Emerson FM-3 Specifications

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EN Drives
Installation Manual
P/N 400501-02
Revision: A5
Date: January 10, 2003
© Control Techniques Drives, Inc. 1999-2003
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
EN Drives
Installation Manual
Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be
accurate and reliable. However, no responsibility is assumed by Control Techniques for its use.
Control Techniques reserves the right to change the design or operation of the equipment described
herein and any associated motion products without notice. Control Techniques also assumes no
responsibility for any errors that may appear in this document. Information in this document is subject
to change without notice.
P/N 400501-02
Revision: A5
Date: January 10, 2003
© Control Techniques Drives, Inc. 1999-2003
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
© Control Techniques Drives, Inc. 1999-2003
Part Number: 400501-02
Revision: A5
Date: January 2003
Printed in United States of America
Information in this document is subject to change without notice. No part of this document may be
reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose,
without the express written permission of Control Techniques.
The following are trademarks of Control Techniques and may not be reproduced in any fashion
without written approval of Control Techniques: EMERSON Motion Control, AXIMA,
EMERSON Motion Control PowerTools, and “Motion Made Easy”.
Control Techniques is a Division of Emerson Electric Co.
Control Techniques is not affiliated with Microsoft Corporation, owner of the MicroSoft, Windows,
and Windows NT trademarks.
IBM is a registered trademark of International Business Machines, Inc.
Modbus is a 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 the product. 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.
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Customer Support
Control Techniques
12005 Technology Drive
Eden Prairie, Minnesota 55344-3620
U.S.A.
Telephone: (952) 995-8000 or (800) 397-3786
It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation
of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is
why we offer you so many ways to get the support you need. 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 range of services include:
FAX
(952) 995-8099
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
If you 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. Our technical support center in Eden Prairie, Minnesota is
ready to help you solve those occasional problems over the telephone. Our technical support
center is available 24 hours a day for emergency service to help speed any problem solving.
Also, all hardware replacement parts, if needed, are available through our customer service
organization.
When you call, please be at your computer, with your documentation easily available, 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
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•
Exact wording of any messages that appear on your screen
•
What you were doing when the problem occurred
•
How you tried to solve the problem
Need on-site help? Control Techniques provides service, in most cases, the next day. Just call
Control Techniques’ technical support center when on-site service or maintenance is
required.
Training Services
(952) 995-8000 or (800) 397-3786
Email: training@emersonct.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: customer.service@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® compatible software documentation.
Menu 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.
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In addition, you will find the following typographic conventions throughout this manual.
This
Represents
bold
Characters that you must type exactly as they appear. For example, if you are directed to type
a:setup, you should type all the bold characters exactly as they are printed.
italic
Placeholders for information you must provide. For example, if you are directed to type
filename, you should type the actual name for a file instead of the word shown in italic type.
ALL CAPITALS
Directory names, file names, key names, and acronyms.
SMALL CAPS
Non-printable ASCII control characters.
KEY1+KEY2
example: (Alt+F)
A plus sign (+) between key names means to press and hold down the first key while you press
the second key.
KEY1,KEY2
example: (Alt,F)
A comma (,) between key names means to press and release the keys one after the other.
“Warning” indicates a potentially hazardous situation that, if not avoided, could result in
death or serious injury.
“Caution” indicates a potentially hazardous situation that, if not avoided, may result in
minor or moderate injury.
“Caution” used without the safety alert symbol indicates a potentially hazardous situation
that, if not avoided, may result in property damage.
Note
For the purpose of this manual and product, “Note” indicates essential information about
the product or the respective part of the manual.
EN
EN Only
For the purpose of this manual and product, the “EN” symbol indicates information about
the EN drive specifically.
Throughout this manual, the word “drive” refers to an EN drive.
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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:
•
Is 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 first aid.
Reference Materials
The following related reference and installation manuals may be useful with your particular
system.
• PowerTools Software User’s Guide (P/N 400503-01)
• FM-1 Speed Module Reference Manual (P/N 400506-01)
• FM-2 Indexing Module Reference Manual (P/N 400507-01)
• FM-3 Programming Module Reference Manual (P/N 400508-01)
• FM-4 Programming Module Reference Manual (P/N 400509-01)
• FM-3 and FM-4 Connectivity Reference Manual (P/N 400508-04)
• RSR-2 Regen Regulator Installation Manual (400513-01)
• Flexible Cables Reference Manual (400512-01)
• ALP-130 and ALP-430 Installation Manual (400514-01)
• Drive Parameters Reference Manual (400504-01)
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Underwriters Laboratories Listed
LISTED 51Y8
IND. CONT. EQ.
The EN Digital Servo Drives are marked with the “UL Listed” label after passing a rigorous
set of design and testing criteria developed by UL (UL508C). This label indicates that UL
certifies this product to be safe when installed according to the installation guidelines and
used within the product specifications.
The “conditions of acceptability” required by UL are:
•
The drive surrounding air ambient temperature must be 40° C (104° F) or less.
•
The EN drive surrounding air ambient temperature can be up to 50°C (122° F) with 3%
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 output current (Amps RMS)
Drive Model
Continuous
EN-204
4.5
Peak
9
EN-208
9
18
EN-214
13
26
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Drive Output Current vs. Time graph
60
Time (seconds)
50
40
30
20
10
0
100
125
150
175
200
% Drive Rated Current
CE Declaration of Conformity
The EN Digital Servo Drives are marked with the “Conformite Europeenne Mark” (CE mark)
after passing a rigorous set of design and testing criteria. This label indicates that this product
meets safety and noise immunity and emissions (EMC) standards when installed according
to the installation guidelines and used within the product specifications.
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Declaration of Conformity
Manufacturer’s Name:
Control Techniques
Manufacturer’s Address:
12005 Technology Drive
Eden Prairie, MN 55344
USA
Declares that the following products:
Products Description:
E Series Digital Servo Drive
Model Number:
EN-204, EN-208 and EN-214
System Options:
This declaration covers the above products with the ALP-130 Backup
Logic Power Supply and ECI-44 Screw Terminal Interface.
Conforms to the following product specification:
Electomagnetic Compatibility (EMC):
EN 55011/1991 Class A Group 1, CISPR 11/1990 Class A Group 1
EN 50082-2/1995:
IEC 1000-4-2/1995; EN 61000-4-2, 4kV CD
IEC 1000-4-3/1995; EN 61000-4-3, ENV 50140/1993, 80% AM, 10V/m
@3m
IEC 1000-4-4/1995; EN 61000-4-4, 2 kV ALL LINES
IEC 1000-4-8/1993; EN 61000-4-8, 30 A/m
ENV 50141/1993, 80% AM, 10V, .15-80 MHz
ENV 50204/1995, Pulse, 900 MHz, 50% DTY, 200 Hz
Supplementary information:
The products herewith comply with the requirements 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
equipment 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 (“EMC”). 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.
December 2, 1997
Bradley Schwartz/ VP Engineering
Date
European Contact:
Sobetra Automation
Langeveldpark Lot 10
P. Dasterleusstraat 2
1600 St. Pieters Leeuw, Belgium
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Declaration of Conformity
Manufacturer’s Name:
Control Techniques
Manufacturer’s Address:
12005 Technology Drive
Eden Prairie, MN 55344
USA
Declares that the following products:
Products Description:
Drive Accessories
Model Number:
RSR-2 and ALP-430
Conforms to the following product specification:
The products herewith comply with the requirements of the Low Voltage Directive (LVD) 73/23/EEC.
These products are considered components and as such, the EMC Directive (89/336/EEC) does not apply.
Supplementary information:
This electronic drive product is intended to be used with an appropriate motor, electrical protection components and other
equipment 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 (“EMC”). 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
Date
European Contact:
Sobetra Automation
Langeveldpark Lot 10
P. Dasterleusstraat 2
1600 St. Pieters Leeuw, Belgium
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EN Drive Istallation Manual
Safety Considerations
Safety Precautions
This product is intended for professional incorporation into a complete system. If you install
the product incorrectly, it may present a safety hazard. The product and system may use high
voltages and currents, carry a high level of stored electrical energy, or are used to control
mechanical equipment that can cause injury.
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 the instruction
manual carefully.
Enclosure
This product is intended to be mounted in an enclosure that prevents access except by trained
and authorized personnel and that 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 and 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 provided where needed.
General warning
Failure to follow safe installation guidelines can cause death or serious injury. The
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EN Drive Istallation Manual
voltages used in this unit can cause severe electric shock and/or burns, and could be lethal.
Extreme care is necessary at all times when working with or adjacent to this equipment.
The installation must comply with all relevant safety legislation in the country of use.
AC 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 Epsilon 205, 3 minutes for Epsilon 202/203 and 30 seconds for EN 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 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.
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Table of Contents
Safety Considerations
xi
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setup, Commissioning and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety of Machinery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xi
xi
xi
xi
Introduction
1
EN Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Installation
3
Basic Installation Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Input Power Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Auxiliary Logic/Alternate Power Wiring Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Motor Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Motor Feedback Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Motor Brake Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Command Connector (J5) Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Diagnostics and Troubleshooting
35
Diagnostic Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Diagnostic Analog Output Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Drive Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Watch Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
View Motor Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Specifications
47
Drive Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Drive and Motor Combination Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Motor Brake Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Motor Weights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Axial/Radial Loading. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
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IP Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Dissipation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed Torque Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EN Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MG Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NT Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Wiring Color Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
52
53
53
55
59
60
62
67
68
Glossary
81
Index
87
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EN Drive Installation Manual
Introduction
EN Drives
The EN drives are stand-alone, fully digital brushless servo drives designed and built to
reliably provide high performance and flexibility without sacrificing ease of use.
The use of State-Space algorithms make tuning very simple and forgiving. The drives are
designed to operate with up to a 10 :1 inertia mismatch right out of the box. Higher (50 :1 and
more) inertial mismatches are possible with two simple parameter settings.
The EN base drive can be quickly configured to many applications in less than 5 minutes with
PowerTools-FM software on a PC running Windows® 95, 98, NT 4.0 and 2000.
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.
The EN drives are designed to accept a line of function modules that further enhance its use
in various applications.
•
FM-1 Speed Module offers the user eight digital Torque presets, two additional
Summation modes, and an Alternate Operating mode.
•
FM-2 Indexing Module enables the user to initiate up to 16 different indexes, jogging, and
a single home routine.
•
FM-3 FM-3DN and FM-3PB Programming Modules offer complex motion profiling. A
complex motion profile consists of two or more indexes that are executed in sequence
such that the final velocity of each index except the last is non-zero. Logical instructions
between index statements can provide a powerful tool for altering motion profiles ’on the
fly’.
•
FM-4 FM-4DN and FM-4PB Programming Modules offer complex motion profiling,
along with multi-tasking user programs. A complex motion profile consists of two or
more indexes that are executed in sequence such that the final velocity of each index
except the last is non-zero. Logical instructions between index statements can provide a
powerful tool for altering motion profiles ’on the fly’.
The FM Function modules define complex motion by a configuration file that includes setups
and function assignments. For the FM-3 and FM-4 modules, the configuration file also
includes programs. The configuration file is created using PowerTools-FM or PowerTools
Pro. The FM-1 and FM-2 modules use PowerTools-FM software, and the FM-3, FM-3DN,
FM-3PB, FM-4, FM-4DN and FM-4PB modules use PowerTools Pro software. Setup views
have the same look and feel as dialog boxes. The wiring of input and output functions is done
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EN Drive Installation Manual
through assignments in the software. PowerTools software is an easy-to-use Microsoft®
Windows® based setup and diagnostics tool.
EN Drive
AC Power Input (J1)
Bus Power Connection (J2)
Auxiliary Power Connection (J3)
Function Module Connection
Drive Reset Button
Analog Output Test Points
Serial Communications Connection (J4)
Status Display
Command Connection (J5)
Input/Output Terminals (J6)
Feedback Connection (J7)
Motor Power Connection (J8)
Figure 1:
EN Drives Feature Location
EN Drives are rated at 90 to 264 VAC input voltage.
EN drives are available in three power ratings
Drive Model
Power Rating
Continuous Current
EN-204
1750 W
4.5 A RMS
Peak Current
9.0 A RMS
EN-208
2750 W
9.0 A RMS
18.0 A RMS
EN-214
4340 W
13 A RMS
26 A RMS
The MG and NT motors that are matched to the EN drives provide low inertia, high power to
size ratios, and encoder feedback for accurate positioning.
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EN Drive Installation Manual
Installation
Basic Installation Notes
You are required to follow all safety precautions during start-up such as providing proper
equipment grounding, correctly fused power and an effective Emergency Stop circuit which
can immediately remove power in the case of a malfunction. See the "Safety Considerations"
section for more information.
Electromagnetic Compatibility (EMC)
Drives are designed to meet the requirements of EMC. 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 surfaces and the
mating area on the mounting plate to ensure a good ground. See the, "Achieving Low
Impedance Connections" section 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.
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EN Drive Installation Manual
Achieving Low Impedance Connections
Noise immunity can be improved and emissions reduced by making sure that all the
components have a low impedance connection to the same ground point. A low impedance
connection is one that conducts high frequency current with very little resistance. Impedance
cannot be accurately measured with a standard ohmmeter, because an ohmmeter measures
DC resistance. For example, a 12 inch long 8 gauge round wire has a significantly higher
impedance than a 12 inch long 12 gauge flat braided conductor. A short wire has less
impedance than a long 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 resistance 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 gauge rating.
A low impedance connection should exist between the following components, but not limited
to:
•
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.
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Installation
AC Line Filters
The AC line filters used during Control Techniques’ compliance testing are listed below.
These filters are capable of supplying the drive input power to the specified drive under
maximum output power conditions.
