Manual Ezi-SERVOII-CC-Link ENG

- User Manual -
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※ Before Operation ※
 Thank you for your purchasing the FASTECH’s Ezi-SERVO2 CC-Link product.
 Ezi-SERVO2 CC-Link is a product that Ezi-SERVO2 product is directly connected to CC-Link

network and can use motion, parameter, PT operation, teaching etc.
 This manual describes handling, maintenance, repairing, diagnosis and troubleshooting of

Ezi-SERVO2 CC-Link.
 Before operating Ezi-SERVO2 CC-Link, thoroughly read this manual for safety.
 After reading this manual, please keep this manual near Ezi-SERVO2 CC-Link, so that any
user can read the manual whenever needed.
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- Contents -
1. Precautions ............................................................................................................... 10
1.1 General Precautions.................................................................................................................. 10
1.2 Safety Precaution ....................................................................................................................... 10
1.3 Product status ............................................................................................................................. 10
1.4 Installation .................................................................................................................................... 11
1.5 Wiring ............................................................................................................................................. 11
1.6 Operation & Setting Change ............................................................................................... 12
1.7 Check & Repair........................................................................................................................... 12
2. Specifications of the Product ............................................................................... 14
2.1 Product Overview ...................................................................................................................... 14
2.2 Specifications of the Drive .................................................................................................... 15
2.3 Configuration of the Product ............................................................................................... 16
2.3.1 Naming system .................................................................................................................................. 16
2.3.2 Product combination ....................................................................................................................... 17
2.4 Dimensions ................................................................................................................................... 18
2.5 Specifications of the Motor .................................................................................................. 19
2.5.1 Motor Specifications ........................................................................................................................ 19
2.5.2 Characteristics of the Motor torque ......................................................................................... 20
2.5.3 Motor Size ............................................................................................................................................ 23
3. Function and Configuration .................................................................................. 25
3.1 CC-Link Overview ...................................................................................................................... 25
3.2 Ezi-SERVO2 CC-Link function ............................................................................................... 26
3.2.1 CC-Link Network ............................................................................................................................... 26
3.2.2 I/O control ............................................................................................................................................ 26
3.2.3 Ezi-MOTION Plus-R Network ....................................................................................................... 26
3.3 System Configuration .............................................................................................................. 27
3.4 CC-Link Remote I/O Device Map ....................................................................................... 28
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3.4.1 I/O Device Map when 1 Station Occupation ....................................................................... 28
3.4.2 I/O Device Map when 2 Station Occupation ....................................................................... 34
4. Operation .................................................................................................................. 36
4.1 Opertion sequence ................................................................................................................... 36
4.2 Check Wiring ............................................................................................................................... 37
4.2.1 Wiring of External I / O Cable [CN1] ....................................................................................... 38
4.2.2 Motor cable and encoder cable wiring [CN2] [CN3] ....................................................... 43
4.2.3 Power Wiring [CN4] ......................................................................................................................... 44
4.2.4 CC-Link Cable wiring [CN5].......................................................................................................... 45
4.2.5 RS-485 Cable wiring [CN6] ........................................................................................................... 45
4.3 Maneuver ...................................................................................................................................... 47
4.3.1 Power On/Off Method .................................................................................................................... 47
4.3.2 Operation Stop ................................................................................................................................... 48
4.3.3 CC-Link Station Occupying Setting .......................................................................................... 48
4.3.4 Setting the Drive Identification Number................................................................................ 49
4.3.5 Network Mode Setting ................................................................................................................... 49
4.3.6 Network cable connection ............................................................................................................ 50
4.3.7 Connection with CC-Link master PLC ...................................................................................... 51
4.3.8 Access to Windows GUI program or RS-485....................................................................... 51
4.3.9 Test Operation .................................................................................................................................... 52
4.3.10 Parameter Access .............................................................................................................................. 52
4.3.11 Position Table Setting...................................................................................................................... 53
4.4 Drive status Display .................................................................................................................. 56
4.4.1 7-Segment for station number display .................................................................................. 56
4.4.2 CC-Link status display LED ........................................................................................................... 58
4.4.3 Drive status display LED ................................................................................................................ 58
4.5 Type of operation command................................................................................................ 59
4.5.1 1 Station occupied mode .............................................................................................................. 60
4.5.2 2 Station occupied mode .............................................................................................................. 60
4.5.3 Use of External I/O ........................................................................................................................... 61
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4.6 CC-Link Parameter Setting .................................................................................................... 63
4.7 Confirmation of handshake .................................................................................................. 67
4.7.1 Activating the Drive ......................................................................................................................... 67
4.7.2 Handshake Method .......................................................................................................................... 67
4.8 RS485 Control Authority ........................................................................................................ 68
4.8.1 Approval of Control Authority .................................................................................................... 68
4.8.2 Approval of Control authority check and RS485 communication status ............... 69
4.8.3 RS485 communication connection flag .................................................................................. 69
4.8.4 Status bits in Ezi-MOTION PlusR GUI ...................................................................................... 70
4.9 Servo On/Off and Alarm Reset ........................................................................................... 71
4.10 E-STOP (Emergency Stop) ...................................................................................................... 74
4.11 S-STOP (Slow Stop)................................................................................................................... 76
4.12 Homing Start ............................................................................................................................... 77
4.12.1 Homing Method : Origin (0x00) ................................................................................................ 80
4.12.2 Homing Method : Z Origin (0x01) ............................................................................................ 81
4.12.3 Homing Method : Reverse Side Origin (0x02) .................................................................... 82
4.12.4 Homing Method : Reverse Side Z-Origin (0x03)................................................................ 83
4.12.5 Homing Method : Limit Origin (0x04)..................................................................................... 84
4.12.6 Homing Method : Z Limit Origin (0x05) ................................................................................ 85
4.12.7 Homing Method : Z-Phase (0x06)............................................................................................. 86
4.12.8 Homing Method : Torque Origin (0x07)................................................................................. 87
4.12.9 Homing Method : Torque Origin Z-Phase (0x08) .............................................................. 88
4.12.10 Homing Method : Set Origin (0x09) ........................................................................................ 89
4.13 Jog Operation ............................................................................................................................. 90
4.13.1 Jog Operation ..................................................................................................................................... 90
4.13.2 Speed override for jog operation ............................................................................................. 93
4.14 Step Move ..................................................................................................................................... 94
4.15 Zero Position Move .................................................................................................................. 97
4.16 Position Move ........................................................................................................................... 100
4.16.1 Absolute Position Move ............................................................................................................... 101
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4.16.2 Incremental Position Move ......................................................................................................... 103
4.16.3 Override Command........................................................................................................................ 106
4.17 Position Table Operation ...................................................................................................... 108
4.17.1 Normal PT Operation .................................................................................................................... 110
4.17.2 Single PT Operation ....................................................................................................................... 112
4.18 Controller Status Information ............................................................................................ 114
4.18.1 Command Response Checking ................................................................................................. 114
4.18.2 Axis Status Checking ..................................................................................................................... 115
4.18.3 Current Status Data Checking ................................................................................................... 116
4.18.4 External I / O Status Checking .................................................................................................. 121
4.18.5 User Output ....................................................................................................................................... 122
4.18.6 Motor Current [mA] ....................................................................................................................... 122
4.18.7 Current Load [%] ............................................................................................................................. 123
4.18.8 Peak Load [%] ................................................................................................................................... 123
4.19 Parameter Access..................................................................................................................... 126
4.19.1 Parameter Request ......................................................................................................................... 128
4.19.2 Parameter Change .......................................................................................................................... 130
4.19.3 Parameter Storage .......................................................................................................................... 132
4.19.4 Access to Ezi-MOTION Plus-R GUI program ..................................................................... 134
4.20 Teaching command ................................................................................................................ 135
4.21 Set Current Position ............................................................................................................... 138
5. Parameter List ....................................................................................................... 140
5.1 Operating Parameter.............................................................................................................. 141
5.1.1 Drive F/W Revision Info [Pn#A000] ........................................................................................ 142
5.1.2 Drive F/W Version Info [Pn#A001] .......................................................................................... 142
5.1.3 Drive H/W Version Info [Pn#A002] ......................................................................................... 142
5.1.4 Drive Major Version Info [Pn#A003] ...................................................................................... 142
5.1.5 Motor Type Info [Pn#A005] ....................................................................................................... 142
5.1.6 CC-Link Occupied Stations Info [Pn#A008] ........................................................................ 143
5.1.7 CC-Link Mode Switch Info [Pn#A009] ................................................................................... 143
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5.1.8 CC-Link ID Info [Pn#A00A] ......................................................................................................... 143
5.1.9 Ezi-MOTION Plus-R ID [Pn#A010]........................................................................................... 144
5.1.10 Ezi-MOTION Plus-R Baud-Rate [Pn#A011] ......................................................................... 144
5.1.11 E-STOP Method [Pn#A020] ........................................................................................................ 144
5.1.12 Network Disconnection [Pn#A030]......................................................................................... 144
5.2 System Control Parameter ................................................................................................... 145
5.2.1 Pulse Per Resolution [Pn#B000h]............................................................................................. 147
5.2.2 S/W Limit ± Value [Pn#B001h], [Pn#B002h] ...................................................................... 148
5.2.3 S/W Limit Stop Method [Pn#B003h] ..................................................................................... 148
5.2.4 H/W Limit Stop Method [Pn#B004h]..................................................................................... 148
5.2.5 Position Loop Gain [Pn#B005h] ............................................................................................... 149
5.2.6 In-position Value [Pn#B006h] .................................................................................................... 150
5.2.7 Position Tracking Limit [Pn#B007h] ........................................................................................ 150
5.2.8 Motion Direction [Pn#B008h].................................................................................................... 150
5.2.9 Limit Sensor Direction [Pn#B009h] ......................................................................................... 151
5.2.10 Pos. Error Overflow Limit [Pn#B00Ah] ................................................................................... 151
5.2.11 Brake Delay Time [Pn#B00Bh] ................................................................................................... 151
5.2.12 Run, Boost, Stop Current [Pn#B00Ch], [Pn#B00Dh], [Pn#B00Eh] ............................. 152
5.2.13 Mechanism Type Select [Pn#B020h] ...................................................................................... 156
5.2.14 Unit [Pn#B021h] ............................................................................................................................... 156
5.2.15 Reduction ratio (Input Gear [Pn#B022h], Output Gear [Pn#B023h]) ...................... 157
5.2.16 Screw Lead [Pn#B024h]................................................................................................................ 157
5.2.17 Pulley Diameter [Pn#B025h] ...................................................................................................... 157
5.2.18 Step Move Position Magnify [Pn#B030h] ............................................................................ 158
5.3 Motion control Parameter ................................................................................................... 159
5.3.1 Axis Max Speed [Pn#B000h] ...................................................................................................... 160
5.3.2 Axis Start Speed [Pn#B001h] ..................................................................................................... 160
5.3.3 Axis Accel/ Decel Time [Pn#B002h], [Pn#B003h] ............................................................. 160
5.3.4 Speed Override [Pn#B004h] ....................................................................................................... 160
5.3.5 Jog Speed [Pn#B005h] ................................................................................................................. 160
5.3.6 Jog Start Speed [Pn#B006h] ...................................................................................................... 160
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5.3.7 Jog Accel/Decel Time [Pn#B007h] .......................................................................................... 161
5.4 Homing Parameter .................................................................................................................. 162
5.4.1 Homing Method [Pn#B200h] .................................................................................................... 163
5.4.2 Homing Speed [Pn#B201h] ........................................................................................................ 163
5.4.3 Homing Search Speed [Pn#B202h] ........................................................................................ 163
5.4.4 Homing Accel/Decel Time [Pn#B203h]................................................................................. 163
5.4.5 Homing Dir [Pn#B204h] ............................................................................................................... 164
5.4.6 Homing Offset [Pn#B205h] ........................................................................................................ 164
5.4.7 Homing Position Set [Pn#B206h] ............................................................................................ 164
5.4.8 Org Torque Ratio [Pn#B207h] ................................................................................................... 164
5.5 External I/O Setting ................................................................................................................ 165
5.5.1 Setting Level of H / W Limit Signal and Origin Signal ................................................. 166
5.5.2 Input signal Setting ........................................................................................................................ 166
5.5.3 Output Signal Setting ................................................................................................................... 169
5.6 Position Table Parameter ...................................................................................................... 171
6. Motion Profile ....................................................................................................... 173
6.1 Operation of Stop Command ............................................................................................ 176
6.1.1 Operation of S-STOP during Constant Speed Operation ............................................ 176
6.1.2 Operation of S-STOP during acceleration operation ..................................................... 176
6.1.3 Operation of S-STOP during deceleration operation .................................................... 177
6.1.4 Operation of E-STOP during constant speed operation .............................................. 177
6.1.5 Operation of E-STOP during acceleration operation ..................................................... 178
6.1.6 Operation of E-STOP during deceleration operation .................................................... 178
6.2 Motion Profile of Jog Operation ...................................................................................... 179
6.2.1 Jog operation command motion ............................................................................................ 179
6.2.2 Velocity Override for Jog Operation ...................................................................................... 180
6.3 Motion profile of position movement ........................................................................... 181
6.3.1 Motion of Position Move Command ..................................................................................... 181
6.3.2 Velocity Override of Position Move ........................................................................................ 182
6.3.3 Absolute Position Override ......................................................................................................... 183
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6.3.4 Incremental Position Override ................................................................................................... 185
7. Homing Profile ...................................................................................................... 187
7.1 Homing profile of "Origin" .................................................................................................. 189
7.2 Homing Profile of “Z-Origin”.............................................................................................. 190
7.3 Homing Profile of “Reverse Side Origin” ...................................................................... 191
7.4 Homing Profile of “Reverse Side Z-Origin”.................................................................. 192
7.5 Homing Profile of “Limit Origin” ...................................................................................... 193
7.6 Homing Profile of “Z Limit Origin” .................................................................................. 194
7.7 Homing Profile of “Z Phase”............................................................................................... 196
7.8 Homing Profile of “Torque Origin” .................................................................................. 197
7.9 Homing Profile of “Torque Origin” .................................................................................. 198
8. Protection Function.............................................................................................. 199
8.1 Types of Alarm .......................................................................................................................... 199
8.2 Acquiring of alarm information......................................................................................... 200
8.2.1 Checking the Drive LED ............................................................................................................... 200
8.2.2 Checking the Segment information ....................................................................................... 200
8.2.3 Checking the CC-Link remote ................................................................................................... 200
8.3 Alarm check and Release ..................................................................................................... 201
8.4 Warning Code ........................................................................................................................... 203
9. Appendix ................................................................................................................ 205
9.1 Brake Mounted Motors......................................................................................................... 205
9.1.1 Specifications .................................................................................................................................... 205
9.1.2 Motor Size .......................................................................................................................................... 206
9.2 Gearbox Installed Motor ...................................................................................................... 207
9.2.1 Gearbox Specification for 42mm Motor .............................................................................. 207
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1.1. General Precautions
10 1. Precautions
P 1. Precautions
1.1 General Precautions
 Contents of this manual are subjected 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-SERVO2 CC-Link.
 When the manual is damaged or lost, please contact with FASTECH’s agents
or our company at the address on the last page of 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.
1.2 Safety Precaution
 Before installation, operation and repairing the S-SERVO Plus -R, thoroughly
read the manual and fully understand the contents. Before operating the Ezi-
SERVO2 CC-Link please fully understand the mechanical characteristics of the
product, related safety information and precautions.
 This manual divides safety precautions into Attention and Warning.
If user does not properly handle the product, the user may seriously
Attention or slightly injured and damages may occur in the machine.
Improper handling may result in electric shock or other dangerous
Warning situations and may result in death or serious injury.
 Although precaution is only an Attention, a serious result could be

caused depending on the situation. Please follow safety precautions.
1.3 Product status
Check the Product is damaged or parts are missing.

Otherwise, the machine may get damaged or the user may get
Attention injured.
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1.4. Installation
1. Precautions 11
1.4 Installation
Please carry the Ezi-SERVO2 CC-Link carefully.

P
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-SERVO2 CC-Link is to be installed.
Otherwise, a fire may occur.
Attention
When installing several Ezi-SERVO2 CC-Link products in a sealed
place, install a cooling fan to keep the ambient temperature of the
product 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 by qualified person.
Warning Otherwise, a fire or other kinds of accidents may occur.
1.5 Wiring
Keep the rated range of input Voltage for Ezi-SERO2 CC-Link drive.
Otherwise, a fire or other kinds of accidents may occur.
Attention Cable connection should be following the wiring diagram.

Otherwise, a fire or malfunction of machine may occur.
Before connecting cables, check if input power is off..

Otherwise, an electric shock or a fire may occur.
The case of this Ezi-SERVO2 CC-Link is installed from the ground of

the internal circuit by the condenser, please Ground the Ezi-SERVO2
Warning
CC-Link.
Otherwise, an electric shock or a file may occur and a cause of
malfunction of machine.
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1.6. Operation & Setting Change
12 1. Precautions
1.6 Operation & Setting Change

P
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.
Make all input signals to OFF before supply input voltage to Ezi-
SERVO2 CC-Lin drive.
Attention 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 thoroughly.
Otherwise, the machine may get damaged or other kinds of acc
idents may occur.
1.7 Check & Repair
Stop to supply power to the main circuit and wait sufficient time
before checking or repairing this Ezi-SERVO2 CC-Link.
Electricity remaining in the condenser may cause of electric shock.
Do not change cabling while power is being supplied.

Otherwise, the user may get injured or the product and machine
may get damaged.
Warning
Do not reconstruct the Ezi-SERVO2 CC-Link.

Otherwise, an electric shock may occur or the product and mac
hine get damaged. And the reconstructed product cannot get af
ter service.
Notes on Installation .
1) This product has been designed for indoor uses. The ambient temperature of the
room should be 0°~ 55°C .
2) If the temperature of the case is 50°C or higher, radiate heat outside for cooling
down.
3) Do not install this product under direct rays or near magnetic or radioactive objects.
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1.7. Check & Repair
1. Precautions 13
4) If more than 2 drives are installed in a line, keep the interval of 20mm or more
vertically and 50mm or more horizontally at least

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2.1. Product Overview
14 2. Specifications of the Product
P 2. Specifications of the Product
2.1 Product Overview
Ezi-SERVO2 CC-Link is a product that can drive the step motor of FASTECH in CC-Link
network which is high-speed field-network.
By connecting to the network with CC-Link 1.0 Remote Device, it is possible to control
through 1 station and 2 station occupation mode, and the allocation area of device memory
of host controller can be optimized according to the operation status.
When using station 1 occupation mode, speed or position can be adjusted by jog
operation or step-jog operation. User can use the position adjusted by jog operation or
step-jog operation, or you can configure the position information input to the remote
register (Remote Resister) by position table (PT).
The 2 station occupied mode includes the function of the occupied mode of station 1 and
includes the position move command.
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2.2. Specifications of the Drive
2. Specifications of the Product 15
2.2 Specifications of the Drive
Network CC-Link Ver.1
Input Voltage 24VDC ±10%
Control Method Closed loop control with ARM-based 32-bit MCU
Station Connection to remote device station,

Information 1 ~ 2 Station Occupation
Current Drive: Max. 0.5[A],

Consumption Motor: Max. 4[A]
Ambient In Use : 0~55℃

Operating condition
Temperature
In Storage : -27~70℃
Humidity
In Use : 35~85%RH (Non-Condensing)
In Storage : -10~90%RH (Non-condensing)
Vibration.
Resist 0.5G
Rotation
0 ~ 3,000 rpm
Speed
Resolution
500 ~ 10,000 pulse (Select by Parameter)
[P/R]
Functions
Over current, Over Speed, Position tracking error, Over load, Over temperature, Over
Protection
regenerated voltage, motor connect error, Encoder connect error, In-position error, ROM error,
Function
Position overflow error
Power status, In-Position status, Servo ON status, Alarm status,

LED Display
CC-Link network status
3 dedicated input (Limit+, Limit-, Origin)
Input Signal
I/O signal
7 programmable input (User mapping)
Output 1 dedicated output (Brake)

Signal 6 programmable output (User mapping)
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2.3. Configuration of the Product
2.3 Configuration of the Product

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2.3.1 Naming system
Ezi-SERVO2 - CL – 42XL – A – PG – PN10
Product Series
Network Type
CL : CC-Link
Motor size
20 : 20mm 42 : 42mm
28 : 28mm 56 : 56mm
35 : 38mm 60 : 60mm
Motor Length
S : Single L : Large
M : Middle XL : Extra Large
Encoder Resolution
A : 10,000/Rot E : 2,000/Rot
B : 20,000/Rot F : 4,000/Rot
D : 16,000/Rot
Option
No Indication : Standard
BK : Brake installation
PG : Reducer installation
Reducer Type
No Indication: No Reducer
PN : Precision Reducer
PS : Normal Reducer
Reduction Ratio
1 Step : 3/5/8/10
2 Step : 15/25/40/50
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2.3. Configuration of the Product
2.3.2 Product combination
Unit Name Motor Name Drive Name

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Ezi-SERVO2-CL-20M-F EzM2-20M-F EzS2-CL-20M-F
Ezi-SERVO2-CL-20L-F EzM2-20L-F EzS2-CL-20L-F
Ezi-SERVO2-CL-28S-D EzM2-28S-D EzS2-CL-28S
Ezi-SERVO2-CL-28M-D EzM2-28M-D EzS2-CL-28M
Ezi-SERVO2-CL-28L-D EzM2-28L-D EzS2-CL-28L
Ezi-SERVO2-CL-35M-D EzM2-35M-D EzS2-CL-35M
Ezi-SERVO2-CL-35L-D EzM2-35L-D EzS2-CL-35L
Ezi-SERVO2-CL-42S-A EzM2-42S-A EzS2-CL-42S
Ezi-SERVO2-CL-42S-B EzM2-42S-B EzS2-CL-42S
Ezi-SERVO2-CL-42M-A EzM2-42M-A EzS2-CL-42M
Ezi-SERVO2-CL-42M-B EzM2-42M-B EzS2-CL-42M
Ezi-SERVO2-CL-42L-A EzM2-42L-A EzS2-CL-42L
Ezi-SERVO2-CL-42L-B EzM2-42L-B EzS2-CL-42L
Ezi-SERVO2-CL-42XL-A EzM2-42XL-A EzS2-CL-42XL
Ezi-SERVO2-CL-42XL-B EzM2-42XL-B EzS2-CL-42XL
Ezi-SERVO2-CL-60L-C EzM2-60L-C EzS2-CL-60L
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2.4. Dimensions
2.4 Dimensions
P
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2.5. Specifications of the Motor
2.5 Specifications of the Motor
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2.5.1 Motor Specifications
Current per Holding Rotor

Motor Weight Length(L)
Phase Torque Inertia
Unit A N∙m g∙㎠ g mm
EzM2-20M 0.5 0.016 2.5 50 28
EzM2-20L 0.5 0.025 3.3 80 38
EzM2-28S 0.95 0.69 9 110 32
EzM2-28M 0.95 0.10 13 140 45
EzM2-28L 0.95 0.12 18 200 50
EzM2-35M 0.6 0.05 8 150 26
EzM2-35L 0.85 0.176 11 260 38
EzM2-42S 1.2 0.32 35 250 34
EzM2-42M 1.2 0.44 54 280 40
EzM2-42L 1.2 0.5 77 350 48
EzM2-42XL 1.2 0.65 114 500 60
EzM2-56S 3 0.64 180 500 46
EzM2-56M 3 1.00 280 720 55
EzM2-56L 3 1.5 520 1150 80
EzM2-60S 4 0.88 240 600 47
EzM2-60M 4 1.28 490 1000 56
EzM2-60L 4 2.4 690 1300 85
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2.5.2 Characteristics of the Motor torque

