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EN Drives Installation Manual P/N 400501-02 Revision: A5 Date: January 10, 2003 © Control Techniques Drives, Inc. 1999-2003 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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EN Drives Installation Manual Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Control Techniques also assumes no responsibility for any errors that may appear in this document.
© Control Techniques Drives, Inc. 1999-2003 Part Number: 400501-02 Revision: A5 Date: January 2003 Printed in United States of America Information in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose, without the express written permission of Control Techniques.
Customer Support Control Techniques 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A. Telephone: (952) 995-8000 or (800) 397-3786 It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you need.
• Exact wording of any messages that appear on your screen • What you were doing when the problem occurred • How you tried to solve the problem Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’ technical support center when on-site service or maintenance is required. Training Services (952) 995-8000 or (800) 397-3786 Email: training@emersonct.
In addition, you will find the following typographic conventions throughout this manual. This Represents bold Characters that you must type exactly as they appear. For example, if you are directed to type a:setup, you should type all the bold characters exactly as they are printed. italic Placeholders for information you must provide. For example, if you are directed to type filename, you should type the actual name for a file instead of the word shown in italic type.
Safety Instructions General Warning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause severe electric shock and/or burns and could be lethal. Extreme care is necessary at all times when working with or adjacent to the product. The installation must comply with all relevant safety legislation in the country of use.
Underwriters Laboratories Listed LISTED 51Y8 IND. CONT. EQ. The EN Digital Servo Drives are marked with the “UL Listed” label after passing a rigorous set of design and testing criteria developed by UL (UL508C). This label indicates that UL certifies this product to be safe when installed according to the installation guidelines and used within the product specifications. The “conditions of acceptability” required by UL are: • The drive surrounding air ambient temperature must be 40° C (104° F) or less.
Drive Output Current vs. Time graph 60 Time (seconds) 50 40 30 20 10 0 100 125 150 175 200 % Drive Rated Current CE Declaration of Conformity The EN Digital Servo Drives are marked with the “Conformite Europeenne Mark” (CE mark) after passing a rigorous set of design and testing criteria. This label indicates that this product meets safety and noise immunity and emissions (EMC) standards when installed according to the installation guidelines and used within the product specifications.
Declaration of Conformity Manufacturer’s Name: Control Techniques Manufacturer’s Address: 12005 Technology Drive Eden Prairie, MN 55344 USA Declares that the following products: Products Description: E Series Digital Servo Drive Model Number: EN-204, EN-208 and EN-214 System Options: This declaration covers the above products with the ALP-130 Backup Logic Power Supply and ECI-44 Screw Terminal Interface.
Declaration of Conformity Manufacturer’s Name: Control Techniques Manufacturer’s Address: 12005 Technology Drive Eden Prairie, MN 55344 USA Declares that the following products: Products Description: Drive Accessories Model Number: RSR-2 and ALP-430 Conforms to the following product specification: The products herewith comply with the requirements of the Low Voltage Directive (LVD) 73/23/EEC. These products are considered components and as such, the EMC Directive (89/336/EEC) does not apply.
EN Drive Istallation Manual Safety Considerations Safety Precautions This product is intended for professional incorporation into a complete system. If you install the product incorrectly, it may present a safety hazard. The product and system may use high voltages and currents, carry a high level of stored electrical energy, or are used to control mechanical equipment that can cause injury.
EN Drive Istallation Manual voltages used in this unit can cause severe electric shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to this equipment. The installation must comply with all relevant safety legislation in the country of use.
Table of Contents Safety Considerations xi Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setup, Commissioning and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety of Machinery . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IP Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power Dissipation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed Torque Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EN Drive Installation Manual Introduction EN Drives The EN drives are stand-alone, fully digital brushless servo drives designed and built to reliably provide high performance and flexibility without sacrificing ease of use. The use of State-Space algorithms make tuning very simple and forgiving. The drives are designed to operate with up to a 10 :1 inertia mismatch right out of the box. Higher (50 :1 and more) inertial mismatches are possible with two simple parameter settings.
EN Drive Installation Manual through assignments in the software. PowerTools software is an easy-to-use Microsoft® Windows® based setup and diagnostics tool.
EN Drive Installation Manual Installation Basic Installation Notes You are required to follow all safety precautions during start-up such as providing proper equipment grounding, correctly fused power and an effective Emergency Stop circuit which can immediately remove power in the case of a malfunction. See the "Safety Considerations" section for more information. Electromagnetic Compatibility (EMC) Drives are designed to meet the requirements of EMC.
EN Drive Installation Manual Achieving Low Impedance Connections Noise immunity can be improved and emissions reduced by making sure that all the components have a low impedance connection to the same ground point. A low impedance connection is one that conducts high frequency current with very little resistance. Impedance cannot be accurately measured with a standard ohmmeter, because an ohmmeter measures DC resistance.
Installation AC Line Filters The AC line filters used during Control Techniques’ compliance testing are listed below. These filters are capable of supplying the drive input power to the specified drive under maximum output power conditions.
