AXORmanualeENG

AXOR Industries Service manual Fast BackTM ver.1 rev.
04/'07 1
Release Note
ver.1 rev.03/06 First edition.
ver.1 rev.06/06 Corrections.
New cover.
ver.1 rev.07/06
New paging.
Corrections.
New paragraph.
ver.1 rev.09/06
Insert mechanical curves.
Insert Index.
ver.1 rev.01/07 Insert Fast Back 100 technical data.
Insert chapter "5:Application" about: Reset Fault Function, Emergen-
cy Function, Positioner and Homing procedures, Motor Brake Mana-
ver.1 rev.02/07
gement, Stop Functions.
Corrections.
ver.1 rev.03/07 Corrections.
ver.1 rev.04/07 Insert note about power supply transformer.
All rights reserved. Reproduction in whole or in part is prohibited without prior

written consent of the copyright owner. All specifications are subject to chan-
ge without prior written consent of the copyright owner. All specifications are
subject to change without prior notification.
Print in Italy 06/04/2007
AXOR INDUSTRIES
Via Stazione N°5
36054 Montebello Vi.no (VI)
Italy
Tel. +39 0444 440441
Fax. +39 0444 440418
E-mail: info@axorindustries.com
Internet: http://www.axorindustries.com
2 AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07

Index
1) General Advices
1.1 Norms 6
2) Description
2.1 Product description 8
2.2 General view 9
2.3 Technical data - General 10
2.4 Technical data - Fast Back 75 11
2.5 Mechanical dimensions - Fast Back 75 12
2.6 Mechanical Curves - Fast Back 75 13
3) Installation
3.1 Important notes 18
3.2 Ex. of connection for single axis system 19
3.3 Power Supply connection 20
3.4 IN/OUT Digital connection 23
3.5 Can Bus Interface 25
3.6 RS485 Interface 27
3.8 Analog Output 29
3.9 Multidrop 30
3.10 Led 32
4) Speeder One
4.1 Speeder One Interface 34
4.2 Main menu 36
4.3 Drive Status 40
4.4 Operative Mode 44
4.5 Speed Window 45
4.6 Current Window 47
4.7 Motor window 48
4.8 Digital I/0 window 49
4.9 Position window 52
4.10 Homing window 53
4.11 Axor Profile Tool window 55
4.12 Oscilloscope 58
5) Applications
5.1 Reset Fault Function 62
5.2 Emergency Function 63
5.3 Positioner 64
5.4 Homing procedure 65
5.5 Positioning procedure 71
5.6 Motor brake management 81
5.7 Stop Functions 87
AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07 3

Index
6) Appendix
6.1 ModBus Protocol 94
6.2 Ordering code 98
6.3 Transport, Storage, Maintenance, Disposal 99
Index 100

1) General Advices
Chapter 1
General Advices
1.1 Norms 6
TM
AXOR Industries Service manual Fast Back ver.1 rev.04/'07 5
1.1 Norms
The Fast BackTM is in accordance with the following safety standards:
• Machines Directive
• Electromagnetic compatibility Directive
and the following technical norms have been applied:
CEI EN 60204-1 Machine safety - Machine electric equipment.

CEI EN 60439-1 Combined protective and manoeuvring apparatus for low voltages (BT panels)
- Part 1: Standard apparatus subject to (AS) type testing and non-standard apparatus subject to
(ANS) type testing.
CEI EN 61800-3 Variable speed electric drives Part 3: Product norm regarding electromagnetic
compatibility and scientific testing methods.
Recalls: CEI EN 61000-4 CEI EN 60146-1-1.
CEI 28-6 Co-ordination of the insulation for apparatus in low voltage systems.
CEI 64-8 Electric systems using a nominal voltage of not above 1000V in alternate cur-
rent and 1500V in direct current.
The Fast BackTM series converters have been tested by a laboratory to check their adherence to the
limit values requested by the directive regarding magnetic compatibility.
The reference standard used for electromagnetic compatibility is summarized in the CIE EN 61800
Norm (all parts).
If the installation of the drive is carried out differently than described in this manual, the user must
carry out new measures to satisfy the requisites of law.

2) Description
Chapter 2
Description
2.1 Product description 8

2.2 General view 9
2.3 Technical data - General 10

2.1 Product description
The Fast BackTM is an all in one fully digital DRIVE plus BRUSHLESS MOTOR.
There are two available sizes:

Fast Back 75: having a continuos stall torque from 1.1 Nm to 3.8Nm;
Fast Back 100: having a continuos stall torque from 3.2 Nm to 7.5Nm.
Control:
It can be configured and controlled using CanBus. It supports the following Can Open protocols:
• part of the DS301-V4.02
• part of the DSP402-V2.0
It can work in Multidrop, where the first drive, connected via RS232 to the Master PC, is piloted with
ModBus communication, while the other drives are piloted with the duplication of commands using the
CanBus communication.
In speed control it utilises a digital reference from an external controller.
In torque control it utilises a digital torque reference. This function allows you to control the current
from the drive.
It can be controlled as POSITIONERS. An ABSOLUTE POSITIONER was implemented, which implies

transactions to absolute quotas reference to the reference point. It supports 32 programmable position
profiles; a single task or a sequence of tasks are permitted.
The Homing Procedure is implemented. It uses the signal coming from the homing sensor and even-
tually the zero of the encoder.
The positioner and homing procedures can be managed via software (by using the Axor's Speeder
One interface or another ModBus Master).
Digital In/Out:
There are 2 digital inputs and 1 is programmable.
There is 1 digital programmable output to send messages from pre-programmed functions of the
drive.
Analog Out:
There is one programmable analog output, that permits visualisation by oscilloscope of some of
the drive's measurement values.
Software Interface:
The Fast BackTM is supplied with the Axor Speeder One software interface that allows you to set and
manage all of the drive’s parameters.
The software works on the following operating systems: Windows 98, Windows 2000, Windows XP.
The communication between the driver and PC is done through the utilisation of a RS232 cable using
ModBUS protocol.
Security:
The Fast BackTM is equipped with a series of protections which safeguard the servo system.
Led:
A led allows you to see the drive’s status.
EMI Filter:
The Fast BackTM converter is equipped with an integrated EMI anti-disturbance filter at the 3-
phase 230V power supply input.

2.2 General view
X4 connector X5 connector
X2 connector
X1 connector
X3 connector
TYPE DESCRIPTION
X1 Power supply and Back Up connector, 6 pole
X2 CanBus (or RS485 optional) connector, 4 pole
X3 CanBus (or RS485 optional) connector, 4 pole
X4 IN/OUT digital signals connector, 5 pole
X5 RS232 interface and analog output, 5 pole

2.3 Technical data - General
Power Supply
230Vac ±10% 3-phase, 50/60Hz
230Vac ±10% single phase, 50/60Hz (IT DOES NOT AL-
Power supply Vac
LOW THE RATED PERFORMANCE, contact Axor's technical
department for details)
Logic supply (for back-up
Vdc 24Vdc (±10%) - 200mA
only)
Logic supply (back-up + 24Vdc (±5%) - 500mA for Fast Back 75
Vdc
brake) 24Vdc (±5%) - 800mA for il Fast Back 100
Environmental Conditions
Storage temperature -20...+55°C
Humidity From 10% to 80% max. without condensation
Up to 1000m without restrictions.
Altitude
From 1000 to 2500m power derating 1.5%/100m
Pollution Level Level 2 (norm EN60204/EN50178)
Enclosure protection IP54 (optional IP65 and IP65S)
Notes:
• The electrical box must have suitably filtered air vents.
An area of at least 15cm around the Fast BackTM is required.
• Periodically check drive case and fans for excess dust or dirt, that could interfere with the correct
dissipation of the drive.
Inputs/Outputs
Programmable analog output ±10V - 10mA
Digital output 24Vdc - 50mA
Digital input 24Vdc - 7mA
Cables sections
Power supply cables 1.5mm2/15AWG
Signals cables 0.5mm2/20AWG

2.4 Technical data - Fast Back 75
FAST BACK - serie 75
Performance Data
SIZE XS S M L
Stall Torque, Mo Nm 1.1 1.6 2.7 3.8
Peak Stall Torque, Mpk Nm 3.3 4.8 8.1 10
Rated speed, Nn Rpm 3000 3000 3000 3000
Rated torque at Nn, Mn Nm 0.95 1.45 2.35 3.3
Mechanical Data
Weight Kg 2.85 3.3 4.2 5.0
Weight with brake Kg 3.45 3.9 4.8 5.6
2 -4
Rotor inertia (Kgm )10 0.4 0.6 1 1.4
2 -4
Brake inertia (Kgm )10 0.122
External fuses
Size XS/S M/L
AC Supply L1-L2-L3 (F2) 6AT 10AT
Auxiliary Supply +24VDC 6AT

2.5 Mechanical dimensions - Fast Back 75
Mechanical Dimensions - Fast Back 75

L L1 B D V W U F F'
Type - Mo (Nm) mm mm mm mm mm mm mm mm mm
FBK 75_XS - 1.1 230 280
FBK 75_S - 1.6 245 295 11 23 4x18 12.5
M4x10 5.5 M5x8
FBK 75_M - 2.7 275 325
FBK 75_L - 3.8 305 355 14 30 5x25 16

2.6 Mechanical Curves - Fast Back 75
The Fast BackTM serie 75 has the following mechanical curves:

Nn
(Rated speed)
Mpk
(Stall peak Um
torque) (Drive's main supply)
Current
Mo
(Stall torque)
Nn
Mn (Rated speed)
(Rated torque at
rated speed

2.7 Technical data - Fast Back 100
FAST BACK - serie 100
Performance Data
SIZE S M L
Stall Torque, Mo Nm 3.2 5.2 7.5
Peak Stall Torque, Mpk Nm 10.3 10.5 15
Rated speed, Nn Rpm 3000 3000 2200
Rated torque at Nn, Mn Nm 2.8 4.5 6.4
Mechanical Data
Weight Kg 5.8 7 8.2
Weight with brake Kg 6.5 7.7 8.9
Rotor inertia (Kgm2)10-4 1.8 2.8 3.8
Brake inertia (Kgm2)10-4 0.37
External fuses
Size S/M/L
AC Supply L1-L2-L3 (F2) 10AT
Auxiliary Supply +24VDC 6AT

2.8 Mechanical dimensions - Fast Back 100
Mechanical Dimensions - Fast Back 100

L L1 B U V W F
Type - Mo (Nm) mm mm mm mm mm mm mm
FBK 100_S - 3.2 303 359
FBK 100_M - 5.2 338 394 19 M6x16 6x32 21.5 9
FBK 100_L - 7.5 373 429

2.9 Mechanical Curves - Fast Back 100
The Fast BackTM serie 100 has the following mechanical curves:

3) Installation
Chapter 3
Installation
3.1 Important notes 18

3.2 Ex. of connection for single axis system 19
3.3 Power Supply connection 20
3.4 IN/OUT Digital connection 23
3.5 Can Bus Interface 25
3.8 Analog Output 29
3.9 Multidrop 30
3.10 Led 32
TM
3.1 Important notes
The Fast BackTM must be installed on a machine or electrical system as integrated components.
The following indications should help the user to install and wire the Fast BackTM:
• This manual is exclusively addressed to technical personnel with the following require-
ments:
- Technician with knowledge on movimentation of elements sensitive to electrostatic
discharges (for the transport).
- Technician with an appropriate technical training and with vast knowledge on electro-
technics/drive technical field (for the installation and for operate the servodrive).
Using the drive incorrectly can injure people or manage things. Fully respect the technical
data and indications on connection conditions.
• As well as the points described in this manual, current regulations regarding safety and accident
prevention must be followed in order to prevent accidents and residual risks.
The installer must be familiar with and observe the following norms and directives:
- IEC 364 and CENELEC HD 384 or DIN VDE 0100;
- IEC-Report 664 or DIN VDE 0110;
- national accident prevention dispositions or BGV A2.
• The user must analyse possible machine risks and take the necessary measures to avoid injuries
to people and damage to things because of unpredictable movements.
• The converters contains elements which are sensitive to electrostatic discharges. These elements
can be damaged by careless manipulation.
Discharge static electricity from your body before touching the converter.
Avoid contact with material that insulates well (synthetic fibres, films of plastic material and so
forth).
• During operation, the converter surface can become hot. Protect the user from accidental contact
and keep the indicated distances from every object.
• Never loosen electrical connections while the servoamplifiers are being powered.
The appropriate terminals of the drive must always be connected to earth as instructed in this manual.
After having disconnected the converters from the supply current, always wait at least 5 minutes
before touching the powered components (e.g. contacts) or loosening connections.
• The command and power connections can still hold current even when the motor has stopped.
• The Fast BackTM is equipped with electronic protections that deactivate it in case of irregulari-
ties.
• Protect the converter from excessive mechanical vibrations in the electric box.
• Always section all of the products' power phases, utilising a power relay or a thermal magnet. In
the case of three phase interrupt L1, L2 and L3.
• Make sure that the Fast BackTM is earth-connected in accordance with the current norms. See
the connection diagram on the next page.
TM
18 AXOR Industries Service manual Fast Back ver.1 rev.04/'07
3.2 Ex. of connection for single axis system
Connection diagram:
Fast Back
CNC
X1 X4 +24Vdc
(Chapter 3.4)
Fuse
L1 1 L1 OUT1
DGT-IN1 1
Fuse
L2 2 L2 DGT-IN2 2 OUT2
(Chapter
Fuse
L3 4 L3 DGT-OUT1 3 DGT-IN1 3.5)
Fuse DGT-RTN 4 I/O GND