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2.5.3 Motor Size
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Refer to "9. Appendix" or catalog in this manual for brake-mounted motors and reducer-
mounted motors.
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3.1. CC-Link Overview
3. Function and Configuration 25
3. Function and Configuration

P 3.1 CC-Link Overview
CC-Link is an industrial network configured with an RS485 topology. This network is one of
the field buses with high-speed / on-time capability and supports communication speeds of
up to 10 Mbps. And it is a network that guarantees the regularity of data by supporting the
cyclic transmission function for always the same link scan processing.
These features make it possible to process large volumes of data at high speed and enable
rapid connection of on-site information to improve productivity. The RS485 topology
simplifies installation and maintenance.
Item Specification
Ver 1.1 : Remote I/O (RX,RY) - 2048 Bit,

Remote resister (RWr, RWw) 512 WORD
Ver 2.0 : Remote I/O (RX,RY) - 8192bit,
Max. Link point Remote Resister (RWr, RWw) 2048 WORD
number
1) Ezi-SERVO2 CC-Link is CC-Link Ver. 1.1 connection is possible.
2) Even if the CC-Link master card (QJ61BT11N) of the PLC is set to Remote
Net 2.0 mode, the station type is can be set to Ver.1.
Max. Point/ 1Station Remote I/O : 32 points each , Remote resister 8 WORD
Max. occupied station 4 Station occupation (Data volume expansion function, per 1 slave)
Cyclic Transmission
24Byte/1Station
Data size
960Byte
Transmission data size
(Master->Slave 150Byte/Scan, Slave->Master 34Byte/Scan)
Total slave station Max 64Station

number Depends on occupied the number by 1 slave.
10Mbps : 100m (Use of optical repeater : 4.3 km)

5Mbps: 160m (Use of optical repeater : 4.48 km)
Communication speed
2.5Mbps : 400m (Use of optical repeater : 5.2 km)
and cable extension
625Kbps : 900m (Use of optical repeater : 6.7 km)
distance
156Kbps : 1200m (Use of optical repeater : 7.6 km)
* Ver.1.10 compatible When using CC-Link dedicated cable
Communication
Broad Casting Pooling
Method
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3.2. Ezi-SERVO2 CC-Link function
26 3. Function and Configuration
3.2 Ezi-SERVO2 CC-Link function

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3.2.1 CC-Link Network
Ezi-SERVO2 CC-Link is connected to a remote device from CC-Link network, which is a high-
speed fieldbus, and can set up to 4 stations for motion control.
1 Station 2 Station 3 Station 4 Station

occupation occupation occupation (1* occupation (1*
Number of
modules
connectable to the
42 Module 32 Module 21 Module 16Module
master equipment
according to the
occupied station
The allocation
amount of the
RX/RY:96 point RX/RY:128 point
remote device RX/RY:32 point RX/RY:64 point
RWw/RWr:12 RWw/RWr:16
according to the RWw/RWr:4 word RWw/RWr:8 word
word word
station occupancy
(Data Volume)
*1)
3 and 4 station occupied modes are not supported by Ezi-SERVO2 CC-Link. (It will be
supported in the future)
3.2.2 I/O control
 Ezi-SERVO2 CC-Link has seven inputs and six outputs, and each pin can be
assigned a function to operate the system. In addition, by incorporating a position
controller in the drive and connecting a H / W Limit sensor, which is a sensor signal
that can define a limit, mechanical collision can be suppressed during motion
control.
 Function Introduction : “4.5.3 Use of External I/O”
 Parameter and Function : “5.5 External I/O Setting”
3.2.3 Ezi-MOTION Plus-R Network
It is possible to connect with RS485 communication using FASTECH's proprietary protocol,

and support Ezi-MOTION Plus-R DLL for motion library, parameter access, test operation
and status monitoring.
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3.3. System Configuration
3.3 System Configuration
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3.4. CC-Link Remote I/O Device Map
3.4 CC-Link Remote I/O Device Map

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3.4.1 I/O Device Map when 1 Station Occupation
RY Output Device Name RX Input Device Name
RY00 Servo Enable RX00 Servo Enabled

RY01 /Emergency Stop RX01 Emergency Stopped
RY02 ALARM RESET RX02 ALARM Status
RY03 Homing Start RX03 Homing OK
RY04 JOG + RX04 MOTION READY
RY05 JOG - RX05 Jog Response
RY06 Step + Move RX06 Step Move Response
RY07 Step - Move RX07 In-Position
RY08 STOP RX08 MOTIONING
RY09 HOLD RX09 Hold status
RY0A Go Zero Position RX0A Go Zero Position Resp.
RY0B PT Start RX0B PT Running
RY0C Single PT Select RX0C Single PT Select Resp.
RY0D - RX0D Command Set Resp.
RY0E Command Set RX0E Warning
RY0F Motion / Setting RX0F Motion / Setting Resp.
RY10 Step Move Position RX10 Step Move Position Resp.

~ (1~10) BCD Data ~ (1~10) BCD Data
RY13 (Parameter : Multiple of Pn#B030 ) RX13 X 10 의 승수(Parameter Value)
RY14 RX14 Monitor code(Motion Mode)

Monitor code (Motion)
~ ~ Data Code (Setting Mode)
PT Command (Teaching)
RY17 RX17 Response
RY18 RX18
~ Command Code ~ Command Code Resp.
RY1B RX1B
RY1C Processing Complete Flag RX1C Initial Data Processing Request
RY1D Remote Clear RX1D Remote station READY
RY1E RS485 Approval of use RX1E RS485 Port Approved
RY1F RX1F RS-485 Port Connected (1 sec)
RWw RWw
RWw0 Operation speed RWw0 Monitor response Data(Motion)

RWw1 (Position Move, JOG Move) RWw1 response Data (Setting)
RWw2 PT No. / Parameter Code RWw2 PT No. / Parameter Code Resp.

RWw3 RWw3 Warning Code
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1) Network Connection Setting Bit

 Initial Data Processing Request [RX1C]
PRequesting status for processing of initial data by Ezi-SERVO2 CC-Link
 Initial Data Processing Complete Flag [RY1C]

Notify Ezi-SERVO2 CC-Link that initial data has been processed
 Remote station READY [RX1D]

It is status of Ezi-SERVO2 CC-Link completes the initialization operation, the instruction
can be executed. All commands must be processed with the "Remote READY" bit enabled.
Example ) Command Position Monitoring

- Remote Input Address (RX) : X1000
- Remote Output Address (RY) : Y1000
- Remote Resister Address (RWr) : D1000
- Remote READY bit : X101D
The value of the input device is invalid when "Remote READY" is turned off.
 Remote Clear [RY1D]

Command to release Ezi-SERVO2 CC-Link connection. Remote Ready bit is Off when
"Remote Clear" is On.
 RS-485 Port Connect [RY0E]

Allow control command through RS485 communication (It can be executed in Servo Off
state)
 RS-485 Port Approved [RX0E]
Control command allow response bit via RS485 communication
 RS-485 Port Connected [RX1F]

When the command is received normally by RS485, keep the ON status for 1 sec.
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2) Drive Control command

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 Servo Enable [RY00]
It is the Servo On / Off control bit. This bit must be ON status to drive the motor. Also, it
must be kept ON status in a system that performs Servo On / Off operation with external I /
O.
 Emergency Stop [RY01]

It is activated when emergency stop command execution command is Off. Motion
commands must be kept ON at all times.
 ALARM RESET [RY02]

It is the alarm release command, after clearing the cause of the alarm, this bit can be
turned on to release the alarm that occurred in the drive.
 STOP [RY08]
This is motion stop command. it is used to release the current motion profile. In addition,
can be performed operation stop while PT is running
 HOLD [RY09]
This is motion pause command, it pauses the current motion profile. The motion commands
that can be used with this command are the jog command and the move command.
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3) Motion control Command Bit

When the following motion control command bit is turned on, the motor must be
P
supplied with power so that the motor is ready to be operating (Servo On).
 Homing Start [RY03] : To execute the Homing command
 JOG + [RY04] : +Jog operation command
 JOG - [RY05] : - Jog operation command

 Step + Move [RY06] : + Step move command
 Step - Move [RY07] : - step move command
 Go Zero Position [RY0A] : Move to Zero position
 PT Start [RY0B] : PT Operation
4) Special Control Command Bit

 Single PT Select [RY0B] : Select to Single PT operation
 Command Set [RY0E] : Execution of additional and special commands

- Used when applying speed override during jog operation
- Used for parameter access
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5) Special control Command Support Bit

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 Step Move Position [RY0B] : The position value of the step move
command which is a multiple of Magnify of Parameter Pn # B03 Step
Move Position
 Motion/Setting [RY0F] : When it is On, it is used in general motion.
When it is Off, it is used command code command.
 Command Code [RY18~RY1B] : Command type selection, code number
of command executed with Command Set [RY0E] bit On
No Function Description
0x0 - -
0x1 Parameter Read Parameter request
0x2 Parameter Write Parameter Change
0x3 Parameter Save Parameter Storage
0x4 - -
0x5 - -
0x6 - -
0x7 Set User Output User Out pin Output
0x8 Clear Peak Load Peak Load Data Initialization Command
0x9 - -
0xA Teaching A-POS Execution of Teaching Command (Encoder position)
0xB Teaching C-POS Execution of Teaching Command (Tracking position)
0xC - -
0xD - -
0xE Set Position Change current position to a specific value
0xF - -
6) Command Response Bit

 Jog Response [RX05] : Response to Jog command
 Step Move Response [RX06] : Response to Step command
 Go Zero Position Resp. [RX0A] : Response to Go Zero command
 Single PT Select Resp. [RX0C] : Response to Single PT operation command
 Command Set Resp. [RX0D] : Response to Execution of Additional command
 Motion / Setting Resp. [RX0F] : Response to Mode of the current I/O map
 Step Move Position Resp. [RX10~RX13] : Position Response Data of Step
Move Command
 Monitor code (Motion Mode) [RX14~RX17] : Monitor code response
 Command Code Resp [RX18~RX1B] : Command code response
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7) Monitoring Data Select Bit

 Monitor Code [RY14~RY17] : Request for data information of drive when
P Motion Mode(Motion/Setting [RY0F] is Off
No function Description
0x0 Real Command Position Pulse information of position tracking value

0x1 Real Actual Position Pulse information of encoder position value
Pulse information of the error between the position
0x2 Real Position Error
tracking value and the encoder position value
Pulse per Second information of the tracking speed
0x3 Real Current Velocity
information during driving
0x4 Command Position Position tracking value
0x5 Actual Position Encoder position value
0x6 Position Error Error of position tracking value and encoder position value
0x7 Current Velocity Tracking speed information during driving
0x8 Unit Current operating unit
0x9 -
0xA -
0xB Get I/O Pin Status Status of I/O
0xC Get User I/O Status Status of User Input / Output
0xD -
0xE Axis Status 1 Status information of Drive
0xF -
8) Drive Status Information Bit

 Servo Enabled [RX00] : Servo On/Off state
 Emergency Stopped [RX01] : emergency stop state
 ALARM Status [RX02] : alarm stop state
 Homing OK [RX03] : Homing completed state
 MOTION READY [RX04] : Motion command enable state
 In-Position [RX07] : In-Position completed state
 MOTIONING [RX08] : In Motion state
 Hold status [RX09] : Paused state
 PT Running [RX0B] : PT in Operation state
 Warning [RX0E] : Error occurred state
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3.4.2 I/O Device Map when 2 Station Occupation

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RY Output Device Name RX Input Device Name
RX20 RX20 H/W Limit +
RX21 RX21 H/W Limit -
RX22 RX22 Org Sensor
RX23 RX23 Input Pin 1
RX2A User Output 1 RX2A Output Pin 1
RX2B User Output 2 RX2B Output Pin 2
RX2C User Output 3 RX2C Output Pin 3
RX2D User Output 4 RX2D Output Pin 4
RX2E User Output 5 RX2E Output Pin 5
RX2F User Output 6 RX2F Output Pin 6
RX30 ABS Position Move RX30 ABS Position Move Resp.

RX31 INC Position Move RX31 INC Position Move Resp.
RX32 RX32
RX33 RX33 Motion Accel
RX34 Position Override RX34 Motion Decel
RX35 RX35 Z Phase
RX36 Position Move Speed Override RX36 S/W Limit +
RX37 RX37 S/W Limit -
RX38 RX38
~ Monitor code (2) ~ Monitor code (2) Response
RX3B RX3B
RX3C RX3C
~ Monitor code (3) ~ Monitor code (3) Response
RX3F RX3F
RWw RWw
RWw0 Position value (ABS Move, INC Move RWw0

Monitor response Data(2)
RWw1 Pos) RWw1
Accel Time
(ABS Move, INC Move Pos)
RWw2 RWw2
Decel Time Monotor response Data(3)
RWw3 RWw3
(ABS Move, INC Move Pos)
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1) Motion control command Bit
 ABS Position Move [RY30] : Execute Absolute Move command

P
 INC Position Move [RY31] : Execute Incremental Move command
 Position Override [RY34] : Perform position override command during position
movement
 Position Move Speed Override [RY34] : Execute speed override command
during position movement
2) Output Command of User Output pin

 Output1~6 [RY2A~2F] : Output User Output 1~6
3) Status check for Ext. I/O pin

 H/W Limit + [RX20] : The input status of H/W Limit+ is displayed
 H/W Limit - [RX21] : The input of H/W Limit – is displayed.
 Origin Sensor [RX22] : The input status of Origin Sensor is displayed.
 Input 1~7 [RX23~29] : The input status of Input pin1~7 is displayed.
 Output 1~6 [RX23~29] : The output status of Output pin 1~6 is displayed.
4) Command Response Bit

 ABS Position Move Resp. [RX30] : The response bit for the absolute positioning
command.
 INC Position Move Resp. [RX31] : The response bit The response bit for the
relative position move command
 Monitor code (2) [RX38~RX3B] : The response bit of monitor code (2)
 Monitor code (3) [RX3C~RX3F] : The response bot ofmonitor code(3)
5) Drive status information bit

 Motion Accel. [RX33] : Acceleration status during motion operation
 Motion Decel. [RX34] : Deceleration state during motion operation
 Z Phase [RX35] : Encoder Z phase sensor is detected
 S/W Limit + [RX36] : Current Command Position value exceeds S / W
upper limit
 S/W Limit – [RX37] : Current Command Position value is less than S / W
lower limit
6) Monitoring data selection bit (also available in Setting Mode)
 Monitor Code (2) [RY38~RY3B] : Request data information from drive
 Monitor Code (3) [RY3C~RY3F] : Request data information from drive
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4.1. Opertion sequence
36 4. Operation
P 4. Operation
4.1 Opertion sequence
In the first use, operation start according to this section.
Checking the Power supplied to the drive,

Check the wiring motor, encoder, Ext. I / O cable connection with
wiring diagram and make sure it is correct.
After power is applied, make sure that the

Checking the driving environment drive and motor are free of dangers, drips and fire
hazards.
Use the Ezi-MOTION Plus-R GUI to apply the

operating parameters user want to use.
Check the parameters of the drive
If there is a parameter file that user already has,
reload it and set it on the drive.
Before connecting to the machine, run the

Test Operation
motor drive test to make sure that the motor
rotates correctly.
Operation of the drive Save the parameters changed after the test
Modifying and saving parameters operation to the internal memory of the drive so
that there is no data loss even if the power is
turned on / off
Connect to machinery
Connect the drive and the motor to the
machine so that they match their axes. (The type
Test operation of mechanical

of motor applied to the drive must match the
quipment type of motor actually connected.)
Test the motor connected to the machine with

the master controller.
Motion, Homing, Ext.I / O Once the operation test of the machine has
been completed, modify the operating parameters
Parameter modification history
and the homing parameters to suit the operation
and record them.
 It is recommended that the drive parameter

be set automatically at the initialization
System Operation
setting during the boot process after power
supply of the equipment system.
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4.2. Check Wiring
4. Operation 37
4.2 Check Wiring
Cable
P wiring should be such that the machine does not interfere with operation.
fig 4-1 Wiring of Ezi-SERVO2 CC-Link
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4.2. Check Wiring
38 4. Operation
4.2.1 Wiring of External I / O Cable [CN1]

P
Both the drive input and output signals are isolated by photocouplers and the signal
status indicates the status of the internal photocoupler [ON: energized] and [OFF:
unenergized], not the voltage level of the signal.
External I / O cable connector (CN1)
No Function I/O
1 LIMIT+ Input
2 LIMIT- Input
3 ORIGIN Input
4 Input 1 Input
5 Input 2 Input
6 Input 3 Input
7 Input 4 Input
8 Input 5 Input
9 Input 6 Input
10 Input 7 Input
11 Output 1 Output Input / Output
Output Signal Connector

12 Output 2
13 Output 3 Output
Drive Connector
14 Output 4 Output Connector 3M 10226-52A2PL
15 Output 5 Output
Cable Connector
16 Output 6 Output
Connector 3M 10120-3000PE
17 BRAKE + Output 3M 10320-52F0-
Shell
008
18 BRAKE - Output
19 24GND Input
20 24VDC Input
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4.2. Check Wiring
4. Operation 39
 I / O connection cable
Model Name Length Remark

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CSVN-S-□□□F □□□ Normal Cable
CSVN-S-□□□M □□□ Robot Cable
Cable length is 1m, maximum length is 20m.
1) Signal input of H / W limit point and origin
The LIMIT + and LIMIT-sensors are used as a signal to the limit points that limit the
movement range of each axis in the clockwise and counterclockwise directions, which is
used to prevent mechanical collision. The ORIGIN sensor is used to specify the mechanical
origin. This sensor is connected to LIMIT +, LIMIT-, ORIGIN pin of IN / OUT connector.
Nut
Screw
Motion Direction
- Limit Sensor Origin Sensor + Limit Sensor
- Limit Sensor Signal
Origin Sensor Signal
+ Limit Sensor Signal
Fig 4-2 Operation of limit sensor and home sensor
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4.2. Check Wiring
40 4. Operation
2) Brake signal output signal

P
Brake function is used to prevent rotation of motor in Servo OFF state by using BRAKE + /
BRAKE- pin of CN1 I / O connector. 'BRAKE +' is for the + 24V supplied to the outside for
driving the brake circuit, and 'BRAKE-' is the output signal for the actual brake control. The
control signal is automatically output according to the servo ON / OFF status and alarm
occurrence. Use this output function only when the current consumption of the brake is less
than 200 [mA] / DC24V.
When the Servo On command is started, the brake will be released so that the motor
shaft can operate after the default value of parameter "Pn # B00Bh Brake Delay Time" 200
[msec].
3) Input signal
This product has 7 input points. Prepare the input circuit power supply DC 24V ± 10%
(consumption current about 5mA / circuit) separately.
Fig. 4-3 Circuit of Ext. Input
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4.2. Check Wiring
4. Operation 41
 Connection of NPN type input signal
Connect the '+ 24V external' pin of the drive to + 24V of the host controller as shown
P
below.
Fig. 4-4 Connection of NPN type input signal
 Connection of PNP type input signal
Connect the '+ 24V external' pin of the drive to the GND of the host controller as shown
below.
Fig. 4-5 Connection of PNP type input signal
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4.2. Check Wiring
42 4. Operation
4) Output Signal
P
Prepare the power supply for the output circuit separately. Although it can be used in
common with the input circuit power supply, the power supply capacity in this case should
be added to the input power capacity and the output power capacity. Applied voltage and
power supply capacity of control output terminal are as follows.
: Applied voltage ≤30V, Energizing current ≤15mA
This product provides 6 points of output.
Output Terminal
DC30V,
Within 15mA
Fig. 4-6 Circuit of Ext. Output
In order to use I / O signal, DC 24V ± 10% power must be

supplied. If less voltage is applied, the input signal may not be
detected. Also, when a large voltage is supplied, the photocoupler
Attention circuit inside the drive may be damaged.
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4.2. Check Wiring
4. Operation 43
4.2.2 Motor cable and encoder cable wiring [CN2] [CN3]
Motor and encoder cables are most likely to interfere with machinery. Be careful not to
P
interfere with the movement path of the machine on other axes when using in multi-axis
connected equipment system.
Drive side motor connection terminal (CN2)
No. Function
1 A
Motor Connector
2 B (Connector Type : Molex 5569-04A2)
Cable Connector
3 /A
Terminal MOLEX 5556T
4 /B Housing MOLEX 5557-04R
 Motor extension cable
CSVO-M-□□□F □□□ Normal Cable

CSVO-M-□□□M □□□ Robot Cable
.
Encoder connection terminal (CN3)
No. Function
1 A+
2 A-
3 B+
4 B-
5 Z+
Encoder Connector
6 Z- (Connector Type: Molex 55959-1030)
7 5VDC Cable Connector
8 5V GND Terminal MOLEX 56134-9000
9 Frame GND Housing MOLEX 51353-1000
10 Frame GND
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4.2. Check Wiring
44 4. Operation
 Encoder extension cable

P
CSVO-E-□□□F □□□ Normal Cable

CSVO-E-□□□M □□□ Robot Cable
The pin map of the motor connector and the motor connection
terminal on the drive side are not directly connected.
Attention
4.2.3 Power Wiring [CN4]
Check the supply voltage of the drive and use the SMPS power suitable for the voltage.
Power connection terminal
No. Function
1 24VDC ± 10%
Power Supply Connector
(Connector Type : Molex 5569-02A2)
Cable Connector
2 GND Terminal MOLEX 5556T
Housing MOLEX 5557-02R
 Power Cable
CSVO-P-□□□F □□□ Normal Cable

CSVO-P-□□□M □□□ Robot Cable
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4.2. Check Wiring
4. Operation 45
4.2.4 CC-Link Cable wiring [CN5]
The CC-Link connector is used as a detachable connector. The function of each pin must be
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connected equally to enable normal network connection.
CC-Link terminal
No. Function
1 DA
2 DB
3 DG CC-Link Connector
4 SLD Cable Connector
Pin Strip / Terminal Block AK950-5P

5 FRAME GND
 CC-Link Network Cable

* CC-Link network cable is not handled by us.
4.2.5 RS-485 Cable wiring [CN6]
Ezi-SERVO2 CC-Link can be monitored by RS-485 communication.
RS-485 Terminal
No. Function
1 DATA+
RS-485 Connector
2 DATA- Cable Connector

Housing MOLEX 5264-03
3 GND Terminal MOLEX 5263PBT
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4.2. Check Wiring
46 4. Operation
 RS-485 Cable
P
CGNR-RT-□□□F □□□ Normal Cable

 FAS-RCR (RS-232C to RS-485 Converter)
Item Standard
Communication Speed Max. 115.2 kbps
RS-232C : Max. 15m

Communication Distance
RS-485 : Max. 1.2km
RS-232C : DB9 Female
Connector
RS-485 : RJ-45
Size 50 x 75 x 23mm
Weight 38g
RS-232C own power

Power
(DC5~24V External power available)
 RS-232C Cable
CGNR-C-002F 2
CGNR-C-003F 3 Normal Cable
CGNR-C-005F 5
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4.3. Maneuver
4. Operation 47
4.3 Maneuver
P 4.3.1 Power On/Off Method
1) Power On
If the drive is powered separately, proceed as follows:
① Release the Servo On command from the host controller to make Servo Off.
- If a large number of drives are powered on and the Servo On command is

executed, the power supply may be damaged.
- If the motion command is set to be executed, the motor can be started

simultaneously with Servo On.
② When using external I / O, Ext. Turn off the power to the I / O.
- If Servo On or Motion command is inputted as an external input signal, the

motor can be started simultaneously with power supply.
2) Power Off
Please pay attention to the following points for the stability of the equipment
system and the circuit protection of the drive..
① Disconnect the power by instructing the drive to cancel the Servo On state.
- The operation of the brake will operate below a certain voltage, so it will not
operate immediately when the power is turned off. Therefore Servo Off
command must be executed to turn off the power and then the power must be
cut off.
② If the motor is running, turn off the power after stopping the operation.
- If the power is turned off during operation, mechanical shock due to inertia
may occur.
③ After the power supply of the drive is turned off, do not forcibly rotate the motor.
- Forced rotation of the motor may generate regenerative voltage, which may
damage the drive.
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4.3. Maneuver
48 4. Operation
4.3.2 Operation Stop

P
The drive stops the operation of the motor under the following conditions.
1) STOP Command (Slow Stop: Stop with deceleration value included in motion profile)
2) E-STOP command (Emergency stop: Forced Stop)
3) Servo On release command (Servo Off: power off the motor and keep it in the free
run state)
4) Alarm occurrence
5) Input the H/W Limit signal
6) The limit of S / W limit is reached.
7) Disconnect the network (can be changed by parameter setting)
4.3.3 CC-Link Station Occupying Setting
Ezi-SERVO2 CC-Link can be used by setting station 1 and station 2 to occupied mode with
SW1 switch.
Station Occupation
Switch Setting
[SW1] Operating characteristic
2 1
0 0 1 Station Occupied Mode
0 1 2 Station Occupied Mode
Relationship between the number of occupied stations and the number of

connected modules
1 Station 2 Station 4 Station 4 Station
Station occupied No.
Occupied Occupied Occupied Occupied
Number of modules connected to

42 32 21 16
each remote device station by master
*When the number of connected remote device stations are equals the number occupied
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4.3. Maneuver
4. Operation 49
4.3.4 Setting the Drive Identification Number
This product changes the CC-Link network station number setting to "STATION NO." Rotary
P
switch. The User must set the station number and reboot the drive.
In the CC-Link network, the station number cannot be 0.

