Home

Emerson Epsilon Eb Digital Servo Drive Installation Manual

1. Diagnostic Cable DGNE EESTI OI fj Motor Feedback Cable CFOS xxx STI EIO Flex duty versions of these cables are also available 43 Epsilon Eb Digital Servo Drive Installation Manual ECI 44 External Connector Interface The ECI 44 allows access to all command and input and output signals The ECI 44 should be mounted close to the drive and away from any high voltage wiring The ECI 44 comes complete with the hardware necessary for mounting to most DIN rail mounting tracks 29 2 4 42 gt E es 1123 16 BBEHH e Shield Connection Points and Cable Strain Relief Figure 39 Dimensions of ECI 44 Note Shield connection points are connected to the shell of the 44 pin D connector on the ECI 44 Also the shield connection points of the ECI 44 are also designed to provide a point for cable strain relief 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 Note Wiring should be done with consideration for future troubleshooting and repair AII wiring should be either color coded and
2. 2 2 2 26 Pulse Mode Wiring Differential 27 Pulse Mode Wiring Single Ended Inputs 28 Serial Communications s A e e eleg 30 xiii Epsilon Eb Digital Servo Drive Installation Manual Modbus Communications 31 Multi Drop 1 31 Diagnostics and Troubleshooting Diagnostic Display s ayy TN ER Rae ge ga eee 33 Fault a ar em teu eus S eR 34 Fault Descriptions n UH D CH regu 35 Diagnostic Analog Output Test 38 IN ERREUR Ve ate ean RR ER 39 Resetting uot rig se aed Se tae Sea IMEN SEIN N S En 40 Viewing Active Drive 6 40 Rebooting the 2 40 Watch Wind Weee ete Ek Dg Wet 40 View Motor Parameters 42 Options and Accessories Epsilon Eb Digital Servo 43 ECI 44 External Connector 44 STI EIO Interface
3. BLU RED RED GRN GRN RED Wi lt xi lt coiri lt gt lx z mlv mIa micix viz ow DRAINS SOLDER SIDE le TWISTED PAIR Specifications 75 Epsilon Eb Digital Servo Drive Installation Manual Vendor Contact Information 76 Schaffner AC Line Filters 800 367 5566 or 201 379 7778 www schaffner com Cooper Industries Inc Crouse Hinds Division Cable Shield Grommets 315 477 5531 www crouse hinds com Bussman P O Box 14460 St Lois MO 63178 4460 314 394 3877 www bussman com Littelfuse 800 E Northwest Hwy Des Plaines IL 60016 847 824 0400 www littelfuse com Wickmann USA 4100 Shirlel Dr Atlanta GA 30336 404 699 7820 www wickmann com Corcom 844 E Rockland Road Libertyville IL 60048 847 680 7444 www corcom com A AC Line Filter Installation Notes 5 AC Line Filters 5 AC Supplies NOT Requiring Transformers 10 AC Supplies Requiring Transformers 11 Achieving Low Impedance Connections 4 Analog Command Wiring 25 AX CEN XXX Cable 69 Axial Radial Loading 51 C Cable Diagrams 65 Cable to Enclosure Shielding 6 CDRO XXX Cable 68 CFCO XXX Cable 74 CFCS XXX Cable 73 CFOS XXX Cable 75 CMDO XXX Cable 67 CMDS XXX Cable 72 CMDX XXX Cable 66 CMMS XXX Cable 72 Command Cables 24 Command Co
4. e dats se beat Ld dud e kan 1 Installation Basic Installation ssa EN NASN Vn ENS et ant a 3 Electromagnetic Compatibility EMC 3 Environmental 7 Wiring Notes cesses Ex voee tn Se eget Pee eg he tea 8 Mechanical Installation E Rd da mi eR gn 8 Drive Mounting cR EL A SO ugue es 8 Motor 2 4 8 Electrical Installationc a DARET MEI e ee CI MIR EU eR s 9 Power Supply Requirements 1 10 Transtormer Sizing s A Es 13 Line Fusing and Wire 2 14 Input Power 15 Alternate Power Supply 16 Motor Power eit HEU ee ke 18 Motor Feedback 2 2 19 Input Output and Drive Enable Wiring 21 Command Connector 22 Command Cables maipo DIE HUI Mein 24 Analog Command Wiring 2 25 Encoder Output Signal
5. 35 Connected to 4 grounded mounting panel Single point PE ground Figure 16 Epsilon Brake Wiring Diagram using the Command Connector Front View CBMS xxx Cable Customer supplied drive enable contact Output 3 Drive Enable Internal to Motor VO Supply Relay EMC BRM 1 VO Common Connected to grounded mounting panel Single point PE ground Figure 17 Epsilon Brake Wiring Diagram using the I O Connector 20 Internal to Motor Installation Input Output and Drive Enable Wiring Drives are equipped with five optically isolated input lines one is dedicated to a drive enable function and three optically isolated output lines They are designed to operate from a 10 to 30 VDC source All inputs and outputs are configured as sourcing You are responsible for choosing a load that will limit each output s current to less than 150 mA Front View A highspeed diode such as a 1N4000 is 16 56 required for inductive 10 to 30 VDC loads such as a relay p solenoid or contactor 222222220 2 Output 43 Output 2 Output 1 Input 4 Drive Enable Input VO Supply Figure 18 Epsilon Input Output Wiring Diagram Epsilon Only The I O connector is a 26 pin male connector on the front ofthe drive Control Techniques offers a low profile i
6. Pulse In B single ended I O Input Drive Enable I O Input 1 I O Input 2 I O Input 3 I O Input 4 I O Output 1 I O Output 2 I O Output 3 I O Power In Ist wire I O Power In 2nd wire gt lt x lt I O Power OV In Ist wire I O Power OV In 2nd wire Analog Out 0V Analog Out 1 x gt x Pm lt x Analog Out 2 External Encoder 5 Power Out 200 ma x x 4 15V Power 10 ma x RS 485 X RS 485 X 65 Epsilon Eb Digital Servo Drive Installation Manual CMDX XXX Cable COLOR CODE FUNCTION RED BROWN STRIPE INPUT 1 0 1 BROWN RED STRIPE INPUT 1 0 2 BLACK BLUE STRIPE INPUT 1 0 3 BLUE BLACK STRIPE INPUT 1 0 4 WHITE ORANGE STRIPE RS 485 DRANGE WHITE STRIPE RS 485 PURPLE BLUE STRIPEX MOTOR ENCODER DUTPUT A BLUE PURPLE STRIPEX MOTOR ENCODER DUTPUT A RED BLUE STRIPE EXT ENCODER 200mA max 5V BLUE RED STRIPE EXT ENCODER 200mA DG BLACK GREEN STRIPE EN GREEN BLACK STRIPE DUTPUT 1 0 3 BLACK BROWN STRIPE OUTPUT 1 0 2 BROWN BLACK STRIPE DUTPUT 1 0 1 PURPLE ORANGE STRIPEX MOTOR ENCODER DUTPUT B DRANGE PURPLE STRIPEX MOTOR ENCODER DUTPUT B BLACK RED STRIPE SYN
7. 4331 394 199 703 145 00 3 00 10 00 78 2 77 5 709 418 4331 394 4120 199 703 145 00 3 00 10 00 78 2 77 5 709 418 4331 394 60 Specifications NT Motor Dimensions NTE 207 Motors English Face NEMA 23 with 3 8 inch shaft Connectors only on NTE 207 T NTE 207 L has lead wires J Motor Conn PTO1E 16 8P Mating Conn PTO6E 16 8S Flying Lead Length ATU bl 39 37 2 00 1000 50 8 Encoder Conn PT01E 16 23P Mating Conn 6 16 235 9 g 1500 38 100 _ 1 498 38 049 0 079 2 007 0 075 1 905 0 3750 9 525 4760 0 3745 9 512 45 21 Max f EA ty d Yo 5 0 1260 3 200 CD mo 0 1248 3 170 2 27 0 563 e 57 66 14 30 45 ach 0 100 Min 4 335 254 4 210 30 73 90 205 0 010 5 21 0 25 n 10 11 1 170 29 72 Drilled thru 4 Eq Spaced on 2 625 66 68 Dia B C Mounting ears have clearance for 10 or M5 Allen lead screw or 0 3125 or 8mm across flats hex nut Encoder Conn PTO2E 16 23P Mating Conn PTO6E 16 23S 23631600121 Motor Conn PTO2E 16 8P 362 59 993 Mating Conn PTO6E 16 8S de a 0 3750 9 525 1 875 0 3745 9 512
8. Throughout this manual the word drive refers to an Epsilon or E Series drive A WARNING Warning indicates a potentially hazardous situation that if not avoided could result in death or serious injury CAUTION Caution indicates a potentially hazardous situation that 1f not avoided may result in minor or moderate injury CAUTION Caution used without the safety alert symbol indicates a potentially hazardous situation that 1f not avoided may result in property damage 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 Qualified Person For the purpose of this manual and product a qualified person is one who is familiar with the installation construction and operation of the equipment and the hazards involved In addition this individual has the following qualifications 15 trained and authorized to energize de energize clear and ground and tag circuits and equipment in accordance with established safety practices Is trained in the proper care and use of protective equipment in accordance with established safety practices Is trained in rendering
9. 47 62 Max 0 1260 3 200 0 1248 3 170 ag lt 0 563 14 30 B Min Sq max 121 7 00 205 0 010 5 21 0 25 39711 mt 5973 Drilled thru 4 Eq Spaced 2 625 66 68 Dia B C Mounting ears have clearance for 10 or M5 Allen lead screw or 0 3125 or 8mm across flats hex nut Note Mounting ears have clearance for 10 or M5 Allen head screw or 3125 or 8mm across flat hex nut 61 Epsilon Eb Digital Servo Drive Installation Manual NTM 207 Motors Metric Face Flying Lead Length 39 37 2 00 1000 50 8 1 780 45 21 Max 0 4330 10 998 0 4326 10 988 Connectors only on NTM 207 T NTM 207 L has lead wires Motor Conn PTO1E 16 8P Mating Conn 6 16 85 Cur Encoder Conn PTO1E 16 23P Ps Mating Conn PTO6E 16 23S CI 2 363 60 012 2 362 59 993 0 083 2 10 0 079 2 00 pe 0 158 4 00 0 156 3 97 0 512 130 Sq 0 012 26 90728 0 000 oc on a 110 11 0 886 22 49 05 80 500 2 953 75 00 Dia B C 2 Mounting ears have clearance for 10mm across flats hex nut or 13 mm O D washer Encoder Conn PTO2E 16 23P Mating Conn 6 16 235 Motor Conn PTO2E 16 8P
10. AA Ld Command Connector PE 15 14 L Single Point Panel Ground External L Controller o _ Single Point Panel Ground 1 k 2 A 527 Figure 22 Analog Command Single Ended Wiring Diagram 25 Epsilon Eb Digital Servo Drive Installation Manual Encoder Output Signal Wiring The Epsilon drive encoder outputs meet RS 422 line driver specifications and can drive up to ten RS 422 signal recievers The default encoder output resolution is set so it outputs the actual motor encoder resolutions The standard MG and NT motors have 2048 lines per revolution This resolution is adjustable in one line per revolution increments with PowerTools software With the range of one line per revolution to the actual motor encoder density Note If the external controller does not have an internal terminating resistor R1 R2 and R3 must be mounted within 6 inches of J5 A 120 ohm resistor is recommended to high frequency encoders over 250 kHz or cables longer than 25 feet If encoder signals are multi dropped termination Assi 7 resistors are required only at the last drop point Do not terminate at Drive more than one point ui B External R2 Controller B Encoder Z 37 H 7 Input E z 38 2 Connector Shel Internal 10 Ohm WN L SE 41 Single Point
11. Ae a CONTROL ww TECHNIQUES Epsilon Eb Digital Servo Drive Installation Manual P N 400501 05 Revision A2 Date October 1 2001 O Control Techniques Drives Inc 2000 2001 EMERSON Industrial Automation Epsilon Eb Digital Servo Drive Installation Manual CONTROL TECHNIQUES 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 Information in this document is subject to change without notice P N 400501 05 Revision A2 Date October 1 2001 O Control Techniques Drives Inc 2000 2001 Control Techniques Drives Inc 2000 2001 Part Number 400501 05 Revision A2 Date October 1 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 Control Techniques The following are trademarks of Control Techniques and may not be reproduced in any fashion without written approval of Con
12. For information about Command Connector pinout and CMDO XXX cable wire colors see the Specifications chapter Function Pin Numbers Electrical Characteristics Inputs and Drive Enable 1 2 3 4 16 10 30 V On 0 3 V Off optically isolated Outputs 17 18 19 10 30 VDC sourcing 150 mA I O Supply 33 34 10 30 VDC Y 1 Amp maximum I O Common 31 32 I O return 23 Epsilon Eb Digital Servo Drive Installation Manual Function Pin Numbers Electrical Characteristics Pulse Inputs Differential 25 26 27 39 40 4l 5 V 200 mV differential 60 mV hysteresis RS 422 compatible TTL 330 ohm pull ups to internal 5 V 1 5 V 21ow 3 5 V Pulse Inputs Single Ended 20 36 high UPS Supply Output 5 11 5 V 200mA output self resetting fused internally Encoder Common 0 V 12 0 0 V 10 ohms away from PE Encoder Out 8 9 23 24 37 38 Differential line driver output RS 422 Analog In 14 15 10 VDC differential command Diagnostic Output 43 44 10 VDC 10 mA maximum Analog diagnostic output ref to pin 29 Diagnostic Output 29 0 0 V 10 ohms away from PE Common 0 ohms away from Encoder Common OV pin 12 RS 485 6 21 Same signals as the Serial Connector 15 out 28 10 mA supply ref pin 29 for test purposes only Command Cables 24 The CMDO CMDX and CDRO cables are all cables that plug into the Command Connector The CMDO and
