Attachment for the EN Drive on Conair SCE Cutters and the Combination Puller/Cutter (models SCE ) EN Drive IME011/1202
Epsilon Eb and EN Drives Reference Manual P/N 400501-01 Revision: A4 Date: October 8,2001 © Control Techniques Drives, Inc, 1997, 2001
Epsilon Eb and EN Drives Reference 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. 1997, 2001 Part Number: 400501-01 Revision: A4 Date: October 2001 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 EMERSON Motion Control.
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 Epsilon and 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.
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 Epsilon and 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: Epsilon Series Digital Servo Drive Model Number: Eb-202, Ei-202, Eb-203, Ei-203, Eb-205 and Ei-205 System Options: This declaration covers the above products with the 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: 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.
Epsilon Eb and E Series EN Drives Reference 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.
Epsilon Eb and E Series EN Drives Reference 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position Tab (Detailed Setup view only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Limits Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Actual Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Velocity Tab (Detailed Setup view only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Quick Start 117 Offline Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Online Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Tuning Procedures 133 Overview . . . . . . . . . . . . . . . . . .
Motor Brake Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor Weights. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Axial/Radial Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IP Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Epsilon Eb and EN Drives Reference Manual Introduction Epsilon Eb and EN Drives The Epsilon Eb and 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.
Epsilon Eb and EN Drives Reference Manual assignments in the software. PowerTools software is an easy-to-use Microsoft® Windows® based setup and diagnostics tool.
Introduction EN drives are available in three power ratings Drive Model Power Rating Continuous Current EN-204 1750 W 4.5 A RMS Peak Current 9.0 A RMS EN-208 2750 W 9.0 A RMS 18.0 A RMS EN-214 4340 W 13 A RMS 26 A RMS Epsilon drives are available in three power ratings. Drive Model Power Rating Continuous Current Peak Current Epsilon Eb-202 650 W 1.8 A RMS 3.6 A RMS Epsilon Eb-203 1100 W 3.0 A RMS 6.0 A RMS Epsilon Eb-205 1750 W 5.0 A RMS 10.
Epsilon Eb and EN Drives Reference Manual 4
Epsilon Eb and EN Drives Reference Manual Operational Overview User Interface The EN drive and the Epsilon drive are set up using PowerTools FM software. PowerTools FM Software PowerTools FM software is an easy to use Windows®-based setup and diagnostics tool. PowerTools FM software provides you with the ability to create, edit and maintain your drive’s setup. You can download or upload your setup data to or from a drive and save it to a file on your PC or print it for review or permanent storage.
Epsilon Eb and EN Drives Reference Manual Figure 3: PowerTools FM Window, Detailed Setup View How Motion Works Below is a list of details related to motion in a drive. 6 • The Stop input function overrides motion in all operating modes including Pulse and Torque mode. It shifts the mode to Velocity mode and decelerates the axis according to the Stop deceleration ramp. • The Travel Limits work in all operating modes including; Pulse, Velocity and Torque modes.
Operational Overview Functional Overview The drive is a digital servo drive which provides three basic modes of operation: Pulse, Velocity and Torque. The Operating Mode selection defines the basic operation of the drive. External control capability is provided through the use of input and output functions. These functions may be assigned to any input or output line which may be controlled by external devices, such as a PLC or multi-axis controller, to affect the drive operation.
Epsilon Eb and EN Drives Reference Manual • Pulse frequency > 250 kHz • Pulse command cable length > 25 feet • Noisy electrical environments Differential input circuit specifications: Input frequency maximum Input device: Input impedance Maximum voltage applied to input pins (A, A/) or (B, B/ ) 2 Mhz AM26C32 12 Kohms each input Single Ended (referenced to 0V drive logic) +/-10V Differential (referenced to mating differential input) +/-10V Maximum common mode voltage Minimum differential voltage
Operational Overview Signal common connected to Drive Logic 0V (Sync Encoder Common 0V) ECI-44 terminal Command Connector Pin # NC2 20 NC1 36 Pulse-Direction Signal Pulse-Pulse Signal Pulse Quadrature Signal Pulse / Pulse CW / A Direction Pulse CCW / B Pulse / : Commands motion on the falling edge (active edge). Direction: (active).
Epsilon Eb and EN Drives Reference Manual negative changes to the Pulse Position Input. All edges of A and B are counted, therefore one revolution of a 2048 line encoder will produce an 8192 count change on the Pulse Position Input. Figure 5: Pulse/Quadrature Signals, + Command Figure 6: Pulse/Quadrature Signals, – Command Pulse/Pulse Interpretation In Pulse/Pulse interpretation, pulses received on the A channel are interpreted as positive changes to the Pulse Position Input.
Operational Overview Pulse Mode Parameters The Pulse Position Input parameter shows the total pulse count received by the drive since the last power-up. The Pulse Position Input, Position Command, Position Feedback Encoder and Position Feedback are initialized to zero on power-up. Only Position Feedback Encoder can be preloaded serially with a value after power-up. The Pulse Mode Ratio parameter includes a numerator which represents motor revolutions, and a denominator which represents master pulses.
Epsilon Eb and EN Drives Reference Manual setting will change which direction the motor rotates when the position feedback and position command are counting up. In the default setting the position counts up when the motor shaft rotates clockwise (when viewed from the shaft end). The Encoder Feedback (Position Feedback Encoder) parameter can be pre-loaded serially by setting the Position Feedback Encoder Modbus parameter.
Operational Overview Presets Submode Presets submode provides up to eight digital Velocity Presets and associated Accel/Decel Presets. At any time only one Velocity Preset can be selected. They are selected using the Velocity Preset Line #1, Line #2 and Line #3 input functions (see table below).
Epsilon Eb and EN Drives Reference Manual Figure 8: Velocity vs. Time Diagram using Preset Velocities Summation Submode In Summation submode the Velocity Command is the result of the sum of the Velocity Command Analog and the Velocity Command Preset values.: VC = AC + PC Where: VC = Velocity Command AC = Velocity Command Analog PC = Velocity Command Preset Example 1: Use of Velocity Presets in a phase advance/retard application.
Operational Overview Example 2: Use the Velocity Command Analog as a trim adjustment to the digital Velocity Presets. Velocity Preset #2 is selected with Analog Input at 0, so the Velocity Command Preset and Velocity Command are equal (set to match a conveyor speed). You can use the Analog Input (Velocity Command Analog) as a fine adjust for the Velocity Command to exactly match the conveyor speed. Figure 9: Summation Mode Block Diagram Figure 10: Velocity vs. Time Diagram, Summation Mode .
Epsilon Eb and EN Drives Reference Manual In Torque mode the drive receives an Analog Input which is scaled to the Analog Torque Command by the Full Scale Torque, Analog Input Full Scale, and Analog Input Zero Offset parameters.
Operational Overview For example, the + Travel Limit will stop motion only if the motor is moving + but allows motion to move off the limit switch. Conversely, the - Travel Limit will stop motion only if the motor is moving - but allows + motion to move off the limit switch. If both input functions are active at the same time, no motion in either direction will be possible until at least one of the inputs is released.
Epsilon Eb and EN Drives Reference Manual In applications with un-counterbalanced vertical loads, you must be careful not to set the controller’s torque command to zero when the upper Travel limit is activated. Setting the controllers analog torque command to zero in this situation will command the axis to move off the limit switch causing the load to drop.
Operational Overview Where: TTL = Total Torque Limit PMT = Peak motor torque PDT = Peak drive torque RFL = RMS foldback limit (80 percent of continuous system torque rating) SFL = Stall foldback limit (80 percent of drive stall current rating) PTL = Programmable Torque Limit Note The Torque Limit Enable input must be active to use PTL.
Epsilon Eb and EN Drives Reference Manual 2. If the combination of command pulse frequency and Pulse Ratio can generate a motor command speed in excess of the fixed limit of 13000 RPM. In Pulse mode operation and any Summation mode which uses Pulse mode, the input pulse command frequency is monitored and this calculation is made. For example: with a Pulse Ratio of 10 pulses per motor revolution, the first pulse received will cause an Overspeed fault even before there is any motor motion.
Operational Overview • A positive analog velocity or torque command (i.e., a higher voltage on the (+) differential input than on the (-) input). • A positive direction (+) pulse command. • A positive preset velocity or torque command. Current Foldback Current foldback is used to protect the motor and drive from overload. There are two levels of current foldback: RMS Foldback and Stall Foldback. RMS and Stall Foldback are displayed on the diagnostic display as a "C" and "c" respectively.
Epsilon Eb and EN Drives Reference Manual Figure 12: RMS Foldback Trip Point (this graph is accurate to ±5 percent) Stall Foldback EN EN Only Stall Foldback prevents overheating of the Power Stage. It activates in any mode when the motor velocity is 100 RPM or less and the Torque Command causes the current to exceed the stall current threshold for 100 ms or more. Note The stall current threshold is not the same as the drives continuous current rating.
Operational Overview Shunt Operation The EN-208 and EN-214 drive models have internal shunt control. The Epsilon and EN-204 have an output function to control an external shunt transistor, but no internal shunt transistor or resistor. The EN-208 has a 50 ohm, 50 watt internal resistor and the EN-214 has a 33 ohm, 50 watt internal shunt resistor to dissipate regenerative energy generated when braking a motor.