: Available station number 1 ~ 63
Attention Ezi-SERVO2 CC-Link is a remote device that can be connected to

up to 42 units when it is set to station 1 occupied mode.
4.3.5 Network Mode Setting
The communication speed of Ezi-SERVO2 CC-Link is changed with "MODE" rotary switch.
The communication speed setting of the CC-Link network must be the same as the
communication speed of the CC-Link master. After changing the CC-Link communication
speed, be sure to re-boot the drive.
MODE CC-Link Baud-Rate
0 156 kbps
1 625 kbps
2 2.5 Mbps
3 5 Mbps
4 10 Mbps
5…9 Not used
Depending on the set communication speed, the total extension

distance of the system will be different. Refer to the CC-Link master
Attention user manual for specifications.
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4.3. Maneuver
50 4. Operation
4.3.6 Network cable connection

P
The pin map of the CC-Link network cable is the same as that of all CC-Link remote devices.
CC-Link network cable Pin map of CC-Link connector
Sheath
Drain wire
Braided Shield
Tape Shield
Conductor
Insulator
Core wire type Data name

Blue DA
white DB
Yellow DG * The FG (5.) Pin is an enclosure ground pin and
Drain wire may not be included in the CC-Link cable.
or SLD
Braided shield
Ezi-SERVO2 CC-Link follows to the CC-Link network protocol. Refer

to "Open Field Network CC-Link Catalog" for details on setting the
주의 value of termination resistance according to the length of the
network cable and how to wiring the network cable.
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4.3. Maneuver
4. Operation 51
4.3.7 Connection with CC-Link master PLC
When user want to set the CC-Link network parameters by opening the CC-Link card
P
setting window in GX-Works or GX-Developer, user can set CC-Link network parameters in
the module field of CC-Link card (QJ61BT11N) to which Ezi-SERVO2 CC- Mode to Remote
Net (Ver.2 Mode) *. (* Can be mixed with CC-Link Ver.1 in this mode)
Ezi-SERVO2 CC-Link must be assigned as a remote device when setting start I / O and start
register, and station information. Also, set the Number of Occupied Stations as same as the
information of the station occupancy switch SW1.
Ezi-SERVO2 CC-Link is compatible with CC-Link Ver.2.0.

When using a remote I / O device to be used as CC-Link Ver.1, set
CC-Link Ver.2 in the CC-Link network parameter setting and set the
Attention station type of the corresponding remote I / O in station
information (Station Type) to "Ver.1 Remote I / O Station".
4.3.8 Access to Windows GUI program or RS-485
Ezi-SERVO2 CC-Link supports motion library (Ezi-MOTION PlusR DLL) manufactured by Ezi-
Motion PlusR protocol through separate RS485 port. Therefore, it is possible to connect with
Ezi-MOTION PlusR GUI program which is the GUI program of Ezi-MOTION PlusR product
family. (This program can be downloaded from the website of www.fastech.co.kr )
In the provided Windows GUI program, Ezi-SERVO2 CC-Link Parameter setting and position
table information can be modified and basic motion test can be performed.
When controlling Ezi-SERVO2 CC-Link via separate RS485 port, Ezi-SERVO2 CC-Link must
release CC-Link network or release CC-Link master control authority
Ezi-SERVO2 CC-Link is compatible with Ezi-MOTION Plus-R GUI

Ver.6.40.11.XX or higher.
Attention
The parameter code (2 bytes) for access to the remote device area
of the CC-Link network via the host controller and the parameter
code (1 byte) for the Ezi-MOTION Plus-R Protocol parameter access
Attention command are not mixed.
When connected to CC-Link master when RS-485 is connected, it is

not possible to change the motion control and parameter, and only
the current status flag information and parameter value can be
Attention checked.
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4.3. Maneuver
52 4. Operation
4.3.9 Test Operation

P
Before connecting the motor to the machine and before starting the system operation,
check that the machine operates normally by operating the motor.
1) Test operation with CC-Link master
① Setting CC-Link Network Parameter of Master
② Check the status LED of the drive and check that it is normal
③ Execute monitoring data of Start I / O Address
④ Change the master I / O device data to the I / O Device Mapping value for the
corresponding command of Ezi-SERVO2 CC-Link and execute test operation
2) Test operation with Ezi-MOTION PlusR GUI program
① Block communication with the CC-Link master or disconnect the cable
② Connection with RS-485 port of drive through PC and RS-485 converter
③ Run Ezi-MOTION PlusR GUI program to test
4.3.10 Parameter Access
Parameter of Ezi-SERVO2 CC-Link can be changed by command to access CC-Link

remote device and window-based Ezi-MOTION Plus-R GUI program.
Parameter
Parameter Write
Start Description
Classification condition
Address
Drive information and network operation
Operating 0xA000 Servo Off
parameters
Drive control 0xB000 Parameter for drive control for 1 axis Servo Off
Motion control 0xB100 Parameter of motion profile Servo On
Homing control 0xB200 Parameter of homing profile Servo On
Assigned information and level control of

Ext. I/O control 0xE000 Servo Off
external I / O
Position Table 0x9000 Items in the position table Servo On
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4.3. Maneuver
4. Operation 53
4.3.11 Position Table Setting
The items of the position table are accessed by the parameter number of the CC-Link I /
P
O Map. Parameter number is WORD unit, upper byte is PT item, lower byte is PT number.
High F E D C B A 9 8 7 6 5 4 3 2 1 0
Device
Position Table Item No. Position Table No.
Address
Ex) PT No. When the target position value of 14 is changed, the upper device value becomes
0x810E
The items in the position table are as follows. Refer to the "Ezi-SERVO Plus-R Position
Table Function" in the User's Manual.
Remote
PT Item Setting Item Description Unit Lower Limit Upper Limit
No.
Command Specifies the type of motion to

80h － 0 10
(Type of command) be executed.
Position
Position / movement amount is
81h (Movement pulse -134,217,728 +134,217,727
set by pulse.
amount)
Low Speed
Set the number of pulses
82h (Low speed motion pps 1 500,000
according to the type of motion.
speed )
High Speed
Set the number of pulses
83h (High speed motion pps 1 2,500,000
according to the type of motion.
speed)
ACC time Sets the acceleration time at

84h msec 1 9,999
(Acceleration time) the start of motion in msec.
DEC time Sets the deceleration time at

85h Msec 1 9,999
(Deceleration time) the end of motion in msec.
When the PT number item to

jump is set, the waiting time
until the next position operation
Wait time is started is set in units of msec.
86h msec 0 60,000
(Waiting Time) If JP Table No is set to 'blank'
and Continuous Action is
checked, this item will be
ignored.
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4.3. Maneuver
54 4. Operation
Remote
P
PT Item Setting Item Description Unit Lower Limit Upper Limit
No.
Continuous action When set to 'check' (1), the

87h (Continuous current position is linked to the － 0 1
operation yes / no) next position operation.
After the position operation is

JP Table No. completed, the position
88h － 0 255
(Jump position No.) operation of the jump PT is
executed automatically.
Loop Count After execution of the number
8Ch － 0 100
(Loop count) of times of setting the position
Loop Jump Table (loop count), jump to a separate
0 255
No. correspondence number ( jump
8Dh position number after loop) －
(Jump position
different from "jump position 10,000 10,255
number after loop)
number".
Clears the loop counts of the

Loop Counter Clear
8Fh position number for the set － 0 255
(Loop clear)
number.
Check In-position When positioning is completed

90h (Motion completion (In-position), it is recognized as － 0 1
recognition type) stop.
Push Ratio Sets the ratio of applied force
93h (The ratio of the by each motor during push % 20 90
motor's power) motion.
Push Speed Set the operation speed value
94h (Speed during force to be applied in push motion. pps 1 33,333
control) (Up to 200 [rpm])
Push Position
(Target absolute Sets absolute target position
95h position value value to be applied in push pulse -134,217,728 +134,217,727
during force motion.
control)
Push Mode
(Pulse Count)
Select Stop mode (0) and Non-
96h (Set mode and - 0 10,000
Stop mode (1 ~ 10000).
pulse number for
force control)
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4.3. Maneuver
4. Operation 55
The function of the position table is the same as that of Ezi-

SERVO Plus-R. However, please note that it does not support the
function of outputting to the external output among the position
P
Attention table functions.
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4.4. Drive status Display
56 4. Operation
4.4 Drive status Display

P
The status display of the drive is composed of four CC-Link network status LEDs and four
Ezi-SERVO2 CC-Link drive control status LEDs.
CC-Link Network
Drive Control
Status LED
4.4.1 7-Segment for station number display
1) Station number display
When the drive is normally connected to the CC-Link network, the 7-segment
displays the station number with the status liting.
When the drive is powered up, the network identification number will flash if it
is not connected to the CC-Link network. At this time, if the network connection
is normalized, the blinking ID number will stay on.
2) Station number change
During system operation, CC-Link station number FND flashes by setting the
rotary switch.
3) ERROR value display
When an error occurs in the controller of the drive (Fault status), the Error
value is displayed in the 7-Segment instead of the CC-Link station number. The
Error value is displayed in the form of 'E-000' every 3 characters in 7-Segment.
Characters are switched every second.
Fig. 4-7. Error value display (Ex: E-015)
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4. Operation 57
The first digit of the Error value indicates the status value of the CC-Link Error, the
second digit and the third digit indicates the drive's alarm status.
P
 CC-Link Network Status 7-Segment Display Information
ERROR Display Description
E-0□□. CC-Link network In normal state

E-1□□. CC-Link station number switch setting is incorrect
E-2□□. CC-Link Mode switch setting is incorrect
E-3□□. CC-Link station number switch setting is changed
E-4□□. CC-Link Mode switch setting is changed
E-5□□. CRC error occurs in CC-Link communication
E-6□□. Timeout occurs during communication with master
E-7□□. Communication with master is disconnected
E-8□□. CC-Link processor error 1
E-9□□. CC-Link processor error 2
E-A□□. Data link error
E-B□□. Remote I/O error
E-C□□. Remote resister error
 Drive control status 7-Segment display information
ERROR Display Description
E-□00. Drive in normal state

E-□01. The current through power devices in inverter exceeds the limit value *1
E-□02. Motor speed excess 3300[rpm]
E-□03. If the position error in the position command is excess than the given value *2
E-□04. The motor is continuously operated more than 5 seconds under a load exceeding the
max. torque
E-□05. Temperature of inside of the drive exceed 85°C
E-□06. Back EMF of motor exceeds limit value *3
E-□07. When there is a problem with the connection between the drive and the motor
E-□08. When there is a problem with the connection between the drive and the encoder
E-□09. When the supply power to the motor is below the lower limit value *4
E-□0A. When position error (1 or more) occurs more than 3 seconds after completion of
operation
E-□0b. When an error occurs in the drive system (Watch Dog Timer)
E-□0C. When error occurs in parameter storage device(ROM)
E-□0F. If the position error value after position command completion is larger than the given
value *5
E-□bF. Data error in internal EEPROM
*1 Detection current: 4.5A, *2 Parameter 'Pos Tracking Limit [No.24]' Set value [pulse],
*3 Limit value: 70V, *5 Parameter ‘Pos Error Overflow Limit[No.28]’Set value[pulse]
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58 4. Operation
4.4.2 CC-Link status display LED

P
LED Operation
Function Action
Display status
Power OFF Checking the power status
Off
L RUN
No network Checking the status of network cable and Master controller
(녹색)
connection connection
On Normal operation CC-Link network connection is normal status
Off Normal operation No error occured
On Critical error Communication process fails
Error occurred in the CC-Link network

L ERROR Flashing Communication error
Check the 7-Segment display information and process it
(적색)
There is a contact error of the network connector or noise in

Random CRC error, the cable line.
flashing Network cable error To check the terminating resister attachment status, network
wiring, and grounding status with frame
4.4.3 Drive status display LED
indication Color Function On/Off Condition
PWR Green Power Input Indication LED is turned On when Power On
Complete Positioning Lights On when position error reaches within preset

INP Yellow
Motion pulse selected by rotary switch
Motor Enable status
SON Orange Enable : Light On, Disable: Light Off
Indication
Repeated blinking when protection function is activated
ALM Red Alarm Indication (counting the number of LED flashes shows the function
of the activated protection function)
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4.5. Type of operation command
4. Operation 59
4.5 Type of operation command
P Type of motion command Additional explanation
Execute the Homing command

- Homing Sensor
Homing - Limit Sensor
- Z-Phase Signal
- Mechanical limit detection
JOG Operation Depending on the input state,
JOG Speed Override Change of motor rotation speed during JOG operation
Step Move Move as much as user setting
Zero position Move Move to set Drive Zero Position in Drive
Position Table Operation Motion profile stored in position table
Position Table Single Operation Only one motion profile stored in the position table
Moving the target position to the tracked position

Absolut Position Move
information
Moves the target position to the addition or subtraction
Incremental Position Move
position at the current position
Moving the target position during operation to new
Absolut Position Override
tracked position information
Move by change the target position during operation to
Incremental Position Override
the added or subtracted position at the current position
Position Move Speed Override Speed change during position movement
Ezi-SERVO2 CC-Link has a limited data memory map due to the network characteristic.
Therefore, extended command can be executed by setting the station 1 occupied mode and
the 2 station occupied mode.
User can execute a command by assigning a specific command to an external input signal.
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60 4. Operation
4.5.1 1 Station occupied mode

P
- Homing movement: Mechanical origin is designated by homing method saved
as parameter
- JOG Operation : Moves to the limit by the entered speed value
- JOG Speed Override : Move to the limit point by change the initial input speed
value during JOG operation
- Step Movement : Only when the command signal is held, it is additionally

moved as much input position, and it is stopped when the command signal is
interrupted during the movement.
- Zero Position Movement : Move to Zero position
- Position Table Operation : Execute operation with motion profile stored in drive
4.5.2 2 Station occupied mode
- Absolut Position Move : Move to entered position value
- Absolut Position Override Move : Change target position value during absolute
position movement
- Incremental Position Move : Additional move by the entered position value
- Incremental Position Override Move : Change additional movement value

during incremental position movement
- Position Move Speed Override) : Change moving speed value during position
movement
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4. Operation 61
4.5.3 Use of External I/O
Ezi-SERVO2 CC-Link can be used by assigning each function to 7 inputs. This input
P
information can be assigned redundantly.
Mapping
information
value Function Motion
[info]
[HEX] [DEC]
0x00 0 None No operation
0x01 1 User Input 1 User Input 1
0x10 16 E-STOP Emergency stop command
0x11 17 Servo Enable Servo On/Off
0x12 18 Alarm Reset Release the alarm of drive
0x13 19 S-STOP Decelerate to stop operation
0x14 20 Home Search Star homing
0x15 21 Clear Position Set current position to "0"
0x16 22 JOG + Forward jog operation
0x17 23 JOG - Reverse Jog operation
0x18 24 STEP + Forward step movement
0x19 25 STEP - Reverse step movement
0x1A 26 Go Zero Position Return to Zero position
0x1B 27 Pause Motion Pause
0x1C 28 Teaching Teaching command
0x20 32 PT A0
0x21 33 PT A1 Position Table No.
0x22 34 PT A2 - Set to 8-bit value from 0 ~ 255
0x23 35 PT A3
0x24 36 PT A4 Attention: Ezi-SERVO2 CC-Link input signals can be
0x25 37 PT A5 assigned up to 7, please pay attention to the
0x26 38 PT A6 assignment of PT number.
0x27 39 PT A7
0x28 40 PT Start Position Table Start
0x29 41 Single PT Select Selecting single operation mode of Position Table
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62 4. Operation
Ezi-SERVO2 CC-Link can be used by assigning each function to 6 inputs. This output
P
information can be duplicated.
Mapping
information
value Function Motion
[info]
[HEX] [DEC]
0x00 0 None
0x01 1 User Output 1 User Output 1
0x10 16 Motioning In Motion
0x11 17 Servo Ready Servo On/Off status
0x12 18 In-Position In-position Completed state
0x13 19 Alarm Alarm stop status
0x14 20 Motion Ready Motion command enabled state

During motion operation, acceleration / deceleration
0x15 21 Accel / Decel
state
Operation direction of motor (OFF: + direction, ON: -
0x16 22 Motion Direction
direction)
0x18 24 END Position Table Stop
0x19 25 HOMING Homing
0x1A 26 Homing OK Homing Completed
0x1B 27 Warning Error occurred
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4.6. CC-Link Parameter Setting
4. Operation 63
4.6 CC-Link Parameter Setting
This manual is written based on GX Works 2.

P
① Ezi-SERVO2 CC-Link can be connected with CC-Link Ver.1. To connect to the
master controller, double-click [Parameter] - [Network Paramter] - [CC-Link] in the
PLC program project.
② In the CC-Link Module Configuration window, set the number of modules (CC-Link
module) and the value of Start I / O according to your system environment..
③ If user system is using CC-Link Ver.1, set it to Remote Net (Ver.1 Mode)..
However, if user system uses CC-Link Ver.2, set it to Remote Net (Ver.2 Mode).
④ Enter the number of devices to be connected to the CC-Link network. (1 in this
manual)
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64 4. Operation
⑤ Set the CC-Link remote device start address

P
The remote device set in this manual

- Remote Resister Address (RWw) : D2000
⑥ Set the switch value of SW1 on the front side of Ezi-SERVO2 CC-Link of the station
number to be occupied according to the system condition..
Number of Occupied Station Setting Switch
Switch information
Occupied station
SW1.2 SW1.1
number
OFF OFF 1
OFF ON 2
ON OFF 3 (No function)
ON ON 4 (No function)
⑦ Set device information connected to CC-Link network..
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4. Operation 65
⑧ If the CC-Link network is Ver.1, Station Type is set to Remote Device Station.
⑨ If the network of CC-Link is Ver.2, station type should be set as Ver.1 Remote
Device Station.
⑩ The setting of the number of occupied stations must be set according to the user
system and set the same as the switch setting information of SW1 on the front
side of Ezi-SERVO2 CC-Link.
⑪ If several connected stations are connected and the occupied station is also
different, the station numbers are arranged as follows. At this time, the CC-Link
station number should be set to the value declared here.
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66 4. Operation
⑫ This manual is written with set up as follows..

P
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4.7. Confirmation of handshake
4. Operation 67
4.7 Confirmation of handshake
P 4.7.1 Activating the Drive
Ezi-SERVO2 CC-Link requests initial data processing when power is turned on. This can be
checked by turning on the "Initial Data Processing Request [RY1C]" bit of the remote device.
Ezi-SERVO2 CC-Link's "Remote station Ready [RX1D]" is ON when the status of "Initial Data
Processing Request [RX1C]" is checked in the upper part and "Initial Data Processing
Complete [RY1C] "RX1C is ON, then Initial Data Processing Request" turns OFF, and the drive
becomes active
Fig. 4-8 Confirmation of handshake
The drive can be released with the "Remote Clear [RYD]" set to release the active state.
However, to disable the drive, it must be in Servo Off mode. When the remote device
output RY00 is turned on or the external input command is Servo On, stop the motion and
make the Servo Off state.
4.7.2 Handshake Method
When the start address of Remote Device I / O of CC-Link Data is Y1000, X1000
Please note that the data when the Remote station Ready bit (RY1D) is not
ON is invalid.
Attention
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4.8. RS485 Control Authority
68 4. Operation
4.8 RS485 Control Authority

P
In case of FA field control, access to other interface except main control device is required.
Ezi-SERVO2 CC-Link supports Ezi-MOTION Plus-R Protocol with RS485 port, so it can be
used as a program for motion command and parameter setting of existing Ezi-MOTION
PlusR product family.
4.8.1 Approval of Control Authority
Ezi-SERVO2 CC-Link is an RS485 port that enables basic status monitoring and
parameter request commands. These commands can only process commands that are read-
only. If you want to modify parameter or motion control to RS485 communication, you can
obtain control authority as follows.