EN Model
Schaffner Part #
Control Techniques
Part #
EN-204
FS5278-16/08
960305-01
EN-208
FS5278-16/08
960305-01
EN-214
FN-258/16
960304-01
Rating
16A, 240V, 1 Ø
16A, 480V, 3 Ø
Alternately, Control Techniques has also seen good results with the following line filters:
EN Model
Part #
EN-204
Schaffner FN 2070M-16/8
Corcom 20EQ1
EN-208
Schaffner FN 2070M-16/8
Corcom 20EQ1
Rating
20A, 240V, 1 Ø
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.
Cable to Enclosure Shielding
Shielded motor, feedback, serial communications and external encoder cables were used for
Control Techniques’ 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 2.
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EN Drive Installation Manual
Figure 2:
Assembly Drawing for Shielded Cable Grommet Kits In Table Below.
Cable
Model
Shielded Cable Grommet
Kit Model
Motor Cable, 16 Ga
CMDS
CGS-050
1/2" pipe
7/8"
Motor Cable, 12 Ga
CMMS
CGS-050
1/2" pipe
7/8"
Cable Type
Conduit Dimension
Hole Size
Actual Hole Size
Feedback Cable
CFOS
CGS-050
1/2" pipe
7/8"
Flex Motor Cable, 16 Ga
CMDF
CGS-050
1/2" pipe
7/8"
Flex Motor Cable, 12 Ga
Flex Feedback Cable
External Encoder
AC Power
CMMF
CGS-075
3/4" pipe
1 1/16"
CFCF, CFOF-A
CGS-063
3/4" pipe
1 1/16"
ENCO
CGS-038
1/2" pipe
7/8"
user supplied
user supplied
user supplied
user supplied
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Installation
Inside Enclosure
Outside Enclosure
O-Ring seals against outside of enclosure
to meet IP 68 (comparable to NEMA 6)
Spring Contacts
When Lock Nut is tighten to inside of
enclosure, lock nut will cut through varnished,
anodized and powder coated finishes.
Tighten lock nut so that is cuts through
finish and into housing.
Cable Shielding
Remove 1/2 to 1 inches of cable jacket.
The Spring Contacts will make a continuous
electrical path from the shield of the cable to
equipment ground.
After tighten lock nut and positioning cable
so that spring contacts are contacting the
cable shield, tighten cable seal housing.
Figure 3:
Cable Type
Motor Cable, 16 Ga
Motor Cable, 12 Ga
Motor Cable, 8 Ga
Feedback Cable
Flex Motor Cable, 16 Ga
Flex Motor Cable, 12 Ga
Flex Feedback Cable
External Encoder
Assembly Drawing for Shielded Cable Grommet Kits Listed in Table Below.
Cable Model
Shielded Cable Grommet
Kit Model
Actual Hole Size
CMDS
CGS-047
0.8125 or 13/16"
CMMS
CGS-069
1.125 or 1 1/8"
4X12SS
CGS-069
1.125 or 1 1/8"
CMLS
CGS-098
1.5 or 1 1/2"
CFOS
CGS-047
0.8125 or 13/16"
MGFS
CGS-047
0.8125 or 13/16"
CMDF
CGS-047
0.8125 or 13/16"
4X16SF
CGS-047
0.8125 or 13/16"
CMMF
CGS-069
1.125 or 1 1/8"
4X12SF
CGS-069
1.125 or 1 1/8"
CFCF
CGS-069
1.125 or 1 1/8"
CFOF-A
CGS-069
1.125 or 1 1/8"
MGFF
CGS-069
1.125 or 1 1/8"
ENCO
CGS-047
0.8125 or 13/16"
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EN Drive Installation Manual
NEMA Enclosure
Note: EMC testing was done
This wail must have good
continuity to enclosure ground.
with surface paint
removed from the
mounting panel area
for drive contact.
AC In
Through wall shield grommets
Bonded to mounting plate
and enclosure wall
External Encoder
Drive
3-phase
filter
CMDS or CMMS Cable
CFOS
Cable
CFOS
Cable
CMDS or CMMS Cable
Customer supplied
terminal strip
(Connect Shield Through)
CFCO Cable
Note: The CFCS cable can
be cut and connected
through a terminal strip
instead of using a CFOS
and a CFCO cable.
Motor
Figure 4:
AC Filter and Cable Connections for EN Drives
Environmental Considerations
If the product will be subjected to atmospheric contaminants such as moisture, oils,
conductive dust, chemical contaminants and metallic particles, you must mount it vertically
in a metal NEMA type 12 enclosure.
If the ambient temperature inside the enclosure will exceed 40° C (104° F), you must consider
forced air cooling.
Note
It is necessary to maintain the drive surround air ambient temperature at 40° C (104° F)
[50°C (122ºF) with derating of 3% per degree above 40° C].
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.
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Installation
Wiring Notes
•
To avoid problems associated with EMI (electromagnetic interference), you should route
high power lines (AC input power and motor power) away from low power lines (encoder
feedback, serial communications, etc.).
•
If a neutral wire (not the same as Earth Ground), is supplied from the building distribution
panel it should never be bonded with PE wire in the enclosure.
•
You should consider future troubleshooting and repair when installing all wiring. 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. 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 surface to ensure maximum heat
transfer for maximum power output and to provide a good ground.
For motor dimensions, weights and mounting specifications, see the "Specifications" section.
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EN Drive Installation Manual
Electrical Installation
System Grounding
Enclosure Wall
Ground
Mains Contactor
L1
L2
L3
Single Point Ground
3 Phase
Line
Power
Ground connection rail and enclosure panel should
have a low impedance connection. Paint must be
removed from panel mounting surface.
AC Line Fuses
DC
Power Supply
+
+24 VDC
User
Supply
Control
Voltage
Transformer
PE
Paint must be removed
from mounting surface
to assure the chassis
of the drive is connected
to the single point
ground.
AC Filter
Paint
must be
removed
at least
from
behind
the
mounting
tab
+ N
NT or MG Motor
Figure 5:
Typical System Grounding Diagram
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.
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Installation
The Protective Earth (PE) wire connection is mandatory for human safety and proper
operation. This connection must not be fused or interrupted by any means. Failure to
follow proper PE wiring can cause death or serious injury.
The EN-204 and EN-208 drives require 90 to 264 VAC single phase power. The EN-214
can operate with single or three phase 90 to 264 VAC. If single phase power is used with
the EN-214, you must de-rate the output power available by 20 percent.
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.
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.
DISTRIBUTION PANEL
L3
SECONDARY
L2
To Fusing and
Drive Terminals
230 VAC
L1
PE
EARTH
GROUND
Figure 6:
(Protective Earth)
Earth Grounded WYE Distribution Transformer
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EN Drive Installation Manual
DISTRIBUTION PANEL
L3
SECONDARY
L2
230 VAC
L1
To Fusing and
Drive Terminals
PE
EARTH
GROUND
Figure 7:
(Protective Earth)
Earth Grounded Delta Distribution Transformer
AC Supplies Requiring Transformers
If the distribution transformer is configured as shown in the figures below, an isolation
transformer is required.
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.
Figure 8:
Three Phase Delta (with mid-phase GND) Distribution to a Three-Phase
Delta/WYE Isolation Transformer
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Installation
Figure 9:
Three Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE
Isolation Transformer
Figure 10:
Delta to Delta Isolation Transformer
Figure 11:
Single Phase Power Supply Connections
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EN Drive Installation Manual
Transformer Sizing
If your application requires a transformer, use the following table for sizing the KVA rating.
The values in the table are based on “worst case” power usage and can be considered a
conservative recommendation. Worst case power usage assumes a motor and drive are
running at the max. continuous operating point continuously (Max Torque, Max Speed). You
can down-size the values only if the maximum power usage is less than the transformer
continuous power rating. Other factors that may influence the required KVA rating are high
transformer ambient temperatures (>40° C or >104° F) and drive operation near the maximum
speeds.
To calculate the power usage of an application use the following formula:
–5
RMS Torque (lb-in) • Avg Velocity (RPM) • 1.1830 = Continuous Power (KW)
Selecting a proper transformer for the application depends on the type of motion the
application requires. For applications with continuous velocity motion, multiply the
Continuous Power by 1.5 and select the closest transformer size greater than or equal to this
result. For applications that require positioning (multiple starts and stops) use a multiplier of
2 to determine the transformer size.
It is always better to oversize the transformer. Transformer life is directly dependent on the
temperature of the windings and if the transformer is undersized the life of the transformer
can be decreased. Undersizing may also lead to a voltage drop of the secondary under heavy
load conditions.
Drive/Motor Combination
Suggested KVA Rating
EN-204/NT-207
0.44
EN-204/NT-212
0.77
EN-204/MG-205
0.22
EN-204/MG-208
0.44
EN-204/MG-316
0.76
EN-208/NT-320
0.76
EN-208/NT-330
1.28
EN-208/NT-345
1.67
EN-208/NT-355
1.99
EN-208/MG-316
0.76
EN-208/MG-340
1.49
EN-208/MG-455
1.85
EN-214/NT-345
1.67
EN-214/NT-355
1.99
EN-214/MG-455
1.85
EN-214/MG-490
2.84
EN-214/MG-4120
4.26
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Installation
Transformer output voltage drop may become a limiting factor at motor speeds and loads near
maximum ratings. Typically, higher KVA transformers have lower voltage drop due to lower
impedance.
Line Fusing and Wire Size
You must incorporate over current protection for the incoming AC power with the minimum
rating shown here. Control Techniques recommends Bussman type: KTK-R, RK1or
equivalent.
Drive Model
External AC Line Fuse
Recommended Minimum AC/PE Line Wire
Gauge
EN-204
KTK-R 15 Amp 1Ø
14 AWG
EN-208
RK1 20 Amp 1Ø
12 AWG
EN-214
RK1 20 Amp 3Ø
12 AWG
Drive Model
Input Voltage
(VAC)
EN-204
90 - 264 / 1 Ø
*
EN-208
90 - 264 / 1 Ø
EN-214
90 - 264 / 1 - 3 Ø
Frequency
(Hz)
47 - 63
Input Current
(Amps RMS) at
full drive output
current
1Ø
3Ø
9.5 A
-
Inrush Current (Amps)
1st Cycle
2nd Cycle
140 (8ms)
50 (8 ms)
19 A
-
140 (8ms)
50 (8 ms)
20 A*
14 A
100 (5 ms) 3 Ø
40 (5 ms) 3 Ø
This is at 20% derated drive output only current as required when using single-phase AC power.
Input Power Connections
According to UL requirements, the EN drive is suitable for use on a circuit capable of
delivering not more than 5000 RMS symmetrical amperes, 240 volts maximum.
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EN Drive Installation Manual
50/60 Hz
90-264 VAC
Front View
Note: L3 is used with the EN -214 only.
L1 L2 L3 GND
Wire crimp ferrules are recommended:
If 14 AWG, use panduit #PV14-P47.
If 12 AWG, use Panduit #PV10-P55.
When cycling power make sure AC
power is off for 5 seconds minimum
before reapplying power.
Tighten screws to 5 lb-in.
L1 L2 L3 PE
J1
L1 L2 L3 PE
Figure 12:
EN AC Power Wiring Diagram
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Installation
Do not connect or disconnect AC power by inserting or removing the AC power
connector. Using the connector in this manner, even once, will damage the connector
making it unusable.
Auxiliary Logic/Alternate Power Wiring Supply
Auxiliary Power Supply (APS) allows the drive to retain motor position information and
serial communications when the main AC power supply is disconnected. 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.
Auxiliary Logic Power Usage
)
Use 16 to 18 AWG stranded wire
+ Bus
Top View
J2
Bus
-V
- Auxiliary Supply
+ Auxiliary Supply
J3
J3 - Two position header.
The mating ALPC-006
cable is supplied
with the ALP Auxiliary
Power Supply.
0.5 Amp
Fuses
Drive #2
-V Auxiliary
Supply
+V Auxiliary
Supply
Figure 13:
220µ
F
+
J3
0.5 Amp
Fuses
+
127 to 373
VDC
-
+
+V Auxiliary
Supply
220µ
F
+
-
J3
AC
-
Drive #1
-V Auxiliary
Supply
127 to 373
VDC
EN Auxiliary Power Supply Wiring Diagram
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EN Drive Installation Manual
As shown in Figure 13, the auxiliary logic power connector is accessed through a plastic
punch-out tab located on top of the drive that reads "BUS/AUX". The auxiliary logic power
for each EN drive must be individually transformer isolated from the AC supply. The voltage
range is 127 to 373 VDC, at 21 Watts. This can be accomplished by isolating, rectifying and
filtering 90 to 264 VAC.
System
Power
Voltage
EN Drive Only
15 watts
EN Drive with FM Module
21 watts
127 to 373 VDC (Transformer isolated,
rectified and filtered 90 to 264 VAC)
Control Techniques offers Auxiliary Logic Power Supplies (models ALP-130 and -430) that
supply enough power for one EN drive with an FM module and four EN drives with FM
module’s respectively. See the "Options and Accessories" section for more information.
.
Input
Output
IP
Rated Ambient
Temperature
Weight
ALP-130
115/230 VAC
60 Watts
140 VDC
30 Watts
20
50° C (122° F)
6.4 lbs
(2.9 kg)
ALP-430
115/230 VAC
40-60 Watts
140 VDC
(4) x 20 Watts
20
50° C (122° F)
7.7 lbs
(3.5 kg)
Model
Do not connect AC power directly into the auxiliary logic connector. You must wire this
connection correctly with transformer isolated 127 to 373 VDC power. Failure to do so
can cause death, serious injury or equipment damage. Also, use caution when removing
the plastic punch-out tab. AC power must be disconnected for at least 30 seconds before
removing the tab.
Motor Power Wiring
MG and NT Motors are equipped with up to three male MS (Military Standard) connectors,
one for stator connections, one for encoder connections and one for the brake (if so equipped).
Stator connections from the drive to the motor are made with the CMDS or CMMS cable have
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.
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.
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Installation
Front View
PE
Motor Power
Connection
Drive
T
S
R
GND
Blue
Black
Brown
Green/Yellow
Shield
C
B
A
D
T
S
R
Ground
Connector Shell
2" or 3" Motors: PT06A-15-8SSR
4" Motors: MS3106A-20-15SSR
R S
T
Tighten screws to 5 lb-in.