EN Drive Installation Manual Figure 2: Assembly Drawing for Shielded Cable Grommet Kits In Table Below.
Installation Inside Enclosure Outside Enclosure O-Ring seals against outside of enclosure to meet IP 68 (comparable to NEMA 6) Spring Contacts When Lock Nut is tighten to inside of enclosure, lock nut will cut through varnished, anodized and powder coated finishes. Tighten lock nut so that is cuts through finish and into housing. Cable Shielding Remove 1/2 to 1 inches of cable jacket. The Spring Contacts will make a continuous electrical path from the shield of the cable to equipment ground.
EN Drive Installation Manual NEMA Enclosure Note: EMC testing was done This wail must have good continuity to enclosure ground. with surface paint removed from the mounting panel area for drive contact.
Installation Wiring Notes • To avoid problems associated with EMI (electromagnetic interference), you should route high power lines (AC input power and motor power) away from low power lines (encoder feedback, serial communications, etc.). • If a neutral wire (not the same as Earth Ground), is supplied from the building distribution panel it should never be bonded with PE wire in the enclosure. • You should consider future troubleshooting and repair when installing all wiring.
EN Drive Installation Manual Electrical Installation System Grounding Enclosure Wall Ground Mains Contactor L1 L2 L3 Single Point Ground 3 Phase Line Power Ground connection rail and enclosure panel should have a low impedance connection. Paint must be removed from panel mounting surface. AC Line Fuses DC Power Supply + +24 VDC User Supply Control Voltage Transformer PE Paint must be removed from mounting surface to assure the chassis of the drive is connected to the single point ground.
Installation The Protective Earth (PE) wire connection is mandatory for human safety and proper operation. This connection must not be fused or interrupted by any means. Failure to follow proper PE wiring can cause death or serious injury. The EN-204 and EN-208 drives require 90 to 264 VAC single phase power. The EN-214 can operate with single or three phase 90 to 264 VAC. If single phase power is used with the EN-214, you must de-rate the output power available by 20 percent.
EN Drive Installation Manual DISTRIBUTION PANEL L3 SECONDARY L2 230 VAC L1 To Fusing and Drive Terminals PE EARTH GROUND Figure 7: (Protective Earth) Earth Grounded Delta Distribution Transformer AC Supplies Requiring Transformers If the distribution transformer is configured as shown in the figures below, an isolation transformer is required.
Installation Figure 9: Three Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE Isolation Transformer Figure 10: Delta to Delta Isolation Transformer Figure 11: Single Phase Power Supply Connections 13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
EN Drive Installation Manual Transformer Sizing If your application requires a transformer, use the following table for sizing the KVA rating. The values in the table are based on “worst case” power usage and can be considered a conservative recommendation. Worst case power usage assumes a motor and drive are running at the max. continuous operating point continuously (Max Torque, Max Speed). You can down-size the values only if the maximum power usage is less than the transformer continuous power rating.
Installation Transformer output voltage drop may become a limiting factor at motor speeds and loads near maximum ratings. Typically, higher KVA transformers have lower voltage drop due to lower impedance. Line Fusing and Wire Size You must incorporate over current protection for the incoming AC power with the minimum rating shown here. Control Techniques recommends Bussman type: KTK-R, RK1or equivalent.
EN Drive Installation Manual 50/60 Hz 90-264 VAC Front View Note: L3 is used with the EN -214 only. L1 L2 L3 GND Wire crimp ferrules are recommended: If 14 AWG, use panduit #PV14-P47. If 12 AWG, use Panduit #PV10-P55. When cycling power make sure AC power is off for 5 seconds minimum before reapplying power. Tighten screws to 5 lb-in. L1 L2 L3 PE J1 L1 L2 L3 PE Figure 12: EN AC Power Wiring Diagram 16 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.
Installation Do not connect or disconnect AC power by inserting or removing the AC power connector. Using the connector in this manner, even once, will damage the connector making it unusable. Auxiliary Logic/Alternate Power Wiring Supply Auxiliary Power Supply (APS) allows the drive to retain motor position information and serial communications when the main AC power supply is disconnected.
EN Drive Installation Manual As shown in Figure 13, the auxiliary logic power connector is accessed through a plastic punch-out tab located on top of the drive that reads "BUS/AUX". The auxiliary logic power for each EN drive must be individually transformer isolated from the AC supply. The voltage range is 127 to 373 VDC, at 21 Watts. This can be accomplished by isolating, rectifying and filtering 90 to 264 VAC.
Installation Front View PE Motor Power Connection Drive T S R GND Blue Black Brown Green/Yellow Shield C B A D T S R Ground Connector Shell 2" or 3" Motors: PT06A-15-8SSR 4" Motors: MS3106A-20-15SSR R S T Tighten screws to 5 lb-in. Wire crimp ferrules are recommended: If 14 to 16 AWG, use panduit #PV14-P47. If 12 AWG, use Panduit #PV10-P55. Important: Ground should connect to drive and motor only. Nothing should be connected between these devices.
EN Drive Installation Manual Motor Feedback Wiring Encoder feedback connections are made with the CFCS cable. This cable has an MS style connector on the motor end and a 26-pin high density “D” connector on the drive end.