13. Ib in sec speed VRMS ARMS Ib in Ib in 5 2 n Nm Nm peed kg cm RPM fines ov krpm Nm kWatts ARMS 5 13 5 031 0 000084 41 MG 205 056 153 023 0 95 2000 2048 283 0 46 67 132 0 53 0 000144 41 076 149 0 4 0 163 2000 2048 mE 0 46 Eb 202 73 152 0 45 0 000094 5 124 NT207 082 172 034 0 1063 2000 2048 2 0 58 92 18 071 0 000164 5 08 AES 104 2 03 053 0 185 2000 2048 SAT 0 57 5 15 0 031 0 000084 41 056 169 023 0 95 2000 2048 25 0 46 9 1 20 0 88 0 000144 41 MG 208 1 03 226 043 0 163 3000 2088 mE 0 46 Eb 203 15 8 31 8 1 0 0 000498 5 5 179 359 0 75 0 562 4000 2048 2726 0 62 12 5 7 0 8 0 000164 5 08 NT212 4 3 05 0 6 0 185 3000 2048 347 0 57 12 5 30 0 8 0 00164 5 08 211 212 1 41 34 0 6 0 185 3000 2048 347 0 57 18 6 52 1 00 0 000498 5 5 Eb 205 MG 316 21 es 4000 2048 37 6 es 39 5 83 18 0 00125 8 0 m 4 5 9 4 14 1 414 3000 2048 55 0 90 49 Epsilon Eb Digital Servo Drive Installation Manual Motor Brake Specifications 50 Motor Holding Torque Added Inertia Added Weight Ib in Nm Ib in sec2 kg cm2 Ib kg 10 0 000025 1 8 MGEOXXen 1 13 0 0282 0 55 MGE 316CB 50 0 00015 24 MGM 340CB 5 6 0 1693 1 1 MOO R 220 0 000412 58 DC 24 9 0 4652 2 6 MG 4
14. 962 59 993 Mating Conn PTOSE 16 88 0 083 2 10 23 2 00791200 y 0 4330 10 998 1 875 0 4326 10 988 G 147 62 Max t rea 0 158 4 00 L2 6f o 0 156 3 97 0 295 749 0 512 22 S 115 01 Sa max 12 54 00 228 0912 Dried thru le 5 501 ma 9 926 23 51 0 300 4 Eg Spaced a 139 71 0 886 22 49 05 80 0000 2 953 75 00 Dia Note Mounting ears have clearance for 10 or M5 Allen head screw or 3125 or 8mm across flat hex nut 62 Mounting ears have clearance for 10mm across flats hex nut or 13 mm O D washer Specifications NTE 212 Motors English Face NEMA 23 with 3 8 inch shaft Connectors only on NTE 212 T NTE 212 L has lead wires Motor Conn PTO1E 16 8P Ej Mating Conn 16 85 Flying Lead Length 8 39 37 2 00 1000 50 8 Encoder Conn PTO1E 16 23P Mating Conn 16 235 S cn 1 500 38 100 1 498 38 049 0 079 2 007 0 075 1 905 0 3750 9 525 0 3745 9 512 1 780 45 21 45 Max 0 1260 3 200 DE 0 1248 3 170 0 295 pum 7 49 0 563 2 27 14 30 57 66 0 100 Min Sq max 2 54 5 335 1 210 30 73 00 205 0 010 5 21 0 25 135 51 1 170 29 72 Drilled thru 4 Eq Spaced on a 2 62
15. PA y Sinking 5612 Outputs typ VAN ER NEU NEN 4 Pulse gt N Direction MER eee ee Common isolated from other sources Figure 28 Pulse Mode Single Ended Output to Single Ended Input non twisted pair cable 28 Master Encoder or Drive Output RS 422 Drivers Note Installation 81 R2 R3 R1 R2 and R3 must be mounted within 6 of A 120 ohm resistor is recommended for high M Twisted Pair frequency over 250 kHz stepping or cable leng longer than 25feet Figure 29 Master Slave Encoder Connections Note Slave Slave Slave 2 2 000 2289 a V aera Drive 1 Drive Drive NI 11 A B Z Z A B Z 2 11 A Z 2 27 41 26 40 25 598 27 41 26 40 25 39 27 41 26 40 25 39 J5 Epsilon encoder outputs meet RS 422 driver specifications and can drive up to 10 RS 422 signal recievers Each Epsilon differential pulse input is an RS 422 line recievers The default encoder 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 200 and the actual motor encoder density 29 Epsilon Eb Digital Servo Drive Installation Manual Serial Communications Serial communications with the drive is provided through the female DB 9 connector loc
16. Rue Eta ee RR IURE Er 45 Specifications Drive Specification n OR Sepe ee CENSURE 47 Drive and Motor Combination Specifications 49 Motor Brake Sp cifications eee LI te PAR Es 50 TPP Rati GS vnm es ELE UA e LE e M PANE mtn 51 Encoder Specifications s hey uen ee EV VP Sa Sie Pe Se ee 52 Power Dissipatton As LU ut ente be hin Kasi 52 Speed Torque C rves cce XV Ud eh ee CREE NR 53 Epsilon Drive Dimensions Eb 202 Eb 203 205 56 MG Motor 4 57 NT Motor Dimensions 61 Cable Dia grams upa am cae v a 65 CMDX XXX Cable AA RE RE n e 66 CMDO XXX Cable epe te Ger oe deg Corre e ee d DEATH SOR 67 CDRO XXX Cable ori ni detecte 68 Cable rote cree A e C CURE ah a 69 BIO XXX C able a rer i RR CO n EO D CR J t n hai 70 TIA XXX Cable ini SIIKI ge r Rh be PRS 70 DDS X XX Cable ose eed ed le tede dice re ye d ERIS etas 71 TERMSH Head Terminatot n eve p ey eee RE 71 TERM T Tail 4 4 0 72 xiv CMDS XXX Cable ssesvientiktesiqeSe6 vind mousse Maw
17. 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 service center when on site service or maintenance is required Training Services 952 995 8000 or 800 397 3786 Email training emersonct com Control Techniques maintains a highly trained staff of instructors to familiarize customers with Control Techniques Motion Made Easy products and their applications A number of courses are offered many of which can be taught in your plant upon request Application Engineering 952 995 8000 or 800 397 3786 Email applengr emersonct com An experienced staff of factory application engineers provides complete customer support for tough or complex applications Our engineers offer you a broad base of experience and knowledge of electronic motion control applications Customer Service Sales 952 995 8000 or 800 397 3786 Email sales emersonct com Authorized Control Techniques distributors may place orders directly with our Customer Service department Contact the customer Service department at this number for the distributor nearest you Document Conventions Manual conventions have been established to help you learn to use this manual quickly and easily As much as possible these conventions correspond to those found in other Microsoft Windows documentation Menu
18. 345 70 127 0 13 5 48 2 22225 38 1 4 763 MGE 455 490 and 4120 Mounting Dimensions inches mm R CMax AJ BB AK BF 51 3 20 5 875 10 4 500 3 8 16 13 0 813 149 23 2 50 114 30 UNC 190 77 3 20 5 875 10 4 500 3 8 16 19 6 813 149 23 2 50 114 30 UNC mm 77 3 20 5 875 10 4 500 3 8 16 19 6 81 3 149 23 2 50 114 30 UNC 59 Epsilon Eb Digital Servo Drive Installation Manual MGM 455 490 and 4120 Motors 5 5 Minimum Cable Brake Connector Location Clearance if Equipped i U 0 97 Through BC lt AG Add 2 00 50 8 with brake option MGE 455 490 and 4120 Mounting Dimensions mm inches AG A BC AH UMax XD SMin 455 2160 un 13 0 19 000 nee 6 00 8 59 79 50 OP TSS 236 1210 50 5 371 7963 281 7 13 0 24 000 EXE i165 675 515 099 046 3135 1210 50 5 371 7963 343 1 13 0 24 000 4120 55 don eu 199 me 146 3135 MGE 455 490 and 4120 Mounting Dimensions mm inches R BB AK BF 15 5 703 145 00 3 00 110 10 10 00 61 2 77 5 709 C118
19. 485 485 SV NOT USED NOT USED NOT USED R23 R4 4s o ro en ro en SHELL 1 DB 9 FEMALE SHELL DB 9 Pe Specifications 71 Epsilon Eb Digital Servo Drive Installation Manual TERM T Tail Terminator Note See Multi Drop Communications on page 31 for resistor values WIRING DIAGRAM 5 5 GND 2 2 R1 IN RX 3 3 DUT 4 4 485 R3 Re R 84 s 6 6 5v 7 7 NOT USED 1 1 NOT USED 8 8 NOT USED 1 Y een 4 SHELL DB 9 MALE DB 9 FEMALE P1 CMDS XXX Cable N C E N C F N C 6 GRN YEL N BRN a L1 BLK B H BLU sue 6 o O yO o Och SOLDER SIDE CMMS XXX Cable N C E N C F N C 6 GRN YEL y A A W BRN Ah hi BLK B BLU Y 1 U FO On EO O SOLDER SIDE 72 CFCS XXX Cable Fj OVERALL TIN COPPER BRAID SHELL BLU B BLU ORN C ORN GRN N GRN BRN P BRN BLK M BLK YEL U YEL WHT BRN E WHT BRN
20. 50204 1995 Pulse 900 MHz 50 DTY 200 Hz Supplementary information The products herewith comply with the reguirements of the Low Voltage Directive LVD 73 23 EEC and EMC Directive 89 336 EEC This electronic drive product is intended to be used with an appropriate motor electrical protection components and other eguipment to form a complete end product or system It must only be installed by a professional assembler who is familiar with requirements for safety and electromagnetic compatibility The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used Refer to the product manual for installation guidelines August 18 1999 Bradley Schwartz VP Engineering Sobetra Automation Langeveldpark Lot 10 P Dasterleusstraat 2 1600 St Pieters Leeuw Belgium European Contact xi xii Table of Contents Reference Materials fd a lo o hh vi Safety Considerations Safety Precautions u apu i ait SERE mee TES vil Enclosure 51 da PA e a Pa n ed ste e vil Setup Commissioning and vil Satety 0f Machinery AAA LS Phe EIN C SEDES EUN vil viii Introduction Epsilon Eb Digital Servo 1 EEES
21. CMDX cables both use the same straight connector style same color code and carry the full complement of signals available from the Command Connector The difference is the CMDO cable has a male connector on one end with open wires on the other while the CMDX cable has male connectors on both ends For information about CMDO XXX and CMDX XXX 18 pair cable cable wire colors see the Specifications chapter Note Some CMDO and CMDX cables may have White Yellow and Yellow White wires in place of the White Orange and Orange White shown in the figure above pins 6 and 21 The CDRO cable includes only the most commonly used signals to reduce the cable outer dimension and has a connector at only one end The 45 degree connector design used on the CDRO cable also reduces the enclosure spacing requirement below the drive For information about the CDRO XXX 13 pair cable wire colors see the Specifications chapter Installation Analog Command Wiring Internol 10 Ohm 2 SV lt Logic Command Connector PE L 15 14 1 Single Point Panel Ground 1 External Controller CW Rotation Command CW With positive direction CW H NV Controller Logic Single Point 2 Panel Ground Figure 21 Analog Command Differential Wiring Diagram c c o Internal 2 2 10 Ohm
22. On Display Indication Status Description Brake Engaged Output Off Motor brake is mechanically engaged This character will only appear if the Brake output function is assigned to an output line p Disabled Power Stage is disabled Position Pulse mode operation Velocity Velocity mode operation N T Torque Torque mode operation Summation Summation mode operation RMS Foldback Motor torque is limited to 80 percent Stall Foldback Drive output current is limited to 80 percent of drive stall current 33 Epsilon Eb Digital Servo Drive Installation Manual Display Indication Status Description Ready to Run Drive enabled no Stop input Fault Codes 34 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 Other faults such as encoder faults can only be reset by cycling power Off wait until the status display turns then power On The drive accurately tracks motor position during fault conditions For example if there is a Low DC Bus fault where the power stage is disabled the drive will continue to track the motor s position provided the logic power is not interrupted The Travel Limit faul
23. PE Ground Y T Single Point XX Twisted Pair PE Ground Figure 23 Command Connector Encoder Output Wiring B leads A Rotation 42 21 CW Rotation Figure 24 Direction Convention Diagram 26 Installation Pulse Mode Wiring Differential Inputs Shield connected 250 ns Minimum to connector shell 250 ns Minimum Motion occurs on rising edge A Pulse 1_ 4 2741 26 40 4 A A B B EON B Direction RS 422 Type A E Differential Drivers lh Single Point Panel Ground EN L X Twisted Pair R23 lt lt 0 0 0 0 0 4 Note If the external controller does not have an intemal terminating resistor R1 R2 and R3 must be mounted within 6 of J5 A 120 ohm resistor is recommended for high frequency over 250 kHz Feedback signals or cable lengths longer than 25 feet Figure 25 Pulse Mode Differential Output to Differential Input ae So o 23 250 ns Minimum Shield connected 250 ns Minimum to connector shell Motion occurs A Pulse on falling edge J 10 Ohm VW E m COW Direction A A B pg Drive L 2741 26 40 NS tatsi it lt N A Single Point 5 Out o i Panel Grou
24. USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT CONNECTED NOT USED Note Some CMDO cables may have White Yellow and Yellow White wires in place of the White Orange and Orange White shown in the figure above pins 6 and 21 67 Epsilon Eb Digital Servo Drive Installation Manual CDRO XXX Cable WIRE COLOR SOLID STRIPE A T gt gt BLU PUR N E 2 9 ENCODER OUTPUT A P PUR BLU FT t ORG PUR 8 ENCODER OUTPUT A mi EVO mi 24 ENCODER OUTPUT B 23 ENCODER OUTPUT 1 BRN PUR TT P PUR BEN H 38 ENCODER OUTPUT Z H RED yall L 37 ENCODER OUTPUT 2 11 ENCODER 5VDC SUPPLY P BLU RED GRN BLK 12 ENCODER SUPPLY COMMON L H 34 1 0 SUPPLY BLK GRN rT PETT m 16 DRIVE ENABLE INPUT 14 ANALOG COMMAND INPUT BLU WHT TEI 15 ANALOG COMMAND INPUT 29 DIAGNOSTIC OUTPUT COMMON kd P RED WHT r1 Nye B 4 INPUT 4 P vEL GRY a E 5 19 OUTPUT 1 GRY PUR X EP PUR CRY H 26 PULSE INPUT B H CE 40 PULSE INPUT B T1 FP 18 OUTPUT 2 17 OUTPUT 3 11 BRN YEL 11 31 1 0 COMMON 11 P YEL BRN nt r1 WIT Gnh 1 33 1 0 SUPPLY 43
25. control circuits The installer must ensure that the external control circuits are isolated from human contact by at least one layer of insulation rated for use at the applied AC supply voltage Underwriters Laboratories Listed LISTED 51Y8 IND CONT EQ UL us The Epsilon Digital Servo Drives are marked with the UL Listed label after passing a rigorous set of design and testing criteria developed by UL UL508C This label indicates that UL certifies this product to be safe when installed according to the installation guidelines and used within the product specifications The conditions of acceptability required by UL are The Epsilon drive surrounding air ambient temperature must be 40 C 104 F or less Epsilon drive surrounding air ambient temperature can be up to 50 C 122 F with 396 linear derating for every degree above 40 C 104 F This product is suitable for use on a circuit of delivering not more than 5000 RMS symmetrical amperes 240 volts maximum Motors must incorporate an overload protection device such as an overtemperature switch Drive Overload Protection The drive output current overload protection is provided by the drive and is not adjustable This overload protection is based on maximum continuous output current capacity It will allow up to 200 percent of the drive rated current to be delivered for the amount of time determined by the following chart Rated
26. in 0 25 5 7 5 10 12 5 15 17 5 20 0 0 28 0 57 0 85 1 13 1 41 1 70 1 98 2 26 Nm 0 0 28 0 57 0 85 1 13 1 41 1 70 1 98 2 26 Nm Torque Torque Eb 202 WITH NT 207 Eb 203 WITH MG 205 5000 4000 3000 Speed Speed RPM RPM 2000 1000 Continuous 0 25 5 7 5 10 12 5 15 17 5 20 Ib in 0 25 5 7 5 10 12 5 15 17 5 20 Ib in 0 0 28 0 57 0 85 1 13 1 41 1 70 1 98 2 26 Nm 0 0 28 0 57 0 85 1 13 1 41 1 70 1 98 2 26 Nm Torque Torque Eb 202 WITH MG 208 Eb 203 WITH MG 208 5000 4000 Speed Speed 9000 tead 120 VAC RPM RPM 2000 1000 Continuous Peak 0 0 25 5 7 5 10 12 5 15 17 5 20 Ib in 0 5 10 15 20 25 30 Ib in 0 0 28 0 57 0 85 1 13 1 41 1 70 1 98 2 26 Nm 0 0 57 1 13 1 70 2 26 2 83 3 39 Nm Torque Torque Figure 43 Epsilon Speed Torque Curves sheet 1 of 2 54 Specifications Eb 203 WITH NT 212 Eb 205 WITH MG 316 4000 3500 3000 N 2500 Speed 53 120 VAC N Speed 2000 RPM RPM 1500 1000 Continuous 500 Rating L 0 1 1 0 5 10 15 20 25 30 35 0 10 20 30 40 50 60 Ib in 0 0 57 1 13 1 70 2 26 2 83 3 39 4 00 Nm 01 13 226 3 39 452 565 6 78 Nm Torque Torque Eb 203 WITH MG 316 Eb 205 WITH MG 340 4000 3000 2500 3000 2000 Fell Speed Speed gt RPM 2000 RPM 1500 1000 1000 120 VAC 500 Continuous Peak 0 Continuous 0 Rating Rating 0 5 10 15 20 25 30 35 40 0 15 30 45 60 75 90 Ib in 0 0 57 1 13 1 70 2 36 2 8
27. new motor 4000 RPM C Leave Full Scale Velocity at is current setting 5000 RPM Help Figure 38 View Motor Parameters Window The View Motor Parameters window is accessed by selecting View Motor Parameters from the Tools menu 42 Options and Accessories Epsilon Eb Digital Servo Drive OIT 3165 Operator Interface Panel Lee RSR 2 Regen Regulator THE ES xx xx External Shunt Resistor AXIMA 2000 4000 Multi axis Controller Motor Power Cable CMDS xxx or CMMS xxx OIT EN 232 XXX OR OIT EN 485 XXX Drive to Terminal Connection CO485 xxx is Drive to Drive Serial Interface Cable DDS xxx Drive to PC RS 232 Serial Interface Cable TIA zzz for DB 9 Pin Connector TIX zzz for DB 25 Pin Connector Motor Brake Cable CBMS xxx Terminal Resistor Block TERM T Terminal Resistor Epsilon Cable EIO xxx Block TERM H Command Cable to ECI 44 PowerTools FM ECI 44 Epsilon E Series Drives External Connection and FM Software Interface Command Cable to Position Controller 13 pair CDRO xxx Command Cable to Position Controller 18 pair CMDO xxx iB Motor Feedback CFCO xxx 1 tm Motor Feedback CFCS xxx EMC POWER CD Contains PowerTools y N aN Windows 95 98 or NT 4 0 Compatible Computer Customer Supplied
28. on a 1 0 or 3 Q power source that is grounded as shown in the following diagrams Epsilon Only If using an APS Logic Power input and the Low DC Bus fault is disabled minimum supply voltage to an Epsilon can be reduced to 15 VAC on the AC inputs or 24 VDC on the Bus connections Note The maximum voltage applied to the drive terminals must not exceed 264 VAC phase to phase and phase to PE ground This can be accomplished by referencing the AC supply to earth ground A CAUTION Do not connect or disconnect the 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 AC Supplies NOT Requiring Transformers If the distribution transformer is configured as shown in the figures below the AC power supply can be connected directly to the amplifier terminals 10 Installation DISTRIBUTION PANEL 215 SECONDARY 912 x Wa A gt To Fusing and 230 VAC Drive Terminals o L1 o PE Protective Earth EARTH GROUND Figure 5 Earth Grounded WYE Distribution Transformer DISTRIBUTION PANEL SECONDARY s 3 230 VAC gt To Fusing and fYYYN N O 11 Drive Terminals AIN 1 Protective Earth Figure 6 Earth Grounded Delta Distribution Transformer AC Supplies Requiring Transformers If the distribution transformer is configured as shown in the figures below an iso
29. output current Amps RMS Drive Model Continuous Peak Eb 202 1 8 3 6 Eb 203 3 6 Eb 205 5 0 10 0 Drive Output Current vs Time graph Time seconds 125 150 175 200 Drive Rated Current CE Declaration of Conformity The Epsilon Digital Servo Drives 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 12005 Technology Drive Manufacturer s Address Eden Prairie MN 55344 USA Declares that the following products Products Description Epsilon Digital Servo Drive Model Number Eb 202 Ei 202 Eb 203 Ei 203 Eb 205 and Ei 205 222 This declaration covers the above products with the ECI 44 Screw System Options Terminal Interface Conforms to the following product specification Electomagnetic Compatibility EMC EN 55011 1991 Class A Group 1 CISPR 11 1990 Class A Group 1 IEC 1000 4 2 1995 EN 61000 4 2 6kV CD 1000 4 3 1995 EN 61000 4 3 50140 1993 80 AM 5 10 0 3 EN 0180051996 IEC 1000 4 4 1995 EN 61000 4 4 2 kV ALL LINES EN 61000 4 5 IkV L L 2kV L G EN 61000 4 11 300 ms 1000 ms 100 DIP ENV
30. power usage and can be considered a conservative recommendation You can down size the values only if the maximum power usage is less than the transformer continuous power rating Other factors that may influence the required KVA rating are high transformer ambient temperatures 240 C or 2104 F and drive operation near the maximum speeds Drive Motor Combination Suggested KVA Rating Eb 202 NT 207 1 0 Eb 203 NT 207 1 0 Eb 202 NT 212 1 2 Eb 203 NT 212 1 7 Eb 203 MG 316 2 3 Eb 205 MG 340 3 0 Transformer output voltage drop may become a limiting factor at motor speeds and loads near maximum ratings Typically higher KVA transformers have lower voltage drop due to lower impedance 13 Epsilon Eb Digital Servo Drive Installation Manual Line Fusing and Wire Size You must incorporate over current protection for the incoming AC power with the minimum rating shown below Control Techniques recommends Bussman type LPN or equivalent Drive Model External AC Line Fuse Line Wire Gauge Eb 202 LPN 6 Amp 16 AWG Eb 203 LPN 8 Amp 16 AWG Eb 205 LPN 12 Amp 16 AWG Input Current Drive Model Input Voltage Frequenc Amps RMS at Inrush Current Amps VAC y Hz full drive output 1stCycle 2nd Cycle current Eb 202 43 140 2 ms 20 2 ms Eb 203 240 10 47 63 6 5 Eb 205 10 8 140 5 ms 30 2 ms Epsilon Only This inrush cu
31. 120CB b Mechanical Mechanical Motor Coil Voltage VDC Coil Current Amps Disengagement Time EngagementTime MGE 2XXCB 24 10 0 48 1096 25 ms 40 ms MGE 316CB MGM 340CB 24 10 0 52 10 100 ms 250 ms MGE M 455CB MG 490CB 24 10 0 88 10 100 ms 250 ms MG 4120CB Motor Weights Motor Weight Ib kg without Brake Weight Ib kg with Brake MGE 205 3 0 1 36 N A MGE 208 4 0 1 8 5 8 2 6 MGE 316 8 3 3 8 10 7 4 9 MGE M 340 14 6 6 6 17 0 7 7 MGE M 455 18 5 8 4 24 3 11 0 MGE M 490 27 0 12 3 32 8 14 9 MGE M 4120 38 0 17 3 43 8 19 9 NT 207 3 1 36 N A NT 212 4 1 81 N A Specifications Axial Radial Loading Motor Max Radial Load Max Axial Load Ib MGE 205 20 15 MGE 208 20 15 MGE 316 40 25 MGM 340 40 25 MGE M 455 100 50 MGE M 490 100 50 MGE M 4120 100 50 Radial Loading Axial Loading E e _ Maximum radial load is rated 1 inch from motor face Figure 42 Axial Radial Loading IP Ratings Motor Rating MG all IP65 NT 207 IP65 NT 207 w o seals 54 NT 212 IP65 NT 212 w o seals 54 51 Epsilon Eb Digital Servo Drive Installation Manual Encoder Specifications 4 Output 5 Motor Density Output Type Frequency Output Signals Power Supply MG 2048 285422 250 kHz A B Z Comm U 5V 200 mA 2 differentia
32. 145 21 45 Max 0 158 4 00 Leo 0 156 3 97 2 566 512 65 18 113 0 Sq max 12 54 e 00228 0015 Drilled thru is 0 926 23 51 2 0 000 Spaced on a 135 51 0 886 22 49 05 80 sag 2 953 75 00 Dia B C Mounting ears have clearance for 10mm across flats hex nut or 13 mm O D washer Encoder Conn 2 16 23 Mating Conn 16 238 2 363 60 012 Motor Conn PTO2E 16 8P Mating Conn PTO6E 16 8S 0 083 2 10 0 079 2 00 0 4330 10 998 1 875 0 4326 10 988 5 147 62 Max O 1 SN EN q G 0 158 4 00 oo 0 156 3 97 0 295 7 49 512 65 add 1130 Sa max in 254 00228 0012 Drilled thru 6 501 0 926 23 51 4 Eq Spaced on a 1165 11 ne 0 886 22 49 Er 75 00 Dia B C Note Mounting ears have clearance for 10mm across flat hex nut or 13mm O D washer 64 05 80 Mounting ears have clearance for 10mm across flats hex nut or 13 mm O D washer Specifications Cable Diagrams CMDX CMDO ECI 44 CDRO AX4 CEN Drive Signal x Analog In Analog In Encoder Out A Encoder Out A Encoder Out B Encoder Out B Encoder Out Z lt gt I Encoder Out Z Pulse In A Pulse In A Pulse In B x gt x x x x gt lt Pulse In B Pulse In Z Pulse In Z Pulse In A single ended
33. 18 BLACK BR VN STRIPE 19 BROWN BLACK STRIPE 23 PURPLE ORANGE STRIPEX 24 ORANGE PURPLE STRIPEX 25 BLACK RED STRIPE 39 RED BLACK STRIPE 27 PURPLE GREEN STRIPE x 41 GREEN PURPLE STRIPE x 34 YELLOW BLUE STRIPE 32 BLUE YELLOW STRIPE 33 YELLOW BROWN STRIPE 31 BROWN YELLOW STRIPE 37 PURPLE BROWN STRIPEX 38 BROWN PURPLE STRIPEX 40 PURPLE GRAY STRIPE 26 GRAY PURPLE STRIPE x VHITE BLUE STRIPE 15 BLUE VHITE STRIPE 29 WHITE RED STRIPE 28 RED WHITE STRIPE 43 WHITE GREEN STRIPE 44 GREEN WHITE STRIPE 20 YELLOW GRAY STRIPE DRAIN P TWISTED PAIR 36 GRAY YELLOW STRIPE 5 Nc 7 NC SHELL x LOW CAP PAIR Pl MALE 44D Specifications FUNCTION INPUT 1 0 1 INPUT 1 0 2 INPUT 1 0 3 INPUT 1 0 4 RS 485 RS 485 MOTOR ENCODER OUTPUT A MOTOR ENCODER OUTPUT A EXT ENCODER 200mA mox 5V EXT ENCODER 200mA max DG EN DUTPUT 1 0 3 DUTPUT 1 0 2 DUTPUT 1 0 1 MOTOR ENCODER OUTPUT B MOTOR ENCODER DUTPUT B SYNC ENCODER INPUT Z SYNC ENCODER INPUT Z SYNC ENCODER INPUT A SYNC ENCODER INPUT A 1 0 ov 1 0 1 0 ov 1 0 MOTOR ENCODER DUTPUT Z MOTOR ENCODER DUTPUT Z SYNC ENCODER OUTPUT B SYNC ENCODER OUTPUT B COMMAND INPUT COMMAND INPUT ANALOG AG 1 AND 2 ENV ANALOG OUT 1 ANALOG OUT 2 NOT USED NOT
34. 3 3 39 4 00 4 52 Nm 0 1 70 3 39 5 08 6 78 8 47 10 16 Nm Torque Torque Eb 205 WITH NT 212 6000 5000 Speed 3000 s im 3 0 5 10 15 20 25 30 35 0 0 57 1 13 1 70 2 26 2 83 3 39 4 00 Nm Torque 2000 1000 0 Continuous Figure 44 Epsilon Speed Torque Curves sheet 2 of 2 55 Epsilon Eb Digital Servo Drive Installation Manual Epsilon Drive Dimensions Eb 202 Eb 203 Eb 205 The following table applies to A and B as shown in Figure 45 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 96 ie 151 4 0 5 13 5 39 side clearance 136 9 for heatsink 5 21 2 A 132 3 181 120 46 1 30 5 90 22 En pe 95 6 I eu 1 04 j a A 26 4 11 a 1084 805400450 76 2 m Is S TIA Cable S amp C0422 7 75 5 N is 196 9 Pr er ert m 8 27 745 AN 210 1 E 181 6 Hm Bd o B pps o DDS Term H Term T E WII E r EIO Cable 8 E i S 0 19 0 75 f 4 8 19 05 1 0 56 y 120 14 2 dus BNL LY 80 5 88 9 amp Cable Clearance _ 184 1 85 46 7 46 9 Figure 45 Drive Dimesions Eb 202 Eb 203 Eb 205 56 S