Wire crimp ferrules are recommended:
If 14 to 16 AWG, use panduit #PV14-P47.
If 12 AWG, use Panduit #PV10-P55.
Important: Ground should connect to drive and
motor only. Nothing should be connected
between these devices.
Figure 14:
EN Motor Power Wiring Diagram
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EN Drive Installation Manual
Motor Feedback Wiring
Encoder feedback connections are made with the CFCS cable. This cable has an MS style
connector on the motor end and a 26-pin high density “D” connector on the drive end.
+5 V
Motor Feedback Cable
Model # CFCS-XXX
Motor
A
A/
B
B/
Z
Z/
U
U/
V
V/
W
W/
+ 5 VDC
B
C
N
P
M
U
E
R
F
S
G
H
K
GND
T
Motor
A
Overtemp
+ 5 VDC J
L
Internal
Motor
Overtemp GND D
Thermal
V
Switch
W
X
Y
Shield Z
Connector Shell
Blue
Orange
Green
Brown
Black
Yellow
White/Brown
Brown/White
White/Gray
Gray/White
Red/Orange
Orange/Red
*Red/Blue
Blue/Red
Red/Green
Green/Red
Drive
1
10
2
11
3
12
4
13
5
14
6
15
7
17
9
16
8
18
19
26
* The “+5 VDC (18AWG) wire
will be colored “Red/Green”
on some CFCS cables.
= Twisted Pair
100K
100K
A
A
220 Ohm
A/
B
A/
B/
100K
Z
Z/
+5 V
U
U/
2K
1K
V
V/
U
W
U/
W/
+5 VDC
2K
GND
Motor Overtemp
Not Used
+5 V
+ 5VDC
GND
10K
10K
19 to 24 PE Ground
GND
10 Ohm
1.0K
PE
Single Point
Ground
Figure 15:
Motor Feedback Connector Pinout
Connection of encoder commutation signals to the drive
EN drives with a part number of 960500-08 or higher (part number label is located on the top
of the drive by the AC Input connector) are capable of receiving U, V and W commutation
signals from either a differential or common-collector source. Figure 15 shows the input
impedance for the U, U/, V, V/, W and W/ inputs on the drive. For single-ended encoder
outputs, leave U/, V/, and W/ unconnected at the drive.
EN drives with a part number of 960500 -07 or lower can only accept differential U,V,W,
signals.
Note
The indexing pulses A, A/, B, B/, Z, and Z/ must come from a differential source.
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Installation
Motor Brake Wiring
Motors equipped with brakes have a three-pin MS style connector. The brake power cable
(model CBMS-XXX) has an MS style connector on the motor end and three wire leads on the
amplifier end (see the following wiring diagrams).
You must provide a DC power supply rated at +24 VDC with a 2 amp minimum current
capacity for the brake. If you use this voltage source to power other accessories such as I/O
or more than one brake, you must increase its current capability.
Figure 16:
EN Brake Wiring Diagram using the Command Connector
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EN Drive Installation Manual
Figure 17:
EN Brake Wiring Diagram using the I/O Connector
Input/Output and Drive Enable Wiring
Drives are equipped with five optically isolated input lines (one is dedicated to a drive enable
function) and three optically isolated output lines. They are designed to operate from a +10
to 30 VDC source. All inputs and outputs are configured as sourcing. You are responsible for
choosing a load that will limit each output’s current to less than 150 mA.
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Installation
Front View
A highspeed diode
(such as a 1N5819) is
required for inductive
loads such as a relay,
solenoid or contactor.
I/O supply
+10 to 30 VDC
Load
Load
Load
2.8 k
1 Amp Fuse
J6
Single point
PE ground.
Figure 18:
- +
24 VDC
EN Input/Output Wiring Diagram
Note
The I/O connector is a 10-pin removable terminal block. It is recommended that #18 to 24
AWG stranded wire be used.
Figure 19:
EN I/O Connector to Command Connector Internal Connections
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EN Drive Installation Manual
Note
If loads are applied to the same output signal on both Command Connector and I/O
Connector, the sum total current loading must be limited to 150 mA per output signal.
Command Connector (J5) Wiring
All command, 3 output and 4 input signals are available using the 44-pin Command
Connector.
If you are interfacing your drive(s) to an AXIMA 2000 or 4000 multi-axis controller, simply
connect the 44-pin connector of your AX4-CEN-XXX cable to the drive and the 25-pin
connector to the AXIMA multi-axis controller.
If you are 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
(ECI-44) which provides a convenient screw terminal connection strip. Connect one end of
the CMDX command cable to your drive and the other end to the ECI-44.
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Installation
Shield
Connected to
Connector Shell
Command Connector
(RED/BRN)
1
(BRN/RED)
(BLK/BLU)
(BLU/BLK)
(WHT/ORG)
2
3
4
6
(ORG/WHT)
(PRP/BLU)
21
8
(BLU/PRP)
(RED/BLU)
9
11
(BLU/RED)
(BLK/GRN)
12
16
(GRN/BLK)
(BLK/BRN)
17
18
(BRN/BLK)
(PRP/ORG)
19
(ORG/PRP)
(BLK/RED)
(RED/BLK)
(PRP/GRN)
(GRN/PRP)
(YEL/BLU)
(BLU/YEL)
(YEL/BRN)
(BRN/YEL)
(PRP/BRN)
(BRN/PRP)
(PRP/GRY)
(GRY/PRP)
(WHT/BLU)
(BLU/WHT)
(WHT/GRN)
(GRN/WHT)
(WHT/RED)
(RED/WHT)
(GRY/YEL)
(YEL/GRY)
23
24
25
39
27
41
34
32
33
31
37
38
40
26
14
15
43
44
29
28
36
20
35
7
10
13
5
Figure 20:
10 Ohm
Input #4
RS 485+
RS 485Encoder Output Channel A
Encoder Output Channel A/
Encoder Supply +5 Volts - Output. 200 mA
Encoder Common
Drive Enable Input
Output #3
Output #2
Output #1
Encoder Output Channel B
Encoder Output Channel B/
Pulse Input Z
Pulse Input Z/
Pulse Input A
Pulse Input A/
I/O Supply +
I/O Common I/O Supply +
I/O Common Encoder Output Channel Z
Encoder Output Channel Z/
Pulse Input B/
Pulse Input B
- Analog Command In
+ Analog Command In
Diagnostics Output Channel 1
Diagnostics Output Channel 2
Diagnostic Output Common
+15 Out (Test Only)
Pulse In B Single-ended
Pulse In A Single-ended
Do Not Connect
Do Not Connect
Do Not Connect
Do Not Connect
30
Do Not Connect
Do Not Connect
Do Not Connect
42
Do Not Connect
22
= Twisted Pair
Input #1
Input #2
Input #3
PE
Command Connector (J5) Pinout and CMDO-XXX Wire Colors
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EN Drive Installation Manual
For information about Command Connector pinout and CMDO-XXX cable wire colors, see
the "Specifications" section.
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 @ 1 Amp maximum
I/O Common
31, 32
I/O return
Pulse Inputs Differential
25, 26, 27, 39, 40, 41
5 V, 200 mV differential, 60 mV hysteresis, RS-422 compatible
Pulse Inputs Single Ended
20, 36
TTL, 330 ohm pull-ups to internal 5 V, 1.5 V = low, 3.5 V = high
Encoder Supply Output +5 V
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 Common
29
0.0 V, 10 ohms away from PE
0 ohms away from Encoder Common 0V (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
The CMDO, CMDX and CDRO cables are all cables that plug into the Command Connector.
The CMDO and 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" section.
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"
section.
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Installation
Analog Command Wiring
Command Connector
With positive direction = CW
Figure 21:
Analog Command, Differential Wiring Diagram
Figure 22:
Analog Command, Single Ended Wiring Diagram
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EN Drive Installation Manual
Encoder Output Signal Wiring
The encoder outputs meet RS-422 line driver specifications and can drive up to ten RS-422
signal receivers.
The default encoder output scaling is set to output the actual motor encoder resolutions. The
standard MG and NT motors have 2048 lines per revolution. With PowerTools this resolution
is adjustable in one line per revolution increments up to the density of the encoder in the
motor.
If the external controller does not have an internal terminating resistor
R1, R2 and R3 must be mounted within 6 inches of the external controller. A
120 ohm resistor is recommended for high frequency encoders (over 250 kHz)
or cables longer than 25 feet. If encoder signals are multi-dropped, termination
resistors are required only at the last drop point. Do not terminate at more than
one point.
External
Controller
Encoder
Input
Figure 23:
Command Connector Encoder Output Wiring
Figure 24:
Direction Convention Diagram
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Installation
Pulse Mode Wiring, Differential Inputs
Single Point
Panel Ground
Twisted Pair
Single Point
PE Ground
Note: If the external controller does not have an internal terminating
resistor R1, R2, and R3 must be mounted within 6" of the drive.
A 120 ohm resistor is recommended for high frequency
(over 250 kHz) feedback signals or cable lengths longer
than 25 feet.
Figure 25:
Pulse Mode, Differential Output to Differential Input
Figure 26:
Pulse Mode, Single Ended Output to Differential Input
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EN Drive Installation Manual
Pulse Mode Wiring, Single Ended Inputs
+5
Logic
Power
Pulse
A/
Direct
B
Sinking
Outputs (typ)
Common isolated
from other sources
Figure 27:
Pulse Mode, Single Ended Output to Single Ended Input (twisted pair cable)
+5
Logic
Power
Pulse
A/
Direct
B
Sinking
Outputs (typ)
Common isolated
from other sources
Figure 28:
Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair
cable)
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Installation
+5
Logic
Power
CW Pulse
CCW Pulse
Sinking
Outputs (typ)
CW Pulse
CCW Pulse
Common isolated
from other sources
Figure 29:
Pulse/Pulse Mode, Single Ended Output to Single Ended Input (non-twisted
pair cable)
Master Encoder
or Drive Output
Note: R1, R2, and R3 must be mounted within 6" of the end drive.
A 120 ohm resistor is recommended for high frequency
(over 250 kHz) stepping or cable lengths longer
than 25 feet.
Figure 30:
Master/Slave Encoder Connections
Note
Encoder outputs meet RS-422 driver specifications and can drive up to 10 RS-422 signal
receivers. Each differential pulse input is an RS-422 line receivers. The default encoder
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EN Drive Installation Manual
output resolution is 2048 lines per motor revolution. This resolution is adjustable in one
line per revolution increments with PowerTools software. The range is between 1 and the
actual motor encoder density.
Serial Communications
Serial communications with the drive is provided through the female DB-9 connector located
on the front of the drive. The serial interface is either three wire non-isolated RS-232C or two
wire non-isolated RS-485. RS-485 is also available through the 44-pin Command Connector.
Front View
RS-485 N/C
N/C
+5
Comm Common
RS-485 +
TX (232)
RX (232)
Shield
9
8
7
6
5
4
3
2
1
To drive
processor.
J4
RS-485 -
21
12
RS-485 +
6
J5
PE
10 Ohm
Single point
ground
Figure 31:
EN Drive RS-232 and RS-485 Internal Connections between the Command
Connector and the Serial Communication Connector
When connecting the serial port of your PC to the serial port of the drive, verify that your
PC’s ground is the same as the drive PE ground. 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
off of a 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 beneficial even with battery powered computers.
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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 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.
TIA-XXX
Serial Cable
TERM-T
TERM-H
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 32:
DDS-XXX
Serial Cables
EN Multi-Drop Wiring Diagram
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EN Drive Installation Manual
TIA Cable
DDS Cable
DDS Cable
TERM-T
TERM-H
RX (232)
TX (232)
Ground
1
2
3
4
5
6
1
2
1
2
1
2
1
2
3
4
5
6
3
4
5
6
3
4
5
6
3
4
5
6
1
2
3
4
5
6
7
8
9
7
8
9
7
8
9
7
8
9
7
8
9
7
8
9
Drive
Serial Port
Drive
Serial Port
Drive
Serial Port
120
Ohm
Computer
Computer Serial
Port
Drive Serial Port
Drive Serial Port
0V
+5
576
Ohm
485 +
120
Ohm
485 -
576
Ohm
Drive Serial Port
TERM-H
TERM-T
TIA Cable
DDS Cable
DDS Cable
Top View of Multi-drop Cabling
Figure 33:
Multi-Drop Wiring Pinout
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EN Drive Installation Manual
Diagnostics and Troubleshooting
Diagnostic Display
The diagnostic display on the front of the drive shows drive status and fault codes. When a
fault condition occurs, the drive will display the fault code, overriding the status code. The
decimal point is “On” when the drive is enabled and the Stop input is not active. This indicates
that the drive is ready to run and will respond to motion commands. Commands will not cause
motion unless the decimal point is “On”.
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.
See Brake Operation section for detailed description of
Brake Output function.
Disabled
Power Stage is disabled.
Position
Pulse mode operation.
Velocity
Velocity mode operation.
Torque
Torque mode operation.
Summation
Summation mode operation.
RMS Foldback
Motor torque is limited to 80 percent.
Stall Foldback
(EN drive only)
Drive output current is limited to 80 percent of drive
stall current.
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EN Drive Installation Manual
Display Indication
Status
Ready to Run
Description
Drive enabled, no Stop input.