① Exit from the CC-Link network by turning off the power of the master controller
or disconnecting the CC-Link cable from the drive.
- Execute all supported commands
② Turn on "RS485 Approval of use [RY1E]" to acquire control authority

- No authority for Servo On / Off control
③ Disable drive (set "Remote station Ready [RX1D]" to Off)
- Execute all supported commands
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4. Operation 69
4.8.2 Approval of Control authority check and RS485 communication

status
P
The control authoriry for RS485 communication is approved when "[RX1E] RS485 Port
Approved" is ON. The conditions under which this device turns ON are as follows.
① When "Remote station Ready [RX1D]" is off state
② When “[RY1E] RS485 Approval of use” is On state
4.8.3 RS485 communication connection flag
The master controller can check whether the command is being received by RS485. At this
time, the Ezi-MOTION PlusR protocol will stay on for 1 second from the point of the normal
processed command.
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70 4. Operation
4.8.4 Status bits in Ezi-MOTION PlusR GUI

P
Ezi-SERVO2 CC-Link can check the following status information by executing
FZ_GetAxisStatus () command which is Ezi-MOTION PlusR Protocol.
The User can check the flag when the connection of the master controller is checked and
the flag indicating whether or not control is available through RS485.
- Master bit : When the host controller is detected
- RS485 Approve bit : When user has RS485 control authority
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4.9. Servo On/Off and Alarm Reset
4. Operation 71
4.9 Servo On/Off and Alarm Reset
P1) Servo On/Off function

If the Servo ON / OFF signal is turned OFF, the drive will stop supplying current to the
motor and the motor will be in the free run state. In this state, the position of the rotation
axis of the motor can be adjusted manually. When signal is ON, the drive supplies current to
the motor and maintenance torque is maintained. Since the process procedure for Servo On
is required, execute the motion command about 2 seconds later when operating the motor
Remote Device
- Remote Resister Address (RWw) : D2000
Mapping information
Function Remote Device Ext. I/O using condition
Motion Name
PLC->Drive Mapping Mapping Name [DEC] [HEX]
Servo Enable Output Y1000 SERVO ON 17 0x11
Servo Enabled Input X1000 SERVO READY 17 0x11
Device comment
- User Servo On Command : X101
- User Servo On Status : Y101
In order to control Servo On / Off command to external input by assigning

Servo On command to external input pin, Servo On bit of CC-Link I / O
Attention map should also be On.
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72 4. Operation
2) Alarm factor and Alarm Reset

P
When the drive cannot be operated by the internal protection circuit, the protection
function of the drive is activated and the alarm is output. The confirmation of the alarm can
be confirmed by the 7-segment display of "4.4 Drive Status Display" or by the number of
flashes of the alarm status LED
When an alarm occurs, the system can be rebooted or released by an alarm reset
command. At this time, it is necessary to clear the cause of alarm and then reset it.
Mapping information
Motion Name
Alarm Reset Output Y1002 Alarm Reset 18 0x12
Axis Alarm Input X1002 ALARM 18 0x13
Device comment
- User Alarm Reset Command : X103
- User Axis Alarm Status : Y103
3) Operation of Servo On / Off and Alarm
If an alarm occurs in the drive while the motor is running, the motor will stop and
automatically turn off. When the alarm release command is executed, the motor maintains
the pre-run state. In order to restart it, the Servo On command must be executed. The
operation is as follows, and the Alarm Reset command must maintain a signal of 2 cycles or
10 [msec] or more.
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4. Operation 73
Fig. 4-9. Operation of Servo On/Off and Alarm
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4.10. E-STOP (Emergency Stop)
74 4. Operation
4.10 E-STOP (Emergency Stop)

P
The E-STOP command is an emergency stop command that immediately stops without
deceleration. In CC-Link I / O-Map, it operates by low command. When input by external
input, it operates according to level setting value.
Mapping information
Motion Name
Emergency Stop Output Y1001 E-STOP 18 0x10
Emergency Stopped Input X1001 - - -
Used Parameter
Parameter No.
Parameter Name
GUI
Parameter Code
No.
0 A011 E-STOP Method
Device comment
- User E-STOP Command : X102
- User Motioning Status : Y102
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4.10. E-STOP (Emergency Stop)
4. Operation 75
If the E-STOP command is maintained, no motion command is executed. The operation of

the E-STOP command can be changed according to the parameter Pn # A011h E-STOP
P
Method when the command is executed.
1) Servo On maintained [Pn#A011h = 0]
If the parameter value is set to '0', the motion during E-STOP command will stop
suddenly without deceleration and Servo On will be maintained.
Fig. 4-10. E-STOP Only
2) Execution of Servo Off [Pn#A011h = 1]
If user set the parameter value to '1' to enable Servo Off, the motion in motion will
stop suddenly without deceleration and Servo Off will be enabled.
Fig. 4-11. When set to Servo Off operation mode
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4.11. S-STOP (Slow Stop)
76 4. Operation
4.11 S-STOP (Slow Stop)

P
The S-STOP instruction is a general stop instruction that stops the motion profile under
the deceleration condition. In CC-Link I / O-Map, it operates by High command. When input
by external input, it operates according to the level setting value.
Mapping information
Motion Name
S-Stop Output Y1008 S-STOP 19 0x13
Motioning Input X1008 Motioning 16 0x10
Device comment
- User STOP Command : X109
If the S-STOP instruction is maintained, no motion command is executed.
Fig. 4-12. Motion of S-STOP
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4.12. Homing Start
4. Operation 77
4.12 Homing Start
Homing start is a command to specify a mechanical origin. To execute the homing start
P
command, search the origin according to the value of parameter "Pn # B200h Homing
Method". When this command is executed, Motion Ready is off. Motion Ready is On when
the origin move command is canceled or home search is completed.
Mapping information
Motion Name
Homing Start Output Y1008 Home Search 20 0x14
HOME Search OK Input X1008 Homing OK 26 0x1A
MOTION READY Input X1004 Motion Ready 20 0x14
Used Parameter
Parameter No.
Parameter Name
GUI
Parameter Code
No.
32 B200 Homing Method

33 B201 Homing Speed
34 B202 Homing Search Speed
35 B203 Homing Acc Dec Time
36 B204 Homing Direction
37 B205 Homing Offset
38 B206 Homing Position Set
39 B207 Org Torque Ratio
40 E000 Limit Sensor Logic
41 E001 Org Sensor Logic
Device comment
- User STOP Command : X109
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4.12. Homing Start
78 4. Operation
When returning to the home position, the status flag can be checked as shown in Fig. 4-13.
P
Fig. 4-14. State flag of home move command
When homing start command is issued, HOMING, which is the process of operating the
drive according to the origin method of Pn # B200, is executed. When home search is
completed during this operation, Home Search OK flag turns on.
A flag indicating that home movement has been completed. The Home Search OK flag
remains ON even when the servo is off. However, when a new home return command is
executed or the drive is re-booted, the Home Search OK flag turns OFF
Homing Fail state in which origin movement stops when Servo Off, Stop
command, H / W Limit signal which is unnecessary for origin method is
Attention detected during home position movement.
Homing Search Fail is not a status flag on the drive.
The homing start failure condition is that the homing flag is ON by

executing Homing start command, and Homing flag is OFF when Home
Attention Search OK is not ON.
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4.12. Homing Start
4. Operation 79
The input signals used to find the origin are Origin, Limit +, Limit-Sensor and Z-Phase
signal which is the index pulse of the encoder. This uses signals differently according to the
P
Homing Method (Pn # B200h) parameter.
Pn#B200h : Homing Method
Method Number. Method Type
0x00 Origin profile of 오류! 참조 원본을 찾을 수 없습니다.
0x01 Origin profile of Homing Profile of “Z-Origin”
0x02 Origin profile of Homing Profile of “Reverse Side Origin”
0x03 Origin profile of Homing Profile of “Reverse Side Z-Origin”
0x04 Origin profile of Homing Profile of “Limit Origin”
0x05 Origin profile of Homing Profile of “Z Limit Origin”
0x06 Homing Profile of “Z Phase”
0x07 Origin profile of Homing Profile of “Torque Origin”
0x08 Origin profile of Homing Profile of “Torque Origin”
0x09 Set Origin
※ Setting of homing method
 To execute home return, parameter "Pn # B200: Org Method" must be set.
 The arrows in the figure indicate the direction of movement after the detection of
home position is completed.
 In the figure, ○ is the origin detection position.
 The number in ○ indicates the position of the sensor dog or the example number
according to Org Dir.
 In Z-pulse homing method, Z-pulse homing is repeated twice at a speed of 10 [pps]

(fixed speed) after completion of low homing of Parameter Homing Search Speed (Pn
# B202h) Complete the return. (This method is for accurate Z-pulse Zero point return.)
Homing start Position Origin detect complete point Motion direction after Origin detect
complete point
When the H / W Limit input is done, the home position is moved by

the Z-phase method or Torque Org method, the homing command
Attention is canceled.
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4.12. Homing Start
80 4. Operation
4.12.1 Homing Method : Origin (0x00)

P
The origin return method by the origin sensor is the method in which the origin detected
when the sensor dog is approached to the home sensor.
Homing operation ①, ③, ④, ⑥ is when sensor dog is between Origin and Limit sensor. At
this time, if the Limit sensor is detected earlier than the origin sensor as in the home return
operation ③ and ⑥, it moves in the direction opposite to the limit and detects the origin
sensor and is designated as origin. If the opposite limit sensor is detected by moving in the
direction opposite to the limit, Homing will fail, so check whether the home sensor is
operating.
Homing operation ②, ⑤, is when the sensor dog exists in the origin sensor, moves in the
direction opposite to the homing direction and designates the proximity position of the
sensor as origin.
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4.12. Homing Start
4. Operation 81
4.12.2 Homing Method : Z Origin (0x01)
The homing method by Z phase input signal after home sensor detection is to designate
P
the home position where the Z phase input signal of encoder detected after execution of
home sensor return method is detected
The homing operation ①, ③, ④, ⑥ is when the sensor dog is between the origin and
limit sensor. It operates as same as homing method by home sensor until home sensor is
detected. At this time, all Z-phase input signals before the home sensor is detected are
ignored and the first Z-phase input signal after the home sensor is detected is designated
as origin
Homing operation ②, ⑤, is the case where the sensor dog exists in the origin sensor,
moves in the direction opposite to homing direction, and the first Z-phase input signal after
completely deviating from the input range of the origin sensor is set as origin specified
If the H / W Limit input occurs when moving the home position in the Z-
Phase mode, the Homing command is canceled.
Attention
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4.12. Homing Start
82 4. Operation
4.12.3 Homing Method : Reverse Side Origin (0x02)

P
The homing method to the point opposite the origin sensor is a method in which the
origin point is designated as the point where the sensor detection state is released through
the origin sensor detected during home movement.
The homing operation ①, ③, ④, ⑥ is when sensor dog is between Origin and Limit
sensor. At this time, if the Limit sensor is detected earlier than the origin sensor as in the
home return operation ③ and ⑥, it moves in the direction opposite to the limit and detects
the origin sensor and is designated as origin. If the opposite limit sensor is detected by
moving in the direction opposite to the limit, origin return will fail, so check whether the
home sensor is operating.
Homing operation ②, ⑤, is when the sensor dog exists in the origin sensor, moves in the
direction opposite to the homing direction and designates the proximity position of the
sensor as origin.
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4.12. Homing Start
4. Operation 83
4.12.4 Homing Method : Reverse Side Z-Origin (0x03)
The homing method to the Z phase input signal after detection of the opposite side of
P
the home sensor is to designate the home position where the Z phase input signal of the
encoder detected after execution of the return method against the home sensor is detected.
The homing operation ①, ③, ④, ⑥ is when the sensor dog is between the origin and
limit sensor. It operates as same as homing method by home sensor until home sensor is
detected. At this time, all Z phase input signals before the home sensor is detected are
ignored, and the first Z phase input signal after the home sensor is detected is designated
as origin.
Homing operation ②, ⑤, is the case where the sensor dog exists in the origin sensor,
moves in the direction opposite to homing direction, and the first Z-phase input signal after
completely deviating from the input range of the origin sensor is set as origin specified
Attention
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4.12. Homing Start
84 4. Operation
4.12.5 Homing Method : Limit Origin (0x04)

P
The homing method based on the limit input signal specifies the position where the limit
sensor is detected as the home position.
Homing operation ① and ② are within the operating range, and specify the origin where
the Limit input signal in origin direction is detected. Even if the input signal of the origin
sensor or the limit input signal in the opposite direction is detected before the Limit input
signal in the direction of origin is detected, it is ignored and the origin where the Limit input
signal in the origin direction is detected is the origin.
The homing operation ③ and ④ are the origin when the Limit input signal in origin
direction is detected and the limit input section is completely deviated from the origin.
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4.12. Homing Start
4. Operation 85
4.12.6 Homing Method : Z Limit Origin (0x05)
The zero point return method based on the Z phase input signal after the limit input
P
signal is detected is designated as the origin point where the Z phase input signal of the
encoder detected after the return method by the limit input signal is executed . This method
detects Limit signal twice, unlike Homing method by Limit input signal. This is because when
the limit signal is detected, there is a case where the input signal matches the Z phase. To
detect this, the limit signal is detected twice and the Z phase signal is searched.
Homing operation ① and ② operate within the operating range until the Limit input signal
is detected as same as Homing method by Limit input signal. At this time, the Z-phase input
signal before the limit input signal is detected is ignored, and the limit input signal is
detected and the point of the Z-phase signal detected for the first time in the opposite
direction to the origin is set as the origin.
The homing operation ③ and ④ are the origin of the Z phase signal which is completely
excluded from the input range of Limit and detected first from the direction opposite to the
origin, when limit input signal of origin is detected.
Attention
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4.12. Homing Start
86 4. Operation
4.12.7 Homing Method : Z-Phase (0x06)

P
Z-phase input method is to return Z-phase signal, which is detected once by 1 [pulse] per
rotation of encoder, as origin point.
Homing operation ①, ②, ③, ④ is to move the origin of Z-phase signal to the home

position for the first time. At this time, Even if the home position signal is detected as in
steps (3) and (4), it is ignored and the first detected Z phase signal is designated as the
home position. However, if the limit signal is detected before the Z phase is detected as in
steps (8) and (9), the home return operation is canceled.
Homing operation ⑦ is a condition that Z phase is detected. When Homing command is

executed in this state, 1 [pulse] is moved in the direction of origin and then it returns to Z
phase position again and homing designation is completed.
If the H / W Limit input occur when moving the home position in the Z-
Attention
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4.12. Homing Start
4. Operation 87
4.12.8 Homing Method : Torque Origin (0x07)
The torque origin command is a command that originates at the point where a physical
P
load is detected at the mechanical end point in a system without the H / W Limit signal.
Homing operation ① and ② are motions in which the motor moves in the origin direction
and the mechanical end point is designated as the origin. The operation at this time is to
detect the load amount of the motor and detect the mechanical end point when the
abnormality occurs in the setting value of Org Torque Ratio (Pn # B207h). Therefore, before
executing the torque origin command, it should be set to a value that is more than the
basic load condition of the mechanical equipment.
If the H / W Limit input is entered when moving the origin by the Torque
Org method, the homing command is canceled.
Attention
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4.12. Homing Start
88 4. Operation
4.12.9 Homing Method : Torque Origin Z-Phase (0x08)

P
Homing method based on Z phase input signal after torque origin is a command
executed by concurrent execution of home return and Z-phase home return method by
detecting the point where physical load is detected at mechanical end point.
Homing operation ① and ② are movement in the direction of origin and detect the
mechanical end point and are performed in the opposite direction by Z-phase homing
method.
If the H / W Limit input is entered when moving the origin by the Torque
Org method, the Homing command is canceled.
Attention
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4.12. Homing Start
4. Operation 89
4.12.10 Homing Method : Set Origin (0x09)
The origin setting command sets the current encoder position to the mechanical origin.
P
Origin sensor, H / W Limit signal and Z-phase signal are ignored when origin setting
command. Also, when executing this command, it must be in Servo On state.
The Set Origin method sets the current position information to 0 in the
same way as the Clear Position command, but in the Set Origin method, it
Attention can check that the Home OK flag is set to On.
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4.13. Jog Operation
90 4. Operation
4.13 Jog Operation

P
4.13.1 Jog Operation
Jog operation is a motion command that moves to the limit point while the command is
maintained. Motion Ready is off when this command is executed.
Mapping information
Function Remote device Ext. I/O using condition
Motion Name
JOG + Output Y1004 JOGP 22 0x16
JOG - Output X1005 JOGN 23 0x17
Move Speed Output D2000 Pn#B105 Jog Speed
Acc/Dec Time Output D2003 Pn#B107 Jog Acc/ Dec Time
Used Parameter
Parameter No.
Parameter Name
GUI
Parameter Code
No.

2 B000 Pulse Per Resolution
3 B001 S/W +Limit Value
4 B002 S/W -Limit Value
5 B003 S/W Limit Stop Method
6 B004 H/W Limit Stop Method
9 B007 Position Tracking Limit
8 B008 Motion Dir
12 B00A Pos. Error Overflow Limit
28 B104 Speed Override
29 B105 Jog Speed
30 B106 Jog Start Speed
31 B107 Jog Acc/ Dec Time
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4.13. Jog Operation
4. Operation 91
Device comment
- User JOG+ Command : X105
P - User JOG- Command : X106
- User operation speed : D500
- User Acc/Dec time: D540
If the acceleration / deceleration time value assigned to the remote device is not within
the range of 1 ~ 9,999 when executing the jog operation command, the acceleration /
deceleration time of the motion profile of the jog command becomes the value of Pn #
B107 Jog Acc Dec Time.
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4.13. Jog Operation
92 4. Operation
If the command is canceled during jog operation, it stops at S-STOP from the point at
P
which it is released. This command can be used on systems that require continuous
movement.
1) Command maintenance : Normal movement
While the jog operation command is maintained, the motion moves to the limit
point.
2) Command cancel during movement : Move stop
If the command is canceled during jog operation, it will stop at the point of ①
3) Stop while moving Command : Cancel command
During jog operation, S-STOP or E-STOP is executed at the time when the stop
command is input.
4) Limit reached during movement : not moveable
When the limit is reached during the motion, it will stop according to the stopping
method for the limit.
The limits of jog operation are H / W limit signal and S / W limit value. When the limit is
reached, it stops at E-STOP or S-STOP condition by Parameter Pn # B003 S / W Limit
Method and Pn # B004 H / W Limit Method.
What happens when the motor is running at high speed

- If user set to stop by E-STOP, alarm may occur
- When stopping at S-STOP, exceeding the limit, mechanical collision
Attention possible
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4.13. Jog Operation
4. Operation 93
4.13.2 Speed override for jog operation
P
Jog speed override is a command to execute the speed change command during jog
operation. When the speed override command is executed, the movement speed profile is
changed and moved in the initially started motion profile.
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4.14. Step Move
94 4. Operation
4.14 Step Move

P
A step move is a command that moves as much as entered position value while the
command is maintained. If the instruction is canceled during step movement, it is stopped
at S-STOP from the point at which it is released. This command can be used in positioning
for teaching.
Mapping information
Motion Name
STEP + Output Y1004 JOGP 22 0x16
STEP - Output X1005 JOGN 23 0x17
Acc/Dec Time Output D2003 Pn#B107 Jog Acc Dec Time
Used Parameter
Parameter No.
Parameter Name
GUI
Parameter Code
No.

8 B008 Motion Dir
23 B030 Step Move Position Magnify
29 B105 Jog Speed
31 B107 Jog Acc Dec Time
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4.14. Step Move
4. Operation 95
Device comment
- User Step + Move Command : X107
P - User Step - Move Command : X108
- User operation Speed : D504
- User Acc/Dec Time : D540
- Step Movement Distance : D502
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4.14. Step Move
96 4. Operation
1) Command maintenance : Normal movement

P
While the step move command is maintained, the motion reaches the target
position ①.
2) Command cancel during movement: Stop movement.
If the command is released during the step movement, the target position ③ is not
reached and stops at the position ②.
3) Stop while moving Command: Cancel command
Execute S-STOP or E-STOP at ④ when the stop command is input during step
movement
4) Limit reached during movement: not moveable
When the limit of motion is reached, it stops according to the stop method for the
limit
Limitations of step movement include H / W limit signal and S / W limit value. When the
limit is reached, it stops at E-STOP or S-STOP condition by Parameter Pn # B003 S / W Limit
Method and Pn # B004 H / W Limit Method.
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4.15. Zero Position Move
4. Operation 97
4.15 Zero Position Move
Zero position movement is a position move command that moves to the drive zero
P
position in the drive.
The point at which the drive is designated as the zero point is the initial encoder position
(Incremental Encoder 0 [pulse]) at the point when power is supplied to the drive as the zero
point of the drive. Homing Position Set (Pn # B206h), which is a Homing Parameter,
becomes the drive's zero point (Drive Zero Position) when it completes normally after
executing homing command. However, if homing command is executed again after homing
has been completed, if homing command is canceled, it becomes homing position set value
at homing. The processing of the zero point position of the drive is as follows. Also, even if
you change the Homing Position Set value with the parameter setting, the zero point
position of the drive will not be changed until homing is executed.
Drive Power On
Drive Zero Position = Actual Position
Homing Command?
Yes
No
Home Search Complete
Yes
Drive Zero Position = “Homing Position Set” Value
System Operate
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98 4. Operation
Mapping information
P
Motion Name
STEP + Output Y1004 JOGP 22 0x16
STEP - Output X1005 JOGN 23 0x17
Acc/Dec Time Output D2003 Pn#B107 Jog Acc Dec Time
Used Parameter
Parameter No.
Parameter Name
GUI
Parameter Code
No.

8 B008 Motion Dir
11 B009 Limit Sensor Dir
29 B105 Jog Speed
31 B107 Jog Acc Dec Time
Device comment
- Zero Position Move command : X10B
- User Operation Speed : D506
- User Acc/Dec Time: D540
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4. Operation 99
1) Power input to the drive: Not retune to Zero position
At the point of power on of the drive, the zero point position of the drive is
P
designated as the encoder's current position value (Actual Positon).
2) Return to home position: Home position return not executed after drive power
If you move the zero point at ② before the zero point return, it moves to the
zero point position set in 1)..
Homing parameter When the value of "Homing Position Set (Pn # B206h)" is
changed ③, the information of zero position set in 1) is not changed
3) After completion of home return: completion of mechanical origin
The zero point position is designated by the value of homing parameter "Homing
Position Set (Pn # B206h)" from the point of ⑤ when zero point return command is
executed at the point of ④ and homing is completed.
Homing position set (Pn # B206h) "is changed at the point of ⑥ after homing,
the specified zero point position is not changed at the point of ⑤.
Homing parameter Even if homing is executed without changing the value of

"Homing Position Set (Pn # B206h)", the current parameter value is designated as
zero
4) Completion of 2nd homing command: Zero position is designated, Homing is

completed with changed homing profile
Homing position setting (Pn # B206h) "is changed to the zero point position
when the home position return is executed again.
5) Homing command failure: Zero point position is specified and the executed homing
command fails
In case ⑫ in which home return has failed, the zero position specified in 4) is not
changed. If the origin return command does not complete homing, the specified
value is retained at the time of drive boot.
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4.16. Position Move
100 4. Operation
4.16 Position Move
Position move is the profile information determined at the time of command, and moves to
the target position. The profile information required at the time of command requires
information on the target position, start speed, travel speed, acceleration time, and
deceleration time. With this profile information, absolute positioning and relative positioning
commands are performed.
The position move command is supported in 2 or more station

occupied mode.
SW1.1 must be turned ON to change to 2 station occupied mode.
Attention
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4.16. Position Move
4. Operation 101
4.16.1 Absolute Position Move
Absolute position movement is a command to move from the current position to the
P
command position. The parameters used at this time are different from those used for jog
operation
Mapping information
Motion Name
ABS Position Move Output Y1030 - - -
Move Speed Output D2000 -
Move Position Output D2004 -
Acceleration time Output D2006 -
Deceleration time Output D2007 -
Used main Parameter

Parameter No.
GUI Parameter Name
Parameter Code
No.