35. 5 66 68 Dia B C Mounting ears have clearance for 10 or MS Allen lead screw or 0 3125 or 8mm across flats hex nut Encoder Conn PTO2E 16 23P Mating Conn 6 16 236 o ue Motor Conn 2 16 8 f Mating Conn 6 16 85 0 075 1 905 0 3750 9 525 1875 0 3745 9 512 147 62 Max 1 d 0 1260 32 00 0 1248 3 170 b 749 0 563 17 49 056 0100 Min Sq max 12 54 Le 6 501 1 210 30 73 00 205 0 010 5 21 0 25 165 11 1 170 29 72 Drilled thru 4 Eq Spaced on a 2 625 66 68 Dia B C Mounting ears have clearance for 10 or 5 Allen lead screw 0 3125 or 8mm across flats hex nut Note Mounting ears have clearance for 10mm or M5 Allen head screw or 3125 or 8mm across flat head screw 63 Epsilon Eb Digital Servo Drive Installation Manual NTM 212 Motors Metric Face Connectors only on NTM 212 T NTM 212 L has lead wires 2 Flying Lead Length 39 37 2 00 11000 50 8 Motor Conn PTO1E 16 8P Mating Conn PTO6E 16 8S Encoder Conn PTO1E 16 23P Mating Conn 16 235 4 2 363 60 012 2 362 59 993 0 083 2 10 0 079 2 00 0 4330 10 998 4 3388 0 4326 10 988 9c
36. 5 VDC Red B ue N 7 5 voc GND Blue Red Ez 45 V KIA Red Green C Vai Matar 22 LY Overtemp Not Used J Green Red W Not Used 3 Infernal 5 VDONL 8 5 VDC TOS Motor Overtemp GND W _Overtemp Thermal Not Used y 19 to 24 PE G gt Switch Net Used 19 rounc Not Used w 26 GND Not Used x el lt Not Used Connector Shell 10 K Shield Zh 10 Ohm Connector Shellh ANN 5 sos E PE The 5VDC 18 AWC wire will be colored O Red Green on some CFCS cables Single Point PE Ground W Twisted Pair Figure 15 Motor Feedback Connector Pinout Motor Brake Wiring Motors equipped with brakes have a three pin MS style connector The Control Techniques brake power cable model CBMS XXX has an MS style connector on the motor end and three wire leads on the amplifier end see wiring diagram below You must provide a DC power supply rated at 24 VDC with a 2 amp minimum current capacity for the brake If you use this voltage source to power other accessories such as I O or more than one brake you must increase its current capability 19 Epsilon Eb Digital Servo Drive Installation Manual Bottom View Customer supplied drive enable contact Output 3 Drive Enable 1 0 Supply Supply VO Common Relay EMC BRM 1 Common
37. 7 AC In p Through wall shield grommets Bonded to mounting plate gt and enclosure woll External Encoder gt d Y Drive l phase filter CFOS Cable Customer supplied terminal strip CFCO Cable CMDS Cable Note EMC testing was done without surface paint removed from the mounting panel area for drive contact Motor Figure 3 AC Filter and Cable Connections for Epsilon Drives Environmental Considerations Installation 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 Ifthe ambient temperature inside the enclosure will exceed 40 C 104 F you must consider forced air cooling Note For Epsilon drives surrounding air ambient temperature can be up to 50 C 122 F with 3 linear derating for every degree above 40 C 104 F The amount of cooling depends on the size of the enclosure the thermal transfer of the enclosure to the ambient air and the amount of power being dissipated inside the enclosure Consult your enclosure manufacturer for assistance with determining cooling requirements Epsilon Eb Digital Servo Drive Installation Manual Wiring Notes To avoid problems associated with EMI electromagnetic interference you should route hig
38. BRN WHT R BRN WHT WHT GRY F WHT GRY LARGE GRY WHT S GRY WHT 18 GA RED ORN G RED ORN PAIR ORN RED H ORN RED RED GRN OR RED BLU RED BLU LU RED T LU RED RED GRN RED GRN GRN RED V GRN RED N C N D N C N C J N C N C W X N C N C Y N C DRAINS 2 N C b 62 P4 N C 5 CASE SOLDER SIDE le TWISTED PAIR PIN SOLDER SIDE 1 Specifications 73 Epsilon Eb Digital Servo Drive Installation Manual CFCO XXX Cable OVERALL T C BRAID 7 1 BLU 10 ORN 3 GRN L4 1 3 BLK 12 YEL 1 4 WHT BRN T4 Ls r4 13 BRN WHT 5 WHT GRAY L5 14 BRAY WHT 6 RED ORN 15 ORN RED RED GRN OR 7 RED BLU HS AAA CORDE 17 BLU RED eey gt PAIR 9 RED GRN cp 16 GRN RED 8 J L 18 19 20 el Wc 22 TWISTED PAIR ed 24 26 N C CONNECTOR SHELL WIRING SCHEMATIC 74 CFOS XXX Cable SHELL BRAID BLU OR GR 2 2 2 BR BL YEL WHT BRN LARGE BRN WHT 18 GA WHT GRY PAIR GRY WHT RED ORN ORN RED RED GRN OR RED BLU
39. C ENCODER INPUT Z RED BLACK STRIPE SYNC ENCODER INPUT Z pue PURPLE GREEN STRIPE x SYNC ENCDDER INPUT A GREEN PURPLE STRIPE SYNC ENCODER INPUT A YELLOW BLUE STRIPE 24v 1 0 BLUE YELLOW STRIPE ov 1 0 YELLOW BROWN STRIPE 24v 1 0 BROWN YELLOW STRIPE ov 1 0 PURPLE BRDVN STRIPEX MOTOR ENCODER DUTPUT Z BROWN PURPLE STRIPEx MOTOR ENCODER DUTPUT Z PURPLE GRAY STRIPE x SYNC ENCODER DUTPUT B GRAY PURPLE STRIPE x SYNC ENCODER DUTPUT B WHITE BLUE STRIPE COMMAND INPUT BLUE WHITE STRIPE COMMAND INPUT WHITE RED STRIPE ANALOG OUT AG 1 AND 2 RED WHITE STRIPE ENV WHITE GREEN STRIPE ANALOG QUT 1 GREEN VHITE STRIPE ANALOG OUT 2 YELLOW GRAY STRIPE NOT USED GRAY YELLOW STRIPE NOT USED NC NOT USED NC NOT USED NC NOT USED 13 13 NC NOT USED 22 NOT USED 30 30 NC NOT USED 35 35 NC NOT CONNECTED 42 42 NC NOT USED SHELL DRAIN SHELL x LOW CAP PAIR MALE 44D P2 MALE 44D le TWISTED PAIR Note Some CMDX cables may have White Yellow and Yellow White wires in place of the White Orange and Orange White shown in the figure above pins 6 and 21 66 CMDO XXX Cable COLOR CODE RED BROWN STRIPE BROWN RED STRIPE BLACK BLUE STRIPE BLUE BLACK STRIPE WHITE ORANGE STRIPE DRANGE WHITE STRIPE PURPLE BLUE STRIPE BLUE PURPLE STRIPEX alonj 11 RED BLUE STRIPE 12 BLUE RED STRIPE 16 BLACK GREEN STRIPE 17 GREEN BLACK STRIPE
40. DIAGNOSTIC OUTPUT 1 SRN PUR L 441 DIAGNOSTIC OUTPUT 2 1 1 H 41 PULSE INPUT A P PUR GRN 27 PULSE INPUT A U DRAINS U we N C TRIM ALL WIRES EVEN WITH THE CABLE JACKET FOIL SHIELD E TWISTED PAIR SOLDER SIDE 68 Specifications AX CEN XXX Cable 1 i U PUR 11 NPU U 1 17 9 ER OUTPUT A NPUT an C 8 OUTPUT A NP 4 QUTPU PU 11 2 ahi T it lt OUTPUT A n 4 i PUR BRN 11 ENCODER INPUT SIGNAL FED FALL 137 Mt TT N GRN BLK m TUUS ENABLE 34 1 0 LY ENAB T TT 16 DRIVE ENABLE INPU ANALOG COMMAND OUTPL 4 ANALOG COMMAND IN ft E ANALOG COMMAND OUTPU 20 IT S WT RED 5 ANALOG COMMON m E EL N c RF Im 1 GRY OW CURRENT 18 i a 14 DISCRETE INPUT DRIVE STATUS 15 T GRY PU 2011 19 OUTPUT 1 DIRECTION 17 a EM O 26 PULSE INPUT L JH 40 PULSE INPUT P A l BLK BRN D VEL LIMIT DT 18 OUTPUT 42 DISCRETE INPUT RAVEL LIMIT YEL 1
41. Epsilon Eb Digital Servo Drive Installation Manual Group This list box enables you to view the complete list of parameters or just a group of parameters you are interested in The groups include Analog Out Fault Log Setup Communication Home FM 2 Ei only Status Digital Inputs ID Torque Digital Outputs Index FM 2 Ei only Tuning Execution Motor User Def Motor Fault Counts Position Velocity Clear All Button This button is used to clear all the parameter selections that were previously selected Save Selections Button This button saves the parameter selections This enables you to restore the same list of parameters for use in future online sessions Restore Selections Button This button restores the parameter selections previously saved This enables you to restore the list of parameters you created in a previous online session View Motor Parameters When online with the drive this feature allows you to display a pre defined Watch Window to monitor three motor parameters These parameters are normally used when testing the setup of a User Defined Motor for commutation accuracy Because the motor has been changed the following parameter may also need to be adjusted r Full Scale Velocity The Full Scale Velocity register is used to determine the velocity of the motor at a full scale analog input Do you wish to Set Full Scale Velocity to the maximum operating speed of the
42. MS torque for the application Ib 1n Vmax Maximum motor speed in application RPM Pld Logic Power Losses Drive Watts Psr Shunt Regulation Losses Watts RSR 2 losses or equivalent Note TRMS Vmax 1500 Power Stage Dissipation Pp A more accurate calculation would include even more specifics such as actual torque delivered at each speed plus actual shunt regulator usage For help in calculating these please contact our Application Engineering department with your system profiles and loads 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 10 x 10 x 375 MG 4120 12 x 16 x 5 Speed torque curves are based on 240 VAC drive operation All specifications are 5 percent due to motor parameter variations 53 Epsilon Eb Digital Servo Drive Installation Manual Eb 202 WITH MG 205 Eb 202 WITH NT 212 5000 6000 4000 N 5000 4000 Speed 3000 dez Speed 2000 20 VAC RPM 2000 TN 942 2000 1000 1000 Continuous 0 0 0 25 5 7 5 10 12 5 15 17 5 20 Ib
43. Mode 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 Ratio Capabilities 20 to 163 840 000 PPR Input Device AM26C32 0 1 0 2 V common mode Max 7 V Input impedance each input to 0 V 12 17 kohm 47 Epsilon Eb Digital Servo Drive Installation Manual Epsilon Series Encoder Output Signal Differential line driver RS 422 and TTL compatible Scalable in one line increment resolution up to 2048 lines rev of the motor MG and NT Output Device AM26C31 20 mA per channel sink and or source Vout Hi 20 mA 3 8 4 5 V Vout Lo 20 mA 0 2 0 4 V Vout aiff W 100 ohm termination 2 0 3 1 V Vout common mode W 100 ohm termination 0 0 3 0 V Tout short circuit 30 130 mA Shunt Resistor Capacity Regeneration Capacity Internal At full speed use full torque decel and 5 1 inertial load for Eb 202 203 with NT 212 or Eb 205 with MG 340 Repetition frequency limited only by drive RMS capacity No internal shunt resistor External Bus connection provided for external regeneration unit EMC model RSR 2 witha 20 ohms resistor 15 ARMS capacity Fault Detection Capability Low DC bus can be disabled High DC bus Power Stage fault Logic power Encoder st
44. Mounting Dimensions AG A BC AH U Max XD 316 724 331 44 1 21 4997 90 E 184 0 840 11 2 30 7 12 69 229 316 7 24 3 50 0 44 1 20 5512 0 79 M 1839 89 0 11 2 30 5 14 00 20 0 m 1024 3 50 44 1 20 5512 787 260 1 89 0 11 2 30 6 14 000 20 0 inches mm MGE 316 MGM 316 and MGM 340 Mounting Dimensions SMin R AJ BB AK BF Max 316 nd 42 250 3875 2 ae E 33 10 7 640 9843 5 316 020 043 25 3937 012 3 15 N M 5 08 10 9 64 0 108 0 3 0 80 0 429 3 937 3 150 276 197 2 50 118 EE 00 1090 Cu 20 oot ca MGE 455 490 and 4120 Motors 5 5 Minimum Cable Clearance Brake Connector Location if Equipped 0 97 Specifications AG Add 2 00 50 8 with brake option le A gt MGE 455 490 and 4120 Mounting Dimensions inches mm AG A BC AH U Max XD S Min 861 5 00 53 190 6245 1 50 1875 455 127 0 13 5 48 2 15 862 381 4 763 218 7 11 11 5 00 53 190 8750 1 50 1875 490 282 10 127 0 13 5 48 2 22 225 38 1 4 763 13 61 5 00 53 190 8750 1 50 1875 4120
45. OUTPUT 43 OV 1 0 SUPPLY COMMON 1 1 0 COMMON OV 1 0 SUPPLY COMMON i LP iva MMON SUPPLY ANALOG INPUT 1 ANALOG INPUT 2 19 H 24 11 LSE T 8 PUR GRN 5 TER N UR GRN 1 3 I DRAINS U OVERALL SHIELD ny HP TWISTED PAIR EVEN WITH THE CABLE JACKET 69 Epsilon Eb Digital Servo Drive Installation Manual EIO XXX Cable T C BRAID n Input 1 t Drive Enable Input 3 Input 2 Input 5 Input 4 Input 7 Input 46 Input 9 Input 8 Input 11 Input 10 Output 1 Output 2 Output 5 Input 12 Output 3 Output 4 10 V 10 Common NIC NIC NIC NIC Output 46 Output 7 TIA XXX Cable BLACK WHITE Qo NID 0 SHELL MALE DB 9 CONN 70 BLUE FEMALE DB 9 CONN DDS XXX Cable P3 SHELL DB 9 MALE DRAINs 4 WIRE BLACK GND 5 2 3 4 WHITE 485 9 BLUE 485 6 7 1 8 NE DNE RX TX 485 485 o ojal SERE 1 i i i 1 DB 9 Y 9 MALE Pe P1 TERM H Head Terminator WIRING DIAGRAM GND RI IN RX T1 QUT DO
