E Series EN Drive Installation Manual P/N 400501-02 Revision: A4 Date: October 1, 2001 © Control Techniques Drives, Inc. 1999, 2001 E Series EN Drive 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: A4 Date: October 1, 2001 © Control Techniques Drives, Inc. 1999, 2001 © Control Techniques Drives, Inc. 1999, 2001 Part Number: 400501-02 Revision: A4 Date: October 2001 Printed in United States of America Information in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose, without the express written permission of 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, EMERSON Motion Control PowerTools, AXIMA, “Motion Made Easy.” Control Techniques is a division of EMERSON Co. Control Techniques, Inc. is not affiliated with Microsoft Corporation, owner of the Microsoft, Windows, and Windows NT trademarks. IBM is a registered trademark of International Business Machines Corporation. Modbus is a registered trademark of Gould, Inc. Schaffner is a registered trademark of Schaffner Data Highway Plus is a trademark of Allen-Bradley Drives Reference 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 he 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) 893-2321 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 protected] 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) 893-2321 Email: [email protected] 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) 893-2321 Email: [email protected] 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) 893-2321 Email: [email protected] 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) 893-2321 Email: [email protected] 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. Note For the purpose of this manual and product, “Note” indicates essential information about the product or the respective part of the manual. EN E Series Only For the purpose of this manual and product, the “EN” symbol indicates information about the E Series drive specifically. Throughout this manual, the word “drive” refers to an E Series drive. “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. 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 Material The following related reference manulas may be useful with your particular system. vi • E Servies Drive Reference Manual (P/N 400501-01) • Drive Paramters Reference Manual (P/N 400504-01) Underwriters Laboratories Listed LISTED 51Y8 IND. CONT. EQ. The E Series 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 the 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 for full rated output and up to 50° C (122° F) with output current derated to 3% for every degree above 40° C (104° F). Drive overload protection The E Series drive output current overload protection is provided by the drive and is not adjustable. This overload protection is based on maximum 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 3.6 EN-208 9 6.0 EN-218 13 10.0 Drive Output Current vs. Time graph 60 Time (seconds) 50 40 30 20 10 0 100 125 150 175 200 % Drive Rated Current vii CE Declaration of Conformity The E Series 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. Note The FM-2 Indexing Module is not required to carry a CE mark because it operates on low voltages. viii Declaration of Conformity Manufacturer’s Name: EMERSON Motion Control 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: EMERSON Motion Control 12005 Technology Drive Eden Prairie, MN 55344 USA Manufacturer’s Address: 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 E Series EN Drive Installation 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 instruction manual carefully. Enclosure This product is intended to be mounted in an enclosure that prevents access except by trained and authorized personnel and prevents the ingress of contamination. This product is designed for use in an environment classified as pollution degree 2 in accordance with IEC664-1. This means that only dry, non-conducting contamination is acceptable. Setup, Commissioning 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 must be provided where needed. General warning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in this unit can cause severe electric shock and/or burns, and could be lethal. Extreme care is necessary xi E Series EN Drive Installation Manual 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 the Epsilon 205, 3 minutes for Epsilon 202/203 and 30 seconds for E Series drives after removing the supply before carrying out any work which may involve contact with electrical connections to the drive. Products connected by plug and socket A special hazard may exist where the drive is incorporated into a product which is connected to the AC supply by a plug and socket. When unplugged, the pins of the plug may be connected to the drive input, which is only separated from