8 B008 Motion Dir
24 B100 Axis Max Speed
25 B101 Axis Start Speed
26 B102 Axis Accel Time
27 B103 Axis Decel Time
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4.16. Position Move
102 4. Operation
Device comment
P
- Absolute position move command start : X200
- Operation Speed : D800
- Target Position : D802
- Acceleration time : D804
- Deceleration Time : D805
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4.16. Position Move
4. Operation 103
4.16.2 Incremental Position Move
Incremental position movement is a command that moves the current position by the
P
command position. The parameters used at this time are parameters that are different from
those used for jog operation.
Mapping information
Motion Name
Inc Position Move Output Y1031 - - -
Acceleration time Output D2006 -
Deceleration time Output D2007 -
Used main Parameter

Parameter No.
GUI Parameter Parameter Name
No. Code
8 B008 Motion Dir
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4.16. Position Move
104 4. Operation
Device comment
P
- Incremental position move command : X201
- Operation Speed : D810
- Target Position : D812
- Acceleration Time: D814
- Deceleration Time : D815
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4.16. Position Move
4. Operation 105
The position move command is a command to move to the target position even if the
command is released at the time when the position movement is started. When the stop
P
command is executed and the limit is reached during the position movement, the position
movement is stopped.
1) Command execution: Normal command
The motion starts at ①, which is the point at which the position move command
is executed, and reaches the target position even if the command is released before
reaching the target position ②.
2) Repeated command execution while moving: Ignore command
Move to the target position started in ③ even if the position move command is
executed and the position move command is executed at the time when the
position move is not completed as in ④.
3) Command maintenance: Move to normal position
Even if the position move command is kept longer than the position ⑥ at which
the position move command is completed, the target position executed at the point
of ⑤ is maintained.
4) Stop command while moving: Command cancel
S-STOP or E-STOP is executed at ⑧ when the stop command is input. At this time,
motion profile input from ⑦ point is canceled
5) Limit reached during movement: Can not move
When the motion at the point ⑨ at which the command is executed reaches the
limit in progress, the motion stops at the point ⑩ because it stops according to the
stopping method for the limit point.
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4.16. Position Move
106 4. Operation
4.16.3 Override Command

P
There is "Position Override" to change the target position when moving the position, and
"Velocity Override" command to change the current running speed.
The override function of the position move command continues the motion by changing
only the position information, which is the change condition, or the speed information in
the motion profile in which the motion starts. For the motion characteristics of this, refer to
“오류! 참조 원본을 찾을 수 없습니다.”
Mapping information
Motion Name
Abs Position Move Output Y1030 - - -
Inc Position Move Output Y1031 - - -
Move Seed Output D2000 -
Used main Parameter
Parameter No.
Parameter Name
GUI Parameter
No. Code
8 B008 Motion Dir
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4.16. Position Move
4. Operation 107
Device comment
- Absolute position move command t : X200
P - Incremental position move command : X201
- Command to apply speed to change : X210
- Command to apply position to change : X211
- Operation speed to change : D820
- Target position to change : D822
Position override operation after speed override is disabled.

Speed override operation after position override is disabled
Attention
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4.17. Position Table Operation
108 4. Operation
4.17 Position Table Operation

P
Potion Table (Position Table : PT below) operation is the operation in which the defined
commands and the motion profiles of the commands are organized into tables and the
commands are executed by calling them.
PT
Detailed description of motion
Command PT Command Name Function Description
profile
No.
0 Abs Move low speed.
1 Abs Move high speed. The value of the position term is

the absolute position value. 오류! 참조 원본을 찾을 수
- Teaching function available. 없습니다. Motion of Position
Abs Move high speed
2 - Continuous operation function Move Command
with deceleration.
available.
Abs Move with
3 acceleration and
deceleration.
4 Inc Move low speed.
If the value of the position term is

5 Inc Move high speed
the incremental position value
6.3.1 Movement of Position
- Teaching function is disabled.
Move Command
Inc Move high speed - Continuous operation function
6
with deceleration. available.
Inc Move with

7 acceleration and
deceleration.
Homing command is executed

8 Move to Origin according to the currently set 7. Homing Profile
parameter value.
Reset the 'command position' and

9 Clear Position 'actual position' values to '0' at the -
current position.
Push motion function to absolute

10 Push Abs Move -
coordinate system.
This command is used to stop the 6.1 Operation of Stop

11 Stop
push motion operation. Command
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4. Operation 109
Mapping information
Motion
P Name
PT Start Output Y100B PT Start 40 0x28
Used main Parameter

The parameter list can be checked in "5.6 Position Table Parameter".
Device comment
- Position Table operation start: X10C
- Select Single mode : X10D
- Position Table No. : D508
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110 4. Operation
4.17.1 Normal PT Operation

P
After the normal PT operation completes the operation for the selected PT number, the
jump table number (Item No. 88H) "is the command to be executed subsequently. If the
jump table number is set to '-1', PT operation will be finshed after PT operation is
completed.
PT No. 13 selected in ①, which is the time when general PT operation command is

executed, is executed. Since the jump PT number is specified as PT14 in PT13
started in ①, when PT13 is completed, PT14 is executed. Then, it continues to
operate with the jump PT number of PT14.
2) Execute PT command during operation: Ignore command
If PT13 is run command while PT14 is running at the point of ② during PT

operation, the PT command started from ① point is continuously executed.
3) Command maintenance: Normal execution
The PT operation command is a rising edge operation. Even if the PT operation

command is maintained until the PT operation is terminated, the PT operation
command executed is not repeated.
4) Change PT number: Ignore command
Even if the PT number is changed to 15 at the time of ③ of PT operation, it does

not jump to PT15 and it is executed by PT27 which is the jump PT number of PT15.
5) Stop command during PT operation: Cancel command
S-STOP or E-STOP is executed at ④ when the stop command is input during

operation. At this time, PT operation started from ① is stopped, PT operation of
PT27 is canceled and PT operation is ended.
6) Do not jump PT to the table: 1 time table operation
If the jump table number is -1 (0xFF) in PT27 which is jumped after execution of
PT 15, PT operation is terminated at ⑦, which is the time of normal operation of PT
27 of PT 27
7) Limit point reached during PT operation: Not movable
In case of reaching the limit point during PT operation, the corresponding PT28
which is in operation at ⑧ point is canceled and PT160 which is the jump number
of PT28 is executed.
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4. Operation 111
8) Command of PT item is Homing command: Homing command operation
If the limit at point ⑨ is S / W Limit, the condition of S / W Limit is ignored.

P
If the limit at point ⑨ is H / W Limit, it corresponds to Limit signal during
homing.
PT No. ··· Jump Table No. ···
··· ··· ··· ···
13 ··· 14 ···
14 ··· 15 ···
15 ··· 27 ···
··· ···
27 ··· -1 ···
28 ··· 160 ···
··· ···
160 ··· 13 ···
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112 4. Operation
4.17.2 Single PT Operation

P
Single PT operation is a command to execute the selected PT number alone. Even if there
is a table jump item in the selected PT number, if the selected PT operation is completed,
the PT operation state is ended.
PT No. ··· Jump Table No. ···
··· ··· ··· ···
13 ··· 14 ···
14 ··· 15 ···
15 ··· 27 ···
··· ···
27 ··· -1 ···
28 ··· 160 ···
··· ···
160 ··· 13 ···
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4. Operation 113
PT No. 13 selected in ①, which is the point at which the single PT run command
P
is executed, is executed. Even if the jump PT number is designated as PT14 in PT13
started from ①, PT operation is ended
2) Execute PT command during operation: Ignore command
Even if a new command is input during single PT operation, the single PT

operation command is executed normally.
3) Command maintenance: Normal execution
The PT operation command is a rising edge operation. Even if the PT operation

command is maintained until the PT operation is terminated, the PT operation
command executed is not repeated.
4) Change PT number: Ignore command
Even if the PT number is changed to 27 in the ③ of the single PT operation, the

PT does not jump to the PT27, and the PT operation is finished when the PT14 in
operation is completed.
5) Stop command during PT operation: Cancel command
If S-STOP or E-STOP is executed at ⑤ when the stop command is input during

operation, single PT operation started from ④ is stopped and PT operation is
terminated.
6) Limit point reached during PT operation: Not movable
In case of reaching the limit point during single PT operation, corresponding PT28
in operation is canceled and PT operation is terminated. At this time, operation is
possible only when the PT operation command entered at ⑧ point is in the
opposite direction of the limit point.
7) Command of PT item is Homing command: Homing command operation
If the limit at point ⑦ is S / W limit, the condition of S / W limit is ignored.
If the limit at point ⑦ is H / W Limit, it corresponds to limit signal during homing.
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4.18. Controller Status Information
114 4. Operation
4.18 Controller Status Information

P
Status information of Ezi-SERVO2 CC-Link can be checked by real-time data monitoring
and status bit through remote receiving device
4.18.1 Command Response Checking
The command response is a status flag that, when the host controller issues a command to
the remote station, confirms that it has processed and completed the command
Command response in 2 station occupied mode
Remote
Flag Name Description
input [RX]
RX05 Jog Response Turns ON when a jog command is executed.
RX06 Step Move Response Turns ON when step move command is executed.
It turns ON when it is in the state close to the positioning

RX07 In-Position
completion range.
It turns ON when it is in the following operation state.
- Control to drive the motor to the destination position
RX08 MOTIONING
- A state that receives a homing command and processes it
- Position table operation is running
It turns On when the zero point move command is
RX0A Go Zero Position Resp.
executed.
When the position table operation is being executed, it
RX0B PT Running
turns On.
User tries to run position table operation in stand-alone
RX0C Single PT Select Resp.
mode.
RX0D Command Set Resp. It turns ON when an additional instruction is executed.
This command indicates whether the status of the current I

RX0F Motion / Setting Resp. / O Map is motion command processing status or setting
mode.
The magnification value of the commanded step travel
RX10 ~ RX13 Step Move Position Resp.
distance is displayed as 4-bit data.
The value of the monitor code and data code that is
RX14 ~ RX17 Monitor/Data Code Resp.
commanded is displayed as 4-bit data.
The value of the command code that is commanded is
RX18 ~ RX1B Command Code Resp.
displayed as 4-bit data.
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4. Operation 115
Command response in 2 station occupied mode
PRemote
input [RX]
Turns ON when the absolute position command is

RX30 ABS Position Move Resp.
executed.
Turns ON when incremental position move command is
RX31 INC Position Move Resp.
executed.
RX38 ~ RX3B Monitor Code (2) Resp.
RX3C ~ RX3F Monitor Code (3) Resp.
4.18.2 Axis Status Checking
A flag that checking the current operation status of the drive, It can check the
availability of commands for the following actions.
Axis status flag in 1 station occupied mode
Remote
input [RX]
RX00 Enabled The motor is in Servo On state and can be driven.
Emergency stop command is executed by remote device or

RX01 Emergency Stopped
external input.
RX02 ALARM Status An alarm has occurred in the drive.
Return to origin is completed normally by home return

RX03 Homing OK
command.
Motion command is available. When this bit is OFF, the
RX04 MOTION READY
motion command cannot be executed.
RX07 In-Position When it is within positioning completion range, it turns On.
RX08 MOTIONING Turns on when the current motion is running
RX09 Hold status The operation of the motor is paused.
RX0B PT Running Position table operation is running.
The currently executed command is invalid, or the drive has

RX0E Warning
failed.
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116 4. Operation
Axis status flag in 2 station occupied mode

P
Remote input
[RX]
RX33 Motion Accel It turs ON when motion is accelerating.
RX34 Motion Decel It turns ON when motion is decelerating.
RX36 S/W Limit + It turns ON when the software limit of the plus is exceeded.
RX37 S/W Limit - It turns ON when the software limit of minus is exceeded.
4.18.3 Current Status Data Checking
The status information in the data format such as position information, speed, and
parameter data is received and confirmed by the remote register.
Ezi-SERVO2 CC-Link has 1 monitoring area in 1 station occupied mode and 2 monitoring
areas in 2 station occupied mode, so user can simultaneously check 3 data simultaneously.
Remote receive register
Remote receive
Data Type Description
register [RWr]
In the motion control mode, data is received in response to the monitoring

codes of the remote transmitting devices RX14 to RX13.
RWr0 DWORD
In the setting control mode, the data value which is confirmed when
reading and writing the parameter is received.
Regardless of the motion control mode and setting control mode, data is
RWr4 DWORD received in response to the monitoring codes of the remote transmitting
devices RX38 to RX3B.
Regardless of the motion control mode and setting control mode, data is
RWr6 DWORD received in response to the monitoring codes of the remote transmitting
devices RX3C to RX3F.
At this time, the received data is confirmed by DWORD type data, but in some conditions,
upper WORD and lower WORD are used in combination.
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4. Operation 117
Monitoring Code
Code
P Data Name Description
[DEC] [HEX]
00 0x0 Real Command Position
01 0x1 Real Actual Position Receives a value in [Pulse] units.

This information does not apply to the reduction ratio
02 0x2 Real Position Error parameter (Pn # B2022h, B2023h).
03 0x3 Real Current Velocity
04 0x4 Command Position

The value to be displayed changes according to the
condition of the Parameter [Pn # B020h] Mechanism Type
05 0x5 Actual Position
Select.
06 0x6 Position Error This information is received with the reduction ratio
parameter (Pn # B2022h, B2023h).
07 0x7 Current Velocity
08 0x8 - -
Displays load of motor in Servo On state

09 0x9 Peak / Current Load - Upper WORD : Peak Load
- Lower WORD : Current Load
10 0xA Current Displays the amount of motor RMS current in the drive
11 0xB Get I/O Pin Status Check status of I / O pin of input & output
12 0xC Get User I/O Status Check status value of user setting I / O
13 0xD - -
14 0xE Axis Status 1 Drive status information
When the I / O Map is in Setting Mode, the command

15 0xF Setting Mode response code of monitoring code (1) is output as 1111
[b].
* When a monitoring code not defined above is used, the remote register input value
becomes '0'.
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118 4. Operation
Device comment
P
- Real Command Position request : X120
- Peak / Current Load request : X128
- Real Command Position receipt notification : Y120
- Peak / Current Load receipt notification : Y128
- Real Command Data : D700
- Current Load Data : D716
- Peak Load Data : D717
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4. Operation 119
Drive Status Information

Code
Data Name Description
BITP [HEX]
0 0x00000001 Error Servo ALARM Alarm occurs on drive
1 0x00000002 H/W + Limit Detect H/W + Limit sensor
2 0x00000004 H/W - Limit Detect H/W – Limit sensor
3 0x00000008 S/W + Limit Current position exceeds S / W + Limit range
4 0x00000010 S/W - Limit Current position exceeds S / W - Limit range
5 0x00000020 Master Connection When the master controller is detected
6 0x00000040 RS485 Approve Control authority approved through RS485
When the motor in the Servo ON state is stopped, the 'Pos
Error Position Over
7 0x00000080 Error' value is set to "[Pn # B00A] Pos. Error Overflow Limit
Flow
"is exceeded
The current through power devices in inverter exceeds the
8 0x00000100 Error Current
limit value
9 0x00000200 Error Over Speed Motor speed excess 3300[rpm]
Position error during motion exceeds "[Pn # B007h]
10 0x00000400 Error Position Tracking
Position Tracking Limit"
An alarm occurs when a load exceeding the maximum
11 0x00000800 Error Over Load torque of the motor is applied for more than 5 seconds or
more than 10 rotations of the motor
12 0x00001000 Error Over Heat An alarm whose drive internal temperature exceeds 85 ° C
13 0x00002000 Error Back EMF Alarm with motor back EMF voltage exceeding 70V
14 0x00004000 Error Motor Power Motor voltage error alarm
Alarms exceeding "[Pn # B006h] In-position Value" during
15 0x00008000 Error In-Position
positioning
16 0x00010000 E-Stopped When the emergency stop command is executed
In the state where the normal stop command is executed
17 0x00020000 S-Stopped
and stopped during motion
18 0x00040000 Origin Returning Origin return state
When positioning, close to "[Pn # B006h] In-position Value"
19 0x00080000 In-Position
range
20 0x00100000 Servo On Motor is Servo On state
21 0x00200000 Alarm Reset Alarm release command is being executed
22 0x00400000 PT Stopped Status of position table operation is terminated
23 0x00800000 Origin Sensor When home sensor is detected
24 0x01000000 Z-Pulse Sensor Z phase sensor is detected
25 0x02000000 Origin Return Ok Origin return completed state
26 0x04000000 Motion Direction Motor running direction (0: + direction, 1: - direction)
27 0x08000000 Motioning Motion in progress
28 0x10000000 Motion Pause Paused
29 0x20000000 Motion Accel. The state of motion being accelerated in motion progress
30 0x40000000 Motion Decel. The state of motion being decelerated in motion progress
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120 4. Operation
31 0x80000000 Motion Const. The state of motion being constant in motion progress
P
* The above table is the same data that can be obtained by FAS_GetAxisStatus command of
Ezi-MOTION PlusR Protocol.
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4. Operation 121
4.18.4 External I / O Status Checking
When data is requested as the previous status data checking method, external I / O
P
status information can be obtained as follows
Status value of I / O pin

DWORD
BIT [HEX]
0 0x00000001 Input Pin 1 Input state of pin 4 of CN1 connector terminal
7 0x00000080 -
8 0x00000100 H/W + Limit Detect H/W + Limit sensor
9 0x00000200 H/W - Limit Detect H/W - Limit sensor
10 0x00000400 Origin Sensor Home sensor is detected
11 0x00000800 Z-Pulse Sensor Z phase sensor is detected
12 0x00001000 -
13 0x00002000 -
14 0x00004000 S/W + Limit Current position exceeds S / W + Limit range
15 0x00008000 S/W - Limit Current position exceeds S / W - Limit range
16 0x00010000 Output Pin 1 Output state of pin 11 of CN1 connector terminal
22 0x00400000 -
* The information in the above table is confirmed by the remote receiving devices RX20 to
RX2F in the 2 station occupied mode. Therefore, when requesting this information in the 2
station occupancy mode, you will be asked for information in duplicate.
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122 4. Operation
Status information of user setting I / O

P
Code
BIT [HEX]
0 0x00000001 User Input 1 Map The state of user input 1 assigned to the drive
- - - -
16 0x00010000 User Output 1 Map Status of user output 1 assigned to the drive
21 0x00200000 -
* The above table is information for processing the external I / O signals of the drive in the
host controller
4.18.5 User Output
Ezi-SERVO2 CC-Link can set up to 6 output signals at user's discretion. The mapping
setting of this pin output can be set to “Parameter ” for the user output signal setting.
4.18.6 Motor Current [mA]
The amount of current in the motor is the value indicating the effective value (RMS) of the
motor's A and B phases. It cannot be displayed higher than the specifications of the applied
motor.
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4. Operation 123
4.18.7 Current Load [%]
The amount of load checked by monitoring is calculated from the amount of position
P
change detected by the encoder position feed-back information used in the current closed-
loop processing of the motor and the information detected when controlling the step angle
of the stepping motor is. Therefore, the load is not measured in the Servo Off state in which
current is not applied to the motor.
An overload alarm will occur if the load is held above 100 [%] for more than 5 seconds
while the motor is stopped or driven
This information can be used for inspection of the equipment system, and the relative
load can be evaluated by comparing the load at the time of initial installation and the load
at the time of inspection. And because it is linked with the parameter "[Pn # B00Ch] Run
Current", even if it is the same equipment system, if this parameter is changed, the load
amount to be verified will be checked differently from the previous information.
When an alarm occurs in the drive, the current amount of the motor and
the load amount of the drive are kept at the state value just before the
alarm is generated in order to track it.
Attention
4.18.8 Peak Load [%]
Peak load is the maximum load after drive power up. To clear this value, parameter request
can be made by changing RY0F of I / O-Map to '1' and changing it to "Command Code =
8".
Mapping information
Remote Ext. I/O using condition
Function
Motion Name device Mapping
PLC->Drive [DEC] [HEX]
Mapping Name
Command Set Output Y100E - - -
Motion / Setting Output Y100F
Command Code 0 Output Y1018 - - -
Command Code 2 Output Y101A - - -
Command Code 3 Output Y101B - - -
Command Set Resp. Input X100D - - -
Motion / Setting Resp. Input X100F
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124 4. Operation
Command Code Resp. 0 Input X1018

P
Command Code Resp. 2 Input X101A
Command Code Resp. 3 Input X101B
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4. Operation 125
Device comment
- Parameter Request Command : X110
P - Parameter Code : D510
- Normal execution flag of Parameter request command : Y110
- Requested Parameter: D600
If the processing of Y100F and Y100E is used as a coil, other setting

command and redundant coil may not be executed. Therefore, Y100F and
Y100E are treated as bit set instructions, and at step "1066" instructions are
Attention added to clear the falling differential of instruction execution.
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4.19. Parameter Access
126 4. Operation
4.19 Parameter Access

P
As a parameter access method, there is a method to access each parameter coat by calling
RS485 and remote device of host controller. The code number of the parameter can be
checked in "5Parameter List".
The current position command is a command that specifies the current motor position as
the input value. When this command is executed, the current position tracking value
(Command Position) and encoder position value (Actual Position) are changed to the value
to be changed
The current position command can be the same as the "Position Set" of the home return
method, but the home position return command cannot be executed in Servo Off state, but
the current position command can be executed. However, the Origin Return OK flag cannot
be turned On with the current positioning command.
Mapping information
Ext. I/O using condition
Function Remote device
Motion Name Mapping
PLC->Drive Mapping [DEC] [HEX]
Name
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4. Operation 127
Device comment
The parameter code (2 bytes) for accesses to the remote device area of
the CC-Link network through the master controller and the parameter code
(1 byte) for the Ezi-MOTION Plus-R Protocol parameter access command
Attention are not mixed.
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128 4. Operation
4.19.1 Parameter Request

P
To check the parameter data through the CC-Link host controller, parameter request can
be made by changing RY0F of I / O-Map to '1' and changing to "Command Code = 1". The
requested data is checked as DWORD data in the remote register receiving areas RWr0 to
RWr1.
Mapping information
Motion Name Mapping
Name
Parameter Code Output D2002 -
Parameter Code Resp. Input D1002 -
Response Data Input D1000 -
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4. Operation 129
Device comment
P - Parameter Code Value : D510
- Requested Parameter Value : D600

Y100E are treated as bit set instructions, and at step "811" instructions are
Attention added to clear the falling differential of instruction execution.
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130 4. Operation
4.19.2 Parameter Change

P
To modify the parameter data, set RY0F to '1' and change the setting mode Command
Code = 2. When parameter change command is executed normally, it responds with
changed parameter value.
Mapping information
Motion Name Mapping
Name
Device comment
- Parameter Code Value : D511
- Parameter Value to change : D512
- Changed Parameter Value : D602
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4. Operation 131

Y100E are treated as bit set instructions, and step "861" has been added to
Attention clear the falling instruction differential of instruction execution
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132 4. Operation
4.19.3 Parameter Storage

P
To save the data after changing the parameter data of the drive, you must execute the Save
Parameter command. This can be commanded with "Command Code = 3" in setting mode
by setting RY0F to '1'.
Mapping information
Ext. I/O
Function Remote Device
Motion Name Mapping
Name
Device Comment
- Parameter : X112
- Parameter normal execution flag of request command : Y112
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4. Operation 133

Y100E are processed as bit set instructions, and instructions are added at
Attention step "909" to clear the falling differential of instruction execution.
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134 4. Operation
4.19.4 Access to Ezi-MOTION Plus-R GUI program

P
The window GUI program of Ezi-SERVO2 CC-Link can be downloaded from the FASTECH
website (www.fastech.co.kr)
In the provided Windows GUI program, it is possible to check the data of the parameter
easily, but the change and save command of data cannot be arbitrarily modified because of
permission setting. When changing and saving the parameters, proceed to the CC-Link
network forcible exit and execute the authority release command to the host controller.
<Refer to 4.8 RS485 control authority>
Ezi-SERVO2 CC-Link is compatible with Ezi-MOTION Plus-R GUI

Ver.6.40.11.XX or higher.
Attention
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4.20. Teaching command
4. Operation 135
4.20 Teaching command
Teaching in the robot system is a task in which the user directly identifies the movement
P
path and the target point. This has the advantage that it is easy for users to process
commands and manage their locations
Ezi-SERVO2 CC-Link Motion profile information saved as teaching command is saved in

Position Table. Therefore, you must complete the teaching and execute the parameter save
command. The motion profiles stored here are as follows.
Items Saved by Teaching
Item Data Access Applied Data Data Size
Motion Type Constant Normal Absolut Position Move -
Acceleration
Parameter [Pn#B102] Axis Accel Time WORD
time
Deceleration
Parameter [Pn#B103] Axis Decel Time WORD
time
Start Speed Parameter [Pn#B101] Axis Start Speed DWORD
Move Speed User Input RWw0 DWORD
Status Command Code = A : Command Position

Target Position DWORD
Information Command Code = B : Actual Position
Jump PT No. Constant No Jump (-1) -
Waiting Time Constant No Delay (0 [msec]) -
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136 4. Operation
The teaching command is executed in the setting mode in which RY0F is set to '1'. If the
P
command code is '0xA', the teaching is Absolute Position Teaching to teach the encoder
position value. '0x0B' is used to teach the current position follower value Command Position
as position information
Mapping information
Ext. I/O
Motion Name Mapping
Name
Device comment
- Execute Absolute Position Teching : X151
- PT number to Teaching : D508
- Speed Value to Teaching: D500
- Teaching Complete Flag : Y111
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4. Operation 137
* In the above example, Absolute Position Teaching is performed by inputting 4-bit

Data "0xA" to the remote device output "Y1018". At this, if 4-bit 0xB is input to the
remote device output "Y1018", Command Position Teaching is executed.