+24Vdc 3 +24Vdc
PE 5
0Vdc 5 0Vdc
PE X5 SUB-D 9 POLI
TDX 1 pin2
X2 (Chapter
RDX 2 pin3 3.8)
1 PE
(Chapter 3.6)
PGND 3 pin5
2 CAN L
CNC
CANBUS 3 PGND AN-OUT1 4 AN-IN1
connector (Chapter
4 CAN H AGND 5 CNC-GND 3.9)
X3
1 PE
2 485 B
RS-485 3 PGND
connector
4 485 A
GROUND BAR
PE
EARTH
In the following chapters there is a detailed description about interfaces in the Fast BackTM,
and many connection examples.
TM
3.3 Power Supply connection
The X1 connector contains:

• the alternate supply coming from the mains;
• the +24VDC external power supply.
2 1
5 4 3
Male connector, X1
(Front view)
Connector, X1 - Power supply

PIN DESCRIPTION
1 Power supply, L1
2 Power supply , L2
3 Back-up supply, +24V
4 Power supply, L3
5 Back-up ground reference, 0V
6, PE Connectiot to Earth
Connection diagram:
Fast Back
TM
X1
L1 1
L1
DC Fuse
L2 2 3-PH 230 Vac

L2
Fuse 50/60 Hz
AC L3 4
L3
Fuse
PE
PE
TM
The Fast BackTM has the following power supply: three phase 230Vac ±10%.
The single phase power supply, 230Vac ±10%, DOES NOT ALLOW THE RATED PERFORMANCE, contact
Axor's technical department for details.
The product is opto-isolated and this guarantees the galvanic isolation between the mains and control
signals.
The figures below displays some example of connection:
Mains 380-400 Vac Mains 220-230 Vac

L1 L1
L2 L2
L3 L3
N N
PE 400*/230 Vac PE
Fuse F2 F2
L1 L1
Fuse F2
F2 L2
L2 F2
L3
Fuse F2
L3 PE
PE
* It depends by the
available main supply.
Mains 380-400 Vac Mains 220-230 Vac

L1 L1
L2 L2
L3
L3
N
N
PE 400*/230 Vac
Fuse F2 PE
L1 F2
L1
F2
L2 L2
PE PE
Notes:
• Insert protective fuses (F2).
• Always section all of the products' power phases, utilising a power relay or a thermal
magnet. In the case of three phase the power relay or thermal magnet is applied to L1,
L2 and L3.
Power Cable
• Power cable must be shielded and the shield must be connected
on both sides. 20:50cm Max 25m
Drive side the shield is connected to ground by connector; main
supply side the shield must be connected on the zinced panel of Mains Drive
the electrical box by clamp, after taking out a piece of the exter-
nal sheat (see figure near here).
TM
Note: The nominal power of each motor is calculated in this way:
Pn = n x Cn / 9,55
Pn=nominal motor power [VA]

n= motor speed [rpm]
Cn= motor rated torque [Nm]
The nominal power of the transformer is calculated by adding the various wattege of each mo-
tor:
Pt = Pn+Pn+Pn+...
Pt= nominal power of the transformer [VA]

Pn= nominal power of each motor [VA]
Pin 3 on the X1 connector is utilised for an external power supply input.
Pin 3 .... External power supply +24VDC (±10%) input, BACK-UP

Pin 5 .... Ground reference return Back-up, 0VDC
This external power supply is utilised to power the logic board when the drive is turned off.
Connection diagram:
External Supply
FastBackTM X1 +24VDC
+24V 3 + L1
DC
Fuse
L2
L3
5 -
AC PE
GND
PE
2 1
Male connector, X1
(Front view)
5 4 3
The technical characteristics of the Back Up input are the follows:
• The current's absorption on this terminal is 200mA without brake and 1000mA with brake.
• Input protected against polarity inversion.
TM
3.4 IN/OUT Digital connection
The X4 connector of the Fast BackTM manages two

digital inputs and one digital output.
2 1
5
3 4
M12 male connector, X4

(Front view)
M12 connector, X4 - Digital inputs and output

PIN DESCRIPTION
1 Digital input, DGT-IN1
2 Programmable digital input, DGT-IN2
3 Digital output, DGT-OUT1
4 Digital inputs/output ground return
5 Earth/Shield, PE
The Fast BackTM has 2 digital inputs (DGT-IN1 and DGT-IN2), which are opto-isolated.
The input circuit is pre-disposed for +24VDC-7mA (PLC compatible). The range of enable is between
+14VDC Min. and +30VDC Max.
Pin X4-1 (ENABLE) is used only as the drive's enable.

Pin X4-2 (Programmable digital input) can be used to activate pre-programmed functions of the
drive.
Connection to the Numerical Control:
TM
CN X4 FAST BACK
+24VDC
1
DGT-IN1
(ENABLE)
2K4
IN-RET AGND
DGT-IN2 2
4
IN-RET
I/O GND PE
TM
3.4 IN/OUT Digital connection
The Fast BackTM has one opto-isolated digital output (DGT-OUT1, +24Vdc-50mA, PLC compat-
ible).
It is possible to utilise the digital output to send messages from pre-programmed functions of
the drive.
In the figure below examples of some of the possible connections utilising this output are
illustrated:
CN
+24VDC
TM
FAST BACK X4
3 IN-DIGITAL
25R
I/O GND
4
GND
PE
I/O GND
CN
+24VDC
TM
FAST BACK X4
3 IN-DIGITAL LOAD
25R
4
GND I/O GND
PE
I/O GND
To set or enable the digital inputs by software or

to visualise the hardware status of the digital
output select "Digital I/O" in the main window
of Speeder One.
TM
3.5 Can Bus Interface
The X2 and X3 connectors of the Fast BackTM manage

the IN/OUT signals for Can Bus communication.
2 1
3 4
M12 male connector, X2 and X3

(Front view)
M12 connectors, X2 and X3 - CanBus

PIN DESCRIPTION
1 Earth/Shield, PE
2 LO CanBus chanel, CAN L
3 Ground return (0V CAN)
4 HI CanBus chanel, CAN H
On the X2/X3 connectors an interface for CANBus communication is available (defined velocity
500kbit/sec, max. 1Mbit/sec).
The integrated software is based upon CAN open DS301 communication protocol and on the DSP402
profile.
The CANOpen interface is isolated by opto-isolators and there is a dc-dc power converter that powers
all of the circuitry of this interface. For this reason it is not necessary to connect any external supply.
See the "Axor- CanOpen Reference Manual".
Can Bus SETTINGS:
To do a CanOpen Network you have to:
• set the baud rate parameter (in the “General Settings” window of the Speeder One inter-
face), in order to define the communication speed and the performance of the system. All drives
must have the same baudrate.
• set the DEVICE-ID (the "Device-ID" parameter in the “General Settings” window) to each
drive. All drives must have a different DEVICE-ID.
TM
3.5 Can Bus Interface
Can Bus CONNECTIONS

1. Connect the first Fast BackTM to the MASTER using the CanBus cable (from the X2 or X3 connec-
tors of the drive to the Master).
2. Connect each Fast BackTM to the preceding and the following drive using the CanBus cables (X2
and X3 connectors).
3. Connect a resistor (120 Ohm) between pins 2 and 4 of the X2 (or X3) connector of the the last
Fast BackTM.
Example:
FAST BACK 1
Master
X2
4 CANH
120
Ohm
2 CANL
3
PGND
PE
FAST BACK 2
X3
X2
4 CANH 4
2 CANL 2
3 3
1 PGND 1
PE PE
X3
4
120
Ohm
2
3
1 PE
TM
3.6 RS485 Interface
2 1
The X2 and X3 connectors of the Fast BackTM 3 4
manage also the RS485 interface (AVAILABLE
SOON).
M12 male connector, X2 and X3

(Front view)
M12 connectors, X2 e X3 - RS485 Interface

PIN DESCRIPTION
1 Earth/Shield, PE
2 Chanel B 485
3 Ground return (0V 485)
4 Chanel A 485
TM
3.7 RS232 Interface
2 1
The X5 connector of the Fast BackTM manages: 5
• the RS232 interface; 3 4
• one analog output.
M12 male connector, X5

(Front view)
M12 connector, X5 - RS232 Interface

PIN DESCRIPTION
1 Chanel TXD RS232 interface
2 Chanel RXD RS232 interface
3 PGND
4 Analog output, AN-OUT1
5 AGND
The RS232 interface allows you to connect the Fast BackTM to the Speeder One software interface and
to insert all parameters of the drive (regulation, positioning, etc.) using the PC. This allows for com-
munication via RS232 by Mod BUS protocol.
M12 connector, X5
Sub-D 9 pole
SUB-D 9 pole M12
Pin 2 (RxD) --> Pin 1 (TxD)

Pin 3 (TxD) --> Pin 2 (RxD)
Pin 5 (GND) --> Pin 3 (GND)
Note: The cable must be shielded and both sides of the shield must be connected to
ground. On the side of the M12 connector connect the shield to the pin 5, on the side of
the Sub-D connector connect the shield to the chassis of the connector.
TM
3.8 Analog Output
The Fast BackTM provides one analog output (on pin X5-4 ), which permits visualisation by oscil-
loscope of some of the drive's measurement values.
Pin X5-4....Monitor output, AN-OUT1

Pin X5-5....Mass reference of the monitor, AGND
Pins X5-4 (AN-OUT1) and X5-5 (AGND) furnish ±10Volt as the low scale setting refers to.
Connection to the Numerical Control:
TM
FAST BACK X5
CN
180 4 ANALOG1
5 CNC-GND
Note: The shield is to be connected to ground through connector's ring.
Utilizing the Speeder One you may set the AN_OUT1 output, the different options are as follows:
• drive's speed in RPM (Speed_RPM);

• Iu current (I_Phase_U);
• I2t drive (I2t_Drive);
• I2t Regen (I2t Regen);
• feed forward speed (FF_vel);
• position error (Posit_Err);
• direct current (Id);
• bus voltage (V_bus);
• motor angle(Angle);
• quadrature current (Iq);
• +10V voltage reference(+10Volt).
TM
3.9 Multidrop
It is possible to comunicate more than one Axor drive simultaneously with the "Multi Drop connec-
tion". This connection must take place between PC ("MASTER") and the first drive in RS232 using
the MODBUS communication protocol, while between the first drive and the other drives the com-
munication will be copied utilizing CAN BUS.
In this way it is possible to set simultaneously the parameters of more drives.
The Axor drives use the MODBUS communication protocol specified in the Modicon instructions (see
http://www.modicon.com/techpubs/).
See the chapter "5.1: ModBus Protocol".
Multidrop SETTINGS
In the "General Settings" window of each converter set:
1. 500 kbps into the Baudrate CAN bus parameter;
2. the Device ID parameter. Each converter

must have its Device ID parameter; it is con-
venient to set for the first drive connected to
the PC in RS232 the 1 identification, while for
the other drives it is convenient to set identi-
fications in an incremental order.
3. After these settings save all to EEP-

ROM (using the "Save Data to EEPROM"
icon), then turn on and off the Fast
BackTM.
Multidrop CONNECTIONS
1. connect the first Fast BackTM to the "Master" PC using the RS232 cable (X5 connector);
2. connect each Fast BackTM with the preceding and the following using the X2 and X3 connectors;
3. connect a RESISTOR (120 Ohm ) between the 2 and 4 pins of the X2 (or X3) connector of the
first Fast BackTM and another resistor between the 2 and 4 pins of the X3 (or X2) connector of the
last Fast BackTM.
*(See connection diagram on the next page)
TM
3.9 Multidrop
Example:
FAST BACK 1
MASTER MODBUS
X5
1
TXD
2
RXD
3
PGND
5
FAST BACK 2
X3
X2
4 CANH 4
2 CANL 2
3 3
PGND 1
PE 1
PE
X2 X3
4 4
120 120
Ohm Ohm
2 2
3 3
PE 1 1 PE
TM
3.10 Led
In the Fast BackTM there is a LED (red or green, fixed or blinking) that visualises the systems' sta-
tus:
COLOR STATE CAUSE

No color - The Fast Back is turn off.
Blinking There is only the +24Vdc auxiliary supply.

(Green)
The Fast Back is ready.
Fixed The rotor is not running or it is running and there
(Green) are not active alarms.
Fixed There is an alarm.