Fault Codes
A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some
faults, like high DC bus and amplifier or motor over temperature, can be reset with the Reset
button on the front of the drive or the Reset input function. Other faults, such as encoder
faults, can only be reset by cycling power “Off” (wait until the status display turns “Off”),
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 faults 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
Power Up Test
Cycle Power
Yes
NVM Invalid
Reset Button or Input Line
Yes
Invalid Configuration
(EN drive only)
Reset Button or Input Line
Yes
Power Module
Reset Button or Input Line
Yes
High DC Bus
Reset Button or Input Line
Yes
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Diagnostics and Troubleshooting
Display
Fault
Action to Reset
Bridge Disabled
Low DC Bus
Reset Button or Input Line
Yes
Encoder State
Cycle Power
Yes
Encoder Hardware
Cycle Power
Yes
Motor Overtemp
Allow Motor to cool down,
Reset Button or Input Line
Yes
RMS Shunt Power
(EN drives only)
Reset Button or Input Line
Yes
Overspeed
Reset Button or Input Line
Yes
Following Error
(Pulse mode only)
Reset Button or Input Line
Yes
Travel Limit +/-
Auto
No
All "On"
Normally "On" for one
second during power-up
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.
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EN Drive Installation Manual
NVM Invalid
At power-up the drive tests the integrity of the non-volatile memory. This fault is generated
if the contents of the non-volatile memory are invalid.
Invalid Configuration
A function module was attached to the drive on its previous power-up. To clear, press and
hold the Reset button for 10 seconds.
Drive Overtemp
Indicates the drive IGBT temperature has reached 100°C (212°F).
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 "On" rapidly (>10 Hz).
High DC Bus
This fault will occur whenever the voltage on the DC bus exceeds the High DC Bus threshold.
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).
EN
High DC Bus Threshold
Low DC Bus Threshold
440
96
Low DC Bus
This fault will occur whenever the voltage on the DC bus drops below the Low DC Bus
threshold. The most likely cause of this fault is a reduction (or loss) of AC power. A 50 ms
debounce time is used with this fault to avoid faults caused by intermittent power disruption. .
EN
High DC Bus Threshold
Low DC Bus Threshold
440
96
38
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Diagnostics and Troubleshooting
Encoder State
Certain encoder states and state transitions are invalid and will cause the drive to report an
encoder state fault. This is usually the result of noisy encoder feedback caused by poor
shielding. For some types of custom motors it may be necessary to disable this fault. Refer to
the Advanced Tab section of Setting Up Parameters for more information.
Encoder Hardware
If any pair of complementary encoder lines are in the same state, an encoder line fault is
generated. The most likely cause is a missing or bad encoder connection.
Motor Overtemp
This fault is generated when the motor thermal switch is open due to motor over-temperature
or incorrect wiring.
RMS Shunt Power
This fault is generated when RMS shunt power dissipation is greater than the design rating of
the internal shunt.
Overspeed
This fault occurs in one of two circumstances:
1.
When the actual motor speed exceeds the Overspeed Velocity Limit parameter or 150%
of motor maximum operating speed. This parameter can be accessed with PowerTools
software.
2.
If the combination of command pulse frequency and Pulse Ratio can generate a motor
command speed in excess of the fixed limit of 13000 RPM, an Overspeed Fault will be
activated. In Pulse mode operation and any Summation mode which uses Pulse mode,
the input pulse command frequency is monitored and this calculation is made. For
example, with a Pulse Ratio of 10 pulses per motor revolution, the first pulse received
will cause an Overspeed fault even before there is any motor motion.
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. The Following Error Limit is functional in Pulse mode
only.
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EN Drive Installation Manual
Travel Limit +/This fault is caused when either the + or - Travel Limit input function is active.
All "On"
This is a normal condition during power up of the drive. It will last for less than 1 second. If
this display persists, call Control Techniques for service advice.
Normally, "All On" for less than one second during power-up. All segments dimly lit when
power is "Off" 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 required 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 Channel provides a programmable Analog Output Source.
Analog Output Source options are:
•
Velocity Command
•
Velocity Feedback
•
Torque Command (equates to Torque Command Actual parameter)
•
Torque Feedback
•
Following Error
Default Analog Output Source:
•
Channel 1 = Velocity Feedback
•
Channel 2 = Torque Command
Channel
Output Source
Offset
Scale
1
Velocity Feedback
0
600 RPM/volt
2
Torque Command
0
30 percent/volt for selected
motor
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Diagnostics and Troubleshooting
Channel #2
Analog GND
Channel #1
Epsilon Drive
E Series Drive
Figure 34:
Diagnostic Analog Output Test Points
The DGNE cable was designed to be used with either an oscilloscope or a meter. The wires
are different lengths to avoid shorting to each other. However, if signals do get shorted to
GND, the drive will not be damaged because the circuitry is protected.
D/A
Black
(GND)
D/A
Yellow
Blue
10 Ohm
2
10 Ohm
2
DGNE Cable
DGNE Cable
Figure 35:
GND
GND 1
1
44
29
43
Command Connector
Pin #'s
Diagnostic Cable (DGNE) Diagram
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EN Drive Installation Manual
Drive Faults
The Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There
are two options in this dialog box: Reset Faults and Ignore Faults.
Figure 36:
Active Drive Faults Detected Dialog Box
Resetting Faults
Some drive faults are automatically reset when the fault condition is cleared. Other faults
require drive power to be cycled or the drive to be “rebooted”. If you wish to continue
working in the PowerTools-FM 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 or by
clicking on the View Faults icon on the toolbar. The dialog box displayed is the same as
Active Drive Faults Detected dialog box described above.
Rebooting the Drive
To reboot the drive, cycle power or select the Reboot Drive command from the Device menu.
This command reboots the drive attached to the active Configuration Window.
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.
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Diagnostics and Troubleshooting
Note
You cannot change the values of the parameters while they are being displayed in the
Watch Window. The parameter in the setup screens will look like they have been changed
when they actually have not. To update a parameter, delete it from the Watch Window
selection.
Note
It is normal to have the Watch Window show up with the three motor parameters already
selected if the motor parameters window has been accessed previously. If you do not need
to view them, simply push the Clear All button and select the parameters you wish to
view.
Figure 37:
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.
Figure 38:
Select Drive Parameters Dialog Box
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EN Drive Installation Manual
Group
This list box enables you to view the complete list of parameters or just a group of parameters
you are interested in. The groups include: Analog In, Analog Out, Communication, Digital
Inputs, Execution, Fault Counts, Fault Log, ID, Input Functions, Motor, Output Functions,
Position, Setup, Status, Torque, Tuning, User Defined Motor, and Velocity.
Clear All Button
This button is used to clear all the parameter selections that were previously selected.
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.
Figure 39:
View Motor Parameters Window
The View Motor Parameters window is accessed by selecting View Motor Parameters from
the Tools menu.
Error Messages
PowerTools will pop-up an error message box to alert you to any errors it encounters. These
message boxes will describe the error and offer a possible solution.
44
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Diagnostics and Troubleshooting
The table below list the of common problems you might encounter when working with
PowerTools software along with the error message displayed, the most likely cause and
solution.
Problem/Message
Cause
Solution
Time-out while waiting for device response.
The attempted operation has been cancelled.
(see fault: No device selected)
Loss of serial communications.
Check the serial connection to the device and
try operation again.
The attached device(s) do not have valid
revisions, or do not have matching revisions.
Attempting to broadcast to drive without
matching firmware revisions.
Program each drive individually.
Unable to communicate with device [Address
x]
The device that you are attempting to
communicate with is no longer available.
Check all connections and verify that you are
using the correct baud rate then try again.
The specified drive type (name) does not
match the actual drive type (name). Please
make necessary corrections.
The drive type you selected in the “Drive
Type” list box does not match the drive you
are downloading to.
Change the drive type selected in the “Drive
Type” list box to match the drive you are
downloading to.
Non-Control Techniques device attached
(address). When trying to program more than
one drive, only EMC drives of the same type
can be attached to the network.
This error is caused When you attempting to
perform an upload or download to multiple
drives and one or more of the drives are not
the same type.
Disconnect the device(s) that has been
specified and try the operation again or
program each device individually.
You have changed a parameter which will not
take affect until the drive has been rebooted.
Before you reboot the drive, you will need to
save your setup to NVM. Do you wish to
save your setup to drive NVM now?
See message.
Yes/No.
(Operation Name) The attempted operation
has been cancelled.
Communication error.
Retry operation. Check connection to drive.
Invalid entry. The entry exceeds the precision
allowed by this field. The finest resolution
this field accepts is (value).
Entered a value out of range.
Enter a value within the range of that field.
The status bar displays information on the
currently selected object or action.
The device was disconnected during the
upload. The upload was not complete.
Connection to the device was lost (a time-out
occurred).
Check the connection to the device and try
again.
The device was disconnected during the
download. The download was not complete.
Connection to the device was lost (a time-out
occurred).
Check the connection to the device and try
again.
No device selected.
No device selected during flash upgrade.
The drive at address is use.
Select device(s) from list box.
Close any other windows that are using the
same addresses and try again.
45
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EN Drive Installation Manual
46
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EN Drive Installation Manual
Specifications
Drive Specifications
EN Drive Specifications
90 - 264 VAC, 47-63 Hz
(240 VAC for rated performance)
AC Input Voltage:
EN-204: 1Ø
EN-208: 1Ø
EN-214: 3Ø (for 1Ø operation, drive output power
must be derated by 20%)
AC Input Current:
EN-204: 9.5 Arms (140A for 8ms inrush)
EN-208: 19 Arms (140A for 8ms inrush)
EN-214: 20 Arms 1Ø (140A for 5ms inrush)
EN-214: 14 Arms 3Ø (100A for 5ms inrush)
Output Continuous Current
(RMS):
EN-204: 4.5 Arms
EN-208: 9 Arms
EN-214: 13 Arms (for 1Ø, derate by 20%)
Output Peak Current:
EN-204: 9 A
EN-208: 18 A
EN-214: 26 A (for 1Ø, derate by 20%)
Continuous Output Power:
EN-204: 1.8 kW
EN-208: 3.6 kW
EN-214: 5.2 kW
Power Requirements
Switching Frequency
20 kHz
Logic Supply
Internal
Auxiliary Power Supply/
Auxiliary Logic Power Input
127 - 373 VDC, 22 W
Encoder Supply Output
+5 VDC, 250 mA
Efficiency
93%
Regeneration
Internal Energy Absorption
(230V):
EN-204: 79 Joules
EN-208: 50W Resistor plus 79 Joules
EN-214: 50W Resistor plus 79 Joules
Internal Energy Absorption
(115V):
EN-204: 150 Joules
EN-208: 50W Resistor plus 150 Joules
EN-214: 50W Resistor plus 150 Joules
External:
Connection to RSR-2 with external resistor, 20 Ohms
min, 15 Arms, 2 kW
47
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EN Drive Installation Manual
EN Drive Specifications
Analog Command:
(1) ±10 VDC 14 bit, 100 kOhm impedance,
Differential
Analog Maximum Voltage
Input Rating:
Differential = +/- 14 VDC, each input with reference
to analog ground = +/- 14 VDC
Digital Inputs:
(5) 10-30 VDC, 2.8 kOhm impedance; current
sourcing signal compatible (active high); max input
response time is 500 µs; optically isolated
Interface: Software selectable differential (RS-422) or
single ended (TTL Schmitt Trigger)
Maximum Input Frequency:
Control Inputs
Differential - 2 MHz per channel; 50% duty cycle (8
MHz count in quadrature)
Pulse:
Single ended - 1 MHz per channel; 50% duty cycle
(4 MHz count in quadrature)
Input Device = AM26C32
Vdiff = 0.1 - 0.2 V
V common mode max = +/- 7 V
Input impedance each input to 0 V = 12 - 17 kOhm
Motor Overtemperature:
(1) 0 to +5 VDC, 10 kOhm impedance, Single ended
Analog Outputs (Diagnostic):
(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
Differential line driver, RS-422 and TTL compatible
20 mA per channel, sink and/or source
Control Outputs
Scalable in one line increment resolution up to 2048
lines/rev of the motor (MG and NT)
Pulse Differential:
Output Device = AM26C31
Vout Hi @ 20 mA = 3.8 - 4.5 V
Vout Lo @ 20 mA = 0.2 - 0.4 V
Vout diff w/100 Ohm termination = 2.0 - 3.1 V
Vout common mode w/100 Ohm termination = 0.0 - 3.0 V
Iout short circuit = 30 - 130 mA
48
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Specifications
EN Drive Specifications
Low DC bus
High DC bus
Power Stage fault
Logic power
Encoder state
Encoder line break
Motor over temperature
Overspeed
Travel limit (+)
Travel limit (-)
Pulse mode position error
RMS shunt power fault
Function module error
Power-up self test failure
Non-volatile memory invalid
Fault Detection Capability
Environmental
Ambient temperature range
for rated output:
32° F to 104° F (0° C to 40° C)
Maximum Ambient operating
temperature:
32° F to 122° F (0° C to 50° C) with power derating of
3.5%/1.8° F (1° C) above 104° F (40° C)
Rated Altitude:
3,280 feet (1000 m)
Vibration:
10 - 2000 Hz at 2g
Humidity:
10 - 95% non-condensing
Storage Temperature:
-13° to 167° F (-25° to 75° C)
Ingress Protection (IP):
IP20
Standards and Agency Approvals
UL Listed
Canadian UL Listed
CE Mark: Low voltage directive; EMC directive
Cooling Method
EN-204, EN-208: Convection
EN-214: Integral fan
Serial Interface
RS-232 / RS-485
Internal RS-232 to RS-485 converter
Modbus protocol with 32 bit data extension
9600 or 19.2 k baud
Drive Weights
EN-204
EN-208
EN-214
Accessory Specifications
6.4 lb (2.9 kg)
7.7 lb (3.5 kg)
8.9 lb (4.0 kg)
ALP-130:
Input 115/230 VAC; Output 140 VDC, 30 W
ALP-430:
Input 115/230 VAC; Output 140 VDC, (4)x20 W
49
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EN Drive Installation Manual
Drive and Motor Combination Specifications
Drive
EN-204
EN-208
EN-214
Motor
Cont.