46. Ratio of 10 pulses per motor revolution the first pulse received will cause an Overspeed fault even before there is any motor motion F Max Following Error This fault is generated when the following error exceeds the following error limit default following error limit is 2 revs With PowerTools you can change the Following Error Limit value or disable in the Position tab 37 Epsilon Eb Digital Servo Drive Installation Manual Travel Limit This fault is caused when either the or Travel Limit input function is active x All On This is a normal condition during power up of the drive It will last for less than 1 second If this display persists call Control Technigues for service advice Normally All On appears for less than one second during power up All segments are dimly lit when power is Off This is normal when an external signal is applied to the encoder inputs motor or master or serial port from an externally powered device The signals applied to the inputs cannot exceed 5 5V level reguired to drive logic common or drive damage will occur Diagnostic Analog Output Test Points The drive has two 8 bit real time 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 Analog Output Pins located on the front of the drive Each Chann
47. aces and the mating area on the mounting plate to ensure a good ground See Achieving Low Impedance Connections on page 4 for more information If grounding is required for cable grommets connectors and or conduit fittings at locations where cables are mounted through the enclosure wall paint must be removed from the enclosure surface at the contact points AC line filter input and output wires and cables should be shielded and all shields must be grounded to the enclosure Epsilon Eb Digital Servo Drive Installation Manual Achieving Low Impedance Connections Noise immunity can be improved and emissions reduced by making sure that all the components have a low impedance connection to the same ground point A low impedance connection is one that conducts high frequency current with very little resistance Impedance cannot be accurately measured with a standard ohmmeter because an ohmmeter measures DC resistance For example a 12 inch long 8 gauge round wire has a significatly higher impedance than a 12 inch long 12 gauge flat braided conductor A short wire has less impedance than a larger one Low impedance connections can be achieved by bringing large areas of conductive surfaces into direct contact with each other In most cases this requires paint removal because a ground connection through bolt threads is not sufficient However component materials should be conductive compatible and exhibit good atmospheric corrosion res
48. ally have not To update a parameter delete it from the Watch Window selection 40 Diagnostics and Troubleshooting Note It is normal to have the Watch Window show up with the three motor parameters already selected if the motor parameters window has been accessed previously If you do not need to view them simply push the Clear button and select the parameters you wish to view Axis Name AXIS 1 Anis Address 1 Analog Output 1 Select Velocity Feedback Analog Output 1 Offset 0 Analog Output 1 Scale 600 Analog Output 2 Offset 0 Analog Output 2 Scale 30 Analog Output Channel 1 0 02 Volts Analog Output Channel 2 0 01 Volts Actual Operating Mode Disabled Figure 36 Watch Window The Watch Window is accessed by selecting Watch Drive Parameters from the Tools menu or by clicking on the Watch Window icon on the toolbar The Watch Window will automatically appear as soon as you select a parameter from the Select Drive Parameters dialog box After you have selected the parameters you wish to watch click the Close button The Select Drive Parameters dialog box will close and the Watch Window will remain open Select drive parameters x Select the parameters you wish to watch The watch window will be created updated automatically Save Selections Restore selections Close Commutation Track Angle xl Group ALL v Figure 37 Select Drive Parameters Dialog Box 41
49. ate Encoder line break Drive overtemperature Motor over temperature Overspeed Travel limit Travel limit Pulse mode position error Watchdog timer Power up self test failure Non volatile memory invalid Cooling Method Eb 202 Eb 203 Eb 205 Convection Environmental 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 Rated altitude 3 280 feet 1000 m Vibration 10 2000 Hz at 2g Humidity requirement 10 95 non condensing Storage temperature 13 F to 167 F 25 C to 75 C Derating Temperature Operation in ambient temperature over 50 C 122 F not recommended Drive output power must be derated by 3 C between 104 F to 122 F 40 C to 50 C Derating altitude Above 3 280 8 ft 1000 m reduce output by 1 per 328 08 ft 100 m Standards and Agency Approvals UL listed Canadian UL listed CE Mark Low voltage directive EMC directive 48 Specifications Epsilon Series Amplifier Weights Eb 2023 3 Ib 1 5 kg Eb 2033 3 Ib 1 5 kg Eb 2053 7 Ib 1 7 kg Add 1 Ib for shipping Drive and Motor Combination Specifications Cont Peak Bowel Encoder Motor C Tori ae Torque HP Inertia Max Motor Ke Ib in Drive Motor q q Rated
50. ated on the front of the drive The serial interface is either three wire non isolated RS 232C or two wire non isolated RS 485 RS 485 is also available through the 44 pin Command Connector Front View 10 0hm Figure 30 Epsilon RS 232 and RS 485 Internal Connections between the Command Connector and the Serial Communication Connector CAUTION 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 Failure to do so can result in damage to your PC and or your drive Note Communication errors can usually be avoided by powering the computer or host device offofa convenience outlet that is mounted in the enclosure and whose neutral and ground are wired to the same single ended point ground that the drives and controllers are using This is sometimes benefical even with battery powered computers 30 Installation Modbus Communications The drive s serial communication protocol is Modbus RTU slave with a 32 bit data extension The Modbus protocol is available on most operator interface panels and PLC s Serial Communications Specifications Max baud rate 19 2k Start bit 1 Stop bit 2 Parity none Data 8 Control Techniques Motion Interface panels are supplied with a Modbus master communications driver Multi Drop Communications The RS 485
51. atibility EMC Drives are designed to meet the requirements of EMC Under extreme conditions a drive might cause or suffer from disturbances due to electromagnetic interaction with other equipment It is the responsibility of the installer to ensure that the equipment or system into which the drive is incorporated complies with the relevant EMC legislation in the country of use The following instructions provide you with installation guidance designed to help you meet the requirements of the EMC Directive 89 336 EEC Adhering to the following guidelines will greatly improve the electromagnetic compatibility of your system however final responsibility for EMC compliance rests with the machine builder and Control Techniques cannot guarantee your system will meet tested emission or immunity requirements If you need to meet EMC compliance requirements EMI RFI line filters must be used to control conducted and radiated emissions as well as improve conducted immunity Physical location of these filters is very important in achieving these benefits The filter output wires should be kept as short as possible 12 inches is suggested and routed away from the filter input wires In addition Choose an enclosure made of a conductive material such as steel aluminum or stainless steel Devices mounted to the enclosure mounting plate which depend on their mounting surfaces for grounding must have the paint removed from their mounting surf
52. ce 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 chapter Installation Electrical Installation Enclosure AC Power EHHeF DC I O Supply Single Point Ground 3 Phase Bonded to Enclosure Line Power Logic Common O O PE Connection PE Connection PE Connection Control Transformer Output Neutral Hot Epsilon Drive Convenience Outlet AXIMA 2000 4000 Multi Axis Controller E Series Drive MG Motor NT Motor Note The aluminum heatsink is electrically connected to the PE terminal Figure 4 Typical System Grounding Diagram Epsilon Eb Digital Servo Drive Installation Manual 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 AWARNING 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 Only The Eb 202 Eb 203 and Eb 205 drives require 42 to 264 VAC single phase power An Epsilon drive can be connected to any pair of power phases
53. d the other end to the ECI 44 Figure 20 Command Connector J5 Pinout and CMDO XXX Wire Colors RED BRN BRN RED BLK BLU BLU BLK ORG YEL YEL ORG PRP BLU BLU PRP RED BLU BLU RED BLK GRN GRN BLK BLK BRN BRN BLK PRP ORG ORG PRP BLK RED RED BLK PRP GRN GRN PRP YEUBLU BLU YEL YEL BRN BRN YEL PRP BRN BRN PRP PRP GRY GRY PRP WHT BLU BLU WHT WHT GRN GRN WHT WHT RED RED WHT GRY YEL YEL GRY Twisted Pair Shield Connected to Connector Shell Command Connector PE O i T Input 1 10 Ohm Input 2 EW Y Input 4 CHEM RS 485 N ry Encoder Output Channel A 10 ncoder Output Channel Encoder Output Channel Encoder Supply 5 Volts Output 200 mA Encoder Common K Drive Enable Input Output 3 oec Output 1 1023 Encoder Output Channel Encoder Output Channel B Do Not Connect Do Not Connect K 11 72 Do Not Connect Do Not Connect Chi 1 0 Common C UE 1 0 Common Encoder Output Channel Z Encoder Output Channel Z K Do Not Connect Do Not Connect K Do Not Connect Do Not Connect K Diagnostics Output Channel 1 Diagnostics Output Channel 2 Diagnostic Output Common 15 Out Test Only Do Not Connect Do Not Connect Do Not Connect ag Do Not Connect H 110 Do Not Connect 13 Do Not Connect Do Not Connect Do Not Connect Do Not Connect Do Not Connect gt
54. e of services include FAX 952 995 8011 You can FAX questions and comments to Control Techniques Just send a FAX to the number listed above Website and Email www emersonct com Website www emersonct com Email info emersonct com Ifyou have Internet capabilities you also have access to technical support using our website The website includes technical notes frequently asked questions release notes and other technical documentation This direct technical support connection lets you request assistance and exchange software files electronically Technical Support 952 995 8033 or 800 397 3786 Email service emersonct com Control Techniques Motion Made Easy products are backed by a team of professionals who will service your installation wherever it may be Our technical service center in Eden Prairie Minnesota is ready to help you solve those occasional problems over the telephone Our technical service center is available 24 hours a day for emergency service to help speed any problem solving Also all hardware replacement parts should they ever be needed are available through our service organization When you call please be at your computer have your documentation in hand and be prepared to provide the following information Product version number found by choosing About from the Help menu The type of controller or product you are using Exact wording of any messages that appear on your screen
55. el can be programmed to the following sources Analog Output Source options Velocity Command Velocity Feedback Torque Command equates to Torque Command Actual parameter Torque Feedback Following Error Default Analog Output Source e Channel 1 Velocity Feedback Channel 2 Torque Command Output Source Offset Scale 1 Velocity Feedback 0 600 RPM volt 30 percent volt for selected 2 Torque Command 0 motor The DGNE cable was designed to be used with either an oscilloscope or a meter The wires are different lengths to avoid shorting to each other However if signals do get shorted to GND the drive will not be damaged because the circuitry is protected 38 Diagnostics and Troubleshooting Note Connecting the A P S 24V return to chassis ground reduces output offset voltage 43 Pn s Command Connector DGNE Cable gt Figure 33 Diagnostic Cable Diagram Channel 2 Analog GND Channel 1 Epsilon Drive Figure 34 Epsilon Location Drive Faults The Drive Faults Detected dialog box is automatically displayed whenever a fault occurs There are three options in this dialog box Reset Faults Ignore Faults and Help 39 Epsilon Eb Digital Servo Drive Installation Manual AXIS 1 Drive Faults Detect E3 Encoder Hardware i Motor Overtemp I