Installation Motor Brake Wiring Motors equipped with brakes have a three-pin MS style connector. The brake power cable (model CBMS-XXX) has an MS style connector on the motor end and three wire leads on the amplifier end (see the following wiring diagrams). You must provide a DC power supply rated at +24 VDC with a 2 amp minimum current capacity for the brake. If you use this voltage source to power other accessories such as I/O or more than one brake, you must increase its current capability.
EN Drive Installation Manual Figure 17: EN Brake Wiring Diagram using the I/O Connector Input/Output and Drive Enable Wiring Drives are equipped with five optically isolated input lines (one is dedicated to a drive enable function) and three optically isolated output lines. They are designed to operate from a +10 to 30 VDC source. All inputs and outputs are configured as sourcing. You are responsible for choosing a load that will limit each output’s current to less than 150 mA.
Installation Front View A highspeed diode (such as a 1N5819) is required for inductive loads such as a relay, solenoid or contactor. I/O supply +10 to 30 VDC Load Load Load 2.8 k 1 Amp Fuse J6 Single point PE ground. Figure 18: - + 24 VDC EN Input/Output Wiring Diagram Note The I/O connector is a 10-pin removable terminal block. It is recommended that #18 to 24 AWG stranded wire be used.
EN Drive Installation Manual Note If loads are applied to the same output signal on both Command Connector and I/O Connector, the sum total current loading must be limited to 150 mA per output signal. Command Connector (J5) Wiring All command, 3 output and 4 input signals are available using the 44-pin Command Connector.
Installation Shield Connected to Connector Shell Command Connector (RED/BRN) 1 (BRN/RED) (BLK/BLU) (BLU/BLK) (WHT/ORG) 2 3 4 6 (ORG/WHT) (PRP/BLU) 21 8 (BLU/PRP) (RED/BLU) 9 11 (BLU/RED) (BLK/GRN) 12 16 (GRN/BLK) (BLK/BRN) 17 18 (BRN/BLK) (PRP/ORG) 19 (ORG/PRP) (BLK/RED) (RED/BLK) (PRP/GRN) (GRN/PRP) (YEL/BLU) (BLU/YEL) (YEL/BRN) (BRN/YEL) (PRP/BRN) (BRN/PRP) (PRP/GRY) (GRY/PRP) (WHT/BLU) (BLU/WHT) (WHT/GRN) (GRN/WHT) (WHT/RED) (RED/WHT) (GRY/YEL) (YEL/GRY) 23 24 25 39 27 41 34 32 33 31 37
EN Drive Installation Manual For information about Command Connector pinout and CMDO-XXX cable wire colors, see the "Specifications" section.
Installation Analog Command Wiring Command Connector With positive direction = CW Figure 21: Analog Command, Differential Wiring Diagram Figure 22: Analog Command, Single Ended Wiring Diagram 27 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
EN Drive Installation Manual Encoder Output Signal Wiring The encoder outputs meet RS-422 line driver specifications and can drive up to ten RS-422 signal receivers. The default encoder output scaling is set to output the actual motor encoder resolutions. The standard MG and NT motors have 2048 lines per revolution. With PowerTools this resolution is adjustable in one line per revolution increments up to the density of the encoder in the motor.
Installation Pulse Mode Wiring, Differential Inputs Single Point Panel Ground Twisted Pair Single Point PE Ground Note: If the external controller does not have an internal terminating resistor R1, R2, and R3 must be mounted within 6" of the drive. A 120 ohm resistor is recommended for high frequency (over 250 kHz) feedback signals or cable lengths longer than 25 feet.
EN Drive Installation Manual Pulse Mode Wiring, Single Ended Inputs +5 Logic Power Pulse A/ Direct B Sinking Outputs (typ) Common isolated from other sources Figure 27: Pulse Mode, Single Ended Output to Single Ended Input (twisted pair cable) +5 Logic Power Pulse A/ Direct B Sinking Outputs (typ) Common isolated from other sources Figure 28: Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) 30 Artisan Technology Group - Quality Instrumentation ...
Installation +5 Logic Power CW Pulse CCW Pulse Sinking Outputs (typ) CW Pulse CCW Pulse Common isolated from other sources Figure 29: Pulse/Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) Master Encoder or Drive Output Note: R1, R2, and R3 must be mounted within 6" of the end drive. A 120 ohm resistor is recommended for high frequency (over 250 kHz) stepping or cable lengths longer than 25 feet.
EN Drive Installation Manual output resolution is 2048 lines per motor revolution. This resolution is adjustable in one line per revolution increments with PowerTools software. The range is between 1 and the actual motor encoder density. Serial Communications Serial communications with the drive is provided through the female DB-9 connector located on the front of the drive. The serial interface is either three wire non-isolated RS-232C or two wire non-isolated RS-485.
Installation Modbus Communications The drive’s serial communication protocol is Modbus RTU slave with a 32 bit data extension. The Modbus protocol is available on most operator interface panels and PLC’s. Serial Communications Specifications Max baud rate 19.2k Start bit 1 Stop bit 2 Parity none Data 8 Control Techniques’ Motion Interface panels are supplied with a Modbus master communications driver.