Torque
lb-in
(Nm)
Peak
Torque
lb-in
(Nm)
Power
HP @
Rated
Speed
(kWatts)
Inertia
lb-in-sec2
(kg-cm2)
Max
speed
RPM
Encoder
resolution
lines/rev
Motor Ke
VRMS/
krpm
Motor Kt
lb-in/
ARMS
(Nm/
ARMS)
NT-207
7.5
(0.85)
15
(1.72)
0.6
(0.44)
0.000094
(0.106)
5000
2048
35
5.12
(0.58)
NT-212
12.5
(1.41)
27
(3.05)
1.03
(0.77)
0.000164
(0.185)
5000
2048
35
5.08
(0.185)
MG-205
5.2
(0.59)
15.6
(1.76)
0.38
(0.28)
0.000084
(0.095)
5000
2048
28.3
4.1
(0.46)
MG-208
9.1
(1.03)
27.3
(3.09)
0.64
(0.48)
0.000144
(0.163)
5000
2048
28.3
4.1
(0.46)
MG-316
18.6
(2.10)
41.9
(4.73)
1.00
(0.75)
0.000498
(0.562)
4000
2048
37.6
5.5
(0.62)
NT-320
19.65
(2.22)
37.5
(4.24)
1.02
(0.76)
0.000328
(0.3703)
4000
2048
29
3.5
(0.3955)
NT-330
31.5
(3.56)
62
(7.01)
2.00
(1.49)
0.000438
(0.4945)
4000
2048
36
5.04
(0.5695)
NT-345
47
(5.31)
85
(9.60)
2.24
(1.67)
0.000668
(0.7542)
3000
2048
50
7.13
(0.8056)
NT-355
55.5
(6.27)
105
(11.86)
2.64
(1.97)
0.000888
(1.0026)
3000
2048
50
7.3
(0.8249)
MG-316
18.6
(2.10)
55.8
(6.31)
1.00
(0.75)
0.000498
(0.562)
4000
2048
37.6
5.5
(0.62)
MG-340
48
(5.65)
133.0
(15.0)
2.00
(1.49)
0.00125
(1.414)
3000
2048
55.0
8.0
(0.90)
MG-455
68
(7.68)
139.1
(15.72)
2.46
(1.83)
0.00338
(3.819)
3000
2048
60.0
8.8
(0.99)
NT-345
47
(5.31)
99
(11.19)
2.24
(1.67)
0.000668
(0.7542)
3000
2048
50
7.13
(0.8056)
NT-355
55.5
(6.27)
116
(13.11)
2.64
(1.97)
0.000888
(1.0026)
3000
2048
50
7.3
(0.8249)
MG-455
68
(7.68)
201.0
(22.71)
2.46
(1.83)
0.00338
(3.819)
3000
2048
60.0
8.8
(0.99)
MG-490
100
(11.30)
208.0
(23.50)
3.75
(2.79)
0.00648
(7.319)
3000
2048
58.9
8.6
(0.97)
MG-4120
132
(14.92)
257.0
(29.03)
5.30
(3.95)
0.00938
(10.593)
3000
2048
71.8
10.5
(1.19)
50
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Specifications
Motor Brake Specifications
Motor
Holding
Torque
lb-in
(Nm)
Added Inertia
lb-in-sec2
(kg-cm2)
Added
Weight
lb (kg)
Coil Voltage
(VDC)
Coil Current
(Amps)
Mechanical
Disengagement
Time
Mechanical
Engagement
Time
NTE/M-2XX
-CBNS, -LBNS,
-TBNS
20
(2.26)
0.000106
(0.12)
1
(0.46)
24 (±10%)
0.33 (±10%)
28 ms
14 ms
NTE/M-3XX
-CBNS, -LBNS,
-TBNS
88.5
(10)
0.000968
(1.093)
1
(0.46)
24 (±10%)
0.65 (±10%)
43 ms
13 ms
MGE-2XXCB
10
(1.13)
0.000025
(0.0282)
1.8
(0.55)
24 (±10%)
0.48 (±10%)
25 ms
40 ms
MGE-316CB
MGM-340CB
50
(5.6)
0.00015
(0.1693)
2.4
(1.1)
24 (±10%)
0.52 (±10%)
100 ms
250 ms
MGE/M-455CB
MG-490CB
MG-4120CB
220
(24.9)
0.000412
(0.4652)
5.8
(2.6)
24 (±10%)
0.88 (±10%)
100 ms
250 ms
Motor Weights
Motor
Weight
lb (kg)
without Brake
Weight
lb (kg)
with Brake
NTE/M-207
3.0 (1.36)
4 (1.81)
NTE/M-212
4 (1.81)
5 (2.268)
NTE/M-320
6 (2.72)
8.55 (3.88)
NTE/M-330
7.3 (3.31)
9.85 (4.47)
NTE/M-345
10 (4.54)
12.55 (5.70)
NTE/M-355
12.3 (5.58)
14.85 (6.74)
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)
MGM-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)
51
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EN Drive Installation Manual
Axial/Radial Loading
Figure 40:
Motor
Max Radial
Load (lb.)
Max. Axial
Load (lb.)
NTE/M-207
20
15
NTE/M-212
20
15
NTE/M-320
40
25
NTE/M-330
40
25
NTE/M-345
40
25
NTE/M-355
40
25
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
Axial/Radial Loading
IP Ratings
Motor
Rating
MG (all)
IP65
NTE/M-207
IP65
NTE/M-207 (w/o seals)
IP54
NTE/M-212
IP65
NTE/M-212 (w/o seals)
IP54
NTE/M-3XX (all)
IP65
52
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Specifications
Encoder Specifications
Motor
MG and NT
Density
2048 lines/rev
Output Type
RS422 differential
driver
Output Frequency
Output Signals
Power Supply
250 kHz per channel
A, B, Z, Comm U,
Comm W, Comm V
and all complements
5V, 200 mA ±10%
Power Dissipation
In general, the drive power stages are 90 to 95 percent efficient depending on the actual point
of the torque speed curve the drive is operating. Logic power losses on the EN drive is 11 W
minimum to 21 W depending on external loading such as FM modules and input voltages.
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
Logic Power Losses
(typ) Drive
(Pld) (Watts)
EN-204/NT-207
Maximum Power Stage
Losses
(Pp) (Watts)
Total
Power Losses
(Watts)
37
58
EN-204/NT-212
59
80
EN-204/MG-205
30
51
EN-204/MG-208
50
71
EN-204/MG-316
82
103
EN-208/NT-320
135
156
EN-208/NT-330
175
196
185
206
EN-208/NT-355
211
232
EN-208/MG-340
160
181
EN-208/MG-455
200
221
EN-214/NT-345
192
213
EN-214/NT-355
221
242
EN-208/NT-345
21
EN-214/MG-490
300
321
EN-214/MG-4120
430
451
53
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EN Drive Installation Manual
Power Dissipation Calculation
Calculating actual dissipation requirements in an application can help minimize enclosure
cooling requirements, especially in multi-axis systems. To calculate dissipation in a specific
application, use the following formula for each axis and then total them up. This formula is a
generalization and will result in a conservative estimate for power losses.
TPL =
TRMS • Vmax
+ Pld + Psr
1500
Where:
TPL = Total Power Losses (Watts)
TRMS = RMS Torque for the application (lb-in)
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 Department with your system profiles and loads.
54
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Specifications
Speed Torque Curves
Continuous ratings of the MG and NT motors are based on 100°C (212°F) motor case
temperature and 25°C (77°F) ambient temperature with the motor mounted to an aluminum
mounting plate as shown in the table below
.
Motor
Mounting Plate Size
MG-205 and 208, NT-207 and 212
6” x 6” x .25”
MG-316 through 490 and NT-320 through NT-355
10” x 10” x .375
MG-4120
12” x 16” x .5”
•
Speed torque curves are based on 240 VAC drive operation.
•
All specifications are ±5 percent due to motor parameter variations.
MG Motors
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EN Drive Installation Manual
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Specifications
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EN Drive Installation Manual
NT-330 with EN-208
NT-320 with EN-208
4500
4500
4000
3500
Speed (R P M )
Speed (R P M )
4000
120 VAC
3000
2500
3500
2500
2000
2000
1500
1500
1000
1000
Peak
Rating
Continuous
Rating
500
120 VAC
3000
Continuous
Rating
500
0
Peak
Rating
0
0
0
5
0.56
10
1.13
15
1.69
20
2.26
25
2.82
30
3.39
35
3.95
40 lb-in
4.52 Nm
0
0
10
1.13
30
3.39
20
2.26
60
6.78
70 lb-in
7.91 Nm
NT-355 with EN-208
3500
3500
3000
3000
Speed (RPM )
Speed (R PM )
NT-345 with EN-208
2500
120 VAC
1500
2500
120 VAC
2000
1500
1000
1000
Peak
Rating
Continuous
Rating
500
0
0
10
1.13
20
2.26
30
3.39
40
4.52
50
5.65
60
6.78
70
7.91
80
9.04
0
90 lb-in
10.17 Nm
0
0
20
2.26
80
9.04
100 lb-in
11.3 Nm
Torque
NT-355 with EN-214
NT-345 with EN-214
3500
3000
3000
Speed (RPM )
3500
2500
120 VAC
2000
2500
120 VAC
2000
1500
1500
1000
1000
Peak
Rating
Continuous
Rating
60
6.78
40
4.52
Torque
500
Peak
Rating
Continuous
Rating
500
0
Speed (R PM )
50
5.65
Torque
Torque
2000
40
4.52
Continuous
Rating
500
Peak
Rating
0
0
0
0
20
2.26
40
4.52
60
6.78
Torque
80
9.04
100
11.3
120 lb-in
13.56 Nm
0
0
20
2.26
40
4.52
60
6.78
80
9.04
100
11.3
120
13.56
140 lb-in
15.82 Nm
Torque
58
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Specifications
EN Drive Dimensions
Minimum Connector
Clearance if used
6.90
[175.24]
0.41
[10.49]
0.39
[9.78]
1.75
[44.57]
0.33
[8.32]
"A"
1.85
[47.12]
11.20
[284.54]
11.70
[297.08]
0.41
[10.37]
0.20 (5.08)
Typ. 4 Places
Model
Dim “A”
EN-204
2.93 [74.4]
EN-208
3.43 [87.1]
EN-214
3.93 [99.8]
59
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EN Drive Installation Manual
MG Motor Dimensions
MGE-205 and 208 Motors
MGE-205 and 208 Mounting Dimensions
inches (mm)
AG
A
BC
AH
U Max
XD
S Min
R
C Max
AJ
BB
AK
BF
205
5.60
(143.0)
2.25
(57.2)
0.46
(11.2)
1.20
(30.5)
0.375
(9.525)
0.563
(14.3)
0.127
(3.23)
0.300
(7.62)
2.0
(51)
2.625
(66.68)
0.063
(1.60)
1.502
(38.15)
0.205
(5.21)
208
6.75
(171.4)
2.25
(57.2)
0.46
(11.2)
1.20
(30.5)
0.375
(9.525)
0.563
(14.3)
0.127
(3.23)
0.300
(7.62)
2.0
(51)
2.625
(66.68)
0.063
(1.60)
1.502
(38.15)
0.205
(5.21)
MGE-316 and 340 Motors
MGE-316 and MGM-340 Mounting Dimensions
inches (mm)
AG
A
BC
AH
U Max
XD
S Min
R
C Max
AJ
BB
AK
BF
316
7.24
(184.0)
3.31
(84.0)
0.44
(11.2)
1.21
(30.7)
0.4997
(12.69)
0.90
(22.9)
.1265
(3.213)
0.42
(10.7)
2.50
(64.0)
3.875
(98.43)
0.06
(1.600)
2.877
(73.08)
0.233
(66.0)
340
10.24
(260.1)
3.50
(89.0)
0.44
(11.2)
1.20
(30.6)
0.5512
(14.000)
0.787
(20.0)
.197
(5.00)
0.429
(10.90)
2.50
(64.0)
3.937
(100.00)
0.118
(3.00)
3.150
(80.01)
0.276
(7.01)
60
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Specifications
MGE-455, 490 and 4120 Motors
MGE-455, 490 and 4120 Mounting Dimensions
inches (mm)
AG
A
BC
AH
U Max
XD
S Min
R
C Max
AJ
BB
AK
BF
455
8.61
(218.7)
5.00
(127.0)
0.53
(13.5)
190
(48.2)
0.6245
(15.862)
1.50
(38.1)
0.1875
(4.763)
0.51
(13.0)
3.20
(81.3)
5.875
(149.23)
0.10
(2.50)
4.500
(114.30)
3/8-16
UNC
490
11.11
(282.10)
5.00
(127.0)
0.53
(13.5)
190
(48.2)
0.8750
(22.225)
1.50
(38.1)
0.1875
(4.763)
0.77
(19.6)
3.20
(81.3)
5.875
(149.23)
0.10
(2.50)
4.500
(114.30)
3/8-16
UNC
4120
13.61
(345.70)
5.00
(127.0)
0.53
(13.5)
190
(48.2)
0.8750
(22.225)
1.50
(38.1)
0.1875
(4.763)
0.77
(19.6)
3.20
(81.3)
5.875
(149.23)
0.10
(2.50)
4.500
(114.30)
3/8-16
UNC
MGM-455, 490 and 4120 Mounting Dimensions
mm (inches)
AG
A
BC
AH
U Max
XD
S Min
R
C Max
AJ
BB
AK
BF
455
216.0
(8.59)
121.0
(4.764)
13.0
(0.51)
50.5
(1.99)
19.000
(0.7480)
40.0
(1.58)
6.00
(.236)
15.5
(0.61)
70.3
(2.77)
145.00
(5.709)
3.00
(0.118)
110.10
(4.331)
10.00
(0.394)
490
281.7
(11.09)
121.0
(4.764)
13.0
(0.51)
50.5
(1.99)
24.000
(0.9449)
37.1
(1.46)
7.963
(.3135)
19.9
(0.78)
70.3
(2.77)
145.00
(5.709)
3.00
(0.118)
110.10
(4.331)
10.00
(0.394)
4120
343.1
(13.59)
121.0
(4.764)
13.0
(0.51)
50.5
(1.99)
24.000
(0.9449)
37.1
(1.46)
7.963
(.3135)
19.9
(0.78)
70.3
(2.77)
145.00
(5.709)
3.00
(0.118)
110.10
(4.331)
10.00
(0.394)
61
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EN Drive Installation Manual
NT Motor Dimensions
NTE-207 and 212 Motors; English Face (NEMA 23 with 3/8 inch shaft)
1.780 [45.21]
MAX
ENCODER CONN: PT02E-16-23P
MATING CONN: PT06E-16-23S
(-CONS)
MOTOR CONN: PT02E-16-8P
MATING CONN: PT06E-16-8S
(-CONS)
F
DRILLED
THRU (4) EQUALLY
SPACED ON G
1.925 [48.89]
MAX
A
NTE-207, 212 -CONS,TONS and LONS Mounting Dimensions
inches (mm)
A
B
C
D
Max
E
F
G
I
Max
J
Max
K
Min
L
Min
M
Min
207-CONS
5.55
(140.96)
2.27
(57.66)
0.295
(7.49)
1.50
(38.10)
0.10
(2.54)
0.205
(5.21)
2.625
(66.68)
1.21
(30.73)
0.375
(9.525)
0.70
(17.78)
0.1248
(3.17)
0.075
(1.905)
207-TONS/
LONS
4.390
(111.51)
2.27
(57.66)
0.295
(7.49)
1.50
(38.10)
0.10
(2.54)
0.205
(5.21)
2.625
(66.68)
1.21
(30.73)
0.375
(9.525)
0.70
(17.78)
0.1248
(3.17)
0.075
(1.905)
212-CONS
6.555
(166.36)
2.27
(57.66)
0.295
(7.49)
1.50
(38.10)
0.10
(2.54)
0.205
(5.21)
2.625
(66.68)
1.21
(30.73)
0.375
(9.525)
0.70
(17.78)
0.1248
(3.17)
0.075
(1.905)
212-TONS/
LONS
5.39
(136.91)
2.27
(57.66)
0.295
(7.49)
1.50
(38.10)
0.10
(2.54)
0.205
(5.21)
2.625
(66.68)
1.21
(30.73)
0.375
(9.525)
0.70
(17.78)
0.1248
(3.17)
0.075
(1.905)
Note
Mounting ears have clearance for #10 or M5 Allen head screw or .3125" or 8mm across
flats hex nut.
