN7 of the driver. The input impedance between the VM input and VL input is ap- proximately 47 kΩ.

  • Page 84: Setting The Acceleration Time And Deceleration Time

    C h 4 I / O 4.2.3 Setting the acceleration time and deceleration time Acceleration and deceleration times can be set in the operation data No. 0 ~ No. 15. The acceleration time represents the time reached from a standstill to the command speed, and the deceleration time represents the time reached from the command speed to a standstill.

  • Page 85: Setting The Torque Limit

    C h 4 I / O 4.2.4 Setting the torque limit Torque limits can also be set to analog and digital. When setting analog, it can be set with the Potentiometer or DC power input, and the offset and maximum value of the torque limit can be set as in the speed setting. Parameter name Description Setting range...
  • Page 86 C h 4 I / O (3) Example of operation pattern A diagram below is an example of setting the analog speed to 3000 r/min by potentiometer and the rotational speed of the operation data No.1 to 1000 r/min, and switching the speed between these two levels.

  • Page 87: Method Of Control Via Modbus Rtu

    C h 5 M o d b u s R T U 5 Method of control via Modbus RTU (RS-485) 5.1 Setting the switches (1) Function of SW1 Pin No. Name Description Baud1 Baud2 Set the Baud rate with the combination of pin1 to pin3. Baud3 ID_EXT Use to extend slave address...
  • Page 88 C h 5 M o d b u s R T U (3) Setting the slave address SW1-No.4 Slave address No. SW1-No.4 Slave address No. Not used ▶ Factory setting: SW1-No.4: Off, SW3: 1 (4) Setting the termination resistor When multiple drives are interconnected and used on a network, signal distortion can occur due to the reflection wave of communication cables.

  • Page 89: Setting The Rs-485 Communication

    C h 5 M o d b u s R T U 5.2 Setting the RS-485 communication Set parameters required to use via RS-485 communication beforehand. Parameters set with the Ezi-SPEED Setting program Parameter name Description Setting range Initial value 0: No parity Sets the parity for RS-485 communi- Communication parity...

  • Page 90: Communication Mode

    C h 5 M o d b u s R T U 5.3.2 Communication mode Modbus protocol sends messages in two ways. (1) Unicast mode The master sends a command to only one slave. The slave executes the process and returns a response. (2) Broadcast mode If slave address 0 is specified on the master, the master can send a command to all slaves.

  • Page 91: Modbus-Rtu Frame

    C h 5 M o d b u s R T U 5.4 Modbus-RTU frame 5.4.1 Message The basic structure of massage frame is as follows. 5.4.2 Query A message that the Modbus master requests to the slave is called a query. Query messages follow the frame of Modbus-RTU, and is shown below.
  • Page 92 C h 5 M o d b u s R T U (4) Error check In the Modbus RTU mode, error checks are based on the CRC-16 method. The slave calculates a CRC-16 of each received message and compares the result against the error check value included in the mes- sage.
  • Page 93 C h 5 M o d b u s R T U 0000 0000 0000 0111 XOR with next byte 07h 1000 0001 0011 1001 First shift to right 0100 0000 1001 1100 1010 0000 0000 0001 XOR with A001h 1110 0000 1001 1101 0111 0000 0100 1110 Second shift to right...

  • Page 94: Response

    C h 5 M o d b u s R T U 5.4.3 Response Slave-returned responses are classified into three types: normal response, no response, and exception response. The response message structure is the same as the query message structure. Slave address Function code Data...
  • Page 95 C h 5 M o d b u s R T U (3) Exception response An exception response is returned if the slave cannot execute the process requested by the query. The message structure of exception response is as follows. Slave address Function code Data...

  • Page 96: Function Code

    C h 5 M o d b u s R T U 5.5 Function code 5.5.1 Reading from a holding register(s) (03h) This function is used to read Register (16 bits). You can read one register (register address 2 byte, read value 2 byte) or up to 16 consecutive registers (16x16 bits) [Example] Read operation data for rotation speed No.0 and No.1 of slave address 1.