56. ents 10 78 Pulse Mode Wiring 27 R Rebooting the Drive 40 Resetting Faults 40 S Safety Considerations vii Safety Precautions vii Serial Communications 30 Specifications 47 Speed Torque Curves 53 STI EIO 45 T TERM H Head Terminator 71 TERM T Tail Terminator 72 TIA XXX Cable 70 Transformer Sizing 13 U Underwriters Laboratories Recognition ix V Vendor Contact Information 76 View Motor Parameters 42 Viewing Active Drive Faults 40 Index W Watch Window 40 Wire Size 14 Wiring Notes 8 79 Epsilon Eb Digital Servo Drive Installation Manual 80 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 Customer Service Phone 952 995 8000 or 800 397 3786 Fax 952 995 8129 Technical Support Phone 952 995 8033 or 800 397 3786 Fax 952 9995 8020 Printed in U S A
57. er board settings It is only useful during manufacturing A drive with this fault should be returned for service A Drive Overtemp Indicates the drive IGBT temperature has reached 100 C Power Module This fault is generated when a power stage over temperature over current or loss of power stage logic supply occurs This can be the result of a motor short to ground a short in the motor windings a motor cable short or the failure of a switching transistor It can also occur if the drive enable input is cycled Off and rapidly gt 10 Hz This fault should not be allowed to occur repeatedly System changes should be made to eliminate Z fault events Drive power stage will become degraded if allowed to continue Note Ifa cause for Z faults cannot be determined write down all observations prior to and after the Z faults and contact Control Techniques Technical Support H High DC Bus This fault will occur whenever the voltage on the DC bus exceeds 415 VDC The most likely cause of this fault would be an open external shunt fuse a high AC line condition or an application that requires an external shunt e g a large load with rapid deceleration High DC Bus Threshold Low DC Bus Treshold E Series 440 96 Epsilon 415 60 LI Low DC Bus This fault will occur whenever the voltage on the DC bus drops below 60 volts The most likely cause of this fault is a reduction or loss of AC power A 50 m
58. first aid Reference Materials The following related reference and installation manuals may be useful with your particuliar system Epsilon Eb and E Series En Drives Reference Manual P N 400501 01 PowerTools Software User s Guide P N 400503 01 Epsilon and E Series Drive Parameters Reference Manual P N 400504 01 vi 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 You should give close attention to the electrical installation and system design to avoid hazards either in normal operation or in the event of equipment malfunction System design installation commissioning and maintenance must be carried out by personnel who have the necessary training and experience Read and follow this safety information and instruction manual carefully Enclosure This product is intended to be mounted in an enclosure that prevents access except by trained and authorized personnel and prevents the ingress of contamination This product is designed for use in an environment classified as pollution degree 2 in accordance with IEC664 1 This means that only dry non conducting contamination is acceptable Setup Commissioning a
59. gnore Faults Help Figure 35 Drive Faults Detected Dialog Box Resetting Faults Some drive faults are automatically reset when the fault condition is cleared Others require drive power to be cycled or the drive to be rebooted to be cleared If you wish to continue working in the PowerTools software without resetting the fault click the Ignore Fault button To reset faults that can be reset with the Reset Faults button simply click the Reset Faults button in the Drive Faults Detected dialog box or push the Reset button on the front of the drive where the fault occurred Viewing Active Drive Faults To view all active drive faults select the View Faults command from the Device menu The dialog box displayed is the same as Active Drive Faults 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 Watch Window This feature allows you to customize a window to monitor drive parameters which you select from a complete list of drive parameters From this window you can watch the parameters you selected in real time This feature is only available when you are online with the drive Note You cannot change the values of the parameters while they are being displayed in the Watch Window The parameter in the setup screens will look like they have been changed when they actu
60. h power lines AC input power and motor power away from low power lines encoder feedback serial communications etc Ifa neutral wire not the same as Earth Ground is supplied from the building distribution panel it should never be bonded with PE wire in the enclosure You should consider future troubleshooting and repair when installing all wiring All wiring should be either color coded and or tagged with industrial wire tabs As a general rule the minimum cable bend radius is ten times the cable outer diameter All wiring and cables stationary and moving must be protected from abrasion Ground wires should not be shared with other equipment Ensure that metal to metal contact is made between the enclosure ground lug and the metal enclosure not simply through the mounting bolt and threads All inductive coils must be suppressed with appropriate devices such as diodes or resistor capacitor RC networks Mechanical Installation Drive Mounting Drives must be back mounted vertically on a metal surface such as a NEMA enclosure A minimum spacing of two inches must be maintained above and below the drive for ventilation Side by side drive spacing requirements vary by drive size and RMS loading Additional space may be necessary for wiring and cable connections For drive dimensions weights and mounting specifications see the Specifications section Motor Mounting Motors should be mounted firmly to a metal mounting surfa
61. he tetera PROS 72 CMMS XXX Cable o aha L bps o ii PR 72 CECS XXX Cable x ce NAE ATENA cte 73 revue SESE ELN n SE STATI ceo ca e e EN eR TR 74 CFOSXXX eU BA s Sn Au Ae n eA 75 Vendor Contact 2 22222222 2 2 76 Index XV Epsilon Eb Digital Servo Drive Installation Manual xvi Introduction Epsilon Eb Digital Servo Drive The Epsilon drives are standalone fully digital brushless servo drives designed and built to reliably provide high performance and flexibility without sacrificing ease of use The use of State Space algorithms make tuning very simple and forgiving The drives are designed to operate with up to a 10 1 inertia mismatch right out of the box Higher 50 1 and more inertial mismatches are possible with two simple parameter settings The drives can be quickly configured to many applications in less than 5 minutes with PowerTools software on a PC running Windows 95 98 or NT 4 0 Complete diagnostics are provided for quick troubleshooting A diagnostic display on the front of the drive informs the user of the operational or fault status The last 10 faults are stored in non volatile memory along with a time stamp for easy recall Epsilon drives operate at 42 to 264 VAC standalone or at 24 to 375 VDC with an A P S Alternate Power Supply and are available in two power ra
62. hell Specifications Drive Specifications Epsilon Series Power Requirements 42 264 VAC 1 0 47 63 Hz 240 VAC for rated performance or 12 375 VDC when using an A P S Logic Supply Input and disabled Low DC Bus alarm Auxiliary Power Supply Auxiliary Logic Power Input For logic backup 24 VDC 0 5A Switching Frequency 20 kHz Power Supply Output 5 VDC 250 mA maximum for master encoder usage Efficiency Drive Eb 202 203 93 at full rated output power Eb 205 95 at full rated output power Ingress Protection IP Rating Drive IP20 MG motors IP65 NT motors IP65 IP54 Molded motor and feedback cables IP65 Serial Interface RS 232 RS 485 Internal RS 232 to RS 485 converter Modbus protocol with 32 bit data extention 9600 or 19 2 k baud Control Inputs Analog command 10 VDC 14 bit 13 bit 100 kohm impedance differential Digital inputs 5 10 30 VDC 2 8 kohm impedance current sourcing signal compatible active high max input response time is 500 us optically isolated Input debounce 0 2000 ms Control Outputs Diagnostic analog outputs 2 10 VDC single ended 20 mA max 10 bit software selectable output signals Digital outputs 3 10 30 VDC 150 mA max current sourcing active high optically isolated Input debounce Programmable range 0 to 200 ms Motor temp sensor analog 0 to 5 VDC single ended 10 Kohm impedance Pulse
63. is disconnected You must reset the drive either using the reset button or a reset input after AC power is re applied if the backup supplies have been active Enabling APS power is done by sliding open the access panel on the side of the drive Then move the jumper into the APS position using needle nose pliers Use static control procedures when handling the jumper inside the drive case The APS input is isolated from all other circuits on the Epsilon drive including the DC bus logic and I O This permits you to use one common 24 VDC power supply for multiple drives without concern for ground loops and noise coupling between drives The APS connection will generate some high frequency ripple 25 Amps at 80 khz on the APS power lines This may disturb sensitive equipment that shares the same power supply Installation APS Input Specification Voltage Range Current Inrush Current 0 5 A maximum 0 7 A peak N 18 30 VDC 0 4 A maximum 80 A for 1 ms if not limited by 0 6 A peak if external powersupply encoder is not used Using the APS supply input to power the drive logic and motor encoder allows the drive bus to operate at DC voltages below 42 VAC 60 VDC bus The drive will operate down to 12 VDC on the bus 10 VAC on L1 and L2 However the low DC bus monitoring must be disabled to prevent faults at these low DC bus voltage levels This can be done with PowerTools software on the Advanced tab in Detailed Set
64. istance to prevent loss through corrosion which will hinder the low impedance connection Enclosure manufacturers offer corrosion resistant unpainted mounting plates to help Bringing components into direct contact cannot always be achieved In these situations a conductor must be relied upon to provide a low impedance path between components Remember a flat braided wire has lower impedance than a round wire of a large guage rating A low impedance connection should exist among the following components Enclosure and mounting plate Servo amplifier chassis and mounting plate EMI RFI AC line filter chassis and mounting plate Other interface equipment chassis and mounting plate Other interface equipment chassis and electrical connectors Enclosure and conduit fittings or electrical connectors Enclosure mounting plate and earth ground Motor frame and conduit fittings or electrical connectors Encoder chassis and electrical connector A good rule to follow when specifying conductors for high frequency applications is to use a metal strap with a length to width ratio that is less than 3 1 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 Installation Epsilon E Series Schaffner Part Control Techniques Part Rati
65. l Comm W Comm V and NT lines rev Y per channel 10 driver and all complements 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 Epsilon drive are 11 W with normal loads to 15 W with additional loads such as external encoder and low input voltage lt 22 VDC on A P S or 120 VAC on AC input The values shown in the table below represent the typical dissipation that could occur with the drive motor combination specified at maximum output power Drive Model e REA a Total Power Losses Watts Eb 202 MG 205 25 36 Eb 202 NT 207 25 36 Eb 202 NT 212 30 41 Eb 203 NT 207 30 41 Eb 203 MG 208 55 66 Eb 203 NT 212 5 55 66 Eb 203 MG 316 60 71 Eb 205 NT 212 55 66 Eb 205 MG 316 72 83 Eb 205 MG 340 88 99 52 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 TL A A 1500 Where Specifications TPL Total power losses Watts TRMS R