62
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Specifications
NTM-207 and 212 Motors; Metric Face
1.780 [45.21]
MAX
ENCODER CONN: PT02E-16-23P
MATING CONN: PT06E-16-23S
(-CONS)
MOTOR CONN: PT02E-16-8P
MATING CONN: PT06E-16-8S
(-CONS)
F
DRILLED
THRU (4) EQUALLY
SPACED ON G
1.925 [48.89]
MAX
A
NTM-207, 212 -CONS,TONS and LONS Mounting Dimensions
mm (inches)
A
B
C
D
Max
E
F
G
I
Max
J
Max
K
Min
L
Min
M
Min
207-CONS
140.96
(5.55)
65.18
(2.566)
7.49
(0.295)
60.012
(2.363)
2.54
(0.10)
5.80
(0.228)
75.0
(2.953)
23.51
(0.926)
10.999
(0.433)
13.0
(0.512)
3.97
(0.156)
2.0
(0.079)
207-TONS/
LONS
111.51
(4.39)
65.18
(2.566)
7.49
(0.295)
60.012
(2.363)
2.54
(0.10)
5.80
(0.228)
75.0
(2.953)
23.51
(0.926)
10.999
(0.433)
13.0
(0.512)
3.97
(0.156)
2.0
(0.079)
212-CONS
166.36
(6.55)
65.18
(2.566)
7.49
(0.295)
60.012
(2.363)
2.54
(0.10)
5.80
(0.228)
75.0
(2.953)
23.51
(0.926)
10.999
(0.433)
13.0
(0.512)
3.97
(0.156)
2.0
(0.079)
212-TONS/
LONS
136.91
(5.39)
65.18
(2.566)
7.49
(0.295)
60.012
(2.363)
2.54
(0.10)
5.80
(0.228)
75.0
(2.953)
23.51
(0.926)
10.999
(0.433)
13.0
(0.512)
3.97
(0.156)
2.0
(0.079)
Note
Mounting ears have clearance for 10mm across flats hex nut or 13mm O.D. washer.
63
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EN Drive Installation Manual
NTE-207 and 212 Brake Motors; English Face (NEMA 23 with 3/8 inch shaft)
MOTOR CONN: PT02E-16-8P
MATING CONN: PT06E-16-8S
(-TBNS)
FLYING LEAD LENGTH:
39.37±2.00 [1000±50.8]
(-LBNS and -TBNS)
ENCODER CONN: PT02E-16-23P
MATING CONN: PT06E-16-23S
(-TBNS)
BRAKE CONN: PT02E-8-3P
MATING CONN: PT06E-8-3S
(-TBNS)
J
ENCODER CONN: PT02E-16-23P
MATING CONN: PT06E-16-23S (-CBNS)
BRAKE CONN: PT02E-8-3P
MATING CONN: PT06E-8-3S (-CBNS)
MOTOR CONN: PT02E-16-8P
MATING CONN: PT06E-16-8S (-CBNS)
1.98 [50.39]
MAX
J
A
NTE-207, 212 -CBNS, TBNS and LBNS Mounting Dimensions
inches (mm))
A
B
C
D
Max
E
F
G
I
Max
J
Max
K
Min
L
Min
M
Min
207-CBNS
6.945
(176.40)
2.27
(57.66)
0.295
(7.49)
1.50
(38.100)
0.10
(2.54)
0.205
(5.21)
2.625
(5.21)
1.21
(30.73)
0.375
(9.525)
0.70
(17.78)
0.1248
(3.17)
0.075
(1.905)
207TBNS/
LBNS
6.277
(159.44)
2.27
(57.66)
0.295
(7.49)
1.50
(38.100)
0.10
(2.54)
2.05
(5.21)
2.625
(66.68)
1.210
(30.73)
0.375
(9.525)
0.70
(17.78)
1.498
(38.049)
0.075
(1.905)
212-CBNS
7.945
(201.80)
2.27
(57.66)
0.295
(7.49)
1.50
(38.100)
0.10
(2.54)
0.205
(5.21)
2.625
(66.68)
1.21
(30.73)
0.375
(9.525)
0.70
(17.78)
0.1248
(3.17)
0.075
(1.905)
212TBNS/
LBNS
7.277
(184.84)
2.27
(57.66)
0.295
(57.66)
1.50
(38.100)
0.10
(2.54)
0.205
(5.21)
2.625
(66.68)
1.210
(30.73)
0.375
(9.525)
0.70
(17.78)
0.1248
(3.17)
0.075
(1.905)
Note
Mounting ears have clearance for #10 or M5 Allen head screw or .3125" or 8mm across
flats hex nut.
64
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Specifications
NTE-207 and 212 Brake Motors; Metric Face
159,
MOTOR CONN: PT02E-16-8P
MATING CONN: PT06E-16-8S
(-TBNS)
FLYING LEAD LENGTH:
39.37±2.00 [1000±50.8]
(-LBNS and -TBNS)
ENCODER CONN: PT02E-16-23P
MATING CONN: PT06E-16-23S
(-TBNS)
BRAKE CONN: PT02E-8-3P
MATING CONN: PT06E-8-3S
(-TBNS)
J
ENCODER CONN: PT02E-16-23P
MATING CONN: PT06E-16-23S (-CBNS)
BRAKE CONN: PT02E-8-3P
MATING CONN: PT06E-8-3S (-CBNS)
MOTOR CONN: PT02E-16-8P
MATING CONN: PT06E-16-8S (-CBNS)
1.98 [50.39]
MAX
J
A
NTM-207, 212 -CBNS, TBNS and LBNS Mounting Dimensions
mm (inches)
A
B
C
D
Max
E
F
G
I
Max
J
Max
K
Min
L
Min
M
Min
207-CBNS
176.40
(6.945)
65.18
(2.566)
7.49
(0.295)
60.012
(2.363)
2.54
(0.10)
5.80
(0.228)
75.00
(2.953)
23.51
(0.926)
10.999
(0.433)
13.0
(0.512)
3.97
(0.156)
2.0
(0.079)
207TBNS/
LBNS
159.44
(6.277)
65.18
(2.566)
7.49
(0.295)
60.012
(2.363)
2.54
(0.10)
5.80
(0.228)
75.00
(2.953)
23.51
(0.926)
10.999
(0.433)
13.0
(0.512)
3.97
(0.156)
2.0
(0.079)
212-CBNS
201.80
(7.945)
65.18
(2.566)
7.49
(0.295)
60.012
(2.363)
2.54
(0.10)
5.8
(0.228)
75.00
(2.953)
23.51
(0.926)
10.999
(0.433)
13.0
(0.512)
3.97
(0.156)
2.0
(0.079)
212TBNS/
LBNS
184.84
(7.277)
65.18
(2.566)
7.49
(0.295)
60.012
(2.363)
2.54
(0.10)
5.8
(0.228)
75.00
(2.953)
23.51
(0.926)
10.999
(0.433)
13.0
(0.512)
3.97
(0.156)
2.0
(0.079)
Note
Mounting ears have clearance for 10mm across flats hex nut or 13mm O.D. washer.
65
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EN Drive Installation Manual
NTE/M-320, 330, 345 and 355 Motors
FLYING LEAD LENGTH:
39.37±2.00 [1000±50.8]
(-LONS and -TONS)
2.35 [59.69]
MAX
ENCODER CONN: PT02E-16-23P
MATING CONN: PT06E-16-23S
(-CONS)
F DRILLED THRU
(4) EQUALLY SPACED ON
I
MOTOR CONN: PT02E-16-8P
MATING CONN: PT06E-16-8S
(-CONS)
M
G
2.450
[62.24]
45°
J
L
K
D
(MIN)
E
B
C
SQR. (MAX.)
A
NTE-320, 330, 345, 355 -CONS, TONS and LONS Mounting Dimensions, inches (mm)
NTM-320, 330, 345, 355-CONS, TONS, and LONS Mounting Dimensions, mm (inches)
A
B
C
D
Max
E
F
G
I
Max
J
Max
K
Min
L
Min
M
Min
NTE-320
5.218
(132.53)
3.42
(86.87)
0.30
(7.62)
2.875
(73.03)
0.10
(2.54)
0.22
(5.59)
3.875
(5.59)
1.21
(30.73)
0.50
(12.7)
0.84
(21.34)
0.125
(3.18)
0.073
(1.85)
NTE-330
5.818
(147.78)
3.42
(86.87)
0.30
(7.62)
2.875
(73.03)
0.10
(2.54)
0.22
(5.59)
3.875
(5.59)
1.21
(30.73)
0.50
(12.7)
0.84
(21.34)
0.125
(3.18)
0.073
(1.85)
NTE-345
7.018
(178.26)
3.42
(86.87)
0.30
(7.62)
2.875
(73.03)
0.10
(2.54)
0.22
(5.59)
3.875
(5.59)
1.21
(30.73)
0.50
(12.7)
0.84
(21.34)
0.125
(3.18)
0.073
(1.85)
NTE-355
8.218
(208.74)
3.42
(86.87)
0.30
(7.62)
2.875
(73.03)
0.10
(2.54)
0.22
(5.59)
3.875
(5.59)
1.21
(30.73)
0.50
(12.7)
0.84
(21.34)
0.125
(3.18)
0.073
(1.85)
NTM320
132.53
(5.218)
86.87
(3.42)
7.62
(0.3)
80.0
(3.15)
3.0
(0.118)
7.01
(0.276)
100.0
(3.937)
30.73
(1.21)
14.0
(0.5512)
20.0
(0.787)
5.0
(0.1969)
2.45
(0.096)
NTM330
147.78
(5.818)
86.87
(3.42)
7.62
(0.3)
80.0
(3.15)
3.0
(0.118)
7.01
(0.276)
100.0
(3.937)
30.73
(1.21)
14.0
(0.5512)
20.0
(0.787)
5.0
(0.1969)
2.45
(0.096)
NTM345
178.26
(7.018)
86.87
(3.42)
7.62
(0.3)
80.0
(3.15)
3.0
(0.118)
7.01
(0.276)
100.0
(3.937)
30.73
(1.21)
14.0
(0.5512)
20.0
(0.787)
5.0
(0.1969)
2.45
(0.096)
NTM355
208.74
(8.218)
86.87
(3.42)
7.62
(0.3)
80.0
(3.15)
3.0
(0.118)
7.01
(0.276)
100.0
(3.937)
30.73
(1.21)
14.0
(0.5512)
20.0
(0.787)
5.0
(0.1969)
2.45
(0.096)
66
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Specifications
Motor Wiring Color Cable
Motor Encoder
Cable
Motor Encoder
Connector Pin #
(CONS/TONS)
(8 Pair Shielded
Cable)
Motor Power
Connections
CFCO Cable
Colors
B
A
Blue
Blue
Blue
C
A/
Orange
Blue/White
Orange
N
B
Green
Green
Green
Brown
P
B/
Brown
Green/White
M
Z
Black
Yellow
Black
U
Z/
Yellow
Yellow/Black
Yellow
E
U
White/Brown
Brown
White/Brown
R
U/
Brown/White
Brown/White
Brown/White
F
V
White/Gray
Orange
White/Gray
S
V/
Gray/White
Orange/Black
Gray/White
G
W
Red/Orange
Violet
Red/Orange
H
W/
Orange/Red
Violet/White
Orange/Red
+5VDC
Red/Blue
Red
Red/Blue
T
0V COMMON
Blue/Red
Red/White
Blue/Red
D
THERM Ground
Green/Red
Black
Green/Red
A
THERM Signal
Red/Green
White
Red/Green
Z
*ENCODER SHIELD
N/C
N/C
*Shield
***LONS ONLY
(4 Wire Shielded
Cable)
Motor Cable
Colors
(Previous)
K,L
Jumper Installed
CONS and TONS
Motor Power
Cable
Motor Cable
Colors
(Current)
Signal Name
Motor Power
Cable Colors
(CONS)
Motor Power
Cable Colors
(TONS/LONS)
4X16SS Cable
Colors (EMC
Cables)
R
Red
Brown
Brown
S
Black
Black
Black
C
T
Blue
Blue
Blue
D, E
**PE (Ground)
**Green/Yellow
**Green/Yellow
**Green/Yellow
Shell
*Power Shield
*Shield
*Shield
*Shield
Motor Power
Connector PIN #
Power
Connections
A
B
*Encoder Shield and Power Shield must be separated from each other all the way back to the
amplifier. They can be connected to the same enclosure walls via individual shielded
grommets (i.e., CGS-xxx).