  • Page 97: Writing To A Holding Register (06H)

    C h 5 M o d b u s R T U 5.5.2 Writing to a holding register (06h) This function code is used to write data to a specified register address. [Example] Write 2000 (07D0h) to rotation speed No.0(03E8h) of slave address 2. Name Register address Value write...

  • Page 98: Writing To Multiple Holding Registers (10H)

    C h 5 M o d b u s R T U 5.5.3 Writing to multiple holding registers (10h) This function code is used to write data to multiple successive registers. Up to 16 registers can be written. Note that even when an exception response is returned because some data is invalid as being outside the speci- fied range, etc., other data may have been written properly.
  • Page 99 C h 5 M o d b u s R T U ■ Response Field name Data Description Slave address Function code Register address(upper) Same as query Register address(lower) Data Number of registers(upper) Number of registers(lower) Error check (lower) Calculation result of CRC-16 Error check (upper) 5-13...

  • Page 100: Diagnosis (08H)

    C h 5 M o d b u s R T U 5.5.4 Diagnosis (08h) This function code is used to diagnose the communication between the master and slave. Arbitrary data is sent and the returned data is used to determine whether the communication is normal. 0000h is the only sub-func- tion supported by this function code.

  • Page 101: Method Of Control Via Modbus Rtu

    C h 5 M o d b u s R T U 5.6 Method of control via Modbus RTU There are two ways to operate the motor via RS-485: 'NET I/O Operation' and 'NET Direct Operation'. The NET I/O operation selects one of 16-operation data set and operates the motor, and the NET Direct operation operates by inputting a value into the operation data each time.
  • Page 102 C h 5 M o d b u s R T U ▶ Set the rotational speed of Operation Data No.2 to 1000 r/min Slave Function Register address Value written Error check upper lower upper lower lower upper address code In addition to RS-485 communication, the operation data can be set more easily using the PC Setting program.
  • Page 103 C h 5 M o d b u s R T U (3) NET I/O operation command (operation data No.2) FWD and P1 should be entered via NET I/O to drive the motor in the forward direction with Operation Data No.2.

  • Page 104: Net Direct Operation

    C h 5 M o d b u s R T U 5.6.2 NET Direct operation Direct modification of operation data values via RS-485 communication is called NET Direct operation. Operation data can be changed while driving and will be applied immediately. This allows you to operate the motor more finely than selecting the operation data.
  • Page 105 C h 5 M o d b u s R T U Please enter 08h value in 007Dh register to input FWD. Slave Function Register address Value written Error check upper lower upper lower lower upper address code (3) Input data (1000 r/min) Directly change the value of the currently selected operation data and simply control the motor, The rota- tional speed register address of the currently selected operation data No.0 is 03E8h.

  • Page 106: Register Address List

    5.7.1 Product version These commands are used to check the Product code, FW, HW, etc. All commands are ‘READ only’. Register address Name Description Product Number Corresponding model code for the Ezi-SPEED series 0002h (Model Code) (4001: Ezi-SPEED Modbus-RTU) 0003h HW Version HW version: 1Byte(Major).1Byte(Minor )
  • Page 107 C h 5 M o d b u s R T U Group (0031h) Address Description (Hex) bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 1 ~ 31: Sets the address number for the group send [FFFFh] 0031h bit7 bit6 bit5 bit4 bit3...