EN Drive Installation Manual TIA Cable DDS Cable DDS Cable TERM-T TERM-H RX (232) TX (232) Ground 1 2 3 4 5 6 1 2 1 2 1 2 1 2 3 4 5 6 3 4 5 6 3 4 5 6 3 4 5 6 1 2 3 4 5 6 7 8 9 7 8 9 7 8 9 7 8 9 7 8 9 7 8 9 Drive Serial Port Drive Serial Port Drive Serial Port 120 Ohm Computer Computer Serial Port Drive Serial Port Drive Serial Port 0V +5 576 Ohm 485 + 120 Ohm 485 - 576 Ohm Drive Serial Port TERM-H TERM-T TIA Cable DDS Cable DDS Cable Top View of Multi-drop Cabling Figu
EN Drive Installation Manual Diagnostics and Troubleshooting Diagnostic Display The diagnostic display on the front of the drive shows drive status and fault codes. When a fault condition occurs, the drive will display the fault code, overriding the status code. The decimal point is “On” when the drive is enabled and the Stop input is not active. This indicates that the drive is ready to run and will respond to motion commands. Commands will not cause motion unless the decimal point is “On”.
EN Drive Installation Manual Display Indication Status Ready to Run Description Drive enabled, no Stop input. Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some faults, like high DC bus and amplifier or motor over temperature, can be reset with the Reset button on the front of the drive or the Reset input function.
Diagnostics and Troubleshooting Display Fault Action to Reset Bridge Disabled Low DC Bus Reset Button or Input Line Yes Encoder State Cycle Power Yes Encoder Hardware Cycle Power Yes Motor Overtemp Allow Motor to cool down, Reset Button or Input Line Yes RMS Shunt Power (EN drives only) Reset Button or Input Line Yes Overspeed Reset Button or Input Line Yes Following Error (Pulse mode only) Reset Button or Input Line Yes Travel Limit +/- Auto No All "On" Normally "On" for one se
EN Drive Installation Manual NVM Invalid At power-up the drive tests the integrity of the non-volatile memory. This fault is generated if the contents of the non-volatile memory are invalid. Invalid Configuration A function module was attached to the drive on its previous power-up. To clear, press and hold the Reset button for 10 seconds. Drive Overtemp Indicates the drive IGBT temperature has reached 100°C (212°F).
Diagnostics and Troubleshooting Encoder State Certain encoder states and state transitions are invalid and will cause the drive to report an encoder state fault. This is usually the result of noisy encoder feedback caused by poor shielding. For some types of custom motors it may be necessary to disable this fault. Refer to the Advanced Tab section of Setting Up Parameters for more information.
EN Drive Installation Manual Travel Limit +/This fault is caused when either the + or - Travel Limit input function is active. All "On" This is a normal condition during power up of the drive. It will last for less than 1 second. If this display persists, call Control Techniques for service advice. Normally, "All On" for less than one second during power-up.
Diagnostics and Troubleshooting Channel #2 Analog GND Channel #1 Epsilon Drive E Series Drive Figure 34: Diagnostic Analog Output Test Points The DGNE cable was designed to be used with either an oscilloscope or a meter. The wires are different lengths to avoid shorting to each other. However, if signals do get shorted to GND, the drive will not be damaged because the circuitry is protected.
EN Drive Installation Manual Drive Faults The Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There are two options in this dialog box: Reset Faults and Ignore Faults. Figure 36: Active Drive Faults Detected Dialog Box Resetting Faults Some drive faults are automatically reset when the fault condition is cleared. Other faults require drive power to be cycled or the drive to be “rebooted”.
Diagnostics and Troubleshooting Note You cannot change the values of the parameters while they are being displayed in the Watch Window. The parameter in the setup screens will look like they have been changed when they actually have not. To update a parameter, delete it from the Watch Window selection. Note It is normal to have the Watch Window show up with the three motor parameters already selected if the motor parameters window has been accessed previously.
EN Drive Installation Manual Group This list box enables you to view the complete list of parameters or just a group of parameters you are interested in. The groups include: Analog In, Analog Out, Communication, Digital Inputs, Execution, Fault Counts, Fault Log, ID, Input Functions, Motor, Output Functions, Position, Setup, Status, Torque, Tuning, User Defined Motor, and Velocity. Clear All Button This button is used to clear all the parameter selections that were previously selected.
Diagnostics and Troubleshooting The table below list the of common problems you might encounter when working with PowerTools software along with the error message displayed, the most likely cause and solution. Problem/Message Cause Solution Time-out while waiting for device response. The attempted operation has been cancelled. (see fault: No device selected) Loss of serial communications. Check the serial connection to the device and try operation again.