**Protected Earth Ground can be connected at the motor and the amplifier only with no
connections to anything else in between, including frame ground.
***For proper thermal switch operation in a LONS motor, jumper THERM Ground (Green/
Red) to OV Common (Blue/Red).
67
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EN Drive Installation Manual
Motor Power Connector: PT02E-16-8P
Mating Connector: PT06E-16-8S
Encoder Connector: PT02E-16-23P
Mating Connector: PT06E-16-23S
Cable Diagrams
CMDX, CMDO, ECI-44
CDRO
AX4-CEN
Analog Command In +
Drive Signal
X
X
X
Analog Command In -
X
X
X
Encoder Out A
X
X
X
Encoder Out A/
X
X
X
Encoder Out B
X
X
X
Encoder Out B/
X
X
X
Encoder Out Z
X
X
X
Encoder Out Z/
X
X
X
Pulse In A
X
X
Pulse In A/
X
X
Pulse In B
X
X
Pulse In B/
X
X
Pulse In Z
X
Pulse In Z/
X
Pulse In A (single ended)
X
Pulse In B (single ended)
X
I/O Input Drive Enable
X
I/O Input #1
X
I/O Input #2
X
I/O Input #3
X
I/O Input #4
X
X
X
X
X
X
X
I/O Output #1
X
X
X
I/O Output #2
X
X
X
I/O Output #3
X
X
X
68
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Specifications
CMDX, CMDO, ECI-44
CDRO
AX4-CEN
I/O Power + In (1st wire)
Drive Signal
X
X
X
I/O Power + In (2nd wire)
X
X
X
I/O Power 0V In (1st wire)
X
X
X
I/O Power 0V In (2nd wire)
X
Analog Out 0V
X
X
X
Analog Out Channel #1 +
X
X
X
Analog Out Channel #2 +
X
X
X
External Encoder +5 Power Out (200 ma)
X
X
External Encoder Common
X
X
+15V Power Out (10 ma)
X
RS-485 +
X
RS-485 -
X
69
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EN Drive Installation Manual
CMDX-XXX Cable
1
2
3
4
6
21
8
9
11
12
16
17
18
19
23
24
25
39
27
41
34
32
33
31
37
38
40
26
14
15
29
28
43
44
20
36
5
7
10
13
22
30
35
42
1
2
3
4
6
21
8
9
11
12
16
17
18
19
23
24
25
39
27
41
34
32
33
31
37
38
40
26
14
15
29
28
43
44
20
36
5
7
10
13
22
30
35
42
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
DRAIN
SHELL
COLOR CODE
FUNCTION
RED/BROWN STRIPE
INPUT I/O 1
BROWN/RED STRIPE
INPUT I/O 2
BLACK/BLUE STRIPE
INPUT I/O 3
BLUE/BLACK STRIPE
INPUT I/O 4
WHITE/ORANGE STRIPE
RS-485+
ORANGE/WHITE STRIPE
RS-485-
PURPLE/BLUE STRIPE*
MOTOR ENCODER OUTPUT A
BLUE/PURPLE STRIPE*
MOTOR ENCODER OUTPUT A/
RED/BLUE STRIPE
EXT ENCODER 200mA max +5V
BLUE/RED STRIPE
EXT ENCODER 200mA max COMMON
BLACK/GREEN STRIPE
DRIVE ENABLE INPUT
GREEN/BLACK STRIPE
OUTPUT I/O 3
BLACK/BROWN STRIPE
OUTPUT I/O 2
BROWN/BLACK STRIPE
OUTPUT I/O 1
PURPLE/ORANGE STRIPE*
MOTOR ENCODER OUTPUT B
ORANGE/PURPLE STRIPE*
MOTOR ENCODER OUTPUT B/
BLACK/RED STRIPE
SYNC ENCODER INPUT Z
RED/BLACK STRIPE
SYNC ENCODER INPUT Z/
PURPLE/GREEN STRIPE *
SYNC ENCODER INPUT A
GREEN/PURPLE STRIPE *
SYNC ENCODER INPUT A/
YELLOW/BLUE STRIPE
24V I/O
BLUE/YELLOW STRIPE
0V I/O
YELLOW/BROWN STRIPE
24V I/O
BROWN/YELLOW STRIPE
0V I/O
PURPLE/BROWN STRIPE*
MOTOR ENCODER OUTPUT Z
BROWN/PURPLE STRIPE*
MOTOR ENCODER OUTPUT Z/
PURPLE/GRAY STRIPE *
SYNC ENCODER INPUT B/
GRAY/PURPLE STRIPE *
WHITE/BLUE STRIPE
SYNC ENCODER INPUT B
COMMAND INPUT -
BLUE/WHITE STRIPE
COMMAND INPUT +
WHITE/RED STRIPE
ANALOG OUT AG 1 AND 2
RED/WHITE STRIPE
ENV+
WHITE/GREEN STRIPE
ANALOG OUT 1 +
GREEN/WHITE STRIPE
ANALOG OUT 2 +
YELLOW/GRAY STRIPE
NOT USED
GRAY/YELLOW STRIPE
NOT USED
NC
NOT USED
NC
NOT USED
NC
NOT USED
NC
NOT USED
NC
NC
NOT USED
NOT USED
NC
NOT CONNECTED
NC
NOT USED
SHELL
15
30
P1 MALE 44D
P2 MALE 44D
13 12
14
29
44
28 27
43
42 41
11
10
26 25
40
9
24
39
8
23
7
22
38 37
36
6
5
21 20
35 34
4
19
33
2
3
18
17
32
1
16
31
SOLDER SIDE
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).
70
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Specifications
CMDO-XXX Cable
PIN 1
2.10
COLOR CODE
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
DRAIN
1
2
3
4
6
21
8
9
11
12
16
17
18
19
23
24
25
39
27
41
34
32
33
31
37
38
40
26
14
15
29
28
43
44
20
36
5
7
10
13
22
30
35
42
FUNCTION
RED/BROWN STRIPE
INPUT I/O 1
BROWN/RED STRIPE
INPUT I/O 2
BLACK/BLUE STRIPE
INPUT I/O 3
BLUE/BLACK STRIPE
INPUT I/O 4
WHITE/ORANGE STRIPE
RS-485+
ORANGE/WHITE STRIPE
RS-485-
PURPLE/BLUE STRIPE*
MOTOR ENCODER OUTPUT A
BLUE/PURPLE STRIPE*
MOTOR ENCODER OUTPUT A/
RED/BLUE STRIPE
EXT ENCODER 200mA max +5V
BLUE/RED STRIPE
BLACK/GREEN STRIPE
EXT ENCODER 200mA max COMMON
DRIVE ENABLE INPUT
GREEN/BLACK STRIPE
OUTPUT I/O 3
BLACK/BROWN STRIPE
OUTPUT I/O 2
BROWN/BLACK STRIPE
OUTPUT I/O 1
PURPLE/ORANGE STRIPE*
MOTOR ENCODER OUTPUT B
ORANGE/PURPLE STRIPE*
BLACK/RED STRIPE
MOTOR ENCODER OUTPUT B/
SYNC ENCODER INPUT Z
RED/BLACK STRIPE
SYNC ENCODER INPUT Z/
PURPLE/GREEN STRIPE *
SYNC ENCODER INPUT A
GREEN/PURPLE STRIPE *
SYNC ENCODER INPUT A/
YELLOW/BLUE STRIPE
24V I/O
BLUE/YELLOW STRIPE
0V I/O
YELLOW/BROWN STRIPE
24V I/O
BROWN/YELLOW STRIPE
0V I/O
PURPLE/BROWN STRIPE*
MOTOR ENCODER OUTPUT Z
BROWN/PURPLE STRIPE*
PURPLE/GRAY STRIPE *
MOTOR ENCODER OUTPUT Z/
SYNC ENCODER INPUT B/
GRAY/PURPLE STRIPE *
SYNC ENCODER INPUT 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 OUT 1 +
GREEN/WHITE STRIPE
ANALOG OUT 2 +
YELLOW/GRAY STRIPE
NOT USED
GRAY/YELLOW STRIPE
NOT USED
NC
NOT USED
NC
NOT USED
NC
NOT USED
NC
NOT USED
NC
NC
NOT USED
NOT USED
NC
NOT USED
NC
NOT USED
SHELL
15
30
14
29
44
13 12
28 27
43
42 41
11 10
26 25
40
9
24
39
8
7
23 22
38 37
6
5
21 20
36
35 34
4
3
2
19 18 17
33
32
1
16
P1 MALE 44D
31
SOLDER SIDE
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).
71
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EN Drive Installation Manual
CDRO-XXX Cable
PIN 1
WIRE COLOR SOLID/STRIPE
BLU/PUR
P
PUR/BLU
ORG/PUR
P
PUR/ORG
BRN/PUR
P
PUR/BRN
RED/BLU
P
BLU/RED
GRN/BLK
P
BLK/GRN
WHT/BLU
P
BLU/WHT
WHT/RED
P
RED/WHT
YEL/GRY
GRY/PUR
P
PUR/GRY
BLK/BRN
P
BRN/BLK
BRN/YEL
P
YEL/BRN
WHT/GRN
P
GRN/WHT
GRN/PUR
P
ENCODER OUTPUT A/
ENCODER OUTPUT A
11
12
34
16
14
15
29
ENCODER +5VDC SUPPLY
ENCODER SUPPLY COMMON
I/O SUPPLY +
4
19
26
40
18
17
31
33
43
44
41
27
INPUT #4
OUTPUT #1
ENCODER OUTPUT B/
ENCODER OUTPUT B
ENCODER OUTPUT Z/
ENCODER OUTPUT Z
DRIVE ENABLE INPUT
ANALOG COMMAND INPUT ANALOG COMMAND INPUT +
DIAGNOSTIC OUTPUT COMMON
N/C
GRY/YEL
P
9
8
24
23
38
37
PUR/GRN
PULSE INPUT B
PULSE INPUT B/
OUTPUT #2
OUTPUT #3
I/O COMMON I/O SUPPLY +
DIAGNOSTIC OUTPUT 1
DIAGNOSTIC OUTPUT 2
PULSE INPUT A/
PULSE INPUT A
N/C
15 14 13 12
11 10 9
30 29 28 27
8
26 25 24
44 43 42 41 40
7
6
23 22
39 38 37
36
5
4
21 20
35 34
3
2
1
19 18 17
33
32
16
31
SOLDER SIDE
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Specifications
AX4-CEN-XXX Cable
ENCODER OUTPUT A/
9
ENCODER OUTPUT A
8
ENCODER OUTPUT B/
24
ENCODER OUTPUT B
23
ENCODER OUTPUT Z/
38
ENCODER OUTPUT Z
37
BLU/PUR
PUR/BLU
PUR/ORG
PUR/BRN
N/C
34
DRIVE ENABLE INPUT
ANALOG COMMAND INPUT -
16
ANALOG COMMAND INPUT +
15
DIAGNOSTIC OUTPUT COMMON
BLU/WHT
N/C
N/C
I/O COMMON -
31
I/O SUPPLY +
33
DIAGNOSTIC OUTPUT 1
43
DIAGNOSTIC OUTPUT 2
44
OPEN COLLECTOR PULSE/
20
OPEN COLLECTOR DIRECTION
36
RED/WHT
P
P
P
P
GRN/PUR
PUR/GRN
N/C
DRAIN WIRES
ENCODER OUTPUT B
23
ENCODER OUTPUT Z/
11
ENCODER OUTPUT Z
21
ENABLE CONTACT
9
ENABLE CONTACT
ANALOG COMMAND OUTPUT -
20
ANALOG COMMAND OUTPUT +
6
ANALOG COMMON
15
DISCRETE INPUT (DRIVE STATUS)
N/C
N/C
N/C
P
WHT/GRN
GRN/WHT
ENCODER OUTPUT B/
12
N/C
P
YEL/BRN
BRN/YEL
ENCODER OUTPUT A
24
8
P
BLK/BRN
BRN/BLK
ENCODER OUTPUT A/
13
N/C
GRY/PUR
PUR/GRY
25
N/C
P
GRY/YEL
YEL/GRY
19
17
P
WHT/RED
N/C
OUTPUT #3
BLU/RED
WHT/BLU
29
18
RED/BLU
BLK/GRN
14
OUTPUT #2
P
GRN/BLK
N/C
OUTPUT #1
P
BRN/PUR
N/C
I/O SUPPLY+
P
ORG/PUR
P
16
DISCRETE INPUT (CW TRAVEL LIMIT)
3
DISCRETE INPUT (CCW TRAVEL LIMIT)
14
OV I/O SUPPLY COMMON
2
+24V I/O SUPPLY
7
ANALOG INPUT 1
19
ANALOG INPUT 2
5
PULSE/OUTPUT
17
DIRECTION OUTPUT
4
CHASSIS GROUND
73
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EN Drive Installation Manual
TIA-XXX Cable
PIN 1
PIN 1
2.5 MAX (2X)
0.250
.63 MAX (2X)
END VIEW
FEMALE
END VIEW
MALE
(SOCKETS)
(PINS)
5
2
3
4
9
6
7
1
8
5
3
2
4
9
6
7
1
8
BRAID +
DRAIN
SHELL
BLACK
WHITE
BLUE
NC
NC
NC
NC
NC
NC
SHELL
MALE DB-9 CONN
FEMALE DB-9 CONN
DDS-XXX Cable
DDS
DDS
P3
SHELL
DRAIN
WIRE
DB-9 MALE
BLACK
5
GND
4
485+
9
485-
5
5
GND
2
2
RX
3
3
TX
4
4
485+
9
9
485-
6
6
7
7
1
1
WHITE
BLUE
8
DB-9 FEMALE
P2
8
DB-9 MALE
P1
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Specifications
TERM-H (Head) Terminator
R.195
.78
1.22
.67
.66
TERM-H
PIN #1
.20
.110 MAX (2)
.090 MIN
.67 REF
5
5
GND
2
2
R1 IN (RX)
3
3
T1 OUT (TX)
4
485+
9
485-
4
R2
9
R4
6
6
+5V
7
7
NOT USED
1
1
NOT USED
8
8
NOT USED
SHELL
DB-9 MALE
SHELL
DB-9 FEMALE
TERM-T (Tail) Terminator
1.22
.78
R.195
.67
.66
.20
PIN #1
5
2
R1
3
4
9
.110 MAX (2)
.090 MIN
.67 REF
R3
R2
R4
5
GND
2
R1 IN (RX)
3
T1 OUT (TX)
4
485+
9
485-
6
6
+5V
7
7
NOT USED
1
1
NOT USED
8
8
NOT USED
SHELL
DB-9 MALE
SHELL
DB-9 FEMALE
Note
See the "Multi-drop Communications" section in the EN Reference Manual (P/N 40050101) for resistor values.