  • Page 108: Maintenance Commands

    C h 5 M o d b u s R T U 5.7.3 Maintenance commands These commands are used to reset alarms and records, and thy are also used to execute the batch processing for the EEPROM. All commands are executed when writing from 0 to 1. Register address Setting Name...
  • Page 109 C h 5 M o d b u s R T U 01FCh Alarm record 8 01FDh Alarm record 9 01FEh Alarm record 10 01FFh Present warning Monitors the present warning code 0200h Warning record 1 0201h Warning record 2 0202h Warning record 3 0203h...
  • Page 110 C h 5 M o d b u s R T U 2: (x0.01) 3: (x0.001) Monitors the feedback speed calculated by the −20050 ~ 021Ch Conveyor transfer speed ‘conveyor reduction gear rate’ parameter or ‘con- +20050 r/min veyor amplification speed rate’ parameter. 0: (x1) Conveyor transfer speed Monitors the decimal position in the conveyor...
  • Page 111 C h 5 M o d b u s R T U • Internal I/O IN status (Upper) Address Description (Hex) bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 EXT-ER- ALARM- RESET 0223h bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 STOP- MODE...

  • Page 112: Parameter R/W Commands

    C h 5 M o d b u s R T U 5.7.5 Parameter R/W commands These commands are used to write or read parameters. (1) Operation data Register address Initial Name Setting range value 1000 03E8h Rotational speed No.0 0, 50 ~ 4000 r/min 1015 03F7h...
  • Page 113 C h 5 M o d b u s R T U Register address Name Setting range Initial value Effective 0: Analog invalid 2019 07E3h Analog input signal select 1: Analog speed 2: Analog torque 0: disable 2020 07E4h Holding Motor at Stop 1: enable 2021 07E5h...
  • Page 114 C h 5 M o d b u s R T U Register address Name Setting range Initial value Effective 2129 0851h NET-IN13 function select 2130 0852h NET-IN14 function select 2131 0853h NET-IN15 function select 2132 0854h NET-OUT0 function select 48: P0_R 2133 0855h...
  • Page 115 C h 5 M o d b u s R T U (a) ‘Analog input signal select’ parameter Setting method of operation data can be changed using the ‘analog input signal select’ parameter. Others except the following combinations are not available to set. ‘Analog input Operation Acceleration /...
  • Page 116 C h 5 M o d b u s R T U (3) Setting items for I/O signal assignment • (a) IN function select parameter 0: Not used 32: R0 38: R6 44: R12 50: P2 1: FWD 33: R1 39: R7 45: R13 51: P3...

  • Page 117: Group Send

    C h 5 M o d b u s R T U 5.8 Group send Multiple slaves are made into a group and a query is sent to all slaves in the group at once. (1) Group composition A group consists of one parent slave and child slaves and only the parent slave returns a response. All slaves have to be connected with master by daisy chain.
  • Page 118 C h 5 M o d b u s R T U (5) Example of ‘group send’ The following describes the operation when the function code ‘06h’ (write to a holding register) is sent to the group command. 5-32...

  • Page 119: Detection Of Communication Errors

    C h 5 M o d b u s R T U 5.9 Detection of communication errors This function detects abnormalities that may occur during RS-485 communication. The abnormalities that can be detected include alarms, warnings and communication errors. 5.9.1 Communication errors A communication error record will be saved in the RAM.

  • Page 120: Troubleshooting

    C h 6 T r o u b l e s h o o t i n g 6 Troubleshooting 6.1 Alarms When an alarm generates, the ALARM-OUT output will turn OFF and the motor will stop. At the same time, the ALM LED will start blinking.
  • Page 121 C h 6 T r o u b l e s h o o t i n g (2) Alarm records Up to 10 generated alarms are saved in the EEPROM in order of the latest to oldest. The alarm records can be read or cleared via PC Setting program or RS-485 communication.
  • Page 122 C h 6 T r o u b l e s h o o t i n g Error No. of Code Alarm type Cause Remedial action (HEX) blinks has been cycled, contact your nearest office. Initialize the parameters via PC Setting program. If the stored data is damaged or If the alarm does not re- EEPROM error...

  • Page 123: Warnings

    C h 6 T r o u b l e s h o o t i n g 6.2 Warnings When a warning generates, the WNG output will turn ON. The motor will continue to operate. Once the cause of the warning is removed, the WNG output will turn OFF automatically. (1) Warning list Code Warning type...