Y100E have been processed by bit set instruction, and step "1020" has been
Attention added to clear the falling instruction differential of instruction execution.
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4.21. Set Current Position
138 4. Operation
4.21 Set Current Position

P
The current position command is a command that specifies the current motor position as
the input value. When this command is executed, the current position tracking value
(Command Position) and encoder position value (Actual Position) are changed to the value
to be changed
The current position command can be the same as the "Position Set" of the homing
method, but the origin return command cannot be executed in Servo Off state, but the
current position command can be executed. However, the origin is not reset even when the
current positioning command is executed. In addition, the target position of the zero
movement command becomes the designated position after returning to origin.
Mapping information
Ext. I/O
Motion Name Mapping
Name
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4. Operation 139
Device comment
- Parameter request command : X110
- Normal execution flag of Parameter request command: Y110
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140 5. Parameter List
P 5. Parameter List
Parameter of Ezi-SERVO2 CC-Link can be changed by command to access CC-Link remote
device and window-based Ezi-MOTION Plus-R GUI program.
Parameter
Parameter Write
Start Description
Classification Condition
Address
Drive information and network operation

Operating 0xA000 Servo Off
parameters
Drive Control 0xB000 Parameter for drive control Servo Off
Motion control 0xB100 Parameter of motion profile Servo On
Origin Control 0xB200 Parameter of homing profile Servo On
Assignment information and level control

Ext. I/O Control 0xE000 Servo Off
of external I / O
Position Table 0x9000 Items in the position table Servo On
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5.1. Operating Parameter
5. Parameter List 141
5.1 Operating Parameter
Drive information and network operation parameters.

P
GUI
Pn#No. Parameter Name Description Access Unit Minimum Maximum Default
No.
Drive F/W Revision Revision number

Pn#A000h - R [digit] - - -
Info of drive firmware
Drive F/W Version Drive firmware

Pn#A001h - R [digit] - - -
Info version
Drive H/W Version Drive hardware

Pn#A002h - R [digit] - - -
Info version
Pn#A003h - Drive Version Info Drive version R [digit] - - -
Motor type
Pn#A005h - Motor Type Info R [digit] - - -
number
CC-Link Occupied Occupancy status

Pn#A008h - R [Info] 1 4 -
Stations Info of CC-Link network
CC-Link Mode Switch CC-Link Mode

Pn#A009h - R [digit] - - -
Info Switch Information
Pn#A00Ah - CC-Link ID Info CC-Link ID number R [digit] - - -
RS485
Ezi-MOTION Plus-R
Pn#A010h - communication R/W [digit] 0 15 0
ID
network ID
RS485
Ezi-MOTION Plus-R
Pn#A011h - communication R [digit] - - 112500
Baud-Rate
speed
Operating
Pn#A020h 0 E-STOP Method condition at R/W [digit] 0 1 0

emergency stop
Operation
Network condition when

Pn#A030h 1 R/W [digit] 0 3 0
Disconnection CC-Link network is
disconnected
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5.1.1 Drive F/W Revision Info [Pn#A000]

P
This parameter is the firmware version of the drive and is the version information for the
fix
5.1.2 Drive F/W Version Info [Pn#A001]
This parameter is the firmware version of the drive and is the major version information
5.1.3 Drive H/W Version Info [Pn#A002]
This parameter is the hardware version of the drive. It is the version information about the
hardware specification.
5.1.4 Drive Major Version Info [Pn#A003]
This parameter is the main version information of the drive
5.1.5 Motor Type Info [Pn#A005]
The code representing the motor type. Depending on the motor applied to each drive, the
motor number to be checked is different.
Parameter Parameter
Value Motor Type Value Motor Type
[info] [info]
130 20M 120 56S
129 20L 132 56M
128 28S 117 56L
127 28M 146 60S
126 28L 147 60M
125 42S 148 60L
124 42M
123 42L
122 42XL
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5.1.6 CC-Link Occupied Stations Info [Pn#A008]
Shows the station occupied by the CC-Link network applied by the setting of switch SW1
P
occupying the drive.
Parameter
Value Operating characteristic
[info]
1 1 station occupied mode
5.1.7 CC-Link Mode Switch Info [Pn#A009]
Indicates the value applied by setting the mode switch SW2 of the drive. CC-Link
communication setting speed is as follows
Parameter
CC-Link Communication Speed
Value
[bps]
[info]
0 156K
1 625K
2 2.5M
3 5M
4 10M
5.1.8 CC-Link ID Info [Pn#A00A]
Station No. setting switch of the drive CC-Link station number set by SW3 (X10) and SW4
(X1). It is displayed as set value of switch set at boot. If user wants to apply the changed ID
after booting, re-boot the drive.
When the CC-Link mode and CC-Link ID are changed while a normal
connection with the CC-Link network has been made, error messages "E-
400" and "E-300" are output from the display FND of the drive.
Attention
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5.1.9 Ezi-MOTION Plus-R ID [Pn#A010]

P
The ID number for Ezi-MOTOIN Plus-R protocol is based on RS485. It can be set
from 0 to 15
5.1.10 Ezi-MOTION Plus-R Baud-Rate [Pn#A011]
Communication speed of Ezi-MOTOIN Plus-R protocol is based on RS485. The default value
is '4' which is fixed at 115,200 [bps]
Parameter Value
RS485 Communication Speed[bps]
[info]
0 9,600
1 19,200
2 38,400
3 57,600
4 115,200 (* Fixed value)
5 230,400
6 460,800
7 921,600
5.1.11 E-STOP Method [Pn#A020]
Selects the drive operation condition when the E-STOP instruction is executed
Parameter Value
Operating characteristic
[info]
0 E-STOP Only
1 Automatic Servo OFF after E-STOP
5.1.12 Network Disconnection [Pn#A030]
Select the drive operation condition when the CC-Link network is disconnected.
Parameter Value
[info]
0 Stay current status
1 Execute E-STOP
2 Execute Servo OFF
3 Execute S-STOP
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5.2. System Control Parameter
5.2 System Control Parameter
Drive control parameters are parameters that configure the environment when motor is
P
connected to mechanical equipment. This parameter can be changed in the Servo Off state
GUI Parameter
Pn#No. Description Access Unit Minimum Maximum Default
No. Name
Pulse resolution
Pulse Per for one
Pn#B000h 2 R/W [info] 0 8 8
Resolution revolution of
the drive
S/W +Limit Forward S / W

Pn#B001h 3 R/W [pulse] -134,217,728 +134,217,727 +134,217,727
Value Limit Points
S/W -Limit Reverse S / W

Pn#B002h 4 R/W [pulse] -134,217,728 +134,217,727 -134,217,728
Value limit point
S/W Limit S / W Limit Stop

Pn#B003h 5 R/W [info] 0 2 0
Stop Method method
H / W sensor
H/W Limit
Pn#B004h 6 input stop R/W [info] 0 1 0
Stop Method
method
Adjustment of
Position motor response
Pn#B005h 7 R/W [digit] 0 63 4
Loop Gain according to
load
In-position Positioning
Pn#B006h 8 R/W [digit] 0 127 3
Value complete range
Position Condition of
Pn#B007h 9 Tracking position R/W [pulse] 1 +134,217,727 5,000
Limit tracking alarm
Motion direction
Pn#B008h 10 Motion Dir R/W [info] 0 1 0
setting
Direction of the
Limit Sensor
Pn#B009h 11 limit signal R/W [info] 0 1 0
Dir
setting
Pos. Error Position error
Pn#B00Ah 12 Overflow overflow alarm R/W [pulse] 1 +134,217,727 2500
Limit condition
Brake Delay Brake delay

Pn#B00Bh 13 R/W [msec] 10 5,000 200
Time value
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GUI Parameter
Pn#No. P Description Access Unit Minimum Maximum Default
No. Name
The ratio of the

current flowing
Pn#B00Ch 14 Run Current R/W X10[%] 5 15 10
through the
motor
Current ratio of
Boost motor used
Pn#B00Dh 15 R/W X50[%] 0 7 0
Current when motor is
accelerated
Current ratio
Pn#B00Eh 16 Stop Current used by motor R/W X10[%] 2 10 5
at stop
Mechanism Type of machine

Pn#B020h 17 R/W [info] 0 3 0
Type Select equipment
Unit Information
10-n
Pn#B021h 18 Unit of machinery R/W 0 6 3
[digit]
equipment
Input gears of
Pn#B022h 19 Input Gear mechanical R/W [digit] 1 10,000 1
equipment
Output gear of
Pn#B023h 20 Output Gear mechanical R/W [digit] 1 10,000 1
equipment
Lead
information of
Pn#B024h 21 Screw Lead screw of R/W [µm] 1 10,000 1
machine
equipment
Pulley diameter
Pulley
Pn#B025h 22 of mechanical R/W [µm] 1 10,000 1
Diameter
equipment
Position
Step Move
magnification of
Pn#B030h 23 Position R/W [digit] 1 25,000,000 1,000
step movement
Magnify
command
*The GUI No. is Parameter No. displayed in the parameter list window of Ezi-MOTION PlusR-R GUI.
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5.2.1 Pulse Per Resolution [Pn#B000h]
It means the number of pulses per motor rotation. This value can be changed in Servo
P
OFF state.
Number of pulses per

Parameter Value [info]
revolution [ppr]
0 500
1 1,000
2 1,600
3 2,000
4 3,600
5 5,000
6 6,400
7 7,200
8 10,000
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5.2.2 S/W Limit ± Value [Pn#B001h], [Pn#B002h]

P
Set the maximum input limit value that can move in plus direction to 28bits when using
the move command (absolute move, incremental move, Jog). Since it is treated as the actual
position value (Command Position, Actual Position), it is applied as the value that executed
Set Position and Clear Position command.
5.2.3 S/W Limit Stop Method [Pn#B003h]
Set the motor stop method by the Parameter S / W limit value.
Parameter
[info]
0 Execute E-STOP
1 Execute S-STOP
2 Not applied S/W Limit
5.2.4 H/W Limit Stop Method [Pn#B004h]
Set the motor stop method by the Parameter H / W limit value.
Parameter
[info]
0 Execute E-STOP
1 Execute S-STOP
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5.2.5 Position Loop Gain [Pn#B005h]
This function is used to adjustment for attached to the motor according to the load after
P
motor stop. This is a relative value, not an actual value used inside the drive. For example,
changing this value from 3 to 6 does not mean doubling the response time.
If the value of this parameter is small, the operation of stopping the motor becomes
sensitive, the motor takes less time to stop, and if the value is large, the operation of
stopping the motor becomes insensitive and the motor takes more time to stop.
The setting method is as follows.
1) Set the value to '0'.
2) Increase the value until the motor response stabilized.
3) Accurately adjust the current setting value by increasing or decreasing 1 or 2 steps.

Time
Time Time
constant
constant Proportional Proportional constant Proportional
Value Value of Value
of Integral Gain Gain of Integral Gain
Integral
part part
part
0 1 1 22 3 7 44 6 5
1 1 2 23 3 2 45 6 6
2 1 3 24 4 1 46 6 7
3 1 4 25 4 2 47 6 8
4 1 5 26 4 3 48 7 1
5 1 6 27 4 4 49 7 2
6 1 7 28 4 5 50 7 3
7 1 2 29 4 6 51 7 4
8 2 1 30 4 7 52 7 5
9 2 2 31 4 8 53 7 6
10 2 3 32 5 1 54 7 7
11 2 4 33 5 2 55 7 2
12 2 5 34 5 3 56 8 1
13 2 6 35 5 4 57 8 2
14 2 7 36 5 5 58 8 3
15 2 8 37 5 6 59 8 4
16 3 1 38 5 7 60 8 5
17 3 2 39 5 2 61 8 6
18 3 3 40 6 1 62 8 7
19 3 4 41 6 2 63 8 8
20 3 5 42 6 3
21 3 6 43 6 4
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5.2.6 In-position Value [Pn#B006h]

P
Set the output condition of the positioning complete signal. When the position deviation
from the target position is within the set 'In-Position Value' after the position command
pulse ends, the positioning completion signal is output.
The position deviation that can output In-Position is 0 ~ 63. The setting values according
to the control mode are as follows. The position deviation range according to each mode is
0 ~ 63.
1) Fast Response Mode : 0~63
2) Accurate Response Mode : 64~127
Fast Response and Accurate Response control methods are as follows
5.2.7 Position Tracking Limit [Pn#B007h]
This function protects the motor and the drive. If the 'Position Error' value becomes larger
than this value while the motor is in operation, an alarm is generated to cut off the current
supply to the motor and Servo Off
5.2.8 Motion Direction [Pn#B008h]
Set the direction of motor rotation when operating by position command.
Parameter
[info]
0 Move in CW direction
1 Move in CCW direction
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5.2.9 Limit Sensor Direction [Pn#B009h]
This function sets the direction of the limit signal to stop during operation up to the limit
P
point. In a typical system, set the same as Parameter Motion Direction (Pn # B008h).
Parameter Value
[info]
Stop by limit + signal when moving in CW

0
direction
Stop by limit - signal when moving in CW
1
direction
5.2.10 Pos. Error Overflow Limit [Pn#B00Ah]
This function protects the motor and the drive. If the 'Position Error' value becomes larger
than this value when Servo On status, the alarm is generated and the current supply to the
motor is cut off and Servo OFF.
5.2.11 Brake Delay Time [Pn#B00Bh]
User can set the brake operation time according to Servo ON command
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5.2.12 Run, Boost, Stop Current [Pn#B00Ch], [Pn#B00Dh], [Pn#B00Eh]

P
Ezi-SERVO2 CC-Link can minimize the heat generation by adjusting the motor current
consumption variably according to the driving load condition of machine equipment. The
Run Current and Stop Current can adjust the maximum and minimum values of the drive
current and stop current of the motor according to the load during operation. Boost Current
is a current control parameter to improve the mobility.
 Run Current [Pn#B00Ch]
It is the current value that flows to the motor during drive operation and is set based
on the rated current of the motor. This value is related to the torque that the motor is
running. If this value is high, the torque during operation will increase. Therefore, when
the value of this parameter is adjusted, it is possible to set the maximum drive torque
of the motor in the range of 50 [%] ~ 150 [%] and the maximum current in 4 [A] in 10
[%] units.
Parameter Value
Minimum Maximum Default
X10[%]
5~15 50[%] 150[%] 100[%]
1) In case of the Run Current is set to 50 [%] (Pn # B00Ch = 5)
When using a motor whose rated current is 1 [A], the maximum current value for
which the motor is used during operation is 0.5A. At this time, if Stop Current is 50%,
it will operate from 0.25 [A] to 0.5 [A] for 1 [A] motor.
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2) In case of the Run Current is set to 100 [%] (Pn # B00Ch = 10)
When using a motor with a rated current of 1.0 [A], the maximum current value at
P
which the motor is used during operation is 1.0 [A]. At this time, if Stop Current is 50
[%], the minimum current of motor according to load is operated from 0.5 [A] to 1.0
[A] which is 50 [%] of Run Current.
3) In case of Pn # B00Ch and Pn # B00Eh are set to '10' (Run Current and Stop Current
are 100 [%])
When the motor with rated current of 1.0 [A] is used and the Run Current and Stop
Current are set to 100 [%], the motor's minimum current will be 1.0 [A] Regardless of the
load, the Run Current is maintained at 1.0 [A] with 100 [%].
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 Boost Current [Pn#B00Dh]

P
Boost Current is a parameter to increase the starting torque by temporarily supplying
the driving current to the set value for a limited period when starting from the stop
state. The motor accelerates to Boost Current at ①. After the acceleration is completed,
the current decreases to run below the Run Current. At ②, the decelerating point, it
decelerates to Boost Current. This parameter can be used to improve acceleration /
deceleration performance.
Parameter Value
X50[%]
0~5 0[%] 350[%] 0[%]
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 Stop Current [Pn#B00Eh]
It describes the stop current (the minimum current value that flows through the
P
motor) that is automatically set after 0.1 second after the motor stops running. The
current used at this time is the current for holding the motor. This parameter is used to
reduce heat when the motor is stopped for a long time. The current set by the Stop
Current Parameter is not proportional to the rated current as specified in the motor
specification, but is proportional to the set Parameter Run Current value.
Parameter Value
X10[%]
2~10 20[%] 100[%] 50[%]
For example, if the run current of the motor with rated current of 1 [A] is set to 150
[%], the maximum motor current becomes 1.5 [A], and if the stop current is set to 50
[%] 0.75 [A].
1) If the value of Run Current is high, the temperature of the motor's heat
may rise.
2) The maximum setting value of the Run Current (150%) is limited to 4 [A].
Therefore, motors (56mm, 60mm) whose motor rated current exceeds 2.7
[A] will not increase by the set value even if the set value is raised.
3) Therefore, use it only when the torque value during running is
Attention insufficient.
4) As same as Run Current, the control current is limited to 4 [A]. Motors
(56 angles, 60 angles) whose rated current value exceeds 2.7 [A] will not
increase by the set value even if the set value is raised.
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5.2.13 Mechanism Type Select [Pn#B020h]

P
This is a parameter that makes the motor start to match the value of command, status
information, setting value, etc., with the feed amount of the machine, depending on the
type of machine. Depending on the mechanism, the calculation method for the transfer
amount of the mechanical equipment is different. Therefore, it is calculated when the drive
is booted according to the mechanism type and applied to the system.
Parameter
Value System Valid Parameter
[info]
Pulse Per Resolution [Pn#B000h]
0 Normal System Input Gear [Pn#B022h]
Output Gear [Pn#B023h]
Setting Unit : Unit [Pn#B021h]
Drive axis gear information: Input Gear
Ball Screw System
1 [Pn#B022h]
(Lead Screw)
Wave axis Gear Information: Output Gear
[Pn#B023h]
Lead screw information: Screw Lead [Pn#B024h]

Belt & Pulley System
2 [Pn#B022h]
(Conveyor System)
[Pn#B023h]
Pulley Information : Pulley Diameter [Pn#B025h]

3 Rotary Index Table
[Pn#B022h]
[Pn#B023h]
5.2.14 Unit [Pn#B021h]
Specify the unit when the pulse information of the motor is converted into the feed
amount information
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Parameter
Value Contents
[digit]
P In the default 1.000 [mm] increments,
the higher the multiplier, the lower the
decimal place
X10-n [digit]
 When Value = 1, 0.100 [mm]
 When Value = 3, 0.001[mm]
 When Value = 6, 0.001[µm]
5.2.15 Reduction ratio (Input Gear [Pn#B022h], Output Gear
[Pn#B023h])
When gearing with motors and machinery, set gear reduction ratio during power
transmission
EX 1) When the reduction ratio is 1:30, the input gear is set to 1, and the output gear is
set to 30
EX 2) When the reduction ratio is 1: 14.7, the input gear is set to 10, and the output
gear is set to 147
EX 3) When the diameter of the pulley directly connected to the motor is 46.3 [mm],
and the diameter of the pulley connected to the mechanical equipment is 120 [mm],
the input gear is set to 463 and the output gear is set to 1200
5.2.16 Screw Lead [Pn#B024h]
Set the screw when the machine type is linear screw type. At this time, the input unit is
μm
EX 1) When the ball screw lead is 2.5 [mm], it is set to 2,500
EX 2) When the ball screw lead is 2.5 [inch], 2.5 [inch] is multiplied by 25,400, and 2.5
"× 25, 400 μm = 63,500 which converts the inch unit into μm unit
5.2.17 Pulley Diameter [Pn#B025h]
Set the pulley diameter in μm when the type of the machine is a conveyor type consisting
of pulleys.
EX 1) When the diameter of the pulley is 34.7 mm, it is set to 34,700
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If parameter Pn # B020h to Pn # B025h is set and applied to the

P
system, it is calculated and applied by referring to Parameter Pulse
Per Resolution [Pn # B000h], which indicates the number of pulses
per motor rotation. Be careful when setting parameters.
Attention To apply this parameter to the system, save the parameter and re-
boot.
5.2.18 Step Move Position Magnify [Pn#B030h]
This parameter is used for step movement of Ezi-SERVO2 CC-Link. When the step
movement command is executed, the value of 1 to 15 is input and the magnification of this
value is stored in the parameter. If the step movement value is set to '7' and the step
movement command is executed, this parameter is multiplied by the step movement value 7
to move the position.
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5.3. Motion control Parameter
5.3 Motion control Parameter
Motion control parameters are parameters that make up the motion profile. Pulse Per
P
Revolution [Pn # B000h], which is a parameter indicating the number of pulses per rotation,
is used as a reference. This parameter can also be changed to Servo On status.
Parameter
Pn#No. Description Access Unit Minimum Maximum Default
Name
Axis Max Motor driving

Pn#B100h R/W [pps] 1 2,500,000 500,000
Speed maximum speed
Axis Start Position start

Pn#B101h R/W [pps] 1 350,000 1
Speed speed
Position Move
Axis Accel
Pn#B102h Acceleration R/W [msec] 1 9,999 100
Time
Time
Position Move
Axis Decel
Pn#B103h Deceleration R/W [info] 1 9,999 100
Time
Time
Speed Input speed

Pn#B104h R/W [%] 1 500 100
Override override
Ext. Jog input

Pn#B105h Jog Speed R/W [pps] 1 2,500,000 5,000
speed
Jog Start
Pn#B106h Jog start speed R/W [pps] 1 350,000 1
Speed
Jog Acc Dec Jog Acc/Dec

Pn#B107h R/W [msec] 1 9,999 100
Time Time
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5.3.1 Axis Max Speed [Pn#B000h]

P
Specify the maximum speed that can be operated during the position movement
command so that it will not be operated at a speed higher than this value in any case. Set
the value in [pps] unit. The upper limit value range must be changed according to the Pulse
Per Resolution value.
5.3.2 Axis Start Speed [Pn#B001h]
Set the operation start speed value at the position movement command.
5.3.3 Axis Accel/ Decel Time [Pn#B002h], [Pn#B003h]
Set the acceleration section time value in [msec] unit at the start of operation in position
movement command. The applicable range is limited by Axis Speed.
EX 1) Axis Start Speed=1 [pps], Move Speed=500,000 [pps] : 1~9,999 [msec]
EX 2) Axis Start Speed=1 [pps], Move Speed=400,000 [pps] : 1~1,430 [msec]
EX 3) Axis Start Speed=1 [pps], Move Speed=10,000 [pps] : 1~350 [msec]
5.3.4 Speed Override [Pn#B004h]
The operation speed changes according to the ratio value specified at the currently
specified 'Move Speed' at the position movement command.
EX 1) If the current Move Speed is 10,000 and the Speed Override is 200 [%], the actual
motion speed is 20,000.
5.3.5 Jog Speed [Pn#B005h]
It is the motor rotation speed value when Jog operation command assigned as external
input is executed. The unit to be set is [pps].
5.3.6 Jog Start Speed [Pn#B006h]
It is operation start speed value when Jog operation command assigned as external input
is executed.
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5.3.7 Jog Accel/Decel Time [Pn#B007h]
It is time value of acceleration section and deceleration section during Jog operation.
P
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5.4. Homing Parameter
5.4 Homing Parameter