75
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EN Drive Installation Manual
CMDS-XXX Cable
3.23
1.20
3.0 +/- 0.25
GRN/YEL
BRN
D
A
B
C
BLK
BLU
SHELL
A
G
B
H
F
E
C
D
SOLDER SIDE
CMMS-XXX Cable
3.99
1.40
3.0 +/- 0.25
GRN/YEL
BRN
D
A
B
C
BLK
BLU
SHELL
F
A
B
G
E
D
C
SOLDER SIDE
76
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Specifications
CFCS-XXX Cable
2.24
3.16
1.18
1.55
OVERALL TIN/COPPER BRAID
SHELL
LARGE 18GA PAIR
RED/GRN OR
BLU
ORN
GRN
BRN
BLK
YEL
WHT/BRN
BRN/WHT
WHT/GRY
GRY/WHT
RED/ORN
ORN/RED
RED/BLU
BLU/RED
RED/GRN
GRN/RED
N/C
N/C
N/C
N/C
N/C
1
10
2
11
3
12
4
13
5
14
6
15
7
17
9
16
8
18
19
20
21
22
23
24
25
26
B
C
N
P
M
U
E
R
F
S
G
H
K
T
A
V
L
D
J
W
X
Y
Z
N/C
DRAINS
BLU
ORN
GRN
BRN
BLK
YEL
WHT/BRN
BRN/WHT
WHT/GRY
GRY/WHT
RED/ORN
ORN/RED
RED/BLU
BLU/RED
RED/GRN
GRN/RED
N/C
N/C
N/C
N/C
N/C
A
A/
B
B/
Z
Z/
U
U/
V
V/
W
W/
+5 VDC
GND
MOTOR OVERTEMP
NOT USED
N/C
N/C
N/C
N/C
N/C
CASE
= TWISTED PAIR
PIN 1
P
N
Y
M
A
B
R
L X
Z
S
T
W
K
J
V
H
G
U
C
D
E
F
SOLDER SIDE
SOLDER SIDE
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EN Drive Installation Manual
CFCO-XXX Cable
2.24
PIN 1
1.55
PLUGGING SIDE
OVERALL T/C BRAID
1
BLU
10
ORN
2
GRN
11
BRN
3
BLK
12
YEL
4
WHT/BRN
13
BRN/WHT
5
WHT/GRAY
P
P
P
P
P
14 GRAY/WHT
RED/GRN OR
LARGE 18 GA PAIR
6
RED/ORN
15
ORN/RED
7
RED/BLU
17
BLU/RED
9
RED/GRN
16
GRN/RED
8
N/C
18
N/C
19
N/C
20
N/C
21
N/C
22
N/C
23
N/C
24
N/C
25
N/C
26
N/C
P
P
P
P = TWISTED PAIR
CONNECTOR SHELL
PIN 1
SOLDER SIDE
78
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Specifications
CFOS-XXX Cable
3.16
1.18
OVERALL TIN/COPPER BRAID
SHELL
LARGE 18GA PAIR
RED/GRN OR
BLU
ORN
GRN
BRN
BLK
YEL
WHT/BRN
BRN/WHT
WHT/GRY
GRY/WHT
RED/ORN
ORN/RED
RED/BLU
BLU/RED
RED/GRN
GRN/RED
N/C
N/C
N/C
N/C
N/C
N/C
DRAINS
P
N
L X
K
J
Z
B
S C
T
W
V
H
= TWISTED PAIR
A
R
Y
M
B
C
N
P
M
U
E
R
F
S
G
H
K
T
A
V
L
D
J
W
X
Y
Z
G
U
D
E
F
SOLDER SIDE
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EN Drive Installation Manual
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Epsilon Eb and EN Drives Reference Manual
Glossary
µs
Microsecond.
A
Amps.
ARMS
Amps (RMS).
AWG
American Wire Gauge.
Baud Rate
The number of binary bits transmitted per second on a serial communications link such as RS232. (1 character is usually 10 bits.)
Check Box
In a dialog box, a check box is a small box that the user can turn “On” or “Off” with the
mouse. When “On” it displays an X in a square; when “Off” the square is blank. Unlike option
(radio) buttons, check boxes do not affect each other; any check box can be “On” or “Off”
independently of all the others.
CRC
Cyclical Redundancy Check.
Dialog Box
A dialog box is a window that appears in order to collect information from the user. When the
user has filled in the necessary information, the dialog box disappears.
DIN Rail
Deutsche Industrie Norm Rail
DLL
In Microsoft Windows, a Dynamic Link Library contains a library of machine-language
procedures that can be linked to programs as needed at run time.
81
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Epsilon Eb and EN Drives Reference Manual
Downloading
The transfer of a complete set of parameters from PowerTools or an FM-P.
EEPROM
An EEPROM chip is an Electrically Erasable Programmable Read-Only Memory; that is, its
contents can be both recorded and erased by electrical signals, but they do not go blank when
power is removed.
EMC
Electromagnetic Compatibility
EMI - Electro-Magnetic Interference
EMI is noise which, when coupled into sensitive electronic circuits, may cause problems.
Firmware
The term firmware refers to software (i.e., computer programs) that are stored in some fixed
form, such as read-only memory (ROM).
FM
Function Module - device which is attached to the front of the drive to provide additional
functionality.
Hysteresis
For a system with an analog input, the output tends to maintain it’s current value until the
input level changes past the point that set the current output value. The difference in response
of a system to an increasing input signal versus a decreasing input signal.
I/O
Input/Output. The reception and transmission of information between control devices. In
modern control systems, I/O has two distinct forms: switches, relays, etc., which are in either
an on or off state, or analog signals that are continuous in nature generally depicting values
for speed, temperature, flow, etc.
Inertia
The property of an object to resist changes in rotary velocity unless acted upon by an outside
force. Higher inertia objects require larger torque to accelerate and decelerate. Inertia is
dependent upon the mass and shape of the object.
Input Function
A function (i.e., Stop, Preset) that may be attached to an input line.
82
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Glossary
Input Line
The actual electrical input, a screw terminal.
Least Significant Bit
The bit in a binary number that is the least important or having the least weight.
LED
Light Emitting Diode.
List Box
In a dialog box, a list box is an area in which the user can choose among a list of items, such
as files, directories, printers or the like.
mA
Milliamp.
MB
Mega-byte.
Most Significant Bit
The bit in a binary number that is the most important or that has the most weight.
ms
Millisecond.
NVM
Non-Volatile Memory.
NTC
Negative Temperature Coefficient Resistor
Option Button
See Radio Button.
Opto-isolated
A method of sending a signal from one piece of equipment to another without the usual
requirement of common ground potentials. The signal is transmitted optically with a light
source (usually a Light Emitting Diode) and a light sensor (usually a photosensitive
transistor). These optical components provide electrical isolation.
83
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Epsilon Eb and EN Drives Reference Manual
Output Function
A function (i.e., Drive OK, Fault) that may be attached to an output line.
Output Line
The actual transistor or relay controlled output signal.
Parameters
User read only or read/write parameters that indicate and control the drive operation.
PE
Protective Earth.
PID
Proportional-Integral-Derivative. An acronym that describes the compensation structure that
can be used in many closed-loop systems.
PLC
Programmable Logic Controller. Also known as a programmable controller, these devices are
used for machine control and sequencing.
PowerTools-FM
Windows®-based software to interface with the EN drives and FM-1 and FM-2 Function
Modules.
Radio Button
Also known as the Option Button. In a dialog box, radio buttons are small circles only one of
which can be chosen at a time. The chosen button is black and the others are white. Choosing
any button with the mouse causes all the other buttons in the set to be cleared.
RAM
RAM is an acronym for Random-Access Memory, which is a memory device whereby any
location in memory can be found, on average, as quickly as any other location.
RMS
Root Mean Squared. For an intermittent duty cycle application, the RMS is equal to the value
of direct current which would produce the equivalent heating over a long period of time.
ROM
ROM is an acronym for Read-Only Memory. A ROM contains computer instructions that do
not need to be changed, such as permanent parts of the operating system.
84
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Glossary
RPM
Revolutions Per Minute.
Serial Port
A digital data communications port configured with a minimum number of signal lines. This
is achieved by passing binary information signals as a time series of 1’s and Ø’s on a single
line.
Uploading
The transfer of a complete set of parameters from PowerTools or an FM-P.
VAC
Volts, Alternating Current.
VDC
Volts, Direct Current.
Windows, Microsoft
Microsoft Windows is an operating system that provides a graphical user interface, extended
memory and multi-tasking. The screen is divided into windows and the user uses a mouse to
start programs and make menu choices.
85
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Epsilon Eb and EN Drives Reference Manual
86
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Epsilon Eb and EN Drives Reference Manual
Index
A
AC Line Filter Installation Notes, 5
AC Line Filters, 5
AC Supplies NOT Requiring
Transformers, 11
AC Supplies Requiring Transformers, 12
Achieving Low Impedance Connections, 4
Analog Command Wiring, 27
Auxiliary Logic Power Usage, 17
Auxiliary Logic/Alternate Power Wiring,
17
AX4-CEN-XXX Cable, 73
Axial/Radial Loading, 52
C
Cable Diagrams, 66, 68
Cable to Enclosure Shielding, 5
CDRO-XXX Cable, 72
CFCO-XXX Cable, 78
CFCS-XXX Cable, 77
CFOS-XXX Cable, 79
CMDO-XXX Cable, 71
CMDS-XXX Cable, 76
CMDX-XXX Cable, 70
CMMS-XXX Cable, 76
Command Cables, 26
Command Connector Wiring, 24
Diagnostic Cable (DGNE) Diagram, 41
Diagnostic Display, 35
Diagnostics and Troubleshooting, 35
Drive and Motor Combination
Specifications, 50
Drive Enable Wiring, 22
Drive Faults, 42
Drive Mounting, 9
Drive overload protection, vii
Drive Specifications, 47
E
Electrical Installation, 10
Electromagnetic Compatibility, 3
EN Drive Dimensions, 59
Encoder Output Signal Wiring, 28
Encoder Specifications, 53
Environmental Considerations, 8
Error Messages, 44
F
Fault Codes, 36
Fault Descriptions, 37
Feature Location, 2
G
D
Glossary, 81
DDS-XXX Cable, 74
Declaration of Conformity, viii
Diagnostic Analog Output Test Points, 40
I
Input Power Connections, 15
87
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Epsilon Eb and EN Drives Reference Manual
Input/Output, 22
Installation, 3
Installation Notes, 3
Introduction, 1
IP Ratings, 52
L
P
Power Dissipation, 53
Power Dissipation Calculation, 54
Pulse Mode Wiring, 29
R
Line Fusing, 15
M
Mechanical Installation, 9
MG Motor Dimensions, 60
MG with EN Motor Speed Torque Curves,
55
MGE-205 and 208 Motors, 60
MGE-316 and 340 Motors, 60
MGE-455, 490 and 4120 Motors, 61
Modbus Communications, 33
Motor Brake Specifications, 51
Motor Brake Wiring, 21
Motor Feedback Wiring, 20
Motor Mounting, 9
Motor Power Wiring, 18
Motor Weights, 51
Multi-Drop Communications, 33
N
NT Motor Dimensions, 62
NTE/M-207and 212 Brake Motors, 64
NTE/M-320, 330, 345, and 355 Motors, 66
NTE-207 and 212 Motors, 62
NTM-207 and 212 Motors, 63
Rebooting the Drive, 42
Resetting Faults, 42
S
Safety Considerations, xi
Safety of Machinery, xi
Safety Precautions, xi
Serial Communications, 32
Setup, Commissioning and Maintenance,
xi
Specifications, 47
Speed Torque Curves, 55
T
TERM-H (Head) Terminator, 75
Term-T (Tail) Terminator, 75
TIA-XXX Cable, 74
Transformer Sizing, 14
U
Underwriters Laboratories Recognition,
vii
88
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Index
V
Vendor Contact Information, 79
View Motor Parameters, 44
Viewing Active Drive Faults, 42
W
Watch Window, 42
Wire Size, 15
Wiring Notes, 9
89
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Epsilon Eb and EN Drives Reference Manual
90
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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.
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