Over 100 years cumulative experience 24 hour rush turnaround / technical support service Established in 1993 The leading independent repairer of servo motors and drives in North America. Visit us on the web: www.servo-repair.com www.servorepair.ca www.ferrocontrol.com www.sandvikrepair.com www.accuelectric.com Scroll down to view your document! For 24/7 repair services : USA: 1 (888) 932 - 9183 Canada: 1 (905) 829 -2505 Emergency After hours: 1 (416) 624 0386 Servicing USA and Canada EN Drives Installation Manual P/N 400501-02 Revision: A5 Date: January 10, 2003 © Control Techniques Drives, Inc. 1999-2003 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 © 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. ii 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: email@example.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: firstname.lastname@example.org 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 iii • 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: email@example.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: firstname.lastname@example.org 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: email@example.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. iv 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. v 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) vi 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 vii 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. viii 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 ix 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 x Bradley Schwartz/ VP Engineering Date European Contact: Sobetra Automation Langeveldpark Lot 10 P. Dasterleusstraat 2 1600 St. Pieters Leeuw, Belgium 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 xi 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. xii Table of Contents Safety Considerations xi Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setup, Commissioning and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety of Machinery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Introduction xi xi xi xi 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 xiii 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 xiv 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 1 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. 2 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. 3 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. 4 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. 5 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 6 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 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" 7 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. 8 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. 9 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. 10 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 11 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: 12 Three Phase Delta (with mid-phase GND) Distribution to a Three-Phase Delta/WYE Isolation Transformer Installation Figure 9: Three Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE Isolation Transformer Figure 10: Delta to Delta Isolation Transformer Figure 11: Single Phase Power Supply Connections 13 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. 14 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 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. 15 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: 16 EN AC Power Wiring Diagram 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 17 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. 18 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 19 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. 20 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 21 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. 22 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 23 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. 24 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 25 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. 26 Installation Analog Command Wiring Command Connector With positive direction = CW Figure 21: Analog Command, Differential Wiring Diagram Figure 22: Analog Command, Single Ended Wiring Diagram 27 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 28 Figure 23: Command Connector Encoder Output Wiring Figure 24: Direction Convention Diagram 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 29 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: 30 Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) Installation +5 Logic Power CW Pulse CCW Pulse Sinking Outputs (typ) CW Pulse CCW Pulse Common isolated from other sources Figure 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 31 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. 32 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 33 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 +5 120 Ohm 485 - 576 Ohm TERM-T TIA Cable DDS Cable Top View of Multi-drop Cabling 34 485 + Drive Serial Port TERM-H Figure 33: 576 Ohm Multi-Drop Wiring Pinout DDS Cable 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. 35 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 36 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 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. 37 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 38 High DC Bus Threshold Low DC Bus Threshold 440 96 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. 39 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: 40 • 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 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 41 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. 42 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 43 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 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 EN Drive Installation Manual 46 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 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: 48 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 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 EN Drive Installation Manual Drive and Motor Combination Specifications Drive EN-204 EN-208 EN-214 50 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) 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 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 52 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 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 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 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 55 EN Drive Installation Manual 56 Specifications 57 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 3500 3000 3000 2500 120 VAC 1500 70 lb-in 7.91 Nm 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 ) 60 6.78 NT-355 with EN-208 3500 Speed (RPM ) Speed (R PM ) NT-345 with EN-208 Continuous Rating 500 Peak Rating 0 0 0 0 20 2.26 40 4.52 60 6.78 Torque 58 50 5.65 Torque Torque 2000 40 4.52 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 Torque 100 11.3 120 13.56 140 lb-in 15.82 Nm 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 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 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 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 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 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 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 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 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 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 Drive Signal 68 CMDX, CMDO, ECI-44 CDRO AX4-CEN Analog Command In + 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 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 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 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 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 35 34 SOLDER SIDE 72 4 21 20 3 2 1 19 18 17 33 32 16 31 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 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 74 8 DB-9 MALE P1 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 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 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 77 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 CONNECTOR SHELL PIN 1 SOLDER SIDE 78 P P P P = TWISTED PAIR Specifications CFOS-XXX Cable 3.16 1.18 OVERALL TIN/COPPER BRAID SHELL LARGE 18GA PAIR RED/GRN OR BLU ORN GRN BRN BLK YEL WHT/BRN BRN/WHT WHT/GRY GRY/WHT RED/ORN ORN/RED RED/BLU BLU/RED RED/GRN GRN/RED N/C N/C N/C N/C N/C N/C DRAINS P N L X K J Z B S C T W V H = TWISTED PAIR A R Y M B C N P M U E R F S G H K T A V L D J W X Y Z G U D E F SOLDER SIDE 79 EN Drive Installation Manual 80 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 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 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 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 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 Epsilon Eb and EN Drives Reference Manual 86 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 Epsilon Eb and EN Drives Reference Manual Input/Output, 22 Installation, 3 Installation Notes, 3 Introduction, 1 IP Ratings, 52 L 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 88 P Power Dissipation, 53 Power Dissipation Calculation, 54 Pulse Mode Wiring, 29 R 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 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 Epsilon Eb and EN Drives Reference Manual 90 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.