Epsilon Eb and EN Drives Reference Manual the actual drive loading and ambient temperature. The heat sink is designed with a certain amount of dissipation capability and the sum of the heat generated by the drive bridge rectifier, power module and shunt resistor must be less than this total capacity.
Operational Overview Ambient Temperature parameter to the actual ambient temperature allows you to take advantage of a lower temperature and could eliminate the need for an external shunt resistor and controller. The charts below indicate the operating range for a given ambient temperature. 140% 120% Shunt Power RMS 100% 80% 50 C 40 C 30 C 20 C 60% 40% 20% 0% 0% 50% 100% 150% Heatsink RMS Figure 13: EN-208 Shunt Power RMS vs.
Epsilon Eb and EN Drives Reference Manual 140% 120% Shunt Power RMS 100% 30 C 80% 20 C 40 C 50 C 60% 40% 20% 0% 0% 50% 100% 150% Heatsink RMS Figure 14: EN-214 Shunt Power RMS vs. Heatsink RMS External Shunt Operation The DC bus is accessible for applications requiring an external shunt regulator. Control Techniques offers an external shunt regulator (model RSR-2) which can provide additional regenerative power dissipation.
Operational Overview Figure 15: External Shunt Wiring Diagram Use 16 to 18 AWG stranded wire + Bus - Bus J2 -V - Auxiliary Supply J3 + Auxiliary Supply Top View Two position header. The mating ALPC-006 cables is supplied with the ALP Auxiliary Power Supply.
Epsilon Eb and EN Drives Reference Manual Brake Operation Motor brake operation is controlled by the Brake Release and Brake Control input functions. These input functions can be used together to control the state of the Brake output function. The table below shows the relationship between the Brake input and Brake output functions. Note No motion should be commanded while the brake is engaged.
Operational Overview Analog Command Input The Analog Command Input can be used as a velocity or torque command. The drive accepts a ±10 VDC differential analog command on pins 14 and 15 of the Command Connector and has 14 bits of resolution. The Analog Inputs Bandwidth, Analog Full Scale and Analog Input Zero Offset parameters are applied to the Analog Input to generate either an analog velocity or torque command. These three parameters can be edited using PowerTools FM, a FM-P or serially using Modbus.
Epsilon Eb and EN Drives Reference Manual Analog Command Wiring Command Connector With positive direction = CW 30 Figure 18: Analog Command, Differential Wiring Diagram Figure 19: Analog Command, Single-ended Wiring Diagram
Operational Overview Analog Outputs The drive has two 8 bit Analog Outputs which may be used for diagnostics, monitoring or control purposes. These outputs are referred to as Channel 1 and Channel 2. They can be accessed from the Command Connector on the drive or from the diagnostics output pins located on the front of the drive. Each Channel provides a programmable Analog Output Source.
Epsilon Eb and EN Drives Reference Manual Example: You could use the Analog Outputs to accurately measure velocity overshoot. For example, to measure a target velocity of 2000 RPM at a resolution of ±10 V = ±200 RPM do the following. 1. Selected Velocity Feedback for the Analog Output Source 2. Set the Analog Output Offset to 2000 RPM 3. Set the Analog Output Scale to 20 RPM/VOLT This will provide an active range from ±10 Volts to represent 1800 to 2200 RPM.
Operational Overview Input Line Debounce Time You can program a “Debounce Time” which means the line will need to be active for at least the debounce time before it is recognized. This feature helps prevent false triggering in applications with high ambient noise. Figure 20: Input Line Diagram Output Line Active State The default active state of an output line is "Active On".
Epsilon Eb and EN Drives Reference Manual drive. Once the axis is driven off the limit switch, the fault will be cleared and the “L” will disappear. If both Travel Limit input functions are activated simultaneously, the drive will respond as if the Stop input function has been activated and will use the Stop Deceleration ramp. Stop The Stop input function, when activated, will cause motion to stop regardless of motor direction or the operating mode.
Operational Overview * Velocity Preset #3 Velocity Preset Line #2 Velocity Preset Line #1 Selected Velocity and Accel/ Decel Preset # 1 0 1 5 1 1 0 6 1 1 1 7 (0) = Inactive input function (1) = Active input function Torque Limit Enable This input function, when active, causes the Torque Command to be limited to the value of the Torque Limit parameter. The Torque Limit can be made "Always Active" by checking the Always Active checkbox on the Inputs tab.
Epsilon Eb and EN Drives Reference Manual Foldback Active This output function is active when the drive is limiting motor current. If the RMS Foldback value exceeds 100 percent of the continuous rating, the current foldback algorithm will limit the current delivered to the motor to 80 percent of the continuous rating. Drive OK This output function is active whenever no fault condition exists. Travel Limits and the Drive Enable have no effect on this output function.
Operational Overview If the Actual Velocity Command exceeds the velocity limit, the command will be limited and the Velocity Limiting Active output function will be active. Shunt Active This is a real time indicator of the internal shunt activity. For EN-204 and Epsilon drives this output can be used to control all external shunt control switches. Torque Level 1 and 2 Active These outputs are active if the Torque Command exceeds the respective Torque level value.
Epsilon Eb and EN Drives Reference Manual 38
Epsilon Eb and EN Drives Reference Manual Setting Up Parameters EZ Setup/Detailed Setup Tab This is the default tab that is displayed each time you open a Configuration Window. Figure 21: Default Offline EZ Setup Tab Identification Group Name Enter a 24 character alpha-numeric name for the drive you are currently setting up. Assigning a unique name for each drive in your system allows you to quickly identify a drive when downloading, editing and troubleshooting. All keyboard characters are valid.
Epsilon Eb and EN Drives Reference Manual Configuration Group (EZ Setup view only) Drive Type Select the drive model for the system you are currently setting up. PowerTools FM software will only display the motor models that are compatible with the drive you selected and any user defined motors. Motor Type Select the motor you wish to use. PowerTools FM software will only display the motor models that are compatible with the drive you selected and any user defined motors.
Setting Up Parameters Line Voltage - EN Only Line Voltage specifies the applied power and adjusts the internal gains to compensate for it. This parameter has two choices 115 VAC and 230VAC. If the line Voltage is set to 230VAC when the actual applied voltage is 115 VAC, the motor will be slightly less responsive to commands and load disturbances. The Line Voltage must never be set to 115 VAC if the applied voltage is actually 230 VAC. This can cause drive instability and failure.
Epsilon Eb and EN Drives Reference Manual Operating Mode Group Disabled Radio Button Selecting this radio button to put the drive in the disabled mode. This is equivalent to removing the Drive Enable input. Figure 23: Operating Mode, Disabled Mode Selected Pulse Mode Radio Button Selecting this radio button puts your drive into Pulse mode and displays three Interpretations: Pulse/Pulse, Pulse/Direction and Pulse/Quadrature.
Setting Up Parameters Pulse Mode Interpretation Group Figure 24: Operating Mode, Pulse Mode Selected Pulse/Pulse Radio Button Selecting this radio button puts your drive in Pulse/Pulse interpretation. In Pulse/Pulse mode, pulses received on the A channel are interpreted as positive changes to the Pulse Position Input, and pulses received on the B channel are interpreted as negative changes to the Pulse Position Input.
Epsilon Eb and EN Drives Reference Manual ECI-44 Terminal Command Connector Pin # Pulse-Direction Signal Pulse-Pulse Signal Pulse Quadrature Signal A/ Sync Enc In “A/” 41 Pulse/ Pulse +/ Sync Enc In “B” 26 Direction Pulse - B Sync Enc In “B/” 40 Direction/ Pulse -/ B/ Differential Inputs are typically needed for pulse rate 7250 kHz or high ambient noise environments.
Setting Up Parameters Velocity Mode Submode Group Analog Radio Button Selecting this radio button puts the drive into Analog submode. In Velocity mode the drive develops velocity in proportion to the voltage received on the Analog Input. The Analog Input is scaled to the Analog Velocity Command by the Full Scale Velocity, Analog Input Full Scale, and Analog Input Zero Offset parameters.
Epsilon Eb and EN Drives Reference Manual Presets Radio Button Selecting this radio button puts the drive into Presets submode. Presets submode provides up to eight digital Velocity Presets and associated Accel/Decel Presets. At any time, only one Velocity Preset can be selected. They are selected using the Velocity Preset 1, the Velocity Preset 2 and the Velocity Preset 3 input functions. Figure 26: Velocity Presets Velocity Presets Enter a value for each of the Velocity Presets you wish to use.
Setting Up Parameters Velocity Presets Enter a value for each of the Velocity Presets you wish to use. The units are RPM and the range is from ± maximum motor velocity. A positive value will cause CW motion and a negative value will cause CCW motion. (Motor direction is determined as you face the shaft end of the motor). Accel/Decel Presets Enter an Accel/Decel Presets value for each of the Velocity Presets you are using. The units are milliseconds per 1000 RPM and the range is from 0 to 32700.0.
Epsilon Eb and EN Drives Reference Manual Figure 28: Operating Mode, Torque Mode Selected Full Scale Torque This parameter specifies the Torque Command when the Analog Input voltage is equal to the Analog Full Scale parameter. Torque Limit This value is the level which the Torque Command will be limited to when the Torque Limit input function is active. To make the Torque Limit always active, set the Torque Limit Input Function to be Always Active.