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EN Drive Installation Manual Specifications Drive Specifications EN Drive Specifications 90 - 264 VAC, 47-63 Hz (240 VAC for rated performance) AC Input Voltage: EN-204: 1Ø EN-208: 1Ø EN-214: 3Ø (for 1Ø operation, drive output power must be derated by 20%) AC Input Current: EN-204: 9.5 Arms (140A for 8ms inrush) EN-208: 19 Arms (140A for 8ms inrush) EN-214: 20 Arms 1Ø (140A for 5ms inrush) EN-214: 14 Arms 3Ø (100A for 5ms inrush) Output Continuous Current (RMS): EN-204: 4.
EN Drive Installation Manual EN Drive Specifications Analog Command: (1) ±10 VDC 14 bit, 100 kOhm impedance, Differential Analog Maximum Voltage Input Rating: Differential = +/- 14 VDC, each input with reference to analog ground = +/- 14 VDC Digital Inputs: (5) 10-30 VDC, 2.
Specifications EN Drive Specifications Low DC bus High DC bus Power Stage fault Logic power Encoder state Encoder line break Motor over temperature Overspeed Travel limit (+) Travel limit (-) Pulse mode position error RMS shunt power fault Function module error Power-up self test failure Non-volatile memory invalid Fault Detection Capability Environmental Ambient temperature range for rated output: 32° F to 104° F (0° C to 40° C) Maximum Ambient operating temperature: 32° F to 122° F (0° C to 50° C)
EN Drive Installation Manual Drive and Motor Combination Specifications Drive EN-204 EN-208 EN-214 Motor Cont. Torque lb-in (Nm) Peak Torque lb-in (Nm) Power HP @ Rated Speed (kWatts) Inertia lb-in-sec2 (kg-cm2) Max speed RPM Encoder resolution lines/rev Motor Ke VRMS/ krpm Motor Kt lb-in/ ARMS (Nm/ ARMS) NT-207 7.5 (0.85) 15 (1.72) 0.6 (0.44) 0.000094 (0.106) 5000 2048 35 5.12 (0.58) NT-212 12.5 (1.41) 27 (3.05) 1.03 (0.77) 0.000164 (0.185) 5000 2048 35 5.08 (0.
Specifications Motor Brake Specifications Motor Holding Torque lb-in (Nm) Added Inertia lb-in-sec2 (kg-cm2) Added Weight lb (kg) Coil Voltage (VDC) Coil Current (Amps) Mechanical Disengagement Time Mechanical Engagement Time NTE/M-2XX -CBNS, -LBNS, -TBNS 20 (2.26) 0.000106 (0.12) 1 (0.46) 24 (±10%) 0.33 (±10%) 28 ms 14 ms NTE/M-3XX -CBNS, -LBNS, -TBNS 88.5 (10) 0.000968 (1.093) 1 (0.46) 24 (±10%) 0.65 (±10%) 43 ms 13 ms MGE-2XXCB 10 (1.13) 0.000025 (0.0282) 1.8 (0.
EN Drive Installation Manual Axial/Radial Loading Figure 40: Motor Max Radial Load (lb.) Max. Axial Load (lb.
Specifications Encoder Specifications Motor MG and NT Density 2048 lines/rev Output Type RS422 differential driver Output Frequency Output Signals Power Supply 250 kHz per channel A, B, Z, Comm U, Comm W, Comm V and all complements 5V, 200 mA ±10% Power Dissipation In general, the drive power stages are 90 to 95 percent efficient depending on the actual point of the torque speed curve the drive is operating.
EN Drive Installation Manual Power Dissipation Calculation Calculating actual dissipation requirements in an application can help minimize enclosure cooling requirements, especially in multi-axis systems. To calculate dissipation in a specific application, use the following formula for each axis and then total them up. This formula is a generalization and will result in a conservative estimate for power losses.
Specifications Speed Torque Curves Continuous ratings of the MG and NT motors are based on 100°C (212°F) motor case temperature and 25°C (77°F) ambient temperature with the motor mounted to an aluminum mounting plate as shown in the table below . Motor Mounting Plate Size MG-205 and 208, NT-207 and 212 6” x 6” x .25” MG-316 through 490 and NT-320 through NT-355 10” x 10” x .375 MG-4120 12” x 16” x .5” • Speed torque curves are based on 240 VAC drive operation.
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EN Drive Installation Manual NT-330 with EN-208 NT-320 with EN-208 4500 4500 4000 3500 Speed (R P M ) Speed (R P M ) 4000 120 VAC 3000 2500 3500 2500 2000 2000 1500 1500 1000 1000 Peak Rating Continuous Rating 500 120 VAC 3000 Continuous Rating 500 0 Peak Rating 0 0 0 5 0.56 10 1.13 15 1.69 20 2.26 25 2.82 30 3.39 35 3.95 40 lb-in 4.52 Nm 0 0 10 1.13 30 3.39 20 2.26 60 6.78 70 lb-in 7.