(Red)
During the start up of the system the led changes in this manner:
1) at the beginning it is switched off;
2) it becomes red because of the pre-loading phase;
3) it becomes green (fixed).
TM
4) Speeder One
Chapter 4
Speeder One
4.1 Speeder One Interface 34
4.2 Main menu 36
4.3 Drive Status 40
4.4 Operative Mode 44
4.5 Speed Window 45
4.6 Current Window 47
4.7 Motor window 48
4.8 Digital I/0 window 49
4.9 Position window 52
4.10 Homing window 53
4.11 Axor Profile Tool window 55
4.12 Oscilloscope 58

4.1 Speeder One Interface
All Axor's servodrives are supplied with the software Speeder One which permits you to setup, modify
and save all the parameters of the system, by connecting a PC to the drive (via RS232).
The interface communicate with the drive via serial RS232. For a more detailed description about the
RS232 interface and the realisation of the communication cable see chapters "3.7 RS232 Interface".
PC minimum preconditions:
Operative system: Windows 98, Windows 2000, Windows XT;
Graphic sheet: Windows compatible, coloured;
Drive: Hard disk having at least 5 MB free;
Drive for CD-ROM
Work memory: at least 8 MB;
Interface: free serial interface
Installation procedure:
1- connect the RS232 cable to the PC serial interface and to the J5 drive connector (do this with
the drive not supplied).
2- insert the CD, click on the installation file "Setup.EXE" that you find on the CD directory, then
follow the instructions.
3- at the end of the installation, to start the interface click on the "Axormb.exe" file that you find
on the directory: "C:\ Program\Axor".
Attention: The parameter variation, via interface, should be done only by technical qualified
personnel.

4.1 Speeder one Interface
The program is started by clicking on "Axormb.exe".

The main window “Axor Servo Drive” and the “Select Drive” window open simultaneously.
The window “Select drive” allows you to select the drive’s address with which you wish to communicate;
this permits “single drop communication” (with a single driver) or “multi drop communication”
(with multiple drivers).
All drives have as default value 1. It is possible to change the drive’s address in the “General Set-
tings” window.
If the communication between the PC and driver is “OFF line”, it is possible to open a configuration
file utilizing the “*.dev” extension; it will visualise standard parameters:

4.2 Main menu
The main window of the Speeder One software is displayed below:
Settings Tuning Profile Tool General Set

File
User Drive About Oscilliscope
Operative Mode
Digital
Inputs/Outputs
Drive
State
Analog
Inputs/Outputs Analog
output
Alarms
Disable drive Enable drive

Homing settings State bar
File
By clicking on “File” it is possible to open, save or save as a file
“*.dev”, or to exit the program.
User
Axor reserved information.
Settings
By clicking on “Settings” the “General Settings” and “Com Port” menu are displayed.
Com Port
By clicking on “Com Port”, it is possible to modify the serial communication data between the PC and
driver.
By clicking on “Baud”, you can set

the velocity communication baud
rate between PC and driver.
By clicking on “Parity”, you can

display the parity bit settings.

4.2 Main manu
General Settings
By clicking on “General Settings”, it is possible to visualize some of the drive’s properties, and to
impose some generic functions:
Drive
It visualizes the main properties of the drive, such as:
• Drive Ver. Type of digital servodrive connected;
• Size Nominal size in Amperage;
• Firmware Ver. Firmware version;
• Boot Ver. Boot Software version.
PC Software Ver.
It visualizes the software version of Speeder One.
Regen resistance
It visualises the type of regen resistance: Internal or External. In the Fast BackTM this function is not
active.
Relay OK
Not active with the Fast BackTM.
Baudrate CAN bus

This option allows you to set the "baudrate" of the drive during the Can Bus communications. The
selectable values are those specified by the CAN DS301 ver. 4.0.2 instructions, therefore: 50, 100,
125, 250, 500, 800, 1000 Kbps.
Device ID
This option allows you to set or to change the address of the drive. All drives have as default value
1. If you change the address of the drive you have to save it onto the EEPROM and then disable and
enable the drive.
Emergency Stop
It allows to enable/disable the Emergency Stop function (see chapter 5:Application").

4.2 Main menu
Drive
By clicking on “Select Drive” it is possible to select the address of the drive with which you want to
communicate, while “Enable” and “Disable” manage the state of the drive.
Tuning
This menu is utilized for the phasing of the motor (“Motor Phasing”).
About
This option shows the program version and additional information, for example: ”Axor Servo Drive
Software 1.1.4”.

4.2 Main menu
The program functions may be chosen both from the main menu, as well as from the icons shown
below:
Open File Reset General Set

Save as Load default data Oscilloscope
Select drive
Axor Profile Tool
Save data to EEPROM
Load data from EEPROM
Open file
It opens a file “nomefile.dev”.
Save as
It saves with name on EEPROM a file with the configuration visualized on the interface at the moment
of the memorisation.
Select drive
It opens the "Select Driver" window.
Save data to EEPROM

It saves the configuration created on EEPROM of the drive and therefore it makes it operative. The
program asks for confirmation.
Note: Every time you desire to make modifications and render them operative at the re-start of the
drive, the information must be saved on the EEPROM.
Load data from EEPROM

It loads all the values which are present on EEPROM to the drive.
The program asks for confirmation.
Load default data

It uploads a list of standard parameters.
Note: These parameters could be different from those actually required by the motor utilized.
The program requests confirmation.
Reset
It re-sets the basic functions of the drive.
Axor Profile Tool

It opens the “Axor Profile Tool” window, with which you can setup all the parameters about the
positioner.
Oscilloscope
It opens the “Oscilloscope” window.
General Set
It opens the “General Setting” window.

4.3 Drive Status
Drive Status (Status bar on the right of the main window)

- Motor Speed displays the velocity of the motor in RPM;
- Motor Position displays the rotor position in mechanical degrees;
- Motor Current displays the motor current (in percentages) with respect to twice the rated current
of the drive. 50%= rated current, 100%= 2*rated current;
- Bus Voltage displays the bus voltage;
- Drive Temp: it visualised drive's temperature in degrees;
- Position displays the rotor position in pulses (only in the following operative mode: "4: Position
Mode");
- Analog Out1: by clicking on this it is possible to select which internal parameter will be put into
the analog output. Default settings on Analog Out1 is “motor speed”.
Speed_Rpm
I_Phase_U
I2t_Drive
I2t_Regen
FF_vel
Posit_Err Out1
Id
V_Bus
Angle
Iq
+10 Volt
Enable, Disable
By clicking on this button you can enable or disable the drive’s
torque.
Alarms
Selecting this window allows you to visualize the history of the drive’s alarms and the status of
them.
A red dot and the red symbol near the alarm
name indicate that the alarm is currently on, while
a red checkmark signifies that the alarm has been
resolved.
It is possible to reset the history of the alarms by
disabling and enabling the drive or clicking on “Reset
All Alarms”.

4.3 Drive Status
Eventual functioning errors of the drive are visualized on the display on the front of the drive.
The drive is equipped with a series of protections which safeguard both the drive and the motor in
case of malfunctions.
Some alarms cause the block of the drive so the user has to disable or power off the system, while
others reset themselves or can be reset via interface without power off the system.
There are three kinds of protection: reversible, resettable and irreversible.
Reversible protection intervention

It compares in presence of alarms which “reset itself” when the cause that has determined interven-
tion is no longer present.
This causes the block of the drive. To restore the correct functioning it is necessary to:
1) disable the drive (using the “Disable” icon or the DGT-IN1 input);
2) eliminate the cause that has determined intervention;
3) enable the drive (using the “Enable” icon or the DGT-IN1 input).
Resettable protection intervention

It compares in presence of alarms which “can be reset” using the “Reset Fault” function.
This causes the block of the drive. To restore the correct functioning it is necessary to:
1) disable the drive (using the “Disable” icon or the DGT-IN1 input);
2) reset the alarm using the “Reset Fault” function;
3) enable the drive (using the “Enable” icon or the DGT-IN1 input).
Irreversible protection intervention

It compares in presence of alarms which "cannot be reset”.
This causes the disabling of the drive. To restore the correct functioning it is necessary to:
1) Disconnect the power (main power supply plus Back Up supply);
2) eliminate the cause of the block;
3) power again.
N.B. Before powering again wait a short while until the drive is securely switched off.

4.3 Drive Status
The table below illustrates all the message errors:
ERROR MESSAGES
Designation Explanation Reset
Error during the parameter memorising on the drive's
eeprom.
AL1 EEPROM This causes the disabling of the functioning. Resets itself
This alarm resets itself memorising parameters on eep-
rom; if the alarm persists contact Axor.
Short circuit between U, V, W or toward earth.
This causes the disabling of the functioning. Cannot be
AL2 Overcurrent
Disconnect the power, verify the wiring, then power reset
again.
Heat sink temperature too high, >75°C.
This causes the disabling of the functioning.
Drive Can be
AL3 Disable the drive, verify the forced ventilation functioning,
Temperature reset
verify the ambient temperature, wait that the radiator has
cool off, reset the alarm then enable the drive.
This alarm goes on if one or more of the hall cell's wire is
interrupted. Can be
AL4 Hall
This causes the disabling of the functioning. reset
Contact Axor.
This alarm goes on if one or more of the encoder channels
are interrupted. Can be
AL5 Encoder
This causes the disabling of the functioning. reset
Contact Axor.
The internal I2t function has reached the maximum per-
mitted, because of:
- the working cycle could be too heavy;
- a possible mechanical block;
AL6 I2t Drive - a motor phases inversion; Resets itself
- the electronic brake not unblocked;
- the amplifier dynamic costants: "KP", "KI" and "KD",
could create useless current oscillation.
This does not cause the disabling of the functioning.
Heat sink temperature too high.
Disable the drive:
- control the heat sink temperature;
Motor Can be
AL7 - decrease the dynamic constant if the motor is vibrating.
Temperature reset
This situation causes the current oscillation and conse-
quently the overheating of the motor.
Wait the motor has cool off, reset the alarm, then enable
the drive.

4.3 Drive Status
The value I2t energy recovery has reached the

maximum permitted.
Disable the drive:
Regenerative - check the AC power supply input;
AL8 Can be reset
Resistance - check that the working cycles are not exces-
sive;
- verify if the motor, going at half speed, shows
the same problem.
Reset the alarm, then enable the drive.
Minimum or maximum converter voltage.
AL9 Min/Max Voltage Disable the drive, wait the DC power supply volt- Resets itself
age reaches the correct threshold, check the AC
power supply input, then enable the drive.
It has been reached the 80% of the I2t energy
recovery value.
This does not cause the disabling of the function-
ing.
AL10 Pre-Alarm Recovery Resets itself
Check the AC power supply input and the working
cycles. This is a visual alarm, it anticipates the
eventual intervention of the "Maximum recovery"
alarm.
The error between the position reference and the
position feedback exceeds the "Max Position Er-
ror" parameter, because of the "Max Position Er-
ror" parameter is too small, or the dynamic gains
AL14 Following Error of the velocity-positioning loop are wrong. Can be reset
Disable the drive, check the Max Position Error
parameter, check the dynamic gains, reset the
alarm, then enable the drive.
The fixed extra-run position is interrupted.
AL15 Limit Switch Resets itself
Disable the drive, check the end-run contact and
external connections, then enable the drive.
Errors in reading/writing parameters on Flash, or
Flash is empty.
This causes the opening of the Relè Ok contact
AL23 Flash Alarm Resets itself
and the disabling of the functioning.
Disconnect the drive, save new values, then pow-
er again. If the problem persists contact Axor.
Error during communication on CANBus.
This causes the opening of the Relè Ok contact
Can be reset
AL24 Can Bus Alarm and the disabling of the functioning.
by CAN
Disable the drive, check the cabling and re-en-
able. If the problem persists contact Axor.
Position error too high during the homing proce-
dure. Can be reset
AL26 Homing Error The motor stops, but it is not disabled. by "Start
Check the homing setup, then reset the alarm us- Homing"
ing the "Start Homing" function.

4.4 Operative Mode
The “OP. MODE” menu allows you to select the operation mode of the drive. With every selection all
associated information is pre-disposed automatically.
The Fast BackTM offers the following operation modes:
Digital Speed
The motor is controlled in velocity mode through a digital reference.
Digital Torque
The motor is controlled in torque mode through a digital reference.
Position Mode
The motor is controlled in position mode.
Can Open
This mode allows you to configure and control the drive using CanBus. It supports the following Can
Open protocols:
• part of the DS301-V4.02
• part of the DSP402-V2.0
Square Wave
The motor is piloted with a “square wave” signal. This is useful for dynamic adjustments of the mo-
tor.
The others operative modes visualized on the menu are not active for the Fast BackTM.