P
The homing parameter is used to specify the mechanical origin.
Parameter
Pn#No. GUI No. Description Access Unit Minimum Maximum Default
Name
Setting of
Homing homing
Pn#B200h 32 R/W [info] 0 7 0
Method command
type
Speed value
to the point
Homing
Pn#B201h 33 where the R/W [pps] 1 500,000 5,000
Speed
origin is
detected
Speed value
for
Homing redetection
Pn#B202h 34 Search at the point R/W [msec] 1 500,000 1,000
Speed where the
origin is
detected
ACC/Dec
Homing
time during
Pn#B203h 35 Acc Dec R/W [msec] 1 9,999 50
homing
Time
operation
Homing
Pn#B204h 36 Homing Dir R/W [info] 0 1 0
direction
Homing Move value -

Pn#B205h 37 R/W [pulse] +134,217,727 0
Offset after homing 134,217,728
Position
setting value
Homing -
Pn#B206h 38 after R/W [pulse] +134,217,727 0
Position Set 134,217,728
completion
of homing
Load
detection
Org Torque
Pn#B207h 39 value of R/W [%] 10 90 50
Ratio
Torque
Origin
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5.4.1 Homing Method [Pn#B200h]
Homing Method Parameter is a parameter to select homing method. The homing method
P
is as follows.
0x00 오류! 참조 원본을 찾을 수 없습니다.
0x01 Homing Profile of “Z-Origin”
0x02 Origin profile of "Reverse Side Origin"
0x03 Origin profile of "Reverse Side Z-Origin"
0x04 Origin profile of "Limit Origin"
0x05 Origin profile of "Z Limit Origin"
0x06 Homing Profile of "Z Phase"
0x07 Origin profile of "Torque Origin"
0x09 Set Origin
5.4.2 Homing Speed [Pn#B201h]
It is the operation speed value that moves to the origin detecting point at homing
command.
5.4.3 Homing Search Speed [Pn#B202h]
It is the low speed operation speed value for returning to the zero point accuracy after
reaching the origin detecting point at homing command
5.4.4 Homing Accel/Decel Time [Pn#B203h]
It is time of acceleration and deceleration sections of operation start /end part in homing
command.
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5.4.5 Homing Dir [Pn#B204h]

P
Sets the rotation direction of the motor when homing operation.
Parameter Value
[info]
0 Move in CW direction
1 Move in CCW direction
5.4.6 Homing Offset [Pn#B205h]
After returning to home position, it moves further by the position of this set value, stops
after it, and completes homing operation. When this command is completed, it is assigned
to the value stored in the Homing Position Set [Pn # B206h] parameter.
5.4.7 Homing Position Set [Pn#B206h]
After homing is completed, it is assigned to the value stored in this parameter..
5.4.8 Org Torque Ratio [Pn#B207h]
Sets the maximum torque ratio value to detect as a physical limit. when returning to origin
by torque origin method.
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5.5. External I/O Setting
5.5 External I/O Setting
User can set the input / output signal assignment and signal level of CN1 of the drive as
P
an external input / output setting parameter.
GUI Data
Pn#No. Parameter Name Description
No. Size
Pn#E000h 40 Limit Sensor Logic 1 [bit] Set the level of H / W Limit signal
Pn#E001h 41 Org Sensor Logic 1 [bit] Sets the signal level of origin sensor
Pn#E011h 42 Input 1 Mapping 1 [bit]
Pn#E014h 45 Input 4 Mapping 1 [bit] Set operation command of input signal
Pn#E021h 49 Output 1 Mapping 1 [bit]

Set operation command of output signal
Pn#E030h - DWORD Input Level 1 [WORD] Set the input level in combination.
Pn#E031h 55 Input 1 Level 1 [bit]
Pn#E034h 58 Input 4 Level 1 [bit] Sets the level of the input signal in bits.
Pn#E040h - DWORD Output Level 1 [WORD] Set the output level in combination.
Pn#E041h 62 Output 1 Level 1 [bit]

Sets the output signal level in bits.
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5.5.1 Setting Level of H / W Limit Signal and Origin Signal

P
H / W ± Limit signal is assigned to 1 and 2, and the origin signal is assigned to 3 of CN1.
Then, user can set the level of the input signal. At this time, the levels of H / W + Limit
signal and H / W -limit signal are simultaneously changed to Parameter Limit Sensor Logic
[Pn # E000h].
The level of the H / W Limit signal is the same. Therefore, when one limit
Attention sensor is A contact, another limit sensor must be used as A contact type.
5.5.2 Input signal Setting
The signal input to CN1 can give meaning to each input. The input signal to the drive can
be assigned as follows.
Parameter Parameter Parameter

Value Value Value CC-Link
CC-Link Remote
[info] Function [info] Function [info] Function Remote
Command
Command
[DEC] [HEX] [DEC] [HEX] [DEC] [HEX]
No
0 0x00 16 0x10 E-STOP permit 32 0x20 PT A0
Function
User Servo Allow
1 0x01 17 0x11 33 0x21 PT A1
Input 1 Enable simultaneous
User Alarm
2 0x02 18 0x12 Allowed 34 0x22 PT A2
Input 2 Reset
User
3 0x03 19 0x13 S-STOP Allowed 35 0x23 PT A3
Input 3 Separate
User Home command
4 0x04 20 0x14 Not allowed 36 0x24 PT A4
Input 4 Search
User Clear
5 0x05 21 0x15 Allowed 37 0x25 PT A5
Input 5 Position
User
6 0x06 22 0x16 JOG + Not allowed 38 0x26 PT A6
Input 6
User
7 0x07 23 0x17 JOG - Not allowed 39 0x27 PT A7
Input 7
24 0x18 STEP + Not allowed 40 0x28 PT Start Not allowed
Single
25 0x19 STEP - Not allowed 41 0x29 Not allowed
PT
Go Zero
26 0x1A Not allowed
Position
27 0x1B Pause Not allowed
28 `0x1C Teaching Not allowed
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1) User Input 1~7 : 0x01 ~ 0x07
The User Input is not operate as a function of the drive with actual input signal and can
P
be used as an input signal to be processed by the master controller,
2) E-STOP : 0x10
As an input signal to execute the emergency stop command, when this signal is input, no
motion command is executed. When E-STOP command is executed by remote command of
CC-Link, E-STOP function is executed even if external input signal is not input as ①. Also, E-
STOP function is executed even if only external input signal is input as shown in ②. Even if
both methods are executed simultaneously, E-STOP function is executed as shown in ③.
『 Refer to : E-STOP (Emergency Stop) 』
1) Servo Enable : 0x11
As an input signal to execute the Servo On command, Servo On / Off is executed

according to this signal. If the Servo Enable command is assigned to the external input
signal, Servo On does not work even if a CC-Link remote command exists as shown in <1>.
Also, even if the Servo On command is executed with external input as shown in ②, the
drive does not execute Servo On operation. If the CC-Link remote command and external
input command exist as shown in ③, execute the Servo On motion
『 Refer to : Servo On/Off 와 Alarm Reset 』
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3) Alarm Reset : 0x12

P
When the alarm is generated by the protection function of the drive, there is an alarm
reset command as a method for releasing the alarm state without rebooting the drive after
eliminating the cause. It can be assigned to external input signal and can be processed
simultaneously with CC-Link remote command.
4) S-STOP : 0x13
When the motor is running, it is used to execute the stop command with deceleration
information. It can be assigned to an external input signal and processed simultaneously
with the CC-Link remote command.
5) Home Search : 0x14
Homing command is executed when setting mechanical origin of mechanical equipment.

When this command is assigned to an external input signal, it cannot be executed by CC-
Link remote command.
6) Clear Position : 0x15
This command is used to specify the current position as '0'. When this command is
assigned to an external input signal, it cannot be executed by CC-Link remote command
7) JOG +, JOG – : 0x16, 0x17
This command is used to execute a motion command that moves to the limit point while
the command is being held. When this command is assigned to an external input signal, it
cannot be executed by CC-Link remote command.
8) Step Move +, Step - : 0x18, 0x19
When a step move command is used that is moved by the input position value while the
command is being maintained, it cannot be executed by the CC-Link remote command.
9) Go Zero Position : 0x1A
The Move to Zero command, which is a command to move to the position where the
homing command has been executed, cannot be executed in the CC-Link remote command
when it is assigned to an external input signal
10) Pause : 0x1B
The Pause command that pauses during operation cannot be executed by the CC-Link
remote command when it is assigned to an external input signal.
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5.5.3 Output Signal Setting
The status information of the drive can be output with CN1. The output signal can give
P
meaning to each output. The input signal to the drive can be assigned as follows.
Parameter Parameter
Value Function Value Function
[info] [info]
0x00 No function 0x10 Motioning
0x01 User Output 1 0x11 Servo Ready
0x02 User Output 2 0x12 In-Position
0x03 User Output 3 0x13 Alarm
0x04 User Output 4 0x14 -
0x05 User Output 5 0x15 Accel/Decel
0x06 User Output 6 0x16 Motion Direction
0x17 ACK
0x18 END
0x19 Homing
0x1A Homing Ok
0x1B Warning
1) User Output 1~7 : 0x01 ~ 0x06
The user output is output by the master controller by the output command. This signal is
independent of the drive's status information
2) Motioning : 0x10
Output when the motor is running.
3) In-Position : 0x11
Output the positioning completion status.
4) Alarm : 0x12
To Output the alarm status.
5) Accel/Decel : 0x15
To indicate the acceleration / deceleration status during operation.
6) Motion Direction : 0x16
To indicate the direction of operation.
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7) ACK : 0x17
P
To indicates in PT operation.
8) END : 0x18
To indicate that PT operation is completed.
9) Homing : 0x19
To indicates that the current motion is in the homing state
10) Homing OK : 0x1A
To indicates that homing has been completed.
11) Warning : 0x1B
To indicates the error status for the command.
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5.6. Position Table Parameter
5.6 Position Table Parameter
The items of the position table are accessed by the parameter number of CC-Link I / O
P
Map. Parameter number is WORD unit, upper byte is PT item, lower byte is PT number.
High F E D C B A 9 8 7 6 5 4 3 2 1 0
Device
Position Table Item No. Position Table No.
Address
Ex) When the target position value of PT No. 14 is changed, the upper device value is 0x810E.
The items in the position table are as follows. Refer to the "Ezi-SERVO Plus-R Position
Table Function" in the User's Manual for the operation of the corresponding command.
Remote
PT Item Setting Item Description Unit Lower Upper
No
Command Specifies the type of motion

80h － 0 10
(Command type) action to be executed.
Position Position / movement amount is

81h pulse -134,217,728 +134,217,727
(Movement amount) set by pulse.
Low Speed Set the number of pulses

82h (Low-speed according to the type of motion pps 1 500,000
operation speed) operation.
High Speed Set the number of pulses
83h (High-speed according to the type of motion pps 1 2,500,000
operation speed) operation.
Sets the acceleration time at
ACC time
84h the start of motion operation in ms 1 9,999
(Acceleration time)
msec.
Set the deceleration time at the
DEC time
85h end of motion operation in ms 1 9,999
(Deceleration time)
msec.
When the PT number item is
set to be jumped, the waiting
time until the next position
operation starts is set in units
Wait time
86h of msec. ms 0 60,000
(waiting time)
If JP Table No is set to 'blank'
and Continuous Action is
checked, this item will be
ignored.
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Remote
P
PT Item Setting Item Description Unit Lower Upper
No
Continuous action
‘If set to check '(1), it will link
(Continuous
87h the current position with the － 0 1
operation enabled /
next position action.
disabled)
After the position operation
JP Table No.
ends, the position operation of
88h (Jump position － 0 255
the jump PT is executed
number)
automatically.
Loop Count After execution of the number
8Ch － 0 100
(Loop count) of times of setting the position
Loop Jump Table (number of loops), jump to a
0 255
No. separate correspondence
8Dh number ( jump position number －
(Jump position
after loop) different from "jump 10,000 10,255
number after loop)
position number".
Clears the number of loops of

Loop Counter Clear
8Fh the position number for the set － 0 255
(Loop clear)
number.
Check In-position When positioning is completed

90h (Motion completion (In-position), it is recognized as － 0 1
recognition type) stop.
Push Ratio Sets the ratio of force per
93h (Force ratio of motor applied during push % 20 90
motor) motion.
Push Speed Set the operation speed value
94h (Speed during force to be applied in push motion. pps 1 33333 *1
control) (Up to 200 [rpm])
Push Position
(Target absolute Sets absolute target position
95h position value at the value to be applied in push pulse -134,217,728 +134,217,727
time of force motion.
control)
Push Mode
(Pulse Count)
Select Stop mode (0) and Non-
96h (Mode and pulse - 0 10,000
Stop mode (1 ~ 10,000).
number setting for
force control)
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6. Motion Profile 173
6. Motion Profile
PThe motion profile is the control path for the motor to drive to the target position. It is
common for a trapezoidal speed profile to generate information to control speed and
position so that the motor follows it.
The components of the motion profile consist of moving distance, speed, time, and
acceleration / deceleration information.
In the above profile, the moving distance (S) is the area of the profile, the velocity (v) is
the height of the profile, time (t) is the progress, and acceleration / deceleration (a) can be
expressed as a slope.
The information of the elements of the motion profile is organized into the following
formulas.
Movement distance in motion profile without acceleration / deceleration information:

𝑑 = 𝑣 × 𝑡 × 1⁄2 Formula (1)
Moving distance in motion profile without time information :

𝑑 = (𝑣)2 × 1⁄2 ∙ 𝑎 Formulas (2)
Move distance in a motion profile without velocity information:

𝑑 = 𝑎 × (𝑡)2 × 1⁄2 Formular (3)
Acc/ deceleration information in a motion profile without position information :

𝑎 = 𝑣⁄𝑡 Formular (4)
Acc / deceleration information in a motion profile without time information :

2
𝑎 = 𝑣 ⁄2 ∙ 𝑑 Formular (5)
Acc / deceleration information in a motion profile without velocity information :

𝑎 = 2 ∙ 𝑑⁄𝑡 2 Formular (6)
Time information in a motion profile without location information:
𝑡 = 𝑣⁄𝑎 Formular (7)
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174 6. Motion Profile
P
Time information in motion profile without acc / deceleration information:
𝑡 = 2 ∙ 𝑑⁄𝑣 Formular (8)
Time information in a motion profile without rate information:
t = 𝑣 ∙ (2 ∙ 𝑑⁄𝑎) Formular (9)
Speed information in a motion profile without location information:
v= 𝑎×𝑡 Formular (10)
Speed information in motion profile without acc/ deceleration information :
v = 2 ∙ 𝑑⁄𝑡 Formular (11)
Speed information in a motion profile without time information:
v = 𝑣 ∙ (2 ∙ 𝑎 × 𝑑) Formular (12)
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The basic motion profile of Ezi-SERVO2 CC-Link is as follows.
Increase the speed from ① to ② as Target Speed to start motion with Start Speed
information in motion operation. The time information for this process is the Accelerate
Timing. Then, it decelerates to the start speed during decelerate time at the point ③ before
reaching the target position ④ and then stops. If the start speed is equal to the target
speed, the acceleration / deceleration time becomes 0 [msec], and a rectangular motion
profile is created.
In the motion profile, the target speed is used as the commanded value. Here, the input
speed command value is changed and applied according to the ratio value of Parameter
Speed Override [Pn # B104h]. The items and parameters used in the motion profile in
accordance with the jog operation and position movement command are as follows.
Parameter Type Jog Operation Position Move
Start Speed Pn#B106h Pn#B101h
Acceleration time Pn#B102h

Pn#B107h
Deceleration time Pn#B103h
Target Speed Command Value Command Value
Target Positon Move to Limit point Command Value
Velocity Override Pn#B104h
The starting speed of a typical motion profile starts at 1 [pps]. The picture
of the motion profile expressed in the explanation is expressed with
relatively high start speed for easy understanding.
Attention The elements of the motion profile of the motion applied during PT
operation operate with the values entered in the PT item.
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6.1. Operation of Stop Command
6.1 Operation of Stop Command

P
Stop commands include S-STOP and E-STOP commands. S-STOP is a command that stops
with deceleration information, and E-STOP command is a command that stops immediately
without deceleration information.
6.1.1 Operation of S-STOP during Constant Speed Operation
The S-STOP command stops at the motion profile deceleration information when the S-
STOP instruction is executed at the point of ① before reaching ② in the motion profile
started to reach ② position.
6.1.2 Operation of S-STOP during acceleration operation
If S-STOP command is executed while motion is started and acceleration is being

performed, the motion in acceleration is stopped and decelerated at the point of ①, where
the stop instruction is executed as follows.
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6.1.3 Operation of S-STOP during deceleration operation
When the S-STOP command is executed at the point of deceleration during motion
P
operation, the motion is terminated at the point of ② while maintaining the deceleration
state.
6.1.4 Operation of E-STOP during constant speed operation
The E-STOP command stops immediately when the E-STOP instruction is executed at the
point of ① before reaching ② in the motion profile started to reach ② position.
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6.1.5 Operation of E-STOP during acceleration operation

P
If the E-STOP command is executed while the motion is being started and accelerated, the
motion in acceleration is stopped and the motion is terminated immediately at the point of
①, when E-STOP instruction is executed as follows.
6.1.6 Operation of E-STOP during deceleration operation
When E-STOP command is executed at the point of deceleration during motion operation,
motion is ended immediately in decelerating state.
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6.2. Motion Profile of Jog Operation
6.2 Motion Profile of Jog Operation
Jog operation is a command to continue operation to the limit point while the command
P
is maintained.
6.2.1 Jog operation command motion
The motion profile of jog operation calculates the motion profile with the following
information at the start of command ①.
1) Start Speed : Jog Start Speed [Pn#B106h]
2) Accel / Deceleration time : Jog Acc Dec Time [Pn#B107h]
3) Target Speed : Command Speed X Speed Override[%](
4) Target Position : Command Position
When the command is started, start the operation from the start speed to start the
acceleration, and end the motion by decelerating from the point ③ at which the target
position is decelerated to the start speed ④.
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6.2. Motion Profile of Jog Operation
6.2.2 Velocity Override for Jog Operation

P
Jog operation continues to run the motor while the command is being maintained. At this
time, in order to change the driving speed, it is possible to execute through the Velocity
Override command.
The motion profile at velocity override command in jog operation is as follows.
Jog operation started from point ① starts with information of parameter Jog Acc Dec
Time [Pn # B107h] and executes constant speed operation from point ② to target speed #
1. Then, the speed is changed to the newly entered target speed # 2 at the time of the
execution of the override command to increase the jog speed. At this time, the acceleration
information whose speed changes is accelerated to the acceleration information 'a' started
at the point ① and reaches the target speed # 2. Also, in the command for decelerating the
speed, it is decelerated to the negative value of the acceleration information 'a' started at
the point ①.
When the Velocity override command is executed, it must be executed

when the motion state is constant.
If Velocity override is executing when acceleration or deceleration is being
Attention executed, the shape of the motion profile can be changed.
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6.3. Motion profile of position movement
6.3 Motion profile of position movement
The motion profile of the position move command is applied in step move, zero move,
P
absolute move, relative move command.
The step movement operates using the motion profile acting as the incremental position
movement, and the zero movement command operates using the motion profile of the
absolute position movement command.
6.3.1 Motion of Position Move Command
The motion profile of the move command calculates the motion profile with the following
information at the start of command ①.
5) Start Speed : Axis Start Speed [Pn#B101h]
6) Acceleration time : Axis Accel Time [Pn#B102h]
7) Deceleration time : Axis Decel Time [Pn#B103h]
8) Target Speed : Command Speed X Speed Override[%]
9) Target Position : Command Position
When the command is started, start the operation from the start speed to start the
acceleration, and end the motion by decelerating from the point ③ at which the target
position is decelerated to the start speed ④.
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6.3.2 Velocity Override of Position Move

P
The Velocity override of position move is a command to change the moving speed in the
position moving state. The motion profile at speed override command during position move
is as follows.
The position move motion started from the point ① starts with the information of
Parameter Axis Accel Time [Pn # B102h] and executes the constant speed operation from
the point ② to the target speed # 1. The speed is changed to the newly entered target
speed # 2 at the time of the execution of the override command to increase the position
move speed. At this time, the acceleration information for changing the speed is accelerated
to the acceleration information ′𝐚𝐚𝐜𝐜 ′ started at the point ① and reaches the target speed #
2. Also, in the command to decrease the speed, the deceleration information ′𝐚𝐝𝐞𝐜 ′ used in
the motion profile started at the point ① is decelerated.
When the Velocity override command is executed, it must be executed

If velocity override is executing when acceleration or deceleration is being
Attention executed, the shape of the motion profile can be change.
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6.3.3 Absolute Position Override
Absolute Position Override is a command to change the target position during absolute
P
position move. The point where the absolute position override command is valid when the
position movement is executed with the motion profile started first and is running at
constant speed after acceleration.
When the position override command is executed, it must being executed

If the position override is executed while accelerating or decelerating, the
Attention shape of the motion profile can be changed.
1) Change the position to a value larger than the current position
When the absolute position override command is executed between points 2 and 3 and set
to a value larger than the current operating position, motion ends at ⑤ reaching target
position # 2, not ④ reaching target position # 1.
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2) Change the position to a value smaller than the current position value
P
When the absolute position override command is executed between the time point ②
and ③ while the motion profile moving to the target position # 1 started at the time point
1 is being executed, the movement is made to the target position # 1 when the new
position # 2 is smaller than the current position Motion will be decelerated and stopped.
Move from the stop point ④ to the new target position # 2 by executing motion profile.
The motion based on this condition is executed with the motion profile moving to the
target position # 2 by maintained the information of the acceleration time, deceleration time,
and target speed of the profile moving to the target position # 1 started at the point ①.
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6.3.4 Incremental Position Override
Incremental Position Override is a command to change the target position during

P
incremental position move. The point where the incremental position override command is
valid when the position move to the first started motion profile has been completed and is
running at constant speed.
When the position override command is executed, it must being executed

If the position override is executed while accelerating or decelerating, the
Attention shape of the motion profile can be changed.
1) Change the position to a value larger than the current position
When the incremental position override command is executed between the point ② and ③,
the profile is created when the sum of the target position # 1 and the input override
position value is larger than the target position being operated.
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2) Change the position to a value smaller than the current position value
P
When the incremental position override command is executed between the points ② and
③ and the sum of the target position # 1 and the input override position value is smaller
than the target position, the motion to move to the target position # 1 is decelerated to
stop. Then, at the point ④, the motion profile reaching the target position # 2 is generated
as follows and moves to the target position # 2 after acceleration in the opposite direction.
The motion based on this condition is executed with the motion profile moving to the
target position # 2 by keeping the information of the acceleration time, deceleration time,
and target speed of the profile moving to the target position # 1 started at the point ①.
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7. Homing Profile 187
7. Homing Profile
PThe Homing Profile is a motion profile according to the homing method. However, unlike
the motion profile at the time of position move, the start speed of the motion profile at the
homing is fixed at 1 [pps]. In the state that the origin is searched with precise position, the
home position is precisely searched by the motion without acceleration / deceleration
applied as the Homing search speed.
The parameters used in the homing command are operated by the following parameters.
The parameters used at this time are applied to the homing profile.
Pn#No. Parameter Name Description
Pn#B004h H/W Limit Stop Method H / W sensor input stop method