Specifications EN Drive Dimensions Minimum Connector Clearance if used 6.90 [175.24] 0.41 [10.49] 0.39 [9.78] 1.75 [44.57] 0.33 [8.32] "A" 1.85 [47.12] 11.20 [284.54] 11.70 [297.08] 0.41 [10.37] 0.20 (5.08) Typ. 4 Places Model Dim “A” EN-204 2.93 [74.4] EN-208 3.43 [87.1] EN-214 3.93 [99.8] 59 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
EN Drive Installation Manual MG Motor Dimensions MGE-205 and 208 Motors MGE-205 and 208 Mounting Dimensions inches (mm) AG A BC AH U Max XD S Min R C Max AJ BB AK BF 205 5.60 (143.0) 2.25 (57.2) 0.46 (11.2) 1.20 (30.5) 0.375 (9.525) 0.563 (14.3) 0.127 (3.23) 0.300 (7.62) 2.0 (51) 2.625 (66.68) 0.063 (1.60) 1.502 (38.15) 0.205 (5.21) 208 6.75 (171.4) 2.25 (57.2) 0.46 (11.2) 1.20 (30.5) 0.375 (9.525) 0.563 (14.3) 0.127 (3.23) 0.300 (7.62) 2.0 (51) 2.625 (66.68) 0.
Specifications MGE-455, 490 and 4120 Motors MGE-455, 490 and 4120 Mounting Dimensions inches (mm) AG A BC AH U Max XD S Min R C Max AJ BB AK BF 455 8.61 (218.7) 5.00 (127.0) 0.53 (13.5) 190 (48.2) 0.6245 (15.862) 1.50 (38.1) 0.1875 (4.763) 0.51 (13.0) 3.20 (81.3) 5.875 (149.23) 0.10 (2.50) 4.500 (114.30) 3/8-16 UNC 490 11.11 (282.10) 5.00 (127.0) 0.53 (13.5) 190 (48.2) 0.8750 (22.225) 1.50 (38.1) 0.1875 (4.763) 0.77 (19.6) 3.20 (81.3) 5.875 (149.23) 0.10 (2.50) 4.
EN Drive Installation Manual NT Motor Dimensions NTE-207 and 212 Motors; English Face (NEMA 23 with 3/8 inch shaft) 1.780 [45.21] MAX ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-23S (-CONS) MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S (-CONS) F DRILLED THRU (4) EQUALLY SPACED ON G 1.925 [48.89] MAX A NTE-207, 212 -CONS,TONS and LONS Mounting Dimensions inches (mm) A B C D Max E F G I Max J Max K Min L Min M Min 207-CONS 5.55 (140.96) 2.27 (57.66) 0.295 (7.49) 1.50 (38.
Specifications NTM-207 and 212 Motors; Metric Face 1.780 [45.21] MAX ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-23S (-CONS) MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S (-CONS) F DRILLED THRU (4) EQUALLY SPACED ON G 1.925 [48.89] MAX A NTM-207, 212 -CONS,TONS and LONS Mounting Dimensions mm (inches) A B C D Max E F G I Max J Max K Min L Min M Min 207-CONS 140.96 (5.55) 65.18 (2.566) 7.49 (0.295) 60.012 (2.363) 2.54 (0.10) 5.80 (0.228) 75.0 (2.953) 23.51 (0.926) 10.
EN Drive Installation Manual NTE-207 and 212 Brake Motors; English Face (NEMA 23 with 3/8 inch shaft) MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S (-TBNS) FLYING LEAD LENGTH: 39.37±2.00 [1000±50.
Specifications NTE-207 and 212 Brake Motors; Metric Face 159, MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S (-TBNS) FLYING LEAD LENGTH: 39.37±2.00 [1000±50.8] (-LBNS and -TBNS) ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-23S (-TBNS) BRAKE CONN: PT02E-8-3P MATING CONN: PT06E-8-3S (-TBNS) J ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-23S (-CBNS) BRAKE CONN: PT02E-8-3P MATING CONN: PT06E-8-3S (-CBNS) MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S (-CBNS) 1.98 [50.
EN Drive Installation Manual NTE/M-320, 330, 345 and 355 Motors FLYING LEAD LENGTH: 39.37±2.00 [1000±50.8] (-LONS and -TONS) 2.35 [59.69] MAX ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-23S (-CONS) F DRILLED THRU (4) EQUALLY SPACED ON I MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S (-CONS) M G 2.450 [62.24] 45° J L K D (MIN) E B C SQR. (MAX.
Specifications Motor Wiring Color Cable Motor Encoder Cable Motor Encoder Connector Pin # (CONS/TONS) (8 Pair Shielded Cable) Motor Power Connections CFCO Cable Colors B A Blue Blue Blue C A/ Orange Blue/White Orange N B Green Green Green Brown P B/ Brown Green/White M Z Black Yellow Black U Z/ Yellow Yellow/Black Yellow E U White/Brown Brown White/Brown R U/ Brown/White Brown/White Brown/White F V White/Gray Orange White/Gray S V/ Gray/White Orange/Black
EN Drive Installation Manual Motor Power Connector: PT02E-16-8P Mating Connector: PT06E-16-8S Encoder Connector: PT02E-16-23P Mating Connector: PT06E-16-23S Cable Diagrams CMDX, CMDO, ECI-44 CDRO AX4-CEN Analog Command In + Drive Signal X X X Analog Command In - X X X Encoder Out A X X X Encoder Out A/ X X X Encoder Out B X X X Encoder Out B/ X X X Encoder Out Z X X X Encoder Out Z/ X X X Pulse In A X X Pulse In A/ X X Pulse In B X X Pulse In B/ X X Pulse I
Specifications CMDX, CMDO, ECI-44 CDRO AX4-CEN I/O Power + In (1st wire) Drive Signal X X X I/O Power + In (2nd wire) X X X I/O Power 0V In (1st wire) X X X I/O Power 0V In (2nd wire) X Analog Out 0V X X X Analog Out Channel #1 + X X X Analog Out Channel #2 + X X X External Encoder +5 Power Out (200 ma) X X External Encoder Common X X +15V Power Out (10 ma) X RS-485 + X RS-485 - X 69 Artisan Technology Group - Quality Instrumentation ...