4.5 Speed Window
This window allows modification of the dynamic costants of the drive’s speed loop.
OK confirms the set Cancel closes the win- Apply confirms the set
value and closes the dow without change value, but it does not
window. any parameter. close the window.
Speed limit
It is the maximum speed limit. Actual limit is 8000rpm.
Rotary Direction
It allows you to set the rotor’s sense of rotation: Positive (CW) or Negative (CCW).
Acc. Ramp
+RPM
It is possible to insert the value of the acceleration ramp
“in ms”. The range is between zero and 5000 ms (0-
5sec).
TIME
Dec. Ramp
It is possible to insert the value of the deceleration
ACC ACC
ramp “in ms”. The range is between zero and 5000 ms
(0-5sec). -RPM DEC DEC
Emer.Ramp
It is possible to insert the value of the deceleration ramp “in ms” during the emergency stop.
PID-Filter
It is a filter on the speed reference.
Feedback
It is a filter on the feedback speed.
Note: Setting the PID-Filter and Feedback parameters make the system less noisy, therefore
non appropriate tuning may cause a less dynamic or instable system.

4.5 Speed Window
KP
It is the proportional gain of the speed loop.
This setting optimises the dynamic behaviour of the motor. The range is between zero and 4000.
KI
It is the integral gain of the speed loop.
This setting optimises the dynamic behaviour of the motor. The range is between zero and 4000.
Tuning Speed loop

To optimize KP and KI utilize the following procedure:
1- set the "10: Square wave" operating mode.
2- Set the "Speed_RPM" parameter on the "Analog OUT1" menu.
3- Connect the probe of the oscilloscope on pins X5-4 (speed signal) and X5-6 (zero signal).
4- Adjust the KP and KI gains in a way that you obtain a stable step response in both directions.
Increasing KP decreases the system’s response time; however, the system gets closer to becoming
unstable; therefore, during adjustment increase the KP to the oscillation limit and then reduce until
secure oscillation stoppage.
Increasing KI the steady state diminishes, however increasing the overshoot, therefore after adjust-
ing KP increase KI keeping the overshoot within authorized limits (±10%).
The figure below illustrates some typical oscilloscope tracks:
A) Proportional and integral gains too low. Increase the numerical values of KP and KI.
B) and C) Good proportional and integral gains.
Speed
A B C

4.6 Current Window
This window allows you to modify the dynamic costants of the drive’s current loop.
In the Fast BackTM it is not possible to change any parameter of this window.
I rms
In this section it is possible to insert the percentage value of the nominal current furnished by the
drive. The numerical range is between 1 and 50 and it is referred to the peak current value.
I peak
In this section it is possible to insert the percentage value of the peak current furnished by the drive.
The numerical range is between 1 and 100.
The value of nominal and peak current is RMS.
I2T Message
Time of the peak current. The drive automatically calculates the thermal image I2T.
KP
It is the proportional gain of the current loop. This adjustment allows for optimizing the dynamic be-
haviour of the motor’s current loop. The numerical range of this parameter varies from 0 up to 999.
TI
It is the integral time in “ms” of the current loop.
The numerical range of this parameter varies from 0 up to 99,9ms.

4.7 Motor window
Clicking this icon it is possible to

modify items relating to the motor’s
characteristics.
No. of Poles
Number of motor poles. It is possible to set 0, 2, 4, 6, 8, 10, and 12 poles.
The value pre-set as a default is 6 poles. The value 0 is to be used when utilizing linear motors.
Feedback Type
It permits to select the type of motor feedback: Encoder or Resolver. The Fast BackTM has only the
Encoder feedback.
Resolution (pulses/rev)
In this section there are the value of encoder pulses/rev.
Phase angle
In this section the phasing angle of the motor is visualized.
Holding Brake
When the "Without" option is selected the electromechanical brake integrated on the motor is not
manage, while when the "With" option is selected the electromechanical brake can be manage ex-
ternally by the user or internally by the control (for more information see chapter "5.6 Motor Brake
Management").

4.8 Digital I/0 window
This window allows you to modify via software the status of the programmable digital inputs and to
control the hardware status of the digital inputs and outputs.
Software/
hardware
state
Hardware
state
Botton for
software
enablement
Hardware Selectable Auxiliary

state function variable
Inputs
The “St” led visualises the status of the digital inputs, if it is red a high logic signal is present on the
input.
The “Hw” led visualises the hardware status of the digital input, if it is red a high logic signal is present
on the input.
Note: If the Hw led is red, the St led is red too.
It is possible to apply a high logic signal to the input in two modes:
• utilising the Speeder One interface: clicking on the button near the name of the digital input
which will then show red on the “St” led.
• hardware: by applying the corresponding voltage (+24V) on the connector pins. This will cause
leds “St” and “Hw” to show red.
Attention: In the Fast Back there are only two digital inputs (one program-
mable) and one digital output, which can be menaged or via software (by
the Speeder One interface or another Modbus), or via hardware. The oth-
ers digital programmable inputs and the digital output, which you find in
the Digital I/O window, are menaged only via Modbus.

Near the name of each digital input there are two fields:
• There is a menu that allows you to select a function;

• There is a field where you can insert the auxiliary variable if necessary. (Not all functions need
an auxiliary variable).
FUNCTION DESCRIPTION
Off With this settings there is not a particular function assigned to the input.
Ref-On It enables the motor rotation.
Positive limit switch. A low logical signal on this input disables the "CW" rotation
PStop
of the motor.
Negative limit switch. A low logical signal on this input disables the "CCW" rota-
NStop
tion of the motor.
Brake This function is not available for the Fast BackTM.
Positive and negative limit switch. A low logical signal on this input disables the
P+N Stop
rotation of the motor (CCW and CW).
Homing Sensor Homing sensor.
It enables a movement having the following parameters:
• acceleration time that is equal to the homing acceleration time;
• speed (in rpm) equal to the value set in the auxiliary variable;
Start Jog • target equal to the positive extreme (PSTOP software) of the axis if the speed
is positive, or equal to the negative extreme (NSTOP software) of the axis if the
speed is negative;
• deceleration time that is equal to the homing acceleration time.
It enables the task set by the auxiliary variable. There is not possibility of blend-
Start_Task_n°
ing with this function.
It enables the task set by the digital inputs DGT-IN5...DGT-IN9. There is not pos-
Start Task I/O
sibility of blending with this function.
It enables a sequence of tasks. The first task is set by the digital inputs DGT-
IN5...DGT-IN9, while the next tasks are set by using the "Next Profile" param-
Start Sequence
eter associated to each task. At the end of each task the following automatically
starts.
IN5...DGT-IN9, while the next tasks are set by using the "Next Profile" parameter
Start Next associated to each task. At the end of each task the motor stops, the user has to
click the task button (clicking twice: disabling and enabling) in order to start the
next task of the sequence.
Lowering the logic input along with this function, stops the motor rotation utilis-
Emergency
ing the Emer. Ramp set in the Speed window.
Start Homing It is used to start/stop the homing procedure.
Reset Fault It allows the reset the "resettable" alarms.

Outputs
The “Hw” led visualises the hardware status of the digital output, if it is red a high logic signal is
present on the output.
In the following table there are the setting functions for the digital output:
Off Selecting this function the output will always be open.
If the absolute value of the actual speed is greater than the value inserted
in the auxiliary variable, the output will be closed. On the contrary, if the
|Speed|>x
absolute value of the actual speed is less than the value inserted in the
auxiliary variable the output will be opened.
If the absolute value of the actual speed is less than the value inserted
|Speed|<x
absolute value of the actual speed is greater than the value inserted in the
The output will be closed after a complete and successful homing procedure.
Homing OK
At the start of every new homing procedure the output will be opened.
The output will be closed if the I2t condition is reached. When this condition
I2t
comes down the output will be opened.
If the absolute value of the actual current is greater than the value inserted
|Irms%|>x
absolute value of the actual current is less than the value inserted in the
If the absolute value of the actual current is less than the value inserted
|Irms%|<x
absolute value of the actual current is greater than the value inserted in the
This function closes the output when a positioning task successfully termi-
Target OK
nates; at the start of a new profile the output is opened.
With this function the output is closed if one or more alarms are present.
Error
When all alarms are cleared the output will be opened.
When the control circuitry is powered up (with a minimum delay), the out-
Ready
put will be closed.
When 80% of the maximum recovery is reached, the output is closed and
P.A. Max it will be re-opened if the value becomes less than 80% of the maximum
recovery value.
If the absolute value of the actual Position Error is greater than the value
inserted in the auxiliary variable, the output will be closed. On the contrary,
|Error Pos|>x
if the absolute value of the actual current is less than the value inserted in
the auxiliary variable the output will be opened.
If the absolute value of the actual Position Error is less than the value in-
serted in the auxiliary variable, the output will be closed. On the contrary,
|Error Pos|<x
if the absolute value of the actual current is greater than the value inserted
in the auxiliary variable the output will be opened.
This function is to be utilized exclusively with either the Start Sequence
function or the Start Next function on a programmable input. At the start
Next Target
of the first profile the output is opened and it will change status (toggled)
at the start of every new profile.

4.9 Position window
This window allows you to set the static and dynamic parameters about “4:Position Mode”.
Feed Forward
This improves the sys-
tem’s dynamics.
Suggested value: 100%.
Kp Dynamic
This is the position loop
gain.
Admited values: 1÷999.
Kp Static
Insert the same value
inserted in the Kp Dy-
namic parameter.
Position Polarity
Positive or Negative. This parameter enables a complete inversion of axis control.
Selecting the “Negative” choice you have effects on homing and positioning procedures like as fol-
low:
1) The rotation wise of supported homing procedures is inverted referred to the procedures in the
chapter relative to homing procedures.
2) The “Homing Offset” value is multiplied by -1.
3) All target positions (“Final Position”) are multiplied by -1.
Max Position Error

This is the position error after which the drive goes into alarm 14 ("Following Error").
To calculate the value to insert in this field, use the following formula:
Max_Position_Error = K° * 65536
360°
where K° is the value in mechanical degrees of the maximum accepted error.

The maximum selectable position error is 180° (32767 pulses).
Example: If the maximum mechanical accepted error is 45° (1/8 mechanical turn), then the value to
insert in the Max Position Error box is 8192, in fact:
Max_Position_Error = 45° * 65536 = 8192

360°
We suggest to insert the value: 8192.

4.10 Homing window
In the main window of the interface there is an area where you can set the parameters of the Hom-
ing procedure:
The homing procedure uses the signal of the homing sensor and, eventually, the zero signal of
the encoder.
Before start a positioning it is necessary execute a successful homing procedure.
Homing Method
It defines the method of homing. The supported options are:
• No homing: disables the homing procedure.

For safety reasons it is not possible to use this option in the “4:Position Mode” operational mode.
If this method is set it will not be possible to make the positioning procedure.
• Homing method 1 (direct): the drive makes the motor turn in a counter-clockwise direction
to search for the homing sensor.
• Homing method 2 (reverse): the drive makes the motor turn in a clockwise direction to search
for the homing sensor.
• Immediate: the current position becomes the home position without moving the motor to search
the homing sensor.
Sensor
It selects the type of sensor used for the homing procedure. The available options are NOpen (nor-
mally open) or NClosed (normally closed).
Zero Encoder
Marking the “Zero Encoder” box the home position is set on the first zero pulse of the motor feed-
back after the interception of the homing sensor. This allows you to execute the homing procedure
with better precision.
Max Search Angle

It is the maximum mechanical angle (0-359 degrees) that can be made during the search for the
zero encoder signal after the correct interception of the homing sensor. Above this angle the motor
stops, no homing position is saved and alarm 26 (the “Homing Error” alarm) is displayed (this alarm
is cleared after the disabling of the digital input set with the “Reset Fault” function).
This parameter (when used correctly) allows the homing process to be repeated with excellent results
and avoid errors due to sensor signal elasticity or mechanical tolerance.
Speed
This parameter sets the speed reference used during the homing process and it is given in “rpm”. The
admitted values are in ranges between 10 and 1000 rpm.