66. lation 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 11 Epsilon Eb Digital Servo Drive Installation Manual DISTRIBUTION PANEL EARTH GROUND 3 0 ISOLATION TRANSFORMER Protective Earth To Fusing and Drive Terminals Figure 7 Three Phase Delta with mid phase GND Distribution to a Three Phase Delta WYE Isolation Transformer DISTRIBUTION PANEL 3 O ISOLATION TRANSFORMER eee Mas 22 2 EARTH GROUND 258 E Protective Earth To Fusing and Drive Terminals Figure 8 Three Phase WYE ungrounded Distribution to a Three Phase Delta WYE Isolation Transformer DISTRIBUTION PANEL 5 0 ISOLATION TRANSFORMER oL3 2 oL2 oL1 EARTH M GROUND Protective Earth Figure 9 Delta to Delta Isolation Transformer 12 To Fusing and Drive Terminals Installation Fuse oL1 To Drive Terminals o L2 Fuse oll _ e To Drive ala Terminals L2 Fuse Figure 10 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
67. names and options are printed in bold type the File menu Dialog box names begin with uppercase letters the Axis Limits dialog box Dialog box field names are in quotes Field Name Button names are in italic OK button Source code is printed in Courier font Case ERMS In addition you will find the following typographic conventions throughout this manual This Represents Characters that you must type exactly as they appear For example if bold you are directed to type a setup you should type all the bold characters exactly as they are printed Place holders for information you must provide For example if you are italic directed to type filename you should type the actual name for a file instead of the word shown in italic type ALL CAPITALS Directory names file names key names and acronyms SMALL CAPS Non printable ASCII control characters KEY1 KEY2 A plus sign between key names means to press and hold down the example Alt F first key while you press the second key KEY1 KEY2 comma between key names means to press and release the keys one example Alt F after the other Note For the purpose of this manual and product Note indicates essential information about the product or the respective part of the manual Epsilon Only For the purpose of this manual and product the Epsilon symbol indicates information about the Epsilon drive specifically
68. nd Pulse 4 Direction Resistor Values W R1 R2 1K Ohm Maximum 1 M 240 Ohm Minimum Y 0 1 RS 1K Ohm Maximum ji eee A 240 Ohm Minimum R4 1 R3 Single Point Twisted Pair AMOO PE Ground A Figure 26 Pulse Mode Single Ended Output to Differential Input 27 Epsilon Eb Digital Servo Drive Installation Manual Pulse Mode Wiring Single Ended Inputs 250 ns Minimum 250 ns Minimum Motion occurs Pulse on falling edge EN 1 A 4 al 330 Ohm 5 4 2 Logic 4 1 Shield connected Power komm to connector shell logic nir Pulse Direct Direction A B pa orbes Sinking Outputs typ xen wy E Single Point Panel Ground 1 T 1 Direction T W 4 L y INS Twisted Pair N N t gt Common isolated from other sources Figure 27 Pulse Mode Single Ended Output to Single Ended Input twisted pair cable 250 ns Minimum ns Minimum Molion occurs Pulse on falling edge 4 4 330 Ohm Logic lt Shield connected cw Power onm to connector shell logic lis common Direction Direct N B Drive rive
69. nd Maintenance It is essential that you give careful consideration to changes to drive settings Depending on the application a change could have an impact on safety You must take appropriate precautions against inadvertent changes or tampering Restoring default parameters in certain applications may cause unpredictable or hazardous operation Safety of Machinery Within the European Union all machinery in which this product is used must comply with Directive 89 392 EEC Safety of Machinery The product has been designed and tested to a high standard and failures are very unlikely However the level of integrity offered by the product s control function for example stop start forward reverse and maximum speed is not sufficient for use in safety critical applications without additional independent channels of protection All applications where malfunction could cause injury or loss of life must be subject to a risk assessment and further protection must be provided where needed A WARNING General warning Failure to follow safe installation guidelines can cause death or serious injury The voltages used in this unit can cause severe electric shock and or burns and could be lethal Extreme care is necessary vii Epsilon Eb Digital Servo Drive Installation Manual viii 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 AC
70. ng FN2070 10 08 960307 01 10A 240V 19 Eb 202 Eb 203 EN 204 FS5278 16 08 960305 01 164 240V 1 Eb 205 EN 208 FS5278 16 08 960305 01 EN 214 FN 258 16 960304 01 16A 480V 3 0 Alternately Control Techniques has also seen good results with the following line filters Drive Part Rating EN 204 EN 208 Corcom 20EQ1 20A 240V 19 Eb 202 Eb 203 Eb 205 Eb 202 Schaffner FN 2070 6 06 240V 1 AC Line Filter Installation Notes EMC criteria can be met in installations where multiple drives are supplied through a single filter however it is the installers responsibility to verify EMC compliance Questions on this subject should be directed to the filter manufacturer It is critical that you keep the filter inputs routed away from any electrical noise sources to prevent noise from being induced into them and carried out of the enclosure Epsilon Eb Digital Servo Drive Installation Manual Cable to Enclosure Shielding Shielded motor feedback serial communications and external encoder cables were used for Control Technicques compliance testing and are necessary to meet the EMC requirements Each cable shield was grounded at the enclosure wall by the type of grommet described earlier and shown in the figure below Tubular wire mesh shielding 2 to 3 long installed over the cable shield and folded over the wide end of cord grip insert gt Inside Enclosure C
71. nnector Wiring 22 D DDS XXX Cable 71 Declaration of Conformity x Diagnostic Analog Output Test Points 38 Diagnostic Cable DGNE Diagram 39 Diagnostic Display 33 Diagnostics and Troubleshooting 33 Drive and Motor Combination Specifications 49 Index Drive Enable Wiring 21 Drive Mounting 8 Drive overload protection ix Drive Specifications 47 E ECI 44 External Connector Interface 44 EIO XXX Cable 70 Electrical Installation 9 Electromagnetic Compatibility 3 EMC 3 Encoder Output Signal Wiring 26 Encoder Specifications 52 Environmental Considerations 7 F Fault Codes 34 Fault Descriptions 35 Feature Location 2 Features 1 Input Power Connections 15 Input Output 21 Installation 3 Installation Notes 3 Introduction 1 IP Ratings 52 77 Epsilon Eb Digital Servo Drive Installation Manual L Line Fusing 14 Mechanical Installation 8 MG Motor Dimensions 57 MGE 205 and 208 Motors 57 MGE 316 and 340 Motors 58 MGE 455 490 and 4120 Motors 59 60 Modbus Communications 31 Motor Brake Specifications 50 Motor Brake Wiring 19 Motor Feedback Wiring 19 Motor Mounting 8 Motor Power Wiring 18 Motor Weights 50 Multi Drop Communications 31 N NT Motor Dimensions 61 NTE 207 Motors 61 NTE 212 Motors 63 NTM 207 Motors 62 NTM 212 Motors 64 O Options and Accessories 43 P Power Dissipation 52 Power Dissipation Calculation 52 Power Supply Requirem
72. nterface plug and cable EIO xxx for connections 21 Epsilon Eb Digital Servo Drive Installation Manual Bottom View T Internal to Drive Input 4 Input 3 Input 2 Input 41 Drive Enable Input Output 3 Output 2 Output 1 VO Common Common VO Supply Supply Input 4 Input 3 Input 2 Input 1 Drive Enable Input Output 3 Output 2 Output 1 Mi Common 20 Supply Figure 19 Epsilon I O to Command Connector Internal Connections Note If loads are applied to the same output signal on both Command Connector and I O Connector the sum total current loading must be limited to 150 mA per output signal Command Connector Wiring All command and digital I O signals are available using the 44 pin Command Connector If you are interfacing your drive s to an AXIMA 2000 or 4000 multi axis controller simply connect the 44 pin connector of your AX CEN XXX cable to the drive and the 25 pin connector to the AXIMA multi axis controller If youare interfacing your drive s to an AXIMA or any other motion controller you may use either the CDRO XXX or CMDO XXX cables or the optional External Connection Interface 22 Installation ECI 44 which provides a convenient screw terminal connection strip Connect one end of the CMDX command cable to your drive an
73. onnect to drive and motor only Nothing should be connected between these devices 2 and 3 motor cable L connector CMDS xxx cable Tighten screws to 5 Ib in PT06A 16 8SSR Figure 14 Epsilon Motor Power Wiring Diagram 18 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 Motor Feedback Wiring Encoder feedback connections are made with the CFCS cable This cable has an MS style connector on the motor end and a 26 pin high density D connector on the drive end For A A B B and Z Z pairs the CFCS cable uses low capacitance 10 pf ft wire to get a characteristic impedance of 120 ohms This impedance match is important to minimize signal loss and ringing Motor End Feedback Connector Drive End Feedback Connector Bendix 16 23558 Motor Feedback Cable HD DB 26 Male Motor Model CFCS XXX Drive 2 Motor __ 5 A Blue A rw 5 A ic 4 q M d d BN reen 12 8 100 KS lt 100 K 8 Brown ios 3 mill Black Is 2 Kim si Ae 2 Z u tellow 12 2 2120 u Fei White Brown Jau Ohm 08 Brown White M AC 7 mamas Vis roy Sie N 14 V lt Red Orange lt 100 K Wini Orange Red X Fs L
74. option pins 4 and 9 is provided for multi drop configurations of up to 32 drives Control Techniques provides a special multi drop serial cable which allows you to easily connect two or more drives TERM T TIA XXX DDS XXX Serial Cable 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 Figure 31 Multi Drop Wiring Diagram 31 Epsilon Eb Digital Servo Drive Installation Manual TIA Cable DDS Cable DDS Cable X RX 232 TX 232 Ground Computer Drive Drive Serial Port Serial Port i Computer Serial Drive Serial Port Drive Serial Port Drive Serial Port TERM H TERM T TIA Cable DDS Cable DDS Cable Top View of Multi drop Cabling Figure 32 Multi Drop Wiring Pinout 32 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
75. or tagged with industrial wire tabs Low voltage wiring should be routed away from high voltage wiring 44 Options and Accessories STI EIO 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 Figure 40 on 45 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 All wiring should be either color coded and or tagged with industrial wire tabs Low voltage wiring should be routed away from high voltage wiring m z N 2 INPUTS o O OC A W N N OUTPUTS 1 2 3 4 5 6 7 9100010166 Figure 40 Dimensions of STI EIO 45 Epsilon Eb Digital Servo Drive Installation Manual 46 Figure 41 Command Connector Screw Terimnals On E Series Drive J5 On EC Box nput 1 zm po d Input 42 7 Q2 Input 3 3093 Input 4 7 4 Output 3 595 Output 2 Hel 2 gt Outputs RS 4854 dg RS 485 bi 2 pe
76. pecifications MG Motor Dimensions MGE 205 and 208 Motors 5 5 Minimum Cable Brake Connector Location Clearance MGE 208 models only v U 0 97 0 8 typ c Et XD gt gt BB BF Through Hole lt AG gt lt Add 1 5 38 10 with brake option MGE 205 and 208 Mounting Dimensions inches mm AG A 7 Max 5 60 375 225 46 120 563 127 3i 572 112 G0 5 Ms 14 3 323 E M 225 46 120 6 563 127 672 aia 605 657 143 323 MGE 205 and 208 Mounting Dimensions inches mm R C Max AJ BB AK BF 0 300 2 0 2 625 063 1 502 205 7 62 51 66 68 1 60 38 15 521 0 300 20 2 625 063 1502 205 7 62 51 66 68 1 60 38 15 5 21 205 208 57 Epsilon Eb Digital Servo Drive Installation Manual MGE 316 and 340 Motors 5 5 Minimum Cable Clearance Brake Connector Location MGM 340 models only 58 Brake Power Connector Location MGE 316 models only AG Add 1 50 38 10 with brake option inches mm MGE 316 MGM 316 and MGM 340