EN Drive Installation Manual CMDX-XXX Cable 1 2 3 4 6 21 8 9 11 12 16 17 18 19 23 24 25 39 27 41 34 32 33 31 37 38 40 26 14 15 29 28 43 44 20 36 5 7 10 13 22 30 35 42 1 2 3 4 6 21 8 9 11 12 16 17 18 19 23 24 25 39 27 41 34 32 33 31 37 38 40 26 14 15 29 28 43 44 20 36 5 7 10 13 22 30 35 42 P P P P P P P P P P P P P P P P P P DRAIN SHELL COLOR CODE FUNCTION RED/BROWN STRIPE INPUT I/O 1 BROWN/RED STRIPE INPUT I/O 2 BLACK/BLUE STRIPE INPUT I/O 3 BLUE/BLACK STRIPE INPUT I/O 4 WHITE/ORANGE STRIPE
Specifications CMDO-XXX Cable PIN 1 2.
EN Drive Installation Manual CDRO-XXX Cable PIN 1 WIRE COLOR SOLID/STRIPE BLU/PUR P PUR/BLU ORG/PUR P PUR/ORG BRN/PUR P PUR/BRN RED/BLU P BLU/RED GRN/BLK P BLK/GRN WHT/BLU P BLU/WHT WHT/RED P RED/WHT YEL/GRY GRY/PUR P PUR/GRY BLK/BRN P BRN/BLK BRN/YEL P YEL/BRN WHT/GRN P GRN/WHT GRN/PUR P ENCODER OUTPUT A/ ENCODER OUTPUT A 11 12 34 16 14 15 29 ENCODER +5VDC SUPPLY ENCODER SUPPLY COMMON I/O SUPPLY + 4 19 26 40 18 17 31 33 43 44 41 27 INPUT #4 OUTPUT #1 ENCODER OUTPUT B/ ENCODE
Specifications AX4-CEN-XXX Cable ENCODER OUTPUT A/ 9 ENCODER OUTPUT A 8 ENCODER OUTPUT B/ 24 ENCODER OUTPUT B 23 ENCODER OUTPUT Z/ 38 ENCODER OUTPUT Z 37 BLU/PUR PUR/BLU PUR/ORG PUR/BRN N/C 34 DRIVE ENABLE INPUT ANALOG COMMAND INPUT - 16 ANALOG COMMAND INPUT + 15 DIAGNOSTIC OUTPUT COMMON BLU/WHT N/C N/C I/O COMMON - 31 I/O SUPPLY + 33 DIAGNOSTIC OUTPUT 1 43 DIAGNOSTIC OUTPUT 2 44 OPEN COLLECTOR PULSE/ 20 OPEN COLLECTOR DIRECTION 36 RED/WHT P P P P GRN/PUR PUR/GRN N/C
EN Drive Installation Manual TIA-XXX Cable PIN 1 PIN 1 2.5 MAX (2X) 0.250 .
Specifications TERM-H (Head) Terminator R.195 .78 1.22 .67 .66 TERM-H PIN #1 .20 .110 MAX (2) .090 MIN .67 REF 5 5 GND 2 2 R1 IN (RX) 3 3 T1 OUT (TX) 4 485+ 9 485- 4 R2 9 R4 6 6 +5V 7 7 NOT USED 1 1 NOT USED 8 8 NOT USED SHELL DB-9 MALE SHELL DB-9 FEMALE TERM-T (Tail) Terminator 1.22 .78 R.195 .67 .66 .20 PIN #1 5 2 R1 3 4 9 .110 MAX (2) .090 MIN .
EN Drive Installation Manual CMDS-XXX Cable 3.23 1.20 3.0 +/- 0.25 GRN/YEL BRN D A B C BLK BLU SHELL A G B H F E C D SOLDER SIDE CMMS-XXX Cable 3.99 1.40 3.0 +/- 0.25 GRN/YEL BRN D A B C BLK BLU SHELL F A B G E D C SOLDER SIDE 76 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
Specifications CFCS-XXX Cable 2.24 3.16 1.18 1.
EN Drive Installation Manual CFCO-XXX Cable 2.24 PIN 1 1.