Pn#B200h Homing Method Setting of homing command type
Speed value to the point where the origin is
Pn#B201h Homing Speed
detected
Speed value for redetection at the point where the
Pn#B202h Homing Search Speed
origin is detected
Pn#B203h Homing Acc Dec Time Acc/Deceleration time during homing operation
Pn#B204h Homing Dir Homing direction
Pn#B205h Homing Offset Move value after homing
Pn#B206h Homing Position Set Position setting value after completion of homing
Pn#B207h Org Torque Ratio Load detection value of Torque origin method
Pn#B200h : Homing Method
0x00 오류! 참조 원본을 찾을 수 없습니다.
0x01 Homing Profile of “Z-Origin”
0x02 Origin profile of "Reverse Side Origin"
0x03 Origin profile of "Reverse Side Z-Origin"
0x04 Origin profile of "Limit Origin"
0x05 Origin profile of "Z Limit Origin"
0x06 Homing Profile of "Z Phase"
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188 7. Homing Profile
0x09 Set Origin

P
※ When the H / W limit sensor is detected to be dirtier than the home position
during homing
When the H / W limit sensor in the movement direction is detected at homing, the
homing direction is changed. Also, according to the value of Parameter H / W Limit Stop
Method [Pn # B004h], emergency stop as in ② of the color area in the following figure, or
deceleration stop as in ③ is executed. After that, it is moved in the opposite direction of
origin to perform homing
Limit Origin of the homing method does not move in the opposite
direction of origin.
Attention
If the deceleration time is long due to the value of Parameter Homing Acc
Dec Time [Pn # B203h] in the process of decelerating operation by
detection of H / W limit or origin sensor during homing, it may collide with
the mechanism.
In addition, when you release the sensor, motion will continue to search
Attention for the sensor. In this case, increase the sensing range of the sensor or set
the value of Parameter Homing Acc Dec Time [Pn # B203h] to a low value
so that the acceleration / deceleration time is relatively short.
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7.1. Homing profile of "Origin"
7.1 Homing profile of "Origin"
The Homing method by the origin sensor is the method in which the origin detected when
P
the sensor dog is approached to the home sensor. The operation in this way is as follows.
 Operation of the homing profile
① Move until the home sensor is detected after Acceleration with Parameter Homing
Acc Dec Time [Pn # B203h] and Home Search Speed [Pn # B202h]
② After detection of the sensor, deceleration to the parameter Homing Acc Dec Time
[Pn # B203h]
③ Without Acceleration / Deceleration operation, it execute the operation to search

the origin sensor precisely at the speed of Parameter Home Search Speed [Pn #
B202h]
④ When the Z-phase signal is precisely searched, move to the value of Parameter
Homing Offset [Pn # B205h] to end the homing operation
⑤ When homing is completed, set the current position to the value of Parameter
Homing Position Set [Pn # B206h]
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7.2. Homing Profile of “Z-Origin”
7.2 Homing Profile of “Z-Origin”

P
The homing method by Z phase input signal after home sensor detection is to designate
the point where the Z phase input signal of the encoder is sensed as origin after executing
the return method by home sensor. The operation in this way is as follows.
 Operation of the homing profile
[Pn # B203h]
③ Without Acceleration / Deceleration operation, it execute the operation to precisely

detect the origin sensor at the speed of Parameter Home Search Speed [Pn #
B202h].
④ When the sensor has been precisely searched, proceed to detect the Z phase signal
at the speed of Parameter Home Search Speed [Pn # B202h]
⑤ When a Z-phase signal is detected, a precision sensing operation is executed. If the

Z phase is get out due to speed of the parameter Home Search Speed [Pn # B202h]
is high, additionally execute the precise detection of the Z phase at 10 [pps]
⑥ When the Z-phase signal is precisely searched, move to the value of Parameter
⑦ When homing is completed, set the current position to the value of Parameter
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7.3. Homing Profile of “Reverse Side Origin”
7.3 Homing Profile of “Reverse Side Origin”
The homing method based on the detection of the opposite point of the home sensor is
P
to designate the origin detected by the home sensor when the dog passes the origin sensor.
The operation in this way is as follows.
The "Reverse Side Origin" method is passing the sensor like Snap B, even though it is
close to the sensor in Snap A. And even if the snap C is made, the homing is not completed,
it is set as the origin point opposite point of to the sensor entry which is the point where
the sensor is completely passed as in snap D.
Operation of the Homing profile
② After detection of the sensor, decelerates to the parameter Home Search Speed
with Parameter Homing Acc Dec Time [Pn # B203h]
③ It execute searching for the opposite point of origin sensor with Parameter Home
search speed [Pn # B202h]
⑤ When Homing is completed, set the current position to the value of Parameter
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7.4. Homing Profile of “Reverse Side Z-Origin”
7.4 Homing Profile of “Reverse Side Z-Origin”

P
Reverse Side Z-Origin is a method of Homing to the passing point of the home sensor
and then detecting the Z-phase input signal to specify the home position. This operation is
the same as when "Z Phase Origin" is executed after "Reverse Side Origin".
Operation of the Homing profile
② After detection of the sensor, decelerates to the parameter Home Search Speed
with Parameter Homing Acc Dec Time [Pn # B203h]
③ It is executed to search the pass point of the home sensor precisely with Parameter
Home search speed [Pn # B202h]
④ When the sensor has been precisely searched, proceed to detect the Z phase signal
at the speed of Parameter Home Search Speed [Pn # B202h]
⑤ When a Z-phase signal is detected, a precision sensing operation is executed. If the

⑥ When the Z-phase signal is precisely searched, move to the value of Parameter
⑦ When homing is completed, set the current position to the value of Parameter
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7.5. Homing Profile of “Limit Origin”
7.5 Homing Profile of “Limit Origin”
The homing method based on the limit input signal specifies the position where the limit
P
sensor is detected as the home position. The operation in this way is as follows.
 Operation of Homing profile
[Pn # B203h]
③ Without acceleration / deceleration operation it executes the operation to precisely

detect H / W limit sensor at the speed of Parameter Home Search Speed [Pn #
B202h]
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7.6. Homing Profile of “Z Limit Origin”
7.6 Homing Profile of “Z Limit Origin”

P
The "Z Limit Origin" method uses the position where the Z phase input signal of the
encoder is detected as the origin after Homing by the limit input signal. The operation in
this way is as follows
[Pn # B203h]
③ Without acceleration / deceleration operation it executes the operation to precisely

detect H / W limit sensor at the speed of Parameter Home Search Speed [Pn #
B202h]
④ When the sensor has been precisely searched, it will detect Z phase signal near H /
W limit sensor at 10 [pps]
⑤ If the Z phase signal is not detected near the H / W limit, it execute the operation
to detect the Z phase signal at the speed of Parameter Home Search Speed [Pn #
B202h]
⑥ When a Z-phase signal is detected, a precision sensing operation is executed. If the

⑦ When the Z-phase signal is precisely searched, move to the value of Parameter
⑧ When homing is completed, set the current position to the value of Parameter
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7.6. Homing Profile of “Z Limit Origin”
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7.7. Homing Profile of “Z Phase”
7.7 Homing Profile of “Z Phase”

P
The Homing method by Z-phase input is to set Z-phase signal as origin point which is
detected once by 1 [pulse] per rotation of encoder. The operation in this way is as follows.
① Without acceleration / deceleration operation, it execute operation to detect the Z

phase signal at the speed of Parameter Home Search Speed [Pn # B202h]
② When the Z phase signal is detected, the operation for precise detection of Z phase
is executed at 10 [pps]
③ When the Z-phase signal is precisely searched, move to the value of Parameter
④ When homing is completed, set the current position to the value of Parameter
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7.8. Homing Profile of “Torque Origin”
7.8 Homing Profile of “Torque Origin”
The torque origin command is a command that originates at the point where a physical
P
load is detected at the mechanical end point in a system without the H / W Limit signal. The
operation in this way is as follows.
① Move until the mechanical limit stop point is detected after Acceleration with
Parameter Homing Acc Dec Time [Pn # B203h] and Home Search Speed [Pn #
B202h]
② At the point of detection, move by the value of Parameter Homing Offset [Pn #
B205h] to end the homing operation
③ When homing is completed, set the current position to the value of Parameter
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7.9. Homing Profile of “Torque Origin”
7.9 Homing Profile of “Torque Origin”

P
In the homing method based on the Z-phase input signal after the torque origin is to
sequentially execute home return and Z-phase home return method by sensing the point
where physical load is detected at mechanical end point. The operation in this way is as
follows
① Move until the mechanical limit stop point is detected after Acceleration with
Parameter Homing Acc Dec Time [Pn # B203h] and Home Search Speed [Pn #
B202h]
② If the mechanical limit point is detected, it is executed the operation to detect the Z
phase signal at the speed of Parameter Home Search Speed [Pn # B202h] without
acceleration / deceleration operation in the direction opposite to origin
③ When the Z phase signal is detected, operation for precise detection of Z phase is
executed at 10 [pps]
④ When the detection of the Z phase signal is completed, move to the value of
Parameter Homing Offset [Pn # B205h] to end the homing operation
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8.1. Types of Alarm
8. Protection Function 199
8. Protection Function
P
8.1 Types of Alarm
If an alarm occurs during drive operation, one of the status LEDs flashes red and the
protection function can be checked according to the number of flashes.
Flash
Alarm Name Description
count
The current through power devices in inverter exceeds the
1 Over Current Error
limit value *1
2 Over Speed Error Motor speed excess 3300[rpm]
Position Tracking If the position error in the position command is excess
3
Error than the given value *2
The motor is continuously operated more than 5 seconds
4 Over Load Error
under a load exceeding the max. torque
Over Temperature
5 Temperature of inside of the drive exceed 85°C
Error
Over Regenerative
6 Back EMF of motor exceeds limit value *3
voltage Error
When there is a problem with the connection between the
7 Motor Connect Error
drive and the motor
Encoder Connect When there is a problem with the connection between the
8
Error drive and the encoder
When position error (1 or more) occurs more than 3
10 In-Position Error
seconds after completion of operation
12 ROM Error When error occurs in parameter storage device(ROM)
Position Overflow If the position error value after position command
15
Error completion is larger than the given value *5
*1 Detection current :4.5A
*2 Parameter 'Pos Tracking Limit [No.24]' Set value [pulse]
*3 Limit value : 70V
*5 Parameter ‘Pos Error Overflow Limit[No.28]’Set value[pulse]
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8.2. Acquiring of alarm information
200 8. Protection Function
8.2 Acquiring of alarm information

P
If an alarm occurs, the motor will go into Servo OFF state and will stop if it is running. At
the same time, the control output alarm is output and the alarm number is displayed in
“7-Segment for station number(Station No) Display”
8.2.1 Checking the Drive LED
Depending on the type of alarm that is currently occurring, the ALM LED on the drive
blinks at the rate of 0.5 second intervals, waits for 2 seconds, and then repeats until the
alarm is released by the "Alarm Reset" command or signal.
ex) Alarm 3： Alarm Blink output signal when occurring position tracking error
8.2.2 Checking the Segment information
When an error occurs in the controller of the drive (Fault status), the Error value is
displayed in the 7-Segment instead of the CC-Link station number. The Error value is
displayed in the form of 'E-000' every 3 characters in 7-Segment. Characters are switched
every one second
8.2.3 Checking the CC-Link remote
The alarm code of Ezi-SERVO2 CC-Link can be confirmed by 2 digit number and it can be
checked by remote register at any time.
RWw Upper 1byte Lower 1Byte

RWw3 Warning Code Alarm Code
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8.3. Alarm check and Release
8.3 Alarm check and Release
If an alarm occurs, remove the cause of the alarm and then release the alarm. Here's how to
P
disable it. Alarms whose [Reset] is set to "Invalid" can be released only by turning off the
power.
Flash count
& alarm
Alarm Name Description Reset
code
[dec] [hex]
1)Check the motor’s short-circuit (A, /A, B, /B)
1 0x01 Over current 2)Check the mechanical status such as parameter Valid
setting.
1)Check parameter setting, and abnormal operation of

the motor.
2 0x02 Over speed Valid
2)Check the speed command of upper
controller(ex:PLC).
1)Get down the load or increase the acceleration or

deceleration speed.
2)Check assemble status of mechanism.
Position Tracking 3)Check the brake signal cable. Valid

3 0x03
4)Check the motor’s short-circuit (A, /A, B, /B)
5)Check the encoder cable connection status.
6)Check the parameter setting value.
1)Compare the motor’s rating with load scale.
2)Check assemble status of mechanism.
3)Check ‘SW limit’value of parameter.

4 0x04 Overload Valid
4)Check the status of sensors.
5)Check the motorDB for driver and motor.
6) Check the motor’s short-circuit (A, /A, B, /B)
1)Get down the ambient temperature or install a
Overheat cooling fan. Valid

5 0x05
2)Check the distance is over 50mm between drivers.
Over regeneratived 1)In case of high-speed operation, check if the

6 0x06 Valid
voltage acceleration or deceleration speed is low.
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8.3. Alarm check and Release
Flash count
P
& alarm
Alarm Name Description Reset
code
[dec] [hex]
7 0x07 Motor connection 1)Check the connection status of drive and motor. Invalid
1)Check the connection status of drive and encoder.
8 0x08 Encoder connection 2)Check the screw condition, cabling short-circuit of Invalid
encoder.
1)Check if power is supplied to the drive.
9 0x09 Motor voltage error 2)Check the diameter and length of power cable to Invalid
driver.
1)Check if parameters are set correctly or the machine

is over-loaded.
10 0x0A Inposition error Valid
2)Check the vibration of mechanism and belt tension.
3)Check the cabling status of motor and encoder.
12 0x0C ROM error 1)Contact to distributor. Invalid
1)Get down the load or increase the acceleration or

deceleration speed.
15 0x0F Pos. Error Overflow Valid
2)Check the brake and encoder is working correctly or
not.
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8.4. Warning Code
8.4 Warning Code
Ezi-SERVO2 CC-Link has messages about processing and operation status of commands. In
P
the remote reception register RWw3, the warning code is displayed for the upper 1 byte,
and the alarm code is displayed for the lower 1 byte.
Ex 1) 0x2003 : User try to execute the Servo On command A position tracking error alarm
has occurred
Ex 2) 0x1203 : Execute motion command in alarm occurrence state
Ex 3) 0x1300 : No alarm, but execute motion command in Servo Off state
Code Description of Massage
0x0000 Clear State

0x0001 Over current error
0x0002 Over speed error
0x0003 Position tracking error
0x0004 Over Load error
0x0005 Temperature error
0x0006 Regenerative voltage error
0x0007 Motor connect error
0x0008 Encoder connect error
0x000A In-Position error
0x000E ROM error
0x000F Position overflow error
0x0032 Drive internal communication error
0x003C Torque enable failure
0x0064 ROM initialization error
0x006E ROM reading error
0x0079 ROM writing error
Motion command duplication, unchecked motion command is executed (simultaneous
0x0100
motion input execution)
0x0200 Data range is out of range, does not fit data input range of command
0x0400 Teaching failure, Teaching command failure
Motion command failure, execution of a new operation while the current motor is in
0x1000
operation Command instruction
0x1100 Execute a new operation while the stop command is executed.
0x1200 Motion command is executed during alarm occurrence
0x1300 Run command is executed in Servo OFF state
0x1400 Execute operation command while E-STOP instruction is executed
0x1500 Motion command is executed when a motion command is assigned to the input signal,
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8.4. Warning Code
P
Code Description of Massage
0x1600 Attempt to execute motion command in HOLD state

0x1700 Execute motion command in setting mode
0x1800 + direction move command is executed when H/W limit + is detected
0x1900 - direction move command is executed when H/W limit - is detected
0x1A00 Move command ids executed while both H/W limit are detected
0x1B00 S/W Limit + is detected
0x1C00 S / W Limit – is detected
0x1D00 Both S/W Limit are detected
0x1E00 Override command failure.
0x1F00 The command is failed.
0x2000 Servo On failure, Execute Servo On command during alarm occurrence
0x2100 Execute Servo On while E-STOP command executed
0x2300 Servo ON command is executed when Servo Off is selected as the input signal.
0x2400 A command is assigned to the input signal.
0x3000 PT operation failure, PT operation not possible
0x3100 No PT Data
0x3200 The PT number is shifted out of the assigned position.
0x7100 CC-Link ID switch change error
0x7200 CC-Link Mode switch change error
0x7500 CC-Link communication error, connection with master is released
0x8000 Parameter setting error
0x8100 Access to unchangeable parameters in Servo On state
0x8200 Does not fit within the range of the value range of the parameter
0x8300 Select wrong parameter address
0xC000 Not existed CMD code
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9.1. Brake Mounted Motors
9. Appendix 205
9. Appendix
P
9.1 Brake Mounted Motors
9.1.1 Specifications
Permitted Overhung
Electronic Brake
Load(N) Permitt
Length from Motor ed
Unit Weight
Power Consumption
Unit Motor
Statical Friction
Rated Current
Thrust
Voltage Input
point (mm)
Name Name
Torque
(N·m)
Type
Load
(V)
(A)
(g)
3 8 13 18 (N)
Motor
Ezi-SERVOⅡ- EzM2-42S-
510
CL-42S-BK BK
Ezi-SERVOⅡ- EzM2-42M-
0.2A 570
CL-42M-BK BK
±10 5 0.2 22 26 33 46
Ezi-SERVOⅡ- EzM2-42L-
% 640
CL-42L-BK BK
Ezi-SERVOⅡ- EzM2-42XL-
770
Non-excitation run type
CL-42XL-BK BK Must
Ezi-SERVOⅡ- EzM2-56S- 24V be
870
CL-56S-BK BK DC lower
Ezi-SERVOⅡ- EzM2-56M- ±10 6. 1,19 than
0.7 52 65 85 123
CL-56M-BK BK % 6 0 Unit’s
Ezi-SERVOⅡ- EzM2-56L- 0.27 1,38 Weight
CL-56L-BK BK A 0
Ezi-SERVOⅡ- EzM2-60S- ±10 1,15
CL-60S-BK BK % 0
Ezi-SERVOⅡ- EzM2-60M- 7. 1,35
0.7 70 87 114 165
CL-60M-BK BK 5 0
Ezi-SERVOⅡ- EzM2-60L- 1,96
CL-60L-BK BK 0
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9.1. Brake Mounted Motors
206 9. Appendix
9.1.2 Motor Size

P
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9.2. Gearbox Installed Motor
9. Appendix 207
9.2 Gearbox Installed Motor
P 9.2.1 Gearbox Specification for 42mm Motor
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208 9. Appendix
 Motor Size
P
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9. Appendix 209
9.2.2 Gearbox Specification for 56mm Motor
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210 9. Appendix
 Motor size
P
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9. Appendix 211
9.2.3 Gearbox Specification for 60mm Motor
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212 9. Appendix
 Motor Size
P
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 It is prohibited to unauthorized or reproduced in whole or in
part described in the User's Guide
 If you need a user manual to the loss or damage, etc., please

contact us or your nearest distributor.
 User manual are subject to change without notice to
improve
the product or quantitative changes in specifications and
user's manual.
 Ezi-SERVOII CC-Link is registered trademark of FASTECH Co.,
Ltd in the national registration
 Copyright 2016 FASTECH Co.,Ltd. All Rights Reserved.
Mar 02 2017 Ver.01.01.02.
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Manual Ezi-SERVOII-CC-Link ENG

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- User Manual -

 Ezi-SERVO2 CC-Link is a product that Ezi-SERVO2 product is directly connected to CC-Link

 This manual describes handling, maintenance, repairing, diagnosis and troubleshooting of

1.1 General Precautions.................................................................................................................. 10

1.2 Safety Precaution ....................................................................................................................... 10

1.3 Product status ............................................................................................................................. 10

1.4 Installation .................................................................................................................................... 11

1.5 Wiring ............................................................................................................................................. 11

1.6 Operation & Setting Change ............................................................................................... 12

1.7 Check & Repair........................................................................................................................... 12

2. Specifications of the Product ............................................................................... 14

2.1 Product Overview ...................................................................................................................... 14

2.2 Specifications of the Drive .................................................................................................... 15

2.3 Configuration of the Product ............................................................................................... 16

2.3.1 Naming system .................................................................................................................................. 16

2.3.2 Product combination ....................................................................................................................... 17

2.4 Dimensions ................................................................................................................................... 18

2.5 Specifications of the Motor .................................................................................................. 19

2.5.1 Motor Specifications ........................................................................................................................ 19

2.5.2 Characteristics of the Motor torque ......................................................................................... 20

2.5.3 Motor Size ............................................................................................................................................ 23

3. Function and Configuration .................................................................................. 25

3.1 CC-Link Overview ...................................................................................................................... 25

3.2 Ezi-SERVO2 CC-Link function ............................................................................................... 26

3.2.1 CC-Link Network ............................................................................................................................... 26

3.2.2 I/O control ............................................................................................................................................ 26

3.2.3 Ezi-MOTION Plus-R Network ....................................................................................................... 26

3.3 System Configuration .............................................................................................................. 27

3.4 CC-Link Remote I/O Device Map ....................................................................................... 28

3.4.2 I/O Device Map when 2 Station Occupation ....................................................................... 34

4.1 Opertion sequence ................................................................................................................... 36

4.2 Check Wiring ............................................................................................................................... 37

4.2.1 Wiring of External I / O Cable [CN1] ....................................................................................... 38

4.2.3 Power Wiring [CN4] ......................................................................................................................... 44

4.2.4 CC-Link Cable wiring [CN5].......................................................................................................... 45

4.2.5 RS-485 Cable wiring [CN6] ........................................................................................................... 45

4.3 Maneuver ...................................................................................................................................... 47

4.3.1 Power On/Off Method .................................................................................................................... 47

4.3.2 Operation Stop ................................................................................................................................... 48

4.3.3 CC-Link Station Occupying Setting .......................................................................................... 48

4.3.4 Setting the Drive Identification Number................................................................................ 49

4.3.5 Network Mode Setting ................................................................................................................... 49

4.3.6 Network cable connection ............................................................................................................ 50

4.3.7 Connection with CC-Link master PLC ...................................................................................... 51

4.3.8 Access to Windows GUI program or RS-485....................................................................... 51

4.3.9 Test Operation .................................................................................................................................... 52

4.3.10 Parameter Access .............................................................................................................................. 52

4.3.11 Position Table Setting...................................................................................................................... 53

4.4 Drive status Display .................................................................................................................. 56

4.4.1 7-Segment for station number display .................................................................................. 56

4.4.2 CC-Link status display LED ........................................................................................................... 58

4.4.3 Drive status display LED ................................................................................................................ 58

4.5 Type of operation command................................................................................................ 59

4.5.1 1 Station occupied mode .............................................................................................................. 60

4.5.2 2 Station occupied mode .............................................................................................................. 60

4.5.3 Use of External I/O ........................................................................................................................... 61

4.7 Confirmation of handshake .................................................................................................. 67

4.7.1 Activating the Drive ......................................................................................................................... 67

4.7.2 Handshake Method .......................................................................................................................... 67