77. rrent specification assumes the drive has been powered off for at least eight minutes at 40 C ambient or five minutes at 25 C ambient If this amount of time has not elapsed since power off the inrush current will be higher 14 Installation Input Power Connections Epsilon Only Power must be Off for a minimum of 6 minutes for the Epsilon drive before unplugging the power connection to ensure the bus voltage has bled down to a safe level below 50 VDC Front View 50 60 Hz 90 264 VAC D Figure 11 Epsilon AC Power Wiring Diagram A CAUTION 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 15 Epsilon Eb Digital Servo Drive Installation Manual BEEN NE 1 N mmm Important Slide the side access panel up into the open position Remove the jumper from the AC position Default and reinstall it into the 24 V position A P S The instruction on the side of the drive will show which position to put the jumper Figure 12 Epsilon Auxiliary Power Supply Wiring Diagram Alternate Power Supply Wiring 16 An Alternate Power Supply APS allows the drive to retain motor position information and serial communications when the main AC power supply
78. rtia mismatch High performance tuning based on inertia ratio friction and response with PowerTools software available separately Highresolution encoder Four velocity presets Programmable pulse follower ratio Pulse mode input type selectable between differential and single ended Removable connectors for easy installation Single cable connection to Control Techniques AXIMA 2000 and 4000 multi axis controllers Scalable Encoder Output in one line per revolution increments Travel Limit Function in Torque mode Access to bus voltage for external shunt Able to operate non Control Techniques motors with encoders Epsilon Eb Drive Drive Reset Button Status Display 2 J AC Power Input J1 Z s Power Connection J1 Motor Power Connection J1 Alternate Logic Power Supply Connection J1 Logic Power Supply Selection Access Panel Command Connection J5 N Serial Communications Connection J2 Feedback Connection J6 Input Output Connection J3 Analog Output Test Points J4 Figure 1 Epsilon Eb Drives Feature Location Installation Basic Installation Notes You are required to follow all safety precautions during startup such as providing proper equipment grounding correctly fused power and an effective Emergency Stop circuit which can immediately remove power in the case ofa malfunction See the Safety Considerations section for more information Electromagnetic Comp
79. s debounce time is used with this fault to avoid faults caused by intermittent power disruption With and Epsilon drive the low DC bus monitoring can be disabled with PowerTools software in the Advanced tab Diagnostics and Troubleshooting High DC Bus Threshold Low DC Bus Treshold E Series 440 96 Epsilon 415 60 Encoder State Certain encoder states and state transitions are invalid and will cause the drive to report an encoder state fault This is usually the result of noisy encoder feedback caused by poor shielding Encoder Hardware If any pair of complentary encoder lines are in the same state an encoder line fault is generated The most likely cause is a missing or bad encoder connection M Motor Overtemp This fault is generated when the motor thermal switch is open due to motor over temperature or incorrect wiring o 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 Ifthe combination of command pulse freguency and Pulse Ratio can generate a motor command speed in excess of the fixed limit of 13000 RPM an Overspeed Fault will be activated In Pulse mode operation and any Summation mode which uses Pulse mode the input pulse command freguency is monitored and this calculation is made For example with a Pulse
80. supply isolation device The AC supply must be removed from the drive using an approved isolation device or disconnect before any servicing work is performed other than adjustments to the settings or parameters specified in the manual The drive contains capacitors which remain charged to a potentially lethal voltage after the supply has been removed Allow at least 6 minutes for the Epsilon 205 3 minutes for Epsilon 202 203 and 30 seconds for E Series drives after removing the supply before carrying out any work which may involve contact with electrical connections to the drive Products connected by plug and socket A special hazard may exist where the drive is incorporated into a product which is connected to the AC supply by a plug and socket When unplugged the pins of the plug may be connected to the drive input which is only separated from the charge stored in the bus capacitor by semiconductor devices To avoid any possibility of electric shock from the pins if they are accessible a means must be provided for automatically disconnecting the plug from the drive e g a latching contactor Grounding Earthing equipotential bonding The drive must be grounded by a conductor sufficient to carry all possible fault current in the event of a fault The ground connections shown in the manual must be followed Fuses Fuses or over current protection must be provided at the input in accordance with the instructions in the manual Isolation of
81. tings The drive will fit in a 6 inch deep enclosure with cables connected Drive Model Power Rating Continuous Current Peak Current Epsilon Eb 202 650 W 1 8 amps 3 6 amps Epsilon Eb 203 1100 W 3 0 amps 6 0 amps Epsilon Eb 205 1750 W 5 0 amps 10 0 amps The MG and NT motors that are matched to the Epsilon drives provide low inertia high power to size ratios and encoder feedback for accurate positioning Features Digital drive design using DSP ASIC and surface mount technologies Epsilon input power is rated at 42 to 264 VAC 12 to 264 VAC or 12 to 375 VDC when using an A P S Small mounting footprint Auxiliary logic power supply capability Five optically isolated inputs and three optically isolated outputs Built in RS 232C to RS 485 converter for multi drop applications e RS 232C 485 serial communications interface using industry standard Modbus protocol up to 19 2 kbaud Diagnostic and operating mode status display Epsilon Eb Digital Servo Drive Installation Manual Extensive fault sensing and diagnostics including storage and time stamping of the last ten faults Maximum input response time is 500 us for command and input functions Peak torque up to three times continuous motor torque rating 200 for 5 seconds Sinusoidal commutation for efficiency and motor smooth motion No potentiometers or selector switches Notuning needed for no load up to 10 1 ine
82. trol Techniques EMERSON Motion Control EMERSON Motion Control Power Tools AXIMA Motion Made Easy Control Techniques is a divison of EMERSON Co Control Techniques Inc is not affliated with Microsoft Corporation over of hte Microsoft Windows and Windows NT trademarks IBM is a registered trademark of International Business Machines Corportation Modbus is a registered trademark of Gould Inc Data Highway Plus is a trademark of Allen Bradley Schaffner is a trademark of Schaffner DeviceNet is a trademark of Open DeviceNet Vendor Association This document has been prepared to conform to the current released version of theproduct Because of our extensive development efforts and our desire to further improve and enhance the product inconsistencies may exist between the product and documentation in some instances Call your customer support representative if you encounter an inconsistency Customer Service 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 Whether it s by phone fax or modem you can access Control Techniques support information 24 hours a day seven days a week Our wide rang
83. ts are automatically cleared when the fault condition is removed The table below lists all the fault codes in priority order from highest to lowest This means that if two faults are active only the higher priority fault will be displayed Display Fault Action to Reset Bridge Disabled N NVM Invalid Button or Input Yes Drive Overtemp 2 Yes Power Module Power Yes High DC Bus Button or Input Yes Low DC Bus Button or Input Yes Diagnostics and Troubleshooting Display Fault Action to Reset Bridge Disabled VN up Encoder State Power Yes Encoder Hardware Power Yes Cool down Motor Overtemp Button or Input Yes Overspeed Button or Input Yes Max Following Error Position mode Button or Input Yes Travel Limit Auto No Normally On for one On second during power Yes 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 NI IN 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 35 Epsilon Eb Digital Servo Drive Installation Manual 36 Invalid Configuration Epsilon Only This fault will occur if the digital board in the drive does not match the pow
84. up mode A CAUTION Do not wire AC line into the APS input Doing so will damage the drive AWARNING Do not open the APS jumper access panel until at least six minutes after the main AC power has been removed from the L1 and L2 terminals Note Connecting 24V common on the APS to chassis ground reduces offset voltage in Analog Diagnostic Outputs 17 Epsilon Eb Digital Servo Drive Installation Manual Front View Front View Single point PE ground 22 recommended Figure 13 Multiple APS Wiring Diagram Motor Power Wiring Motors are equipped with up to three male MS Military Style connectors one for stator connections one for encoder connections and one for the brake if so equipped Stator connections from the drive to the motor are made with the CMDS cable which has a female MS style connector on the motor end and four individual wires and shield that connect to the motor power connector on the bottom of the drive Wire crimp ferrules are recommended For ground lead use Pheonix Contact P N AI TWIN 2x1 5 8 Bk 32 00 82 3 Front View r American Electrical DigiKey 1381015 288 1130 ND J For motor leads use Phoenix Contact P N Al 1 5 8 RD 32 01 136 ALTEC PIN 1 5 14 2204 0 100 Motor Power Connection Black Blue Sreeniveliow 11 Ground Connector Shell Important PE ground should c
85. us Encoder Output Channel A Encoder Output Channel 9 Encoder Output Channel b3 Encoder Output Channel 8 40 Encoder Output Channel 2 457 Motor Encoder Output NIN OD gt l gt PE Ground ECI 44 Signal Connections Encoder Output Channel Z B8 S Ext Encoder Encoder Supply 5 Volts 17 S gt Supply Output Encoder Common 020 200 mA max Pulse Input A 7 OA Pulse Input A 11 QA Pulse Input B 9 OB Pulse Input B pg Syne Encoder Inputs Pulse Input 7 b S Pulse Input 7 3 S 1 0 Supply 5 O 1 0 P s 1 0 Supply Q 24 0 Common O Vi o P s 1 0 Common sil O f Analog Command In 51 Qt Analog Commend In Hal Command Input Diagnostics Output Channel 1 3 5 1 Diegnostics Output Channel 2 2 Analog Out Diagnostic Output Common 19 15 10 8 OAG Pulse Input A Single Ended BO ENV Pulse Input B Single Ended 436 NC2 Do Nol Connect 5 Y NCI Do Not Connect J7 DG Digital Ground 10 Ohm Do Not AG Analog Ground Do Not NC No Connection Do Not 120 shield Ground Do Not 22 Connector shell Do Not 30 and strain relief Do Nol Connect 7 points Connector S
86. utaway view of cord grip rubber insert Outside Enclosure Lubricate here for best compression Cord grip insert metal washer Expose shielding on cable and pass it through tubular shielding section in the rubber insert Cord grip installed around the fully intact cable jacket Example Crouse Hinds brand CGB type Cord grip body section CGB or CGK type L Female coupling Not required with CGK type Sealing gasket optional included with CGB SG type Remove paint from the inside wall so the lock nut can bond the coupling body to the grounded enclosure wall Figure 2 Through Wall Shield Grommet Cable Type Control Techniques Shielded Cable Conduit Dimension Actual Hole Size Cable Model Grommet Kit Part 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 CMMF CGS 075 3 4 pipe 11 16 Flex Feedback Cable CFCF CFOF CGS 063 3 4 pipe 11 16 External Encoder ENCO CGS 038 1 2 pipe 7 8 AC Power user supplied user supplied NEMA Enclosure This wall must have good J continuity to enclosure ground

Emerson Epsilon Eb Digital Servo Drive Installation Manual

Contents

Download Pdf Manuals

Related Search

Related Contents