Specifications CFOS-XXX Cable 3.16 1.18 OVERALL TIN/COPPER BRAID SHELL LARGE 18GA PAIR RED/GRN OR BLU ORN GRN BRN BLK YEL WHT/BRN BRN/WHT WHT/GRY GRY/WHT RED/ORN ORN/RED RED/BLU BLU/RED RED/GRN GRN/RED N/C N/C N/C N/C N/C N/C DRAINS P N L X K J Z B S C T W V H = TWISTED PAIR A R Y M B C N P M U E R F S G H K T A V L D J W X Y Z G U D E F SOLDER SIDE 79 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
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Epsilon Eb and EN Drives Reference Manual Glossary µs Microsecond. A Amps. ARMS Amps (RMS). AWG American Wire Gauge. Baud Rate The number of binary bits transmitted per second on a serial communications link such as RS232. (1 character is usually 10 bits.) Check Box In a dialog box, a check box is a small box that the user can turn “On” or “Off” with the mouse. When “On” it displays an X in a square; when “Off” the square is blank.
Epsilon Eb and EN Drives Reference Manual Downloading The transfer of a complete set of parameters from PowerTools or an FM-P. EEPROM An EEPROM chip is an Electrically Erasable Programmable Read-Only Memory; that is, its contents can be both recorded and erased by electrical signals, but they do not go blank when power is removed. EMC Electromagnetic Compatibility EMI - Electro-Magnetic Interference EMI is noise which, when coupled into sensitive electronic circuits, may cause problems.
Glossary Input Line The actual electrical input, a screw terminal. Least Significant Bit The bit in a binary number that is the least important or having the least weight. LED Light Emitting Diode. List Box In a dialog box, a list box is an area in which the user can choose among a list of items, such as files, directories, printers or the like. mA Milliamp. MB Mega-byte. Most Significant Bit The bit in a binary number that is the most important or that has the most weight. ms Millisecond.
Epsilon Eb and EN Drives Reference Manual Output Function A function (i.e., Drive OK, Fault) that may be attached to an output line. Output Line The actual transistor or relay controlled output signal. Parameters User read only or read/write parameters that indicate and control the drive operation. PE Protective Earth. PID Proportional-Integral-Derivative. An acronym that describes the compensation structure that can be used in many closed-loop systems. PLC Programmable Logic Controller.
Glossary RPM Revolutions Per Minute. Serial Port A digital data communications port configured with a minimum number of signal lines. This is achieved by passing binary information signals as a time series of 1’s and Ø’s on a single line. Uploading The transfer of a complete set of parameters from PowerTools or an FM-P. VAC Volts, Alternating Current. VDC Volts, Direct Current.
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Epsilon Eb and EN Drives Reference Manual Index A AC Line Filter Installation Notes, 5 AC Line Filters, 5 AC Supplies NOT Requiring Transformers, 11 AC Supplies Requiring Transformers, 12 Achieving Low Impedance Connections, 4 Analog Command Wiring, 27 Auxiliary Logic Power Usage, 17 Auxiliary Logic/Alternate Power Wiring, 17 AX4-CEN-XXX Cable, 73 Axial/Radial Loading, 52 C Cable Diagrams, 66, 68 Cable to Enclosure Shielding, 5 CDRO-XXX Cable, 72 CFCO-XXX Cable, 78 CFCS-XXX Cable, 77 CFOS-XXX Cable, 79 CM
Epsilon Eb and EN Drives Reference Manual Input/Output, 22 Installation, 3 Installation Notes, 3 Introduction, 1 IP Ratings, 52 L P Power Dissipation, 53 Power Dissipation Calculation, 54 Pulse Mode Wiring, 29 R Line Fusing, 15 M Mechanical Installation, 9 MG Motor Dimensions, 60 MG with EN Motor Speed Torque Curves, 55 MGE-205 and 208 Motors, 60 MGE-316 and 340 Motors, 60 MGE-455, 490 and 4120 Motors, 61 Modbus Communications, 33 Motor Brake Specifications, 51 Motor Brake Wiring, 21 Motor Feedback Wir
Index V Vendor Contact Information, 79 View Motor Parameters, 44 Viewing Active Drive Faults, 42 W Watch Window, 42 Wire Size, 15 Wiring Notes, 9 89 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
Epsilon Eb and EN Drives Reference Manual 90 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.
Since 1979, the “Motion Made Easy” products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease of use, reliability and high performance. For more information about Control Techniques “Motion Made Easy” products and services, call (800) 397-3786 or contact our website at www.emersonct.com. Control Techniques Drives, Inc Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A.
Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment • FAST SHIPPING AND DELIVERY • TENS OF THOUSANDS OF IN-STOCK ITEMS • EQUIPMENT DEMOS • HUNDREDS OF MANUFACTURERS SUPPORTED • LEASING/MONTHLY RENTALS • ITAR CERTIFIED SECURE ASSET SOLUTIONS SERVICE CENTER REPAIRS Experienced engineers and technicians on staff at our full-service, in-house repair center WE BUY USED EQUIPMENT Sell your excess, underutilized, and idle used equipment We also offer credit for buy-back