4.10 Homing window
Acceleration
This is the acceleration and deceleration time for the homing procedure. It is defined in milliseconds
and allows values in ranges between 10 and 5000 ms. This time references the maximum motor speed
set by using the "Speed Limit" parameter in the "Speed" window, so the actual acceleration time can
be found utilizing the following formula:
T_acc_homing [ms]= Speed_homing [rpm] * T_acc_sett[ms]

Speed_motor[rpm]
Where: T_acc_homing = real acceleration time during the homing search process;
Speed_homing = speed set for the homing process ("Speed" parameter);
Speed_motor = motor speed limit set on the interface ("Speed Limit" parameter);
T_acc_set = value inserted in the "Acceleration" parameter.
For example if you have a motor with the following parameters:

- "Speed Limit" (on the "Speed" window) = 3000 rpm;
- "Acceleration" (on the "Homing" window) =500 ms;
- "Speed" (on the "Homing" window) = 1000 rpm.
The acceleration time set in the homing window is the time that the motor should employ to accelerate
from 0 rpm to the maximum speed (in this case 3000rpm).
The real acceleration time from 0 rpm to 1000 rpm is 167ms, in fact:
T_acc_homing [ms] = 100 rpm * 500 ms =167 ms

3000 rpm
Zero Speed
This defines the motor's speed during the realignment with the homing sensor and/or during the search
for the encoder's zero pulse from the motor feedback after the home sensor is reached.
It is defined in “rpm” and allows values in ranges between 1 and 50 rpms. We suggested utilising low
values for this parameter in order to obtain good precision.
Homing Offset
This defines the difference between the zero position for the application and the machine's home posi-
tion (which is found during homing process). It is measured in pulses and the allowed values are in
ranges: +/-(232-1). This value is assigned to the home position found at the end of a successful homing
process. The Homing Offset value is obtained by the execution of the following calculation:
Homing Offset = n° turns (also not integer) * 65536
Example: suppose we have an application where the distance between the home position and the zero
position of the axis is equal to the distance that the axis can go with a rotation of 4 turns plus an ad-
dition 90° mechanical turn.
The first thing to do is to find the number of turns to insert into the formula. In this example: n° turns
= 4 + 90°/360° = 4.25 to refer to the fraction of turn above 360°. Now it is possible to calculate uti-
lizing the following operation: 4,25 *65536 = 278528. This bold number is the value that must be
inserted in the "Homing Offset" window.
After the setting of the desired homing parameters save the changes using the “Save To
EEPROM” function on the software interface, doing this the drive's setup will become perme-
nent.

4.11 Axor Profile Tool window
This window allows you to setup all the parameters about the 32 positioner trapezoidal profiles.
Final position
It defines the absolute position reference for the selected position profile.
The admitted values are in the range +/-(231-1). Setting the value 0 means "return to zero position"
(the position found during homing only if the Homing Offset was set to zero).
To define the value (approximated at the nearest integer value) that should be inserted, the following
formula will be used:
Final position = n° turns (also not integer) * 65536
Example: We want to start from the position 0 after a successful homing procedure, with a Homing
Offset value equal to zero. Suppose that the set task makes a rotation of the motor’s shaft of 20 turns
and 60° mechanical. First thing is to normalise 60° on 360° and add the obtained value to the number
of integer turn: n° of turns = 20 + 60°/360° = 20 + 0,16 = 20,16 after this you must multiply by
65536 the obtained number like as follow: 20,16 * 65536 = 1321642,6 and insert in the Final Position
parameter the integer part of the number found, in this case 1321642.
Acc Time
It sets the acceleration time value for the trapezoidal profile ramp. This parameter admits values in
the range: 10...5000 ms. The time value is referred to the max motor speed, "Speed Limit" parameter
set in the "Speed" window, so the real acceleration time related to the profile speed can be found
using the following expression:
T_acc [ms] = Speed [rpm] * T_acc_set [ms]

Speed_motor [rpm]
where: T_acc = real acceleration time for the profile ramp;

Speed = speed set for the profile ("Speed" parameter);
Speed_motor = motor speed limit set on interface ("Speed Limit" parameter on the
"Speed" window);
T_acc_set = value inserted in the "Acc. Time" parameter.

Dec Time
It sets the deceleration time value of the trapezoidal profile ramp. This parameter admits values in
the range: 10...5000 ms. The time value is refered to the max motor speed, "Speed Limit" parameter
set in the "Speed" window, so the real deceleration time related to the profile speed can be found
using the following expression:
T_dec [ms] = Speed [rpm] * T_dec_set [ms]

Speed_motor [rpm]
where: T_dec = real deceleration time for the profile ramp;

Speed = speed set for the profile ("Speed" parameter);
Speed_motor = motor speed limit set on interface ("Speed Limit" parameter on the "Speed
window);
T_dec_set = value inserted in the "Dec. Time" parameter.
Speed
It sets the speed reference of the trapezoidal profile. This parameter is limited by "Max Position
Speed".
Max Position Speed

It sets the maximum speed allowed for all motion position profiles. It is defined in "rpm" and rappre-
sents the minimum value between 6000 rpm and the motor speed limit ("Speed Limit" parameter on
the "Speed" window).
Next Profile
It is the number of the following profile to execute after the quote reached of last task. This parameter
is defined for concatenated profiles mode.
Window Pos.
It is the window of admitted position quotes around the sensor position to declare “position reached”.
It is defined in feedback pulses and can be calculated with the following formula:
Window Pos = n° turns (also not integer) * 65536
Window Time
It is the time limit used when the motor is within the position window to set "target reached" indica-
tion. It is declared in "ms" and admits values in the range: 0...65536.
Window Delay
It is the waiting time after the quote reached and after the "Window Time", to declare "position
reached".
Note: The Window Pos, Window Time, and Window Delay parameters are utilised to guarantee
a good positioning; in fact there are some situations (very high inertia, joint elasticity or belt, etc),
where after a positioning there is an oscillation. Setting correctly these parameters it is possible to be
sure that these oscillation is contained in a range (Window Pos) for a time over the time set in "Window
Time" parameter.

PSTOP Software
If the Final Position parameter is greater then the PTSOP Software, the task stops when the PSTOP
target is reached.
NSTOP Software
If the Final Position parameter is greater then the NTSOP Software, the task stops when the NSTOP
target is reached.
First profile
Not used.
Note: Each profile is identified and saved with a number from 1 to 32 (for example "Position Task Nr.
1"), selectable in the dedicated menu on the "Axor Profile Tool" window.
The "Axor Profile Tool" window has 4 icons which helps you during the parameter configuration:
Open Profile File

Load Data from Flash
Save Profile File
Save Data to Flash
Load Data from Flash

It permits the visualisation of the data saved into Flash. This values can be different from the prec-
edent visualised value, if a saving process has not been performed yet.
Save Data to Flash

It permits to save the parameter into Flash. In this mode the parameter will be loaded automatically
at the next power-up.
Save Profile File

It permits to save on a file the parameters set in the "Axor Profile Tool" window.
Open Profile File

It permits the loading of the parameters saved on a file.
Note: The functions Save Profile File and Open Profile File are very useful if you want to configure
more than a drive with the same setup.
In this case you can configure all parameters on a drive, save in flash and save the setup on a file.
For other drives it is not necessary to configure one by one the parameter of the single task but you
can use the file saved before and load the parameter saved on the file. After this save the parameter
into flash.

4.12 Oscilloscope
The "Oscilloscope" window menages a two channel oscilloscope:
Single Acquisition
It allows to set a single acquisition of data, when the first trigger event is reached.
Continuous Acquisition
It allows to set a continuous acquisition of data, for each trigger event.
Trigger (Edge)
It allows to set the trigger on the rising edge or the falling one.
Trigger (Level)
It allows to set the trigger level.
Auto
It set automatically the trigger level. Use this function for the first acquisition, in order to know the
level of the visualized signals.
Time Base
It allows to set the time base of the window.
Delay
It allows to apply a delay on the visualisation of the acquired data on the trigger event.

4.12 Oscilloscope
Channel 1 (o 2) (View)
It allows to select the signal to visualise with the oscilloscope. There are two options:
1- rotor speed: Speed [rpm]
2- phase current: I_Phase_U [A]
3- position error: Posit_Err [Pulses]
To disable a channel click the corresponding Enabled buttom.
Channel 1 (o 2) (Scale)
It allows to set the vertical scale of the window, in volt or millivolt for division. For the channel 1 the
scale will be visualized red on the left, while for the channel 2 the scale will be visualized blue on the
right.
For enabling/disabling data acquisition use the following icons:
Start data acquisition Reset the window.
Stop data acquisition

5) Applications
Chapter 5
Applications
5.1 Reset Fault Function 62

5.2 Emergency Function 63
5.3 Positioner 64
5.4 Homing procedure 65
5.5 Positioning procedure 71
5.6 Motor brake management 81
5.7 Stop Functions 87

5.1 Reset Fault Function
In the Fast BackTM it is possible to reset all resettable alarms by using the "Reset Fault" function,
that can be set on one digital programmable input in the Digital I/O window.
The resettable alarms are the following:
• Al3: Drive's temperature;

• Al4: Hall;
• Al5: Encoder;
• Al7: Motor's temperature;
• Al8: Regenerative Resistance;
• Al14: Following Error.
When a resettable alarm occurs the motor is blocked; to restore the correct functioning it is necessary
to:
1) disable the drive (using the "Disable" icon and/or DGT-IN1 input);
2) eliminate the cause that has determined intervention;
3) reset the alarm by setting the "Reset Fault" function in one available programmable digital input
and applying a high logic signal to this input (see note below);
4) enable the drive (using the "Enable" icon and/or DGT-IN1 input).
Note: It is possible to apply a high logic signal to the input in two modes:
- utilising the Speeder One interface: clicking on the button near the name of the digital input
which will then show red on the “St” led.
- hardware: by applying the corresponding voltage on the connector pins. This will cause leds “St”
and “Hw” to show red.
Reset Fault function sequence:
ON
resettable
ALARM
OFF
T
ON
ENABLE
INT
OFF
T
+24V
ENABLE
(DGT-IN1)
0V
T
+24V
RESET
FAULT
0V
T

5.2 Emergency Function
The Fats BackTM has the EMERGENCY function, settable on one digital programmable input in the
Digital I/O window a falling edge on the input set with this function cause the stop of the motor
by using the "Emer.Ramp" parameter set in the "Speed" window.
Attention: After the stop the motor remains in torque until a hardware disable .
Emergency function sequence:
+24V
EMERGENCY
0V T
Emergency
Ramp
MOTOR
SPEED 0RPM T
ENABLE +24V
(DGT-IN1)
0V T
ON
INTERNAL
ENABLE OFF T

5.3 Positioner
The Fast BackTM can be controlled as POSITIONER. An ABSOLUTE POSITIONER was implement-
ed, which implies transactions to absolute quotas reference to the reference point.
Example: Suppose we want to blend the following profiles, having the origin (0 pulses) as refer-
ence point:
POSITION TASK FINAL POSITION (pulses)

1° Position Task N.1 2000 pulses
a- During the first profile there will be a transaction from 0 pulses to 2000 pulses.
b- During the second profile there will be a transaction from 2000 pulses to 7000 pulses, so
there will be a turning equivalent to 5000 pulses.
c- During the third profile there will be a transaction from 7000 pulses to 3000 pulses; to ex-
ecute this movement the sense of rotation will change.
Example: Absolute Positioner

RPM
Position Position Task N.2

Task N.1
00 00 00 00
30 40 50 60
0 PULSES
00 00 00
10 20 Position Task N.3 70
It is possible to set up to 32 trapezoidal positioner profiles, by the Speeder One interface in the
Axor Profile Tool window.
It is possible to execute a single profile or a sequence of blending profiles.
Before starting an absolute positioning, it is necessary to execute a correct homing procedure, which
is the research of the reference position. The homing procedure uses the signal of the homing sensor
and, eventually, the zero signal of the encoder.
In the Fast BackTM the positioner and homing procedures can be managed via RS232, by using the
Speeder One interface or another master ModBus.
The following chapters illustrate examples of homing and positioner procedures.

5.4 Homing procedure
The Fast BackTM supports the following homing procedures:
a- Direct homing procedure with normally opened home sensor
Case 1: If the homing sensor is low at the start homing the drive pilots the motor in counter-clockwise
direction searching for the home sensor. When the sensor output becomes high, the motor decelerates
and inverts its motion.
Case2: If the homing sensor output is already high at the homing start the motor simply turns clock-
wise with a speed like the "Zero speed" parameter.
The home position will be set when the falling edge of the home sensor is received.
DGT-INx
Homing Sensor
Case 1
Case 2
b- Reverse homing procedure with normally opened home sensor
Case 1: If the homing sensor is low at the start homing the drive pilots the motor in clockwise
direction searching for the home sensor. When the sensor output becomes high, the motor decelerates
Case2: If the homing sensor output is already high at the homing start the motor simply turns coun-
ter- clockwise with a speed like the "Zero speed" parameter.
The home position will be set when the falling edge of home sensor is received.
DGT-INx
Homing Sensor
Case 1
Case 2

c- Direct homing procedure with normally closed home sensor
Case1: If the homing sensor is high at the start homing the drive pilots the motor in counter-clockwise
direction searching for the home sensor. When the sensor output becomes low, the motor decelerates
Case2: If the homing sensor output is already low at the homing start the motor simply turns clockwise
with a speed like the "Zero speed" parameter.
The home position will be set when the rising edge of home sensor is received.
DGT-INx
Homing Sensor
Case 1
Case 2
d- Reverse homing procedure with normally closed home sensor
Case1: If the homing sensor is high at the start homing the drive pilots the motor in clockwise direc-
tion searching for the home sensor. When the sensor output becomes low, the motor decelerates and
inverts its motion.
Case2: If the homing sensor output was already low at the homing start the motor axis simply turns
counter-clockwise with a speed like the "Zero speed" parameter.
The home position will be set when the rising edge of home sensor is received.
DGT-INx
Homing Sensor
Case 1
Case 2

e- Direct homing procedure with normally opened home sensor and zero index pulses
Case1: If the homing sensor is low at the start homing the drive pilots the motor axis in counter-
clockwise direction searching for the home sensor. When the sensor output becomes high, the motor
decelerates and inverts its motion.
Case2: If the homing sensor output is already high at the homing start the motor simply tursn clockwise
The home position will be set on the first zero pulse after the falling edge of the home sensor.
DGT-INx
Homing Sensor
Zero Encoder
Case 1
Case 2
f- Reverse homing procedure with normally opened sensor and zero index pulses
Case1: If the homing sensor is low at the start homing the drive pilots the motor in clockwise direc-
tion searching for the home sensor. When the sensor output becomes high, the motor decelerates and
inverts its motion.
Case2: If the homing sensor output is already high at the homing start the motor simply turns coun-
ter- clockwise with a speed like the "Zero speed" parameter.
The home position will be set on the first zero pulse after that the falling edge of the home sensor.
DGT-INx
Homing Sensor
Zero Encoder
Case 1
Case 2

g- Direct homing procedure with normally closed home sensor and zero index pulses
Case1: If the homing sensor is high at the start homing the drive pilots the motor in counter-clockwise
direction searching for the home sensor. When the sensor output becomes low, the motor decelerates
Case2: If the homing sensor output is already low at the homing start the motor simply turns clockwise
The home position will be set on the first zero pulse after that the rising edge of home sensor is re-
ceived.
DGT-INx
Homing Sensor
Zero Encoder
Case 1
Case 2
h- Reverse homing procedure with normally closed home sensor and zero index pulses
Case1: If the homing sensor is high at the start homing the drive pilots the motor in clockwise direc-
tion searching for the home sensor. When the sensor output becomes low, the motor decelerates and
inverts its motion.
Case2: If the homing sensor output is already low at the homing start the motor simply turns counter-
clockwise with a speed like the "Zero speed" parameter.
The home position will be set on the first zero pulse after that the rising edge of home sensor is re-
ceived.
DGT-INx
Homing Sensor
Zero Encoder
Case 1
Case 2
i- Homing immediate
Enabling the digital input (active high) with this homing method the motor doesn’t move and the cur-
rent position is set as the home position.

Homing utilizing sequence

Suppose to do the homing procedure: "b- Reverse homing procedure with normally opened home
sensor". The procedure is the following:
1- Select the operative mode "4:Position Mode" and enable the "Hardware Control" box.
2- In the main window of the interface set the desired homing metod and its parameters, then save
all by using the "Save to EEPROM" icon. For example:
3- Open the “Digital I/O” window and set:

- a digital programmable input with the Start Homing function (for example: DGT-IN3);
- a digital programmable input with the Homing Sensor function (for example: DGT-IN2);
- a digital output with the Homing OK function (for example: DGT-OUT1);
Save all using the “Save to EEPROM” icon.
4- Execute the procedure:
a- Enable the DGT-IN1 (Enable) digital input the motor will be on torque.
b- Enable the DGT-IN3 (Start Homing) digital input the motor moves to search the home
position using the homing parameters saved on the interface. Every time this input is disabled the
homing position is resetted.
c- When the home sensor output, connected to the DGT-IN2 (Homing Sensor) digital input, is
sensed active (in this example we considered a normally opened sensor), the motor decelerates
d- The home position is set when the falling edge of home sensor is received. When this happens
the drive enables the DGT-OUT1 (Homing OK) digital output. This value is kept high as soon as
the DGT-IN3 (Start Homing) digital input is kept high, independently of the DGT-IN1 digital
input (see (b) in the figure).
(b)
DGT-IN1
(ENABLE)
DGT-IN3
(START HOMING)
DGT-IN4
(HOMING SENSOR)
SPEED
DGT-OUT1
(HOMING OK)
Attention: If the procedure is not successful, it is not possible to execute a positioning pro-
file.

5.4 Procedure di Homing
Warnings
1) Disabling the DIG-IN3 (Start Homing) digital input, before that the home position reached in-
dication is generated, makes the homing process to abort. No home position is saved and the motor
decelerates using the “Acceleration” parameter.
DGT-IN1
(ENABLE)
DGT-IN3
(START HOMING)
DGT-IN4
(HOMING SENSOR)
SPEED
DGT-OUT1
(HOMING OK)
2) Disabling the DGT-IN1 (ENABLE) digital input, before the ending of the homing procedure, causes
the interruption of homing process. In this case no homing position is saved and the motor is left free
(deceleration is depending of inertia and friction). A new homing process can be start disabling the
DGT-IN3 input and then enabling the DGT-IN1 and DGT-IN3 digital inputs ((a) in figure).
DGT-IN1
(ENABLE)
DGT-IN3
(START HOMING)
DGT-IN4
(HOMING SENSOR)
(a)
SPEED
DGT-OUT1
(HOMING OK)

5.5 Positioning procedure
The following table illustrates the "Positioning Procedures" available by the Fast BackTM, while in
the following pages there are examples:
It enables a movement having the following parameters:
• "acceleration time" that is equal to the homing acceleration time;
• "speed (in rpm)" equal to the value set in the auxiliary variable;
Start Jog • "target" equal to the positive extreme (PSTOP software) of the axis if the speed
is positive, or equal to the negative extreme (NSTOP software) of the axis if the
speed is negative;
• "deceleration time" that is equal to the homing acceleration time.
It enables the task set by the digital inputs: DGT-IN5...DGT-IN9. There is not
Start Task I/O
possibility of blending with this function.
It enables the task set by the auxiliary variable. There is not possibility of blend-
Start_Task_n°
ing with this function.
IN5...DGT-IN9, while the next tasks are set by using the "Next Profile" param-
Start Sequence
eter associated to each task. At the end of each task the following automatically
starts.
IN5...DGT-IN9, while the next tasks are set by using the "Next Profile" parameter
Start Next associated to each task. At the end of each task the motor stops, the user has
to click twice the task button (disabling and enabling) in order to start the next
task of the sequence.

Example: Start Task I/O positioning procedure
Suppose we want to do the Start Task I/O positioning procedure, which executes the task selected
by the DGT-IN5...DGT-IN9 digital inputs.
1. Execute a successful homing procedure. If no homing procedure is successful completed, no posi-

tioning profile can be made.
At the end of the homing procedure keep active the DGT-IN1 (ENABLE) and DGT-IN3 (Start Hom-
ing) digital inputs.
2. In the “Axor Profile Tool” window set all of the parameters reference the desired positioner profile,
then save to FLASH utilizing the “Save Data to FLASH” icon.
Each task is saved with a number (from 1 to 32). Refer to that number to select the desired task us-
ing the digital inputs.
3. Open the “Digital I/O” window and set:

- a programmable input with the Start Task I/O function (for example DGT-IN2);
- the DGT-IN5…DGT-IN9 inputs in order to select the desired positioner profile. If the DGT-IN5
digital input is set with the “Off” function, it is possible to make the direct addressing of all the
32 available tasks, while if the DGT-IN5 digital input is set with any functions other than “Off”,
it is possible to make the direct addressing of only 16 profiles, from 1 to 16.
- an output with the Target OK function (for example DGT-OUT2).
Save all utilizing the “Save to EEPROM” icon.
4. Enabling the DGT-IN2 (Start Task I/O) input the selected task will start and the motor will move
following the defined motion profile parameters.
DGT-IN1
(ENABLE)
DGT-IN3
(START HOMING)
(B)
START START CONTINUE
DGT-IN2 PROFILE 1 PROFILE 2 PROFILE 2
(START TASK I/O)
DGT-IN5...9 SELEC. PROFILE 1 SELEC. PROFILE 2
SPEED
HOMING
DGT-OUT1 SUCCESSFUL
(HOMING OK)
TARGET TARGET
REACHED REACHED
DGT-OUT2
(TARGET OK)
(A)

Note:
• If during a profile task the DGT-IN2 (Start Task I/O) digital input is disabled (see (B)), the motor
decelerates using the “Dec.Time” parameter associated to the selected profile and stops. If the DGT-
IN2 (Start Task I/O) is re-enabled, it will be possible to conclude the interruped task.
• At the end of a successful position task the drive will enable the DGT-OUT2 (Target OK) digital
output to indicate the position quote has been reached. This indication is generated when the absolute
quote of the motor is within the “Window Pos.” parameter for a period (A) longer than the “Window
Time” value.
The DGT-OUT2 (Target OK) output will be high until the next profile starts or the DGT-IN3 (Start
Homing) input is high.
• After the conclusion of the position profile there are two different possibilities:
Disable the drive:

Disabling the DGT-IN1 (Enable) digital input will release the motor (quote can be lost). Remember
this in order to maintain safe working conditions for the system!
The axis position is kept as long as the drive is powered, so it is possible to re-enable the drive
and make other positions without completing a new homing procedure.
Start another motion profile:

To start another position task keeping the home position already defined, use the DGT-IN5...
DGT-IN9 digital inputs to select the new profile task. Then disabling and re-enabling the DGT-
IN2 digital input (Start Task I/O) the new position task will start.
During this time the DGT-IN3 (Start Homing) input must remain active.

Example: Start_Task_n° positioning procedure
Suppose we want to do the Start_Task_n° positioning procedure, which executes the task selected
by the auxiliary variable associated to the Start_Task_n° function.

2. In the “Axor Profile Tool” window set all of the parameters reference the desired positioner profile,
then save to FLASH utilizing the “Save Data to FLASH” icon.
Each task is saved with a number (from 1 to 32). Refer to that number to select the desired task using
the auxiliary variable.

- a programmable input with the Start_Task_n° function (for example DGT-IN2), inserting in
the auxiliary variable the number of the desired task;
4. Enabling the DGT-IN2 (Start_Task_n°) input the selected task will start and the motor will move
following the defined motion profile parameters.
DGT-IN1
(ENABLE)
DGT-IN3
(START HOMING)
(B)
(START_TASK_n°)
SPEED
HOMING
DGT-OUT1 SUCCESSFUL
(HOMING OK)
TARGET TARGET
DGT-OUT2 REACHED REACHED
(TARGET OK)
(A)

Note:
• If during a profile task the DGT-IN2 (Start_Task_n°) digital input is disabled (see (B)), the motor
decelerates using the “Dec.Time” parameter associated to the selected profile and stops. If the DGT-
IN2 (Start_Task_n°) is re-enabled, it will be possible to conclude the interruped task.
• At the end of a successful position task the drive will enable the DGT-OUT2 (Target OK) digital
output to indicate the position quote has been reached. This indication is generated when the absolute
quote of the motor is within the “Window Pos.” parameter for a period (A) longer than the “Window
Time” value.
The DGT-OUT2 (Target OK) output will be high until the next profile starts or the DGT-IN3 (Start
Homing) input is high.
• After the conclusion of the position profile there are two different possibilities:
Disable the drive:

The axis position is kept as long as the drive is powered, so it is possible to re-enable the drive
and make other positions without completing a new homing procedure.

To start another position task keeping the home position already defined:
1- change the auxiliary variable of the digital input set with the Start_Task_n° function, save
all, then disable and enable the digital input. Or:
2- set another digital input with the Start_Task_n° function, save all, then enable the digital
input to start the new sequence.

Example: Start Next positioning procedure
Suppose we want to do the Start Next positioning procedure.

2. In the “Axor Profile Tool” window set all of the parameters of the positioner profiles of the se-
quence, then save to FLASH utilizing the “Save Data to FLASH” icon.
Each task is saved with a number (from 1 to 32). Refer to that number to select the first task of the
sequence using the digital inputs.

- a programmable input with the Start Next function (for example DGT-IN2);
- the DGT-IN5…DGT-IN9 inputs in order to select the first profile of the sequence.
4. Enabling the DGT-IN2 (Start Next) input the first task of the sequence, selected by the digital
inputs, will start and the motor will move following the defined motion profile parameters.
At the end of each task the motor stops, then disabling (see (A)) and enabling (see(B)) the DGT-IN2
(Start Next) input the task set in the “Next Profile” parameter will start. If in the “Next Profile”
parameter there is “None”, the sequence will start from the first task.
DGT-IN1
(ENABLE)
DGT-IN3
(START HOMING)
(A) (B) (C)
(START NEXT)
DGT-IN5...9 SELEC. PROFILE 1
SPEED
HOMING
DGT-OUT1 SUCCESSFUL
(HOMING OK)
DGT-OUT2
(NEXT TARGET)

Note:
• If during a task the DGT-IN2 (Start Next) digital input is disabled (see (C)), the motor decelerates
using the “Dec.Time” parameter associated to the current task and stops. If the DGT-IN2 (Start
Next) is re-enabled, it will be possible to finish the interrupted task.
• When the first task of the sequence starts, the output set with the “Next Target” is opened, then at
the end of each position task the “Next Target” digital output changes its status.
• After the conclusion of the sequence there are two different possibilities:
Disable the drive:

The axis position is maintained as long as the drive is powered, so it is possible to re-enable the
drive and make other positions without completing a new homing procedure.

To start another position task keeping the home position that is already defined, use the DGT-IN5...
DGT-IN9 digital inputs to select the new first task of the sequence. Then disabling and re-enabling
the DGT-IN2 digital input (Start Next) the new sequence will start.

Example: Start Sequence positioning procedure
Suppose we want to do the Start Sequence positioning procedure.

2. In the “Axor Profile Tool” window set all of the parameters of the positioner profiles of the se-
quence, then save to FLASH utilizing the “Save Data to FLASH” icon.
Attention: set the “Next Profile” parameter in order to execute correctly the desired sequence.
Each task is saved with a number (from 1 to 32). Refer to that number to select the desired task us-
ing the digital inputs.

- a programmable input with the Start Sequence function (for example DGT-IN2);
- the DGT-IN5…DGT-IN9 inputs in order to select the first profile of the sequence.
4. Enabling the DGT-IN2 (Start Sequence) input the first task of the sequence, selected by the digital
inputs, will start and the motor will move following the defined motion profile parameters.
If at the end of a task the DGT-IN2 input is kept active and in the “Next Profile” variable there is a
label other than “None”, the task set in the “Next Profile” starts automatically. This sequence con-
tinues until a label “None” is found in the “Next Profile” variable. In this case the sequence is ended
and must be re-programmed by the user.
DGT-IN1
(ENABLE)
DGT-IN3
(START HOMING)
(A)
DGT-IN2 CONTINUE
START
(START NEXT) SEQUENCE PROFILE 3
DGT-IN5...9 SELEC. PROFILE 1
SPEED PROFILE 1
PROFILE 2 PROFILE 3
HOMING
DGT-OUT1 SUCCESSFUL
(HOMING OK)
DGT-OUT2
(NEXT TARGET)

Note:
• If during a task the DGT-IN2 (Start Sequence) digital input is disabled (see (A)), the motor decel-
erates using the “Dec.Time” parameter associated to the selected profile and stops. If the DGT-IN2
(Start Sequence) is re-enabled, it will be possible to finish the interrupted task.
• When the first task of the sequence starts the output set with the “Next Target” is opened, then at
the end of each position task the “Next Target” digital output changes its status.
• After the conclusion of the sequence there are two different possibilities:
Disable the drive:

Disabling the DGT-IN1 (Enable) digital input will let the motor free (quote can be lost). Remember
The axis position is kept as long as the drive is powered, so it is possible to re-enable the drive and
make other positions without completing a new homing procedure.
Start another sequence:

To start another sequence keeping the home position that is already defined, use the DGT-IN5...
DGT-IN9 digital inputs to select the new first motion profile task of the sequence. Then disabling
and re-enabling the DGT-IN2 digital input (Start Sequence) the new sequence will start.

Example: Start_JOG positioning procedure
Suppose we want to do the Start_JOG positioning procedure.
1. Execute a homing procedure. In this case a homing procedure is not necessary.

2. In the “Axor Profile Tool” window set the parameters “PSTOP Software”, ”NSTOP Software”,
“Window Pos.”, “Window Time”, then save to FLASH utilizing the “Save Data to FLASH” icon.

- a programmable input with the Start_Jog function (for example DGT-IN2);
4. By clicking the DGT-IN2 (Start_JOG) digital input, it enables a moviment having the following
parameters:
• "acceleration time" that is equal to the homing acceleration time;
• "speed (in rpm)" equal to the value set in the auxiliary variable;
• "target equal" to the positive extreme (PSTOP software) of the axis if the speed is positive, or
equal to the negative extreme (NSTOP software) of the axis if the speed is negative;
• "deceleration time" that is equal to the homing acceleration time.
DGT-IN1
(ENABLE)
DGT-IN3
(START HOMING)
(A)
START CONTINUE
DGT-IN2 TASK TASK
(START_JOG)
SPEED
HOMING
DGT-OUT1 SUCCESSFUL
(HOMING OK)
TARGET PSTOP or
NSTOP REACHED (B)
DGT-OUT2
(TARGET OK)
Note:
If during a profile task the DGT-IN2 (Start_JOG) digital input is disabled (see (A)), the motor de-
celerates using the “Acceleration” parameter associated to the homing procedure and stops. If the
DGT-IN2 (Start_JOG) is re-enabled, it is possible to finish the interrupted task.
At the end of a successful position task the drive will enable the DGT-OUT2 (Target OK) digital output
to indicate the position quote has been reached (see (B)).

5.6 Motor brake management
The Fast BackTM has a circuitry which allows the control of the electromechanical brake integrat-
ed in the motor. It is a Stationary Brake, so it can be used:
• with motor not running, for blocking the motor's axis;
• for "occasionally" emergency stops.
It cannot be used for dynamic braking, except on emergency.
The user has the following possibilities:
a- Not manage the brake.
b- Manual brake management:
• The current necessary to unblock the brake is given by the drive's electronics, but it
is controlled by a logic external to the drive.
• The user has to manage: the blocking time and the unblocking time of the brake, the ena-
bling, the emergency ramp, the blocking time of the brake during alarms or when the motor is
turning.
c- Automatic brake management:
• The current necessary to unblock the brake is given by the drive's electronics and it is
controlled by a logic internal to the drive.
• The drive has to manage: the blocking time and the unblocking time of the brake, the ena-
bling, the emergency ramp, the opening time of the brake during alarms or when the motor is
turning.

a- Not managing the brake
1) Select Without in the Holding

Brake box of the "Motor" window.
2) Click on the "Save Data To Eeprom"

icon in the main window of the interface,
in order to save all settings and make
them operative at the next start up.
During alarms the functioning of the system is interrupted, the motor remains free and will
eventually stop due to the friction and inertia of the axis; at this point there are two pos-
sibilities:
• if the motor has not the brake, the axis remains not blocked;
• if the motor has the electromechanical brake, the user can manage the axis block, for
example using an external relè.

b- Manual brake management: the brake can be manually controlled via software,
or via hardware.
1) Select With in the Holding Brake

box of the "Motor" window.
2) Select Brake in digital program-

mable input DGT-IN2.
3) Click on the "Save Data To Eep-

rom" icon in the main window of the
interface, in order to save all settings
and make them operative at the next
startup.

Insertion and dis-insertion diagram:

20-100ms
1) Stop the motor by applying a zero MOTOR
speed reference. SPEED (1)
0RPM T
BRAKE +24V
2) Then block the motor brake by
COMMAND
applying 0V on the digital input set (2)
INPUT
with the "Brake" function. 0V T
100ms
+24V
3) After 100ms it is possible to
disable the drive applying 0V on the ENABLE (3)
DGT-IN1 (ENABLE) input. (DGT-IN1) 0V T
At this point the motor will remain mechanically blocked.
To UNBLOCK the electromechanical brake, it is necessary to apply +24V to the DGT-IN1 (ENABLE)
input, then +24V to the digital input set with the "Brake" function and then after 20ms, it will be
possible to setup the desired speed reference.
Attention: it is possible to drive the DGT-IN1 and Brake digital inputs:

via software: in the Digital I/O window, by using the dedicated buttons;
via hardware: applying the appropriate voltage on the pins of the X4 connector. It is necessary
to connect the pin X4-4 (DGT-IN RTN) to the CN, too.
Stop of the system and insertion of the brake with the manual brake manage-
ment during an alarm:
During an alarm the internal control ALARM

of the Fast BackTM stops the system T
functioning disabling the INTERNAL
ENABLE, so the motor remains free
and it continues to move by inertia ON
and frictions. At this point the user can INTERNAL
activate the brake by applying 0V on ENABLE OFF T
the digital input set with the "Brake"
function and then it is possible to dis-
able the drive by applying 0V to the
DGT-IN1 (ENABLE HW) input:
MOTOR
0RPM T
SPEED
100ms
BRAKE +24V
COMMAND
INPUT 0V T
+24V
ENABLE HW
0V T

c- Automatic brake management:

• It works with these operative modes: "1: Digital Speed", "4: Position Mode", "7: Can Open",
"10: Square Wave".
• Select With on the Holding Brake box of the "Motor" window.
• Do not select the "Brake" function in a programmable digital input.
Insertion and dis-insertion diagram:

+24V
ENABLE HW
0V T
Emergency
Ramp
20ms
SOFTWARE
SPEED 0RPM T
REFERENCE
MOTOR 3% Max Speed

SPEED 0RPM T
t1
ON
INTERNAL
ENABLE
OFF T
t2
BRAKE +24V
COMMAND
OUTPUT 0V T
BRAKE
TORQUE
T
t3 t4
t5
t1 = max. deceleration time (1.5x Emergency Ramp).

t2 = internal software delay after the brake block (100ms)
t3, t4 = opening and closing times of the brake (they depend from the brake).
t5 = into this time the functioning of the system is controlled only by the
drive, all external commands are ignored.
After the hardware disabling the speed reference becomes zero by using the emergency ramp. When
3% of the max. speed is reached, or after a time equal to 1,5xEmer.Ramp, the brake output is disabled
(so the brake is blocked).
During the dis-insertion phase of the brake, the internal speed reference can be supplied after about
20ms from the disabling of the brake output.

Important note about the "automatic brake management":

The internal control of the Fast BackTM, during some alarms, stops the system by using the emer-
gency ramp before activating the brake (as illustrated in the insertion and dis-insertion diagram of the
preceading page), while for more dangerous alarms the brake is immediately activated (so when the
alarm is active, 0V is applied to the INTERNAL ENABLE and to the BRAKE COMMAND OUTPUT).
The more dangerous alarms, which cause the immediately insertion of the brake, are the following:
• Al2: Over Current;
• Al4: Hall;
• Al5: Encoder;
• Al9: Max/Min Voltage;
• Al14: Following Error;
• Al17: Over Current Brake.
All others alarms stop the system by using the emergency ramp before the brake's insertion.

5.7 Stop Functions
In the following pages we illustrate the behaviour of the Fast BackTM reference of the these set-
tings:
automatic or manual management of the stationary brake;

emergency stop.
We remember that:
• For the manual management of the brake it is necessary to set the "With" option on the "Hold-
ing Brake" box in the "Motor" window, then it is necessary to select the "Brake" function on one
digital programmable input.
• For the automatic management of the brake it is only necessary to set the "With" option on the
"Holding Brake" box in the "Motor" window (Attention: Not select the "Brake" function on one
digital programmable input).
• For the emergency stop it is necessary to set the dedicated flag in the "General Set" window.
The Fast BackTM has the following stop functions:
1) If there are these settings:
• there is not the manual or automatic management of the brake,

• the emergency function is not set,
if there is a disable (DGT-IN1 input or DISABLE button) or if there is an alarm, the motor
remains free and will eventually stop due to the friction and inertia of the axis.
ALARM
T
MOTOR
SPEED
0RPM T
ON
INTERNAL
ENABLE OFF T

5.7 Stop Functions
2) If there are these settings:
• there is not the manual or automatic management of the brake,

• the emergency function is set,
we can distinguished these cases:
a- if there is a disable (DGT-IN1 input or DISABLE button) or if there is a no danger alarm,

the motor stops following an emergency ramp equal to the "Emer. Ramp" parameter set
in the "Speed" window;
b- if there is a danger alarm, the internal enable immediately disables, the motor remains
free and will eventually stop due to the friction and inertia of the axis.
The dangerous alarms, which cause the immediately insertion of the brake, are the followings:
- Al2: Over Current;
- Al4: Hall;
- Al5: Encoder;
- Al9: Max/Min Voltage;
- Al14: Following Error;
- Al17: Over Current Brake.
All others alarms stop the system by using the emergency ramp before the brake's insertion.
Case a
ALARM
T
Emergency
Ramp
MOTOR
SPEED
0RPM T
ON
INTERNAL
ENABLE OFF
T
Case b
ALARM
T
MOTOR
SPEED
0RPM T
ON
INTERNAL
ENABLE OFF
T

5.7 Stop Functions
3) If there are the following settings:
• there is the automatic management of the brake,

• there is not the emergency stop,
we can distinguished these cases:
a- if there is a no danger alarm the motor stops following an emergency ramp equal to
the "Emer. Ramp" parameter; when 3% of the max. speed is reached the brake output
is disabled, then after the stop the internal enable disables;
b- if there is a danger alarm the brake is immediately activated.
Case a
ALARM
T
Emergency
Ramp
MOTOR 3% Max Speed

SPEED 0RPM
T
ON
INTERNAL
ENABLE
OFF T
+24V
BRAKE
COMMAND 0V
T
Case b
ALARM
T
MOTOR
SPEED 0RPM T
ON
INTERNAL
ENABLE OFF
T
+24V
BRAKE
COMMAND
0V T

5.7 Stop Functions
4) If there is the manual management of the brake we can distinguished these cases:
a- if the emergency stop is not set, if there is an alarm the internal enable disables, the
motor remains free and will eventually stop due to the friction and inertia of the axis;
after the stop it is possible to block the axis enabling the brake command and disabling
the hardware enable;
b- if the emergency stops is set, if there is a no danger alarm or if there is a disable, the
more stop following the emergency ramp; after the stop it is possible to block the axis
enabling the brake command and disabling the hardware enable.
Case a
ALARM
T
ON
INTERNAL
ENABLE OFF T
MOTOR
0RPM T
SPEED
100ms
BRAKE +24V
COMMAND
0V T
+24V
HW
ENABLE 0V T
Case b
ALARM
T
Emergency
Ramp
MOTOR
SPEED 0RPM T
BRAKE +24V
COMMAND
0V T
100
ON ms
INTERNAL
ENABLE
OFF T

5.7 Stop Functions
5) If the drive has not the electromechanical brake, but one digital input is set with the Brake
function, it is an anomalous condition because the Brake function should not be set in any
input. However, it is possible to distinguish these cases:
a- if the emergency function is not set and there is an alarm or a disable, the internal
enable disables, the motor remains free and will eventually stop due to the friction and
inertia of the axis;
b- if the emergency function is set and there is a not grave alarm or a disable, the motor
stops following the emergency ramp set on the "Emer. Ramp" parameter. If there is a
grave alarm, the drive disables and the motor is free.