  • Page 124: Communication Errors

    C h 6 T r o u b l e s h o o t i n g 6.3 Communication errors If a communication error occurs, the error code is stored in RAM, but the motor continues to operate. (1) Communication error list Code Communication Cause...

  • Page 125: Troubleshooting And Remedial Actions

    C h 6 T r o u b l e s h o o t i n g 6.4 Troubleshooting and remedial actions During motor operation, the motor or driver may fail to function properly due to an improper speed setting or wiring.

  • Page 126: Appendix 1 Motor/Drive Combination Tables

    A p p e n d i x 1 C o m b i n a t i o n t a b l e s Appendix 1 Motor/Drive Combination tables 1.1 Standard motor, Drive Power Unit Product No. Motor Product No. Drive Product No.
  • Page 127 A p p e n d i x 1 C o m b i n a t i o n t a b l e s Gearhead Gear Motor Drive Power Unit Product No. Ratio Product No. Product No. Product No. Ezi-SPEED-MR-80-H-60-C-R100-P ESG-80-H-R100-P 1:100...
  • Page 128 A p p e n d i x 1 C o m b i n a t i o n t a b l e s Gearhead Gear Motor Drive Power Unit Product No. Ratio Product No. Product No. Product No. Ezi-SPEED-MR-104-H-400-C-R30-P ESG-104-H-R30-P 1:30...

  • Page 129: Appendix 2 Specifications Of Motor

    A p p e n d i x 2 S p e c i f i c a t i o n s m o t o r Appendix 2 Specifications of motor 2.1 General specifications Item Specifications Usage temperature 0∼40℃...

  • Page 130: Specifications Of Motor With Parallel Shaft Gearhead

    A p p e n d i x 2 S p e c i f i c a t i o n s m o t o r 2.3 Specifications of motor with parallel shaft gearhead ■ 30W Permitted Torque Permitted Radial Per- Permitted...
  • Page 131 A p p e n d i x 2 S p e c i f i c a t i o n s m o t o r ■ 120W Permitted Torque Permitted Radial Per- Permitted [N·m] Load [N] mitted Unit Gear Speed...
  • Page 132 A p p e n d i x 2 S p e c i f i c a t i o n s m o t o r ■ 400W Permitted Torque Permitted Radial Per- Permitted [N·m] Load [N] mitted Unit Gear Speed...
  • Page 133 A p p e n d i x 2 S p e c i f i c a t i o n s m o t o r 2.4 Specifications of motor with hollow shaft gearhead ■ 30W Permitted Torque Permitted Radial Per- Permitted...
  • Page 134 A p p e n d i x 2 S p e c i f i c a t i o n s m o t o r ■ 120W Permitted Torque Permitted Radial Per- Permitted [N·m] Load [N] mitted Unit Gear Speed...
  • Page 135 A p p e n d i x 2 S p e c i f i c a t i o n s m o t o r ■ 400W Permitted Torque Permitted Radial Per- Permitted [N·m] Load [N] mitted Unit Gear Speed...
  • Page 136 A p p e n d i x 3 S p e c i f i c a t i o n c o m p l i a n c e Appendix 3 Specification compliance 3.1 CE marking Ezi-SPEED Modbus-RTU is a product that has obtained CE certification, and the CE mark is attached to the product.
  • Page 137 A p p e n d i x 4 R e v i s e d h i s t o r y Appendix 4 Revised history Please refer to the revision number of the User Manual on the back cover. Revision No.
  • Page 138 ⚫ It is prohibited to copyright or replication of the part or whole of User Manual without permission. ⚫ When User Manual is needed due to damage or loss, please contact Head Quarter of Fastech or our distributors. ⚫ The User Manual can be changed without pre-notification in order to reflect improvement or change of the product specifications and for the improvement of User Manual.

This manual is also suitable for:

Ezi-speed esd-mr-30-cEzi-speed esd-mr-60-cEzi-speed esd-mr-120-cEzi-speed esd-mr-200-cEzi-speed esd-mr-400-c

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