Setting Up Parameters Figure 30: CW Motor Rotation CCW Motor Rotation Radio Button This defines that the motor will rotate counterclockwise when given a positive velocity, torque or position command. CW/CCW is defined when facing the motor output shaft. Inputs Tab This tab is divided into two windows: The “Input Functions” window, on the left side, displays the input functions available, the function polarity and the always active state.
Epsilon Eb and EN Drives Reference Manual Input Functions Window This window allows you to select the input function you wish to assign to an input line. Active State The active state of each input function is displayed next to the output function. See the "Active Off" check box section on the following page. Always Active The setting for Always Active is displayed next to each input function. See "Always Active" check box section on the following page.
Setting Up Parameters Making an input function “Active On” means that it will be active when +10 to 30 VDC is applied to the input line it’s assigned to and is inactive when no voltage is applied to the line. Making an input function "Active Off" means that it will be active when no voltage is applied to the input line and inactive while +10 to 30 VDC is being applied. Always Active Check Box This check box is used to make an input function “Always Active”.
Epsilon Eb and EN Drives Reference Manual Outputs Tab This tab is divided into two windows: The “Output Functions” window, on the left side, displays the available output functions. The “Output Lines” window, on the right side, displays the output lines, the line active state and the output function assignments. Figure 34: Outputs Tab Output Functions Window This window allows you to select the output function you wish to assign to an output line.
Setting Up Parameters mouse is not available to navigate the software. Assigning the input functions can also be accomplished by dragging the Output Function and dropping it onto an Output line. To unassign an output function, highlight the function in the Output Lines window and press the delete key or drag the output function from the Output Lines window back to the Output Functions Window.
Epsilon Eb and EN Drives Reference Manual Position Tab (Detailed Setup view only) This tab is only definable in Pulse mode and allows you to enable and define the Following Error Limit and if you are on line, view actual operating parameters. Figure 37: Position Tab Limits Group Enable Following Error Limit Check Box Check this box to enable or disable the Following Error Limit. Following Error Limit This parameter only has an effect in Pulse mode.
Setting Up Parameters Actual Group Pulse Position Input This parameter returns the total number of actual pulses received on the pulse input hardware. This value is active in all operating modes. Position Command This is the commanded position generated by either the pulse command or velocity command. In Pulse Summation mode, it is the sum total position command by both pulse and velocity commands. Following Error The Following Error is the difference between the Position Command and the Position Feedback.
Epsilon Eb and EN Drives Reference Manual Velocity Tab (Detailed Setup view only) This tab allows you to set the drive limits, and if you are online, view the actual operating velocity feedback parameters. Figure 38: Velocity Tab Limits Group Stop Deceleration The value you enter here defines the rate of velocity change to zero speed when a Stop input function is activated. The units are ms/kRPM and the range is from 0 to 32700.0. The default is 100 ms/kRPM.
Setting Up Parameters Overspeed Velocity This parameter specifies the maximum allowable speed. If the Velocity Feedback exceeds either the drive’s internal overspeed fault limit or the value of the Overspeed Velocity which is lower, an Overspeed fault will be generated. The internal overspeed fault limit is equal to 150 percent of the Motor Maximum Operating Speed. Max Motor Speed Displays the maximum rated motor speed for the selected motor as defined by the motor specification file.
Epsilon Eb and EN Drives Reference Manual Velocity Presets Enter a value for each of the Velocity Presets you wish to use. The units are RPM and the range is from ± maximum motor velocity. A positive value will cause CW motion and a negative value will cause CCW motion. (Motor direction is determined as you face the shaft end of the motor). Accel/Decel Presets Enter an Accel/Decel Presets value for each of the velocity presets you are using.
Setting Up Parameters Actual Group Torque Command This parameter returns the torque command value before it is limited. The Torque Command may be limited by either the Torque Limit (if the Torque Limit Enable input function is active) or current foldback. Torque Limit This value is the level which the Torque Command will be limited to when the Torque Limit input function is active. To make the Torque Limit always active, set the Torque Limit Input Function to be "Always Active".
Epsilon Eb and EN Drives Reference Manual All parameters on the Motor tab are related to the load on the motor and application requirements. The load on the motor is specified by two parameters: Inertia Ratio and Friction. Typical application requirements are specified by the response adjustment and Feedforward Gains. Position Error Integral is provided to compensate for systems with high friction or vertical loads.
Setting Up Parameters Low Pass Filter Group Low Pass Filter Enable Checkbox This enables a low pass filter applied to the output of the velocity command before the torque compensator. The low pass filter is only active in Pulse and Velocity modes, not Torque Modes. Low Pass Frequency This parameter defines the low pass filter cut-off frequency signals exceeding this frequency will be filtered at a rate of 40 db. per decade.
Epsilon Eb and EN Drives Reference Manual Tuning Group Response The Response adjusts the velocity loop bandwidth with a range of 1 to 500 Hz. In general, it affects how quickly the drive will respond to commands, load disturbances and velocity corrections. A good value to start with (the default) is 50 Hz. The affect of response is greatly affected by High Performance Gains. With High Performance Gains the maximum value recommended is 100 Hz.
Setting Up Parameters Enable Feedforwards Check Box When feedforwards are enabled, the accuracy of the Inertia and Friction are very important. If the Inertia is larger than the actual inertia, the result could be a significant overshoot during ramping. If the Inertia is smaller than the actual inertia, following error during ramping will be reduced but not eliminated. If the Friction is greater than the actual friction, it may result in velocity error or instability.
Epsilon Eb and EN Drives Reference Manual Analog Zero Offset This parameter is used to null any voltage present at the drive when a zero velocity or torque command is provided by a controller. The amount of offset can be measured by the Analog Input parameter when a zero velocity or torque command is supplied.
Setting Up Parameters I/O Status Tab This tab displays the status of the input and output functions in real time and is only available when you are online with a drive. This tab is divided into two windows, the "Inputs" window and the "Outputs" window. Figure 42: I/O Status Tab Inputs Group Inputs Lines Window This feature shows the various input lines and whether they are active. The line is active if the circle next to the line is green or lit-up.
Epsilon Eb and EN Drives Reference Manual Note The forced state of input and output lines are not saved to NVM and will be lost when the drive is powered down. Sort By Function/Line Button Click on this button to change how the "Inputs" window is sorted (i.e., by functions or lines). The window can be sorted by either function or line. The functions and lines are arranged in a hierarchy.
Setting Up Parameters Outputs Group Outputs Lines Window This feature shows the various output lines and whether they are active. The line is active if the circle next to the line is green or lit-up. Active State The active state is displayed for each output line. Forced The forced state is displayed for each output line. Forced On and Forced Off You can force an output line to a level by using the "Forced On" and "Forced Off" check boxes.
Epsilon Eb and EN Drives Reference Manual Figure 44: Collapsed and Expanded Views If the function or line is currently active, the "LED" to the left of the function or line name will be green. Note When a function or line is active, the state of the "LED" associated with the function or line is dependent on how the "Always Active", "Forced On or Off" and "Active Off" controls are used.
Setting Up Parameters Status Tab This tab displays the drive status in real time and is only available when you are on-line with a drive. The information in this tab is divided into six categories: Position, Velocity, Torque, Drive Status, I.D. and Drive Run Time. Figure 45: Status Tab Note The information in this tab is for diagnostics purposes only and cannot be changed from within this tab.
Epsilon Eb and EN Drives Reference Manual Following Error The Following Error is the difference between the Position Command and the Position Feedback. It is positive when the Position Command is greater than the Position Feedback. Encoder Feedback The motor position in encoder counts since power up when the value was set to zero. This is a signed 32 bit value. This parameter can be preloaded using the serial interface. Position Feedback This parameter is the motor position since power-up.
Setting Up Parameters Actual Command Displays the Torque command after all limiting. This command is used by the current loop to generate Motor Torque. Drive Status Group Foldback RMS This parameter accurately models the RMS loading of the drive and motor. When it reaches 100 percent, current foldback will be activated. Shunt Power RMS This parameter models the thermal heating and cooling of the drive internal shunt.
Epsilon Eb and EN Drives Reference Manual ID Group (Detailed Setup view only) Firmware Revision Displays the revision of the firmware in the drive you are currently online with. Serial Number Displays the serial number of the drive with which you are currently online. Drive Run Time Group (Detailed Setup view only) Total Power Up Time Total amount of time displayed in hours the drive has been powered-up since leaving the factory.
Setting Up Parameters Fault Log Group (EZ Setup view only) Figure 47: Fault Log View Fault Log Window This window displays the last ten drive faults with time stamps. The first fault is the most recent fault. The information in this window is read only and cannot be edited or cleared. Power up This feature indicates during which power-up that the fault occurred. Time (days hrs:min) This feature indicates the time into the power-up that the fault occurred.
Epsilon Eb and EN Drives Reference Manual History Tab (Detailed Setup view only) This tab displays a complete fault history including a "Fault Log" window and a "Fault Count" window. Figure 48: History Tab Note The "Fault Log" and "Fault Counts" cannot be cleared. Fault Log Group Fault Log Window This window displays the last ten drive faults with time stamps. The first fault is the most recent fault. The information in this window is read only and cannot be edited or cleared.
Setting Up Parameters Fault Counts Group Fault Counts Window The "Fault Counts" window displays all the faults that can occur and the number of times those faults happened since the drive was originally powered-up. The information in this window cannot be edited or cleared. # of Occurrences The "# of Occurrences" column displays the number of times each fault has occurred since the drive was originally powered up.