6) Appendix
Chapter 6
Appendix
6.1 ModBus Protocol 94

6.2 Ordering code 98
6.3 Transport, Storage, Maintenance, Disposal 99

6.1 ModBus Protocol
It is possible to connect the Axor drives to a PC (or a Master server) in RS232 using the MODBUS
communication protocol specified in the Modicon instructions (see http://www.modicon.com/tech-
pubs/).
In particular, the instructions supported by the drive are the following:
• Read more registers (command: 0x03)

• Write one register (command: 0x06)
• Write more registers (command: 0x10)
We remind that registers have 16 bits and each register is characterised by its address; in particular
the first register has the 0 address (each register has 16 bits).
The registers addressed from 0 to 254 are used for the drive’s control parameters, the register having
the 255 address contains the CRC of the control parameters, while the registers addressed from 256
to 831 are reserved for the integrated positioner. If you try to read a register having an address above
831, the "drive’s timeout" exception is generated.
The interogations must be sent to the drive using the following parameters:
• RTU modality (Remote Terminal Unit)

• Baud rate = 19200
• 1 start bit
• 8 data bit
• 1 parity bit (EVEN)
• 1 stop bit
MESSAGGE STRUCTURE
Using the RTU mode a message has the following structure:
START IDENTIFICATION COMMAND DATA CRC END

T1-T2-T3-T4 8bit 8bit N*8bit 16bit T1-T2-T3-T4
1. Start: period of silence 4 character length (T1-T2-T3-T4).

2. Identification: it has 8 bits and can change between 1 and 127. It represents the drive with which
you want to communicate.
3. Command: it has 8 bits and contains the "to do" function .
4. Data: it can have a variable length and contains the necessary information to do the set com-
mand.
5. CRC (Cyclical Redundancy Check): it has 16 bits and is utilised to verify the correction of the mes-
sage.
6. End: period of silence 4 character length.
It is necessary that the bytes of the message are sent compact and continuative (not separate from
one another) for this could generate an CRC alarm in reception.
CHARACTER STRUCTURE
When a message is sent, each character of the message is sent from left to right:
less significant bit (LSB)…………………………………more significant bit (MSB)
In particular, in RTU mode, the sequence of bits of every character is the following:
Start Bit di Bit di

1 LSB 2 3 4 5 6 7 8 MSB
Bit parità stop

6.1 ModBus Protocol
0x03 COMMAND: READ REGISTER
The 0x03 command allows you to read the registers of the drive.
Example:
Question: the MASTER asks the SLAVE, having the 0x14 identification, to read the registers having
the following addresses: 0x0005, 0x0006, 0x0007.
Character Name Example (hex)

Identification 14
Command 03
Start address Hi 00
Start address Lo 05
Number of register Hi 00
Number of register Lo 03
CRC --
CRC --
Answer: the SLAVE, having the 0x14 identification, sends the values of the registers having the fol-
lowing addresses: 0x0005, 0x0006, 0x0007.
Character Name Example (hex)

Identification 14
Command 03
Number of byte 06
Data Hi (register 0x0005) 12
Data Lo (register 0x0005) A2
Data Hi (register 0x0006) 02
Data Lo (register 0x0006) 1F
Data Hi (register 0x0007) 0A
Data Lo (register 0x0007) 10
CRC --
CRC --
The 0x0005 register has the 0x12A2 value, the 0x0006 register has the 0x021F value, the 0x0007
register has the 0x0A10 value.

6.1 ModBus Protocol
0x06 COMMAND: WRITE A REGISTER
The 0x06 command allows you to write a value on a register of the drive.
Example:
Question: the MASTER asks the SLAVE, having the 0x14 identification, to write the 0x0003 value into
the 0x0002 register.
Character name Example (hex)

Identification 14
Command 06
Start address Hi 00
Start address Lo 02
CRC --
CRC --
Answer: the answer is an echo of the question after that the register is written.

Identification 14
Command 06
Start address Hi 00
Start address Lo 02
CRC --
CRC --

6.1 ModBus Protocol
0x10 COMMAND: WRITE N REGISTERS

The 0x10 command allows you to write "n" consecutive registers, using only one question. The number
of registers that can be written using this command are 16.
Example:
Question: the MASTER asks the SLAVE, having the 0x14 identification, to write into two registers the
0x000A and 0x0102 values, starting from the 0x0001 address.

Identification 14
Command 10
Start address Hi 00
Start address Lo 01
Number of registers Hi 00
Number of registers Lo 02
Number of byte 04
Value Hi 00
Value Lo 0A
Value Hi 01
Value Lo 02
CRC --
CRC --
Answer: the answer is an echo of the identification, the command, the start address and the number
of the written register.

Identification 14
Command 10
Start address Hi 00
Start address Lo 01
Number of registers Hi 00
Number of registers Lo 02
CRC --
CRC --

6.2 Ordering code
To order a digital drive serie Fast BackTM refer to this ordering code:
FBK 75 M 30/220T 000D00X 0 T15 F0 - FR - 1 XX 000XX

Drive's name Additional features:
Series: 75, 100 000XX
Size: XS, S, M, L Not in use

Not in use
Nominal Speed
Ex: 30=3000RPM SEF: Safety Enable
Function
Power Supply 1= Present (opt)
220T=Three phase 230Vac 0= Not Present (std)
220M=Single phase 230Vac
R485: RS485 Interface
000 D 00 X (std)
1= Present (opt)
Mounting Flange: 0= Not Present (std)
000=standard
001÷499= IEC metric dimension CBMD: CanBus +
501÷999=Axor's internal code Multidrop Interface
1= Present (std)
Mounting Holes: 0= Not Present (opt)
D=B5 flange with thru holes (std)
C=B14 flange with threaded holes (opt) Axor internal use:
XX=std
Shaft Diameter: +R=reducer presence (opt)
00=standard
01÷49=IEC metric dimension Protection Class:
50÷99=Axor's internal code 1=IP54 (std)
2=IP65 (opt)
Shaft Key: 3=IP65S with saft oil seal (opt)
x=with key (std)
w=without key (opt) Connections Orientation:
FR= forward/rear exits (std for FBK 75)
Holding Brake: TT= top/top exits (std for FBK 100)
0 = without brake (std)
1 = with brake (opt) Electrical connections:
F0= flying connectors, fixed part only (std)
Feedback: 1x(5p+PE bayonet power connector)
T15 = encoder OIH35Ø6-2048PPR (std for FBK 75) 2x(M12/4p signals screw connector)
T05 = encoder OIH48Ø8-2048PPR (std for FBK 100) 2x(M12/5p signals screw connector)
Special Flanges &

R
Shafts Bj6 D Vh9 W U Nj6 M F J F' E S T
□
(optional)
100D14X
14 30 5X25 16 M4x10 80 100 6.6 - - 3 10 90 115
(FBK 75 all sizes)
130D14X
14 30 5X25 16 M4x10 110 130 9 - - 3.5 10 115 150
(FBK 75 all sizes)
100C19X
19 40 6X32 21.5 M6x16 80 - - 100 M6X10 3 12 95 120
(FBK 100 all sizes)
115D24X
24 50 8X40 27 M8x19 95 115 9 - - 3 12 100 135
(FBK 100 all sizes)

6.3 Transport, Storage, Maintenance, Disposal
Transport
During the transport of the drive respect the following indications:
• the transport must be made by qualified personnel;
• avoid shocks;
• the temperature range must be between -25°C and +55°C;
• the max. humidity must be 95% (without condensation);
• The converters contains elements which are sensitive to electrostatic discharges. These elements
can be damaged by careless manipulation.
Discharge static electricity from your body before touching the converter.
Avoid contact with material that insulates well (synthetic fibres, films of plastic material and so
forth).
• we suggest to check the motor condition at its arrival to survey eventual damages.
Storage
The unused drives must be storage in an environment having the following characteristics:
• temperature from -25°C to +55°C;
• max. relative humidity 95% (without condensation).
Drives having a power supply ≥ 220VAC have a max. time with the drive powered off (without supply
connections) equal to 1 YEAR.
After this time, before enable the drive, it is necessary activate the capacitors following this procedure:
remove all electrical connections, then supply the input terminals of the supply with the main voltage
for 30 minutes.
In details, for drives having a power supply equal to 220VAC: power it by using a supply equal to
110÷130VAC.
In order to avoid this procedure, we suggest to power on the drive with its rated voltage for 30 minutes,
before the max. time is reached.
Maintenance
The drives does not need maintenance.
Otherwise:
• if the casing is dirty: clean it with isopropanol or similar;
• if the drive is dirty: the cleaning is reserved to the producer;
• if the fans are dirty: clean them by using a dry brush.
Disposal
The disposal should be carried out by a certified company.

Index
A
Alarms 40
Analog Output 29
B
Back Up supply
connections 22
connector 20
C
CanBus interface
connections 26
connector 25
D
Device ID 37
Digital inputs
connection 23
connector 23
settings by Speeder One 49
Digital output
connections 24
connector 23
Disposal 99
E
EMI Filter 8
F
File di taratura 58, 59
Fuses 11, 14
H
Holding brake
settings from Speeder One 81
Homing
procedure 65
L
Led 32
M
Maintenance 99
Mechanical curves 13, 16
ModBus Protocol 94
Multidrop
connections 30
settings 30

Index
O
Operative Mode 44
Ordering code 98
P
Positioner
positioning procedure 71
Start_Jog 80
Start_Task_n° 74
Start Next 76
Start Sequence 78
Start Task I/O 72
Power Supply
connections 20
connector 20
R
RS232 Interface 28
RS485 Interface 27
S
Speeder One 34
Storage 99
T
Transport 99


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AXOR Industries Service manual Fast BackTM ver.1 rev.

All rights reserved. Reproduction in whole or in part is prohibited without prior

Print in Italy 06/04/2007

2 AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07

AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07 3

4 AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07

The Fast BackTM is in accordance with the following safety standards:

and the following technical norms have been applied:

CEI EN 60204-1 Machine safety - Machine electric equipment.

Recalls: CEI EN 61000-4 CEI EN 60146-1-1.

6 AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07

2.1 Product description 8

AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07 7

There are two available sizes:

In speed control it utilises a digital reference from an external controller.

It can be controlled as POSITIONERS. An ABSOLUTE POSITIONER was implemented, which implies

8 AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07

AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07 9

10 AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07

FAST BACK - serie 75

AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07 11

Mechanical Dimensions - Fast Back 75

12 AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07

The Fast BackTM serie 75 has the following mechanical curves:

AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07 13

FAST BACK - serie 100

Auxiliary Supply +24VDC 6AT

14 AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07

Mechanical Dimensions - Fast Back 100

AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07 15

16 AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07

3.1 Important notes 18

Fuse DGT-RTN 4 I/O GND

The X1 connector contains:

Connector, X1 - Power supply

L2 2 3-PH 230 Vac

The ﬁgures below displays some example of connection:

Mains 380-400 Vac Mains 220-230 Vac

Mains 380-400 Vac Mains 220-230 Vac

• Insert protective fuses (F2).

Note: The nominal power of each motor is calculated in this way:

Pn=nominal motor power [VA]

Pt= nominal power of the transformer [VA]

Pin 3 on the X1 connector is utilised for an external power supply input.

Pin 3 .... External power supply +24VDC (±10%) input, BACK-UP

The technical characteristics of the Back Up input are the follows:

• Input protected against polarity inversion.

The X4 connector of the Fast BackTM manages two

M12 male connector, X4

M12 connector, X4 - Digital inputs and output

Pin X4-1 (ENABLE) is used only as the drive's enable.

Connection to the Numerical Control:

To set or enable the digital inputs by software or

The X2 and X3 connectors of the Fast BackTM manage

M12 male connector, X2 and X3

M12 connectors, X2 and X3 - CanBus

Can Bus SETTINGS:

To do a CanOpen Network you have to:

Can Bus CONNECTIONS