Epsilon Eb and EN Drives Reference Manual Bus Voltage Group Low DC Bus Enable - Epsilon Only This parameter’s default setting is enabled. When enabled, the drive will detect a low DC bus at 60 VDC and will log a Low DC Bus Fault if a power down is not completed after the low DC bus is detected. Setting this to disabled will disable the Low DC Bus Voltage Fault. This will allow the drive to operate at a DC bus voltage below 60 VDC as long as the logic power is supplied by the A.P.S.
Epsilon Eb and EN Drives Reference 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.
Epsilon Eb and EN Drives Reference 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.
Epsilon Eb and EN Drives Reference Manual Figure 51: Cable Type Through Wall Shield Grommet Cable Model Shielded Cable Grommet Kit Part # Conduit Dimension Hole Size Actual Hole Size Motor Cable, 16 Ga CMDS CGS-050 1/2" pipe 7/8" Motor Cable, 12 Ga CMMS CGS-050 1/2" pipe 7/8" Feedback Cable CFOS CGS-050 1/2" pipe 7/8" Flex Motor Cable, 16 Ga CMDF CGS-050 1/2" pipe 7/8" Flex Motor Cable, 12 Ga Flex Feedback Cable External Encoder AC Power 80 CMMF CGS-075 3/4" pipe 1 1/16" CF
Installation NEMA Enclosure Note: EMC testing was done This wail must have good continuity to enclosure ground. Through wall shield grommets with surface paint removed from the mounting panel area for drive contact.
Epsilon Eb and EN Drives Reference Manual Environmental Considerations If the product will be subjected to atmospheric contaminants such as moisture, oils, conductive dust, chemical contaminants and metallic particles, you must mount it vertically in a metal NEMA type 12 enclosure. If the ambient temperature inside the enclosure will exceed 40° C (104° F), you must consider forced air cooling.
Installation Motor Mounting Motors should be mounted firmly to a metal mounting surface to ensure maximum heat transfer for maximum power output and to provide a good ground. For motor dimensions, weights and mounting specifications, see the "Specifications" section.
Epsilon Eb and EN Drives Reference Manual Electrical Installation System Grounding Figure 54: 84 Typical System Grounding Diagram
Installation Power Supply Requirements The examples below show AC power connections for single phase and three phase drives. These examples are shown for reference only. Local electrical codes should be consulted before 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.
Epsilon Eb and EN Drives Reference Manual Figure 55: Earth Grounded WYE Distribution Transformer Figure 56: 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. If an isolation transformer is used between the power distribution point and the drives, the transformer secondary must be grounded for safety reasons as shown in the figures below.
Installation Figure 58: Three Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE Isolation Transformer Figure 59: Delta to Delta Isolation Transformer Figure 60: Single Phase Power Supply Connections 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.
Epsilon Eb and EN Drives Reference Manual the required KVA rating are high transformer ambient temperatures (>40° C or >104° F) and drive operation near the maximum speeds. Drive/Motor Combination Suggested KVA Rating EN-204/NT-320 3.0 EN-204/MG-205 0.8 EN-204/MG-208 1.5 EN-204/MG-316 2.3 EN-208/NT-320 3.0 EN-208/NT-330 3.9 EN-208/NT-345 4.3 EN-208/NT-355 4.9 EN-208/MG-316 2.3 EN-208/MG-340 3.9 EN-208/MG-455 4.9 EN-214/NT-345 4.3 EN-214/NT-355 4.3 EN-214/MG-455 4.
Installation 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.
Epsilon Eb and EN Drives Reference Manual EN EN Only According to UL requirements, the EN drive is suitable for use on a circuit capable of delivering not more than 5000 RMS symmetrical amperes, 240 volts maximum.
Installation 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.
Epsilon Eb and EN Drives Reference Manual Front View L1 L2 GND 50/60 Hz 90-264 VAC Tighten screws to 5 lb-in. J1 Figure 62: Epsilon AC Power Wiring Diagram 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.
Installation Auxiliary Logic Power Usage ( EN Only) ) Use 16 to 18 AWG stranded wire + Bus Top View J2 Bus -V - Auxiliary Supply + Auxiliary Supply J3 J3 - Two position header. The mating ALPC-006 cable is supplied with the ALP Auxiliary Power Supply. 0.5 Amp Fuses Drive #2 -V Auxiliary Supply +V Auxiliary Supply Figure 63: 220µ F + J3 0.
Epsilon Eb and EN Drives Reference Manual Control Techniques offers Auxiliary Logic Power Supplies (models ALP-130 and -430) that supply enough power for one EN drive with an FM module and four EN drives with FM module’s respectively. See the "Options and Accessories" section for more information. . Input Output IP Rated Ambient Temperature Weight ALP-130 115/230 VAC 60 Watts 140 VDC 30 Watts 20 50° C (122° F) 6.4 lbs (2.
Installation Epsilon Only If the low DC bus fault is disabled with PowerTools software on the Advanced tab, resetting the drive is not necessary Do not move the APS jumper with the main AC power applied to the drive. Wait at least 6 minutes after the main AC power has been removed from the L1 and L2 terminals. Do not wire AC line power into the APS input. Doing so will damage the drive. As shown in Figure 64, enabling APS power is done by sliding open the access panel on the side of the drive.
Epsilon Eb and EN Drives Reference Manual Note Connecting 24V common on the APS to chassis ground reduces offset voltage in the Analog Diagnostics Outputs. Front View Front View 1A Fuse 1A Fuse J1 - Figure 65: + Single point PE ground (recommended) J1 24 VDC Multiple APS Wiring Diagram Motor Power Wiring MG and NT Motors are equipped with up to three male MS (Military Standard) connectors, one for stator connections, one for encoder connections and one for the brake (if so equipped).
Installation Note The motor ground wire and shields must be run all the way back to the amplifier terminal and must not be connected to any other conductor, shield or ground. 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.
Epsilon Eb and EN Drives Reference Manual Wire crimp ferrules are recommended: For Motor ground lead use Pheonix Contact P/N AI-TWIN 2x1, 5-8 Bk/32 00 82 3 American Electrical/DigiKey 1381015/288-1130-ND For motor phase leads use Phoenix Contact P/N AI 1, 5-8 RD/ 32 01 13 6 ALTEC P/N H1.5/14 2204.0 Pk/100 Front View Motor Power Connection Brown Black Blue Green/Yellow Shield J1 Important: PE ground should connect to drive and motor only. Nothing should be connected between these devices.
Installation Figure 68: Motor Feedback Connector Pinout 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.
Epsilon Eb and EN Drives Reference Manual 100 Figure 69: EN Brake Wiring Diagram using the Command Connector Figure 70: EN Brake Wiring Diagram using the I/O Connector
Installation CBMS-xxx Cable Black - Bottom View Output #3 17 16 34 33 32 31 Drive Enable I/O Supply I/O Supply I/O Common I/O Common Customer supplied drive enable contact C B A K1 Internal to Motor 2 Amp Fuse 14 1 Amp Fuse J5 11 Relay: EMC #BRM-1 Red + - + Single point PE ground. Figure 71: A2 A1 Motor Connected to grounded mounting panel.
Epsilon Eb and EN Drives Reference Manual 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 73: 24 VDC EN Input/Output Wiring Diagram 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 2.
Installation EN EN Only The I/O connector is a 10-pin removable terminal block. It is recommended that #18 to 24 AWG stranded wire be used. Epsilon Only The I/O connector is a 26-pin male connector on the front of the drive. Control Techniques offers a low profile interface plug (STI-EIO) and cable (EIO-xxx) for connections.
Epsilon Eb and EN Drives Reference Manual Bottom View Internal to Drive Input #4 Input #3 Input #2 Input #1 Drive Enable Input Output #3 Output #2 Front View Output #1 I/O Common I/O Common I/O Supply + I/O Supply + 4 3 2 1 16 17 18 19 31 32 33 34 2.
Installation (ECI-44) which provides a convenient screw terminal connection strip. Connect one end of the CMDX command cable to your drive and the other end to the ECI-44.
Epsilon Eb and EN Drives Reference 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 78: Analog Command, Differential Wiring Diagram Figure 79: Analog Command, Single Ended Wiring Diagram Encoder Output Signal Wiring The encoder outputs meet RS-422 line driver specifications and can drive up to ten RS-422 signal receivers.
Epsilon Eb and EN Drives Reference Manual 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. If the external controller does not have an internal terminating resistor R1, R2 and R3 must be mounted within 6 inches of the external controller.
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.
Epsilon Eb and EN Drives Reference Manual Pulse Mode Wiring, Single Ended Inputs +5 Logic Power Pulse A/ Direct B Sinking Outputs (typ) Common isolated from other sources Figure 84: 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 85: 110 Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable)
Installation +5 Logic Power CW Pulse CCW Pulse Sinking Outputs (typ) CW Pulse CCW Pulse Common isolated from other sources Figure 86: 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.
Epsilon Eb and EN Drives Reference 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 Front View RS-485 N/C N/C +5 Comm Common RS-485 + TX (232) RX (232) Shield 9 8 7 6 5 4 3 2 1 To drive processor. J2 Bottom View RS-485 - 21 12 RS-485 + 6 PE 10 Ohm Single point ground J5 Figure 89: Epsilon RS-232 and RS-485 Internal Connections between the Command Connector and the Serial Communication Connector When connecting the serial port of your PC to the serial port of the drive, verify that your PC’s ground is the same as the drive PE ground.
Epsilon Eb and EN Drives Reference Manual 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.
Installation TERM-H TERM-T TIA-XXX Serial Cable DDS-XXX Serial Cables Note: The terminating resistor packs, TERM-H and TERM-T, should be installed on the first (TERM-H) and last (TERM-T) drive in the string if the total cable length is over 50 feet.
Epsilon Eb and EN Drives Reference Manual TIA Cable DDS Cable DDS Cable TERM-T TERM-H RX (232) TX (232) Ground 1 2 3 4 5 6 7 8 9 120 Ohm Computer Computer Serial Port 1 2 1 2 1 2 1 2 3 4 5 6 3 4 5 6 3 4 5 6 3 4 5 6 7 8 9 7 8 9 7 8 9 7 8 9 Drive Serial Port Drive Serial Port Drive Serial Port Drive Serial Port Drive Serial Port 0V +5 1 2 3 4 5 6 7 8 9 120 Ohm 485 - 576 Ohm TERM-T TIA Cable DDS Cable Top View of Multi-drop Cabling 116 485 + Drive Serial Port TERM-H Figure
Epsilon Eb and EN Drives Reference Manual Quick Start Offline Setup Note Generally, online setup is used when editing parameters in a drive. Offline setup editing is usually only done when not connected to a drive. EZ Setup View The EZ Setup view is the default tab that is displayed each time you open the PowerTools software. This tab allows you to set most of the parameters needed to configure your drive, with the exception of the digital input and output functions.
Epsilon Eb and EN Drives Reference Manual Figure 94: PowerTools FM Window, Detailed Setup View, Offline Detailed Setup View The Detailed Setup view allows you to access many additional parameters and details about your drive. When you are online with a drive, PowerTools FM will display twelve tabs if you have selected to view the Advanced tab in the Options/Preferences/General dialog box.
Quick Start Step 2: Opening an Offline Configuration Window To open an offline Configuration Window, click the New icon from the toolbar or select New from the File menu. Figure 96: New Dialog Box When the Predefined Setup Selection dialog box appears, select the desired predefined setup and press the OK button. A new Configuration Window will be displayed. All drive setup parameters are accessible in the tabs of the offline configuration window.
Epsilon Eb and EN Drives Reference Manual 2. Enter the “Target Drive Address(es)” to which you wish to download the setup information. Unless you have changed the Modbus address of your drive, leave this parameter set to the default value of 1. You may use commas (,) or spaces ( ) to separate individual drive addresses or you may use hyphens (-) to include all the drive addresses within a range.
Quick Start Pulse Mode Setup This procedure assumes that you have connected the proper pulse mode wiring as described in the "Installation" section of this manual. 1. Select the “Pulse Mode” radio button from the Operating Mode group. Figure 99: Operating Mode View 2. Select one of the Interpretation group radio buttons; “Pulse/Pulse”, “Pulse/Direction” or “Pulse/Quadrature”. 3. Select Differential or Single Ended from the Source group. 4. Enter a “Ratio”.
Epsilon Eb and EN Drives Reference Manual Figure 100: 3. Operating Mode, Velocity Mode Selected Enter a “Full Scale Velocity” value. The velocity is equal to the Analog Full Scale parameter which is defaulted to a 10V analog command. Velocity Presets Submode Setup 1. Select the “Velocity Mode” radio button from the Operating Mode group. 2. Select the “Presets” submode radio button from the Submode group. Figure 101: Velocity Submode, Velocity Presets 3.
Quick Start 3. Select the desired “Velocity Preset” number. 4. Enter a "Velocity Preset" for each "Preset Number" being used. 5. Enter an “Accel/Decel Presets” value for each "Preset Number" being used . Figure 102: Velocity Summation Submode Torque Mode Setup This procedure assumes that you have connected the proper analog command wiring as described in the "Installation" section of this manual. 1. Select the “Torque Mode” radio button from the Operating Mode group. Figure 103: 2.
Epsilon Eb and EN Drives Reference Manual Torque Level 1 and 2 Setup This function can be active in any Operating Mode. 1. Click on the Outputs tab. 2. Highlight the “Torque Level 1 Active or Torque Level 2 Active” output function in the “Output Functions” window. 3. Select an Output Line radio button that corresponds to the output line you wish to assign this function. 4. In Detailed Setup view, click on the Torque tab. 5. Enter a value into the Torque Level 1 and/or Torque Level 2.
Quick Start Inertia Ratio Inertia Ratio specifies the load to rotor inertia ratio and has a range of 0.0 to 50.0. A value of 1.0 specifies that load inertia equals the rotor inertia (1:1 load to motor inertia). The drives can control up to a 10:1 inertia mismatch with the default Inertia value of 0.0. Inertial Ratio mismatches of over 50:1 are possible with some minimal additional adjustments.
Epsilon Eb and EN Drives Reference Manual Figure 105: Inputs Tab To assign an Input Function to an Input line: 1. Assign an input by highlighting an input function in the "Input Functions" window and selecting the desired input radio button or by dragging the highlighted input function to the desired input in the "Input Lines" window. 2.
Quick Start “Output Lines” window, on the right side, displays the three output lines, the line active state and the output function assignments. Figure 106: Outputs Tab To assign an Output Function to an Output Line: 1. Assign an output by highlighting an output function in the "Output Functions" window and selecting the desired output radio button or by dragging the highlighted output function to the desired output in the "Output Lines" window. 2.
Epsilon Eb and EN Drives Reference Manual Note Generally, online setup is used when editing parameters in a drive. Offline setup editing is usually only done when not connected to a drive. Step 1: Establishing Communications with Drive Now that the basic EN drive setup parameters are entered, it is time to establish communications with the drive and download the configuration data. Before proceeding, be sure to connect the serial communication cable between your PC and the drive.
Quick Start Step 2: Downloading the Configuration File When you are ready to download the information in the current Configuration Window, go to the Setup tab and enter the address(es) of the drive(s) you wish to download to in the “Target Drive Address(es)” text box. You may use commas (,) or spaces ( ) to separate individual drive addresses or you may use hyphens (-) to include all the drive addresses within a range.
Epsilon Eb and EN Drives Reference Manual Selected Drives Radio Button If you have only one device connected, that device’s address will be displayed in the Selected drives data box. If you have more than one device connected in a multi-drop configuration, the Selected drives data box will be empty. You can then select either the All drives radio button or the Show drives button.
Quick Start 3. The drive enabled. 4. The characters “V, T, P or +” displays verified on the drive "LED" status display with the decimal point "On". Step 5: Saving the Configuration File To save the drive setup information, select Save from the File menu. Follow the dialog box instructions. Step 6: Printing the Configuration File To generate a printed copy of all the data in the drive configuration, select Print from the File menu.
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Epsilon Eb and EN Drives Reference Manual Tuning Procedures Overview The drive uses closed loop controllers to control the position and velocity of the attached motor. These position and velocity controllers and the associated tuning parameters are in effect when the drive is in velocity or pulse mode and have no effect when the drive is in Torque mode. Classic closed loop controllers are tuned using proportional, integral and derivative (PID) gains which require skilled “tweaking” to optimize.
Epsilon Eb and EN Drives Reference Manual Tuning Procedure Once the initial setup has been completed, you can run the system to determine if the level of tuning is adequate for the application. There are basically four levels of tuning for a drive. • • • • No Tuning Basic Level Intermediate Level Fully Optimized Level Each level is slightly more involved than the previous one requiring you to enter more information.
Tuning Procedures This unique feature offers an extra level of safety because the drive can override the position controller and bring the axis to a safe stop if the controller loses the ability to control the axis. Tuning steps If your Inertia Ratio is greater than 10 times the motor inertia go directly to the Intermediate Level tuning. No Tuning No tuning will be required in most applications where the load inertia is 10 times the motor inertia or less.
Epsilon Eb and EN Drives Reference Manual 4. Enable the drive and run the system. 5. Adjust Response to obtain the best performance. General Tuning Hints The Response is normally the final adjustment when tuning. For best performance the Response should be lower with a higher inertia mismatch (>10:1) and higher with a lower inertia mismatch.
Tuning Procedures If you enter an inertia value lower than the actual inertia, but is between 10 and 90 percent of the actual, the drive will tend to be more sluggish than optimum but will usually operate satisfactorily. If the value you enter is less than 10 percent of the actual inertia, the drive will have a low frequency oscillation at speed. Friction This parameter is characterized in terms of the rate of friction increase per 100 motor RPM. The range is 0.00 to 100.
Epsilon Eb and EN Drives Reference Manual High Performance Gains, when enabled, make the system less forgiving in applications where the actual inertia varies or the coupling between the motor and the load has excessive windup or backlash. Note When using an external position controller, some applications will benefit in rare instances by disabling High Performance Gains.
Tuning Procedures When Feedforwards are enabled, the accuracy of the Inertia Ratio and Friction parameters is very important. If the Inertia Ratio parameter is larger than the actual inertia, the result would be a significant velocity overshoot during ramping. If the Inertia parameter is smaller than the actual inertia, velocity error during ramping will be reduced but not eliminated. If the Friction parameter is greater than the actual friction, it may result in velocity error or instability.
Epsilon Eb and EN Drives Reference Manual The Line Voltage must never be set to 115 VAC if the applied voltage is actually 230 VAC. This can cause drive instability and failure. Determining Tuning Parameter Values For optimum performance you will need to enter the actual system parameters into the drive. This section discusses the methods which will most accurately determine those parameters.
Tuning Procedures • If your application has travel limits, it may be helpful to use an external position controller to prevent the axis from exceeding the machine limits. Set up a trapezoidal profile as shown. • In the procedure below, the Torque Command and Velocity Feedback parameters can be measured using the drive’s analog outputs, PowerTools software. • With vertical loads the test readings must be taken while traveling in the same direction.
Epsilon Eb and EN Drives Reference Manual Figure 110: Trapezoidal Velocity Waveform with Torque Waveform Determining Inertia Ratio Actual system Inertia Ratio is determined by accelerating and decelerating the load with a known ramp while measuring the torque required. Consider the following before determining the inertia: • If your application allows a great deal of motor motion without interference, it is recommended that you use a Preset Velocity to produce accurate acceleration ramps.
Tuning Procedures Inertia Measurement Procedure: Note The test profile will need to be run a number of times in order to get a good sample of data. 1. Enable the drives and run the test profiles. 2. Note the Torque Command Limited value during acceleration and deceleration. 3. Use the appropriate formula below to calculate the inertia.
Epsilon Eb and EN Drives Reference Manual Many position controllers define acceleration in units per sec2. The formulas above use ms/ kRPM. Make sure you make this conversion when entering the information into the formula. Conversion Formula: 6 10 MPK = (RPSS · 60) Where: MPK = accel ramp in ms/kRPM RPSS = accel ramp in revolutions per second2 Motor Drive Percent Continuous/volt Scaled Torque Command Output (default)) RPM /volt Scaled Velocity Command Output (default)) NT-320 4.
Tuning Procedures Motor NT-345 RPM /volt Scaled Velocity Command Output (default)) Vm 4.77 30 600 Eb-205 5.50 30 600 5.
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Epsilon Eb and EN Drives Reference 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”.
Epsilon Eb and EN Drives Reference 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 High DC Bus Reset Button or Input Line Yes 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 +/-
Epsilon Eb and EN Drives Reference Manual Fault Descriptions Power Up Test This fault indicates that the power-up self-test has failed. This fault cannot be reset with the reset command or reset button. 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 EN EN Only A function module was attached to the drive on its previous power-up.
Diagnostics and Troubleshooting condition or an application that requires an external shunt (e.g., a large load with rapid deceleration). High DC Bus Threshold Low DC Bus Threshold EN 440 96 Epsilon 415 60 Low DC Bus This fault will occur whenever the voltage on the DC bus drops below the Low DC Bus threshold. The most likely cause of this fault is a reduction (or loss) of AC power. A 50 ms debounce time is used with this fault to avoid faults caused by intermittent power disruption.
Epsilon Eb and EN Drives Reference Manual Overspeed This fault occurs in one of two circumstances: 1. When the actual motor speed exceeds the Overspeed Velocity Limit parameter or 150% of motor maximum operating speed. This parameter can be accessed with PowerTools software. 2. If the combination of command pulse frequency and Pulse Ratio can generate a motor command speed in excess of the fixed limit of 13000 RPM, an Overspeed Fault will be activated.
Diagnostics and Troubleshooting Analog Output Source options are: • Velocity Command • Velocity Feedback • Torque Command (equates to Torque Command Actual parameter) • Torque Feedback • Following Error Default Analog Output Source: • Channel 1 = Velocity Feedback • Channel 2 = Torque Command Channel Output Source Offset Scale 1 Velocity Feedback 0 600 RPM/volt 2 Torque Command 0 30 percent/volt for selected motor Channel #2 Analog GND Channel #1 Epsilon Drive E Series Drive Figu
Epsilon Eb and EN Drives Reference Manual D/A Black (GND) D/A Yellow Blue 10 Ohm 2 10 Ohm 2 GND DGNE Cable DGNE Cable Figure 112: GND 1 1 44 29 43 Command Connector Pin #'s Diagnostic Cable (DGNE) Diagram 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.
Diagnostics and Troubleshooting Viewing Active Drive Faults To view all active drive faults, select the View Faults command from the Device menu or by clicking on the View Faults icon on the toolbar. The dialog box displayed is the same as Active Drive Faults Detected dialog box described above. Rebooting the Drive To reboot the drive, cycle power or select the Reboot Drive command from the Device menu. This command reboots the drive attached to the active Configuration Window.
Epsilon Eb and EN Drives Reference Manual watch, click the Close button. The Select Drive Parameters dialog box will close and the Watch Window will remain open. Figure 115: Select Drive Parameters Dialog Box Group This list box enables you to view the complete list of parameters or just a group of parameters you are interested in.
Diagnostics and Troubleshooting Figure 116: View Motor Parameters Window The View Motor Parameters window is accessed by selecting View Motor Parameters from the Tools menu. Error Messages PowerTools will pop-up an error message box to alert you to any errors it encounters. These message boxes will describe the error and offer a possible solution.
Epsilon Eb and EN Drives Reference Manual Problem/Message Cause Solution No device selected. No device selected during flash upgrade. Select device(s) from list box. The drive at address is use. 158 Close any other windows that are using the same addresses and try again.
Epsilon Eb and EN Drives Reference Manual User Defined Motors Drives can be configured to operate with brushless DC (synchronous permanent magnet) motors not manufactured by Control Techniques. This feature is very useful for users who are retrofitting drives on existing systems or who have special motor requirements. Commutation Basics To properly commutate the motor, the drive must know the electrical angle (the angle between the motor magnetic field and stator coils; R, S and T).
Epsilon Eb and EN Drives Reference Manual 1. Determine if your motor is compatible with the drive by verifying its characteristics. There are a number of restrictions such as encoder line density and motor pole count that must be considered. Most of these parameters are commonly found on a motor data sheet and some may have to be determined by testing. It is important that the encoder used have a repeatable Z channel angle with reference to one of the commutation channels.
User Defined Motors Figure 117: 5. CCW Rotation of the Motor Look at the phase-to-phase voltages VCA and VBA. There are two possibilities. If VCA leads VBA, then assign B to S and C to T. If VBA leads VCA, then assign B to T and C to S. These relationships are summarized in the figure below.
Epsilon Eb and EN Drives Reference Manual Figure 118: Phase Plot Used to Determining Stator Wiring Note For the remainder of this procedure we will refer to the motor terminals using the Control Techniques designations R, S and T. Step 2: Motor Feedback Wiring This step describes how to wire the feedback signals to the drive. There are two parts to this step: electrical interfacing and logical interfacing.
User Defined Motors Encoder Electrical Interfacing Each of the encoder signals is received by a differential receiver to minimize the noise susceptibility and to increase frequency bandwidth. This requires two wires for each logical signal. (i.e., signal A requires channel A and A/, etc.). For optimum performance these signals should be generated by an encoder with a line driver output. Encoders which supply only single ended output signals will require some interfacing circuitry.
Epsilon Eb and EN Drives Reference Manual Figure 120: User Defined Motor Single Ended Feedback Connections Thermal Switch Interfacing The drive provides a facility to monitor the motor thermal sensor and shut the drive down in the event of a motor overtemp condition. This must be connected properly in order to enable the protection. If your motor does not have a thermal sensor, the sensor input pin needs to be connected to GND (connect pin 9 to pin 18).
User Defined Motors There are two steps in interfacing the encoder signals: 1. Determine whether your encoder has all the required signals to operate with a drive. Some encoders, for example, do not provide a marker pulse or the marker pulse may not have a fixed phase relationship to the commutation tracks. 2. Determine the mapping from the motor encoder signals to the drive.
Epsilon Eb and EN Drives Reference Manual Note It is important that all the encoder phases match the phase plot in the figure above. (i.e., A leads B, U leads V and V leads W. No particular phase relationship is required between the A and B pari and the U, V, W signals. Drive signal names are relatively standard. Your encoder signals may be named differently or they may have the same names but the signals may be functionally different.
User Defined Motors Figure 123: Oscilloscope Connections CCW Reference Rotation Before reading the motor signals, zero the VTS oscilloscope channel on a horizontal graduation marker to allow more accurate readings. Couple the drill motor to the motor shaft. While spinning the motor counter-clockwise, use an oscilloscope to examine the phase relationship between encoder channel U and positive peak of VTS (the voltage at motor power terminal T with reference to S).
Epsilon Eb and EN Drives Reference Manual Figure 124: CCW Electrical Angle Plot æ 180 ö EUA = 90° + ç tu ÷ t1 ø è Where: EUA = Motor Encoder “U” Angle If EUA is >360° subtract 360°. Next, use the oscilloscope to examine the phase relationship between Z and VTS. Use Figure 124 to determine the electrical angle at the rising edge Z. This is the Encoder Marker Electrical Angle.
User Defined Motors æ 180 ö EMA = 90° + ç tz ÷ t1 ø è Where: EMA = Motor Encoder Marker Angle If EMA is >360° subtract 360°. Many encoders are designed so that the encoder marker pulse occurs a specified number of electrical degrees from the rising edge of U. You could obtain this value from the encoder specification sheet however, to minimize errors in conversion, you should make this measurement.
Epsilon Eb and EN Drives Reference Manual Figure 125: CW Electrical Angle Plot In Figure 124 the electrical angle decreases from left to right and the positive peak of VTS occurs at zero degrees electrical. In Figure 125 the electrical angle increases from left to right and the negative peak of VTS occurs at zero degrees electrical. Note that with a CW reference rotation the negative peak of VTS is at zero electrical degrees and the electrical angle decreases from left to right.
User Defined Motors Dynamic Alignment Method This method is used at Control Techniques to establish the alignment on motors. It is accomplished by spinning the motor CCW with another device while monitoring U and VSR. Then while the motor is spinning CCW, the encoder body is rotated on it’s mounting until the desired alignment is established. The encoder is then locked down. This will cause the rising edge of V to line up with the rising edge zero crossing of VRT when the encoder reference rotation is CCW.
Epsilon Eb and EN Drives Reference Manual Figure 127: Static Alignment Schematic The current applied through R to S should be the same polarity each time (i.e., + on R) and the current must be controlled to no more than 50 percent of the RMS stall current rating of the motor.
User Defined Motors Note When using an oscilloscope, use the following formula to determine the motor velocity in RPM. RPM = 60 Seconds/Re volutions Use the following formula to determine the Ke of the motor after the voltage and speed measurements. Ke = 1000 VRMS RPM Motor Pole Count To determine the number motor poles, measure the number of electrical revolutions per mechanical motor revolution.
Epsilon Eb and EN Drives Reference Manual 7. Calculate the number of motor poles: Number of Cycles · 2 = Number of Motor Poles Step 5: Editing the MOTOR.DDF File The PowerTools software obtains the names and parameters of user defined motors from the Motor Data Definition File (MOTOR.DDF). This file is automatically loaded during the PowerTools installation and is located in the same directory as the PowerTools software. This file contains two sections: the Header and the Motor data. An example MOTOR.
User Defined Motors MotorID is used for each motor to mark the beginning of a new user defined motor definition. The format is [MotorXX] where XX is the ID number starting with zero and incrementing by one. You must use both ID numbers. For example, an ID of 1 would be entered as 01. There is no practical limit to the number of user defined motors allowed in the .ddf file. Only one set of user defined motor data can be stored in a single drive at any one time.
Epsilon Eb and EN Drives Reference Manual In this example, the parameters of two user defined motors are named “User1” and “User2”. Abbreviated parameter identifiers are used in the .ddf file. The table below shows the abbreviated identifier for each parameter followed by a description of each.
User Defined Motors The total number of encoder lines is used both for commutation and for position/ velocity control. To properly commutate the motor, the drive must know the electrical angle (the angle between the motor magnetic field and stator coils). Motor Encoder Lines Per Revolution Coefficient Specifies a coefficient for determining the number of encoder lines per mechanical revolution. The supported values are 1 to 16383.
Epsilon Eb and EN Drives Reference Manual will then operate more efficiently. See “Step 3: Determine Encoder Alignment” for a detailed procedure on how to determine this parameter. Motor Encoder U Angle Specifies the electrical angle at which the rising edge of the U commutation track will occur with reference to VTS when the motor is spun in the encoder reference direction.
User Defined Motors Motor Peak Current Specifies the peak current allowed by the motor. The range is 1 to 100 ARMS. If the peak current of the motor is greater than 30 ARMS, specify the peak as 30 ARMS. The drive will limit the peak current to the drive’s capacity. Motor Continuous Current Specifies the continuous current allowed by the motor. It is used to determine the current foldback point and the amount of current allowed during foldback.
Epsilon Eb and EN Drives Reference Manual Figure 128: Motor Parameters Dialog Box 3. Select the correct drive type. 4. Download the configuration to the drive. 5. Select the OK button. The drive will now be configured for the non-Control Techniques motor. Step 7: Verification and Checkout Once the cabling and interface circuitry have been assembled and the drive has been correctly configured, you are ready to power-up the drive.
User Defined Motors The motor may run away during this test. Make sure it is securely fastened and that there is nothing connected to the motor shaft. At a certain point in the test it will be necessary to manually rotate the motor through an integral number of revolutions. This can only be done if the motor shaft and housing are marked in some way so that the motor can be aligned to a specific position. A disk or pulley can be installed during that portion of the test to make this alignment more precise.
Epsilon Eb and EN Drives Reference Manual signals are wired correctly and the Motor Encoder Reference Motion parameter is correct. 5. Manually rotate the motor as accurately as you can, CW 20 revolutions. The Position Feedback should increase by exactly 20 revs. If the change has some significant fractional part (20.5 for example) the Motor Encoder Lines Per Revolution parameter is probably wrong. 6. Select "View Motor Parameters" from the Tools menu.
User Defined Motors 2. Move to the Analog tab and find the "Analog Input" parameter. 3. Using your simulator adjust the analog command until the value of this parameter is approximately 0 volts. 4. Enable the drive. It should not move. If the drive faults at this point you most likely have a wiring problem (see “Step 1: Motor Wiring”). 5. Gradually increase the analog command voltage. The motor should start moving with a voltage level somewhere between 2 and 5 volts.
Epsilon Eb and EN Drives Reference Manual Velocity Test 184 1. Disable the drive. 2. Select Velocity Analog mode and set "Full Scale Velocity" parameter to 12 RPM. 3. Use the simulator to adjust the analog command voltage to 5 volts. 4. Enable the drive. Find the "Velocity Command Analog" parameter on the Status tab. Adjust the analog command until this parameter reads exactly 6 RPM. The motor should be moving at 6 RPM.
Epsilon Eb and EN Drives Reference Manual Options and Accessories EN Drive Options FM-4 Programming Module FM-3 Programming Module F10 Toggle 1 Del Next Msg. è Last Msg. 7 Sync. Input ,+ 2 Alarm Ack. 4 Help ± 5 8 Page Down 3 è 0 Clear 6 ,– Inputs F7 F6 Sync. Output F5 è F4 F2 F4 è F1 F1 1 2 3 4 5 6 7 8 10-30 VDC Outputs Programming Module Control Techniques Drives 952-995-8000 1 2 3 4 + - Inputs Sync. Input Programming Module Sync.
Epsilon Eb and EN Drives Reference Manual Epsilon Eb Drive Options OIT-3165 Operator Interface Panel F4 F5 F7 F10 Toggle 1 Del Next Msg. è Last Msg. F6 7 ,+ 2 Alarm Ack.
Options and Accessories STI-EIO Standard Terminal Interface The STI-EIO interface allows access to all digital input and output signals. The STI-EIO mounts directly to the J3 connector on the drive. See the figure below. Note Shield connection points are connected to the shell of the 44-pin “D” connector on the STI EIO. The STI-EIO wire range is #18 to 24 AWG stranded insulated wire. Note Wiring should be done with consideration for future troubleshooting and repair.
Epsilon Eb and EN Drives Reference Manual Figure 131: Dimensions of ECI-44 Note Shield connection points are connected to the shell of the 44-pin “D” connector on the ECI-44. Use tie wraps to provide a strain relief and a ground connection at the shield connection points. If you do not wish to use the DIN rail mounting hardware, the ECI-44 can be disassembled and the mounting clips removed. The ECI-44 wire range is #18 to 24 AWG stranded insulated wire.
Options and Accessories Figure 132: ECI-44 Signal Connections FM-1 Speed Module The FM-1 is a compact and rugged module that attaches to the front of the EN drive. It provides eight digital input lines and four digital output lines in addition to the four input and three output lines available on the EN drive.
Epsilon Eb and EN Drives Reference Manual software. PowerTools FM is an easy-to-use Microsoft® Windows®-based setup and diagnostics tool. With the FM-1 installed, the base drive functions normally, with some additional features, including eight more inputs and four more outputs. The additional major features include; four additional Velocity presets, eight digital Torque presets, two additional Summation modes, plus an Alternate Operating mode function.
Options and Accessories addition to the four input and three output lines available on the EN drive. The FM-4 and FM4DN Programming Modules offer complex motion profiling, along with multi-tasking user programs. A compex motion profile consists of two or more indexes that are executed in sequence such that the final velosity of each index except the last is non-zero. Logical instructions between index statements can provide a powerful tool for altering motion profiles ’on the fly".
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Epsilon Eb and EN Drives Reference Manual Specifications Drive Specifications EN 90 - 264 VAC, 47-63 Hz (240 VAC for rated performance) Epsilon Series Standard Range: 90-264 VAC, 1 Ø, 47-63 Hz Extended Range: (requires APS) 42-264 VAC,1 Ø, 47-63 Hz Power Requirements EN-204: 1 Ø EN-208: 1 Ø EN-214: 3 Ø (for 1 Ø operation, drive output power must be derated by 20%) Auxiliary Power Supply/ Auxiliary Logic Power Input 130 - 370 VDC, 18 W load (including FM’s attached to the drive) Switching Frequency 2
Epsilon Eb and EN Drives Reference Manual EN Epsilon Series Interface: Software selectable differential (RS422) or single ended (TTL Schmitt Trigger) Maximum input frequency: Differential - 2 MHz per channel; 50% duty cycle (8 MHz count in quadrature) Single ended - 1 MHz per channel; 50% duty cycle (4 MHz count in quadrature) Pulse Mode Ratio Capabilities: 20 to 163,840,000 PPR Input Device = AM26C32 Vdiff = 0.1 - 0.
Specifications EN Cooling Method EN-204, EN-208: Natural Convection EN-214: Integral thermally controlled fan (60°) Epsilon Series Eb-202, Eb-203, Eb-205: Natural Convection Ambient temperature range for rated output: 32° F to 104° F (O° C to 40° C) Maximum ambient operating temperature: 104° F to 122° F (40° C to 50° C) with power derating of 3%/°C Environmental Rated altitude: 3,280 feet (1000 m) Vibration: 10 - 2000 Hz at 2g Humidity requirement: 10 - 95% non-condensing Storage temperature: -13 °F to
Epsilon Eb and EN Drives Reference Manual Drive and Motor Combination Specifications Drive 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-320 18 (2.03) 29 (3.28) 1.02 (0.76) 0.000328 (0.3703) 4000 2048 29 3.5 (0.3955) MG-205 5.2 (0.59) 15.6 (1.76) 0.38 (0.28) 0.000084 (0.095) 5000 2048 28.3 4.1 (0.46) MG-208 9.1 (1.
Specifications Drive 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-212 12.5 (1.41) 27 (3.05) 0.8 (0.6) 0.000164 (0.185) 5000 2048 34.7 5.08 (0.57) MG-205 5 (0.56) 15.0 (1.69) 0.31 (0.23) 0.000084 (0.95) 5000 2048 28.3 4.1 (0.46) MG-208 9.1 (1.03) 20 (2.26) 0.58 (0.43) 0.000144 (0.163) 5000 2048 28.3 4.1 (0.
Epsilon Eb and EN Drives Reference Manual 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 20 (2.26) 0.000106 (0.12) 1 (0.46) 24 (±10%) 0.33 (±10%) 28 ms 14 ms MGE-2XXCB 10 (1.13) 0.000025 (0.0282) 1.8 (0.55) 24 (±10%) 0.48 (±10%) 25 ms 40 ms MGE-316CB MGM-340CB 50 (5.6) 0.00015 (0.1693) 2.4 (1.
Specifications Axial/Radial Loading Motor Max Radial Load (lb.) Max. Axial Load (lb.
Epsilon Eb and EN Drives Reference Manual IP Ratings Motor Rating MG (all) IP65 NT-207 IP65 NT-207 (w/o seals) IP54 NT-212 IP65 NT-212 (w/o seals) IP54 NT-3XX (all) IP65 Encoder Specifications Motor MG and NT 200 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%
Specifications 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. Logic power losses on the EN drive is 11 W minimum to 21 W depending on external loading such as FM modules and input voltages. Logic power losses on the Epsilon drive are 11 W with normal loads to 15 W with additional loads such as external encoder and low input voltage (<22 VDC on A.P.S. or 120 VAC on AC input).
Epsilon Eb and EN Drives Reference 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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Specifications 205
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Specifications NT-320 with Eb/i-205 NT-320 with En-204 4500 4500 4000 3500 Speed (RPM) Speed (RPM) 4000 120 VAC 3000 2500 3500 120 VAC 3000 2500 2000 2000 1500 1500 1000 500 1000 Peak Rating Continuous Rating Continuous Rating 500 Peak Rating 0 0 0 0 5 0.56 10 1.13 15 1.69 20 2.26 25 2.82 30 3.39 0 0 35 lb-in 3.95 Nm 5 0.56 10 1.13 15 1.69 Torque 30 3.39 35 lb-in 3.95 Nm NT-330 with Eb/i-205 NT-320 with En-208 4500 4000 4000 3500 Speed (RPM) Speed (RPM) 25 2.
Epsilon Eb and EN Drives Reference Manual NT-345 with En-214 3500 3000 3000 Speed (RPM) Speed (RPM) NT-345 with En-208 3500 2500 120 VAC 2000 2500 120 VAC 2000 1500 1500 1000 1000 Peak Rating Continuous Rating 500 0 Peak Rating Continuous Rating 500 0 0 0 10 1.13 20 2.26 30 3.39 40 4.52 50 5.65 60 6.78 70 7.91 80 9.04 90 lb-in 10.17 Nm 0 0 20 2.26 40 4.52 Torque 3000 3000 2500 120 VAC 1500 100 11.3 120 lb-in 13.
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.
Epsilon Eb and EN Drives Reference Manual Epsilon Drive Dimensions The following table applies to A* and B* as shown in the figure below. Drive Model Dimension A* (shown in inches/mm) Dimension B* (shown in inches/mm) Eb-202 2.10 [53.3] .45 [11.4] Eb-203 2.10 [53.3] .45 [11.4] Eb-205 3.56 [90.42] .7 [17.78] 5.21 [132.3] 5.39 [136.9] 5.96 [151.4] 0.5 [13] side clearance for heatsink 1.20 [30.5] 1.81 [46.1] 0.20 [5.1] A* Ø0.22 [Ø5.6] 1.04 [26.4] 3.00 [76.2] TIA Cable & C0422 7.75 [196.
Specifications 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) 0.063 (1.60) 1.
Epsilon Eb and EN Drives Reference Manual 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.
Specifications 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 (38.10) 0.10 (2.
Epsilon Eb and EN Drives Reference Manual 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.
Specifications 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±50.8] (-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.
Epsilon Eb and EN Drives Reference Manual 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.
Specifications 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 2.450 [62.24] MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S (-CONS) M G 45° J L K D (MIN) E B C SQR. (MAX.
Epsilon Eb and EN Drives Reference Manual 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
Specifications Encoder Connector: PT02E-16-23P Mating Connector: PT06E-16-23S Motor Power Connector: PT02E-16-8P Mating Connector: PT06E-16-8S 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 In Z X Pulse
Epsilon Eb and EN Drives Reference Manual Drive Signal 220 CMDX, CMDO, ECI-44 CDRO AX4-CEN I/O Power + In (1st wire) 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
Specifications 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 RS-485+ ORA
Epsilon Eb and EN Drives Reference Manual CMDO-XXX Cable PIN 1 2.
Specifications 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/ ENCODER OUTPUT B ENC
Epsilon Eb and EN Drives Reference Manual 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 P BRN/BLK P
Specifications EIO-XXX Cable 1.530 E IO PIN 1 0.
Epsilon Eb and EN Drives Reference Manual TIA-XXX Cable PIN 1 PIN 1 2.5 MAX (2X) 0.250 .
Specifications TERM-H (Head) Terminator 1.22 R.195 .78 .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 .
Epsilon Eb and EN Drives Reference Manual CMDS-XXX Cable 3.23 1.20 3.0 +/- 0.25 GRN/YEL BRN BLK BLU D A B C SHELL A G B H F E C D SOLDER SIDE CMMS-XXX Cable 3.99 1.40 3.0 +/- 0.
Specifications CFCS-XXX Cable 2.24 3.16 1.18 1.
Epsilon Eb and EN Drives Reference Manual CFCO-XXX Cable 2.24 PIN 1 1.
Specifications CFOS-XXX Cable 3.16 1.
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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, 79 AC Line Filters, 79 AC Supplies NOT Requiring Transformers, 85 AC Supplies Requiring Transformers, 86 Achieving Low Impedance Connections, 78 Active State, 32 Advanced Tab, 75 Alternate Power Supply Wiring, 94 Analog Command Wiring, 30, 107 Analog Input, 29 Analog Outputs, 31 Analog Submode, 12 Analog Tab, 63 Assigning Inputs, 125 Assigning Outputs, 126 Auxiliary Logic Power Usage, 93 Auxiliary Logic/Alternate Power Wir
Epsilon Eb and EN Drives Reference Manual Disconnecting Communications, 131 Downloading the Configuration File, 129 Drive Ambient Temperature, 24 Drive and Motor Combination Specifications, 196 Drive Enable Wiring, 101 Drive Faults, 154 Drive Modifiers, 16 Drive Mounting, 82 Drive overload protection, vii Drive Setup Information, 119 Drive Specifications, 193 Dynamic Alignment Method, 171 Feedforwards, 138 FM-1 Speed Module, 189 FM-2 Indexing Module, 190 Friction, 137 Functional Overview, 7 E Heatsink RM
Index M Mechanical Installation, 82 MG and NT with Epsilon Speed Torque Curves, 205 MG Motor Dimensions, 211 MG with EN Motor Speed Torque Curves, 203 MGE-205 and 208 Motors, 211 MGE-316 and 340 Motors, 211 MGE-455, 490 and 4120 Motors, 212 Modbus Communications, 114 Motor Brake Specifications, 198 Motor Brake Wiring, 99 Motor Feedback Wiring, 98, 162 Motor Ke, 172 Motor Mounting, 83 Motor Pole Count, 173 Motor Power Wiring, 96 Motor Tab, 59 Motor Weights, 198 Motor Wiring, 160 Multi-Drop Communications, 1
Epsilon Eb and EN Drives Reference Manual Rotation Test, 181 S Safety Considerations, xi Safety of Machinery, xi Safety Precautions, xi Saving the Configuration File, 131 Selecting a User Defined Motor, 179 Selecting an Operating Mode, 120 Serial Communications, 112 Setup, Commissioning and Maintenance, xi Shunt Active Output, 23 Shunt Monitoring Algorithm, 23 Shunt Operation, 23 Shunt Power RMS, 23 Shunt RMS Fault, 23 Single ended input, 8 Specifications, 193 Speed Torque Curves, 203 Stall Foldback, 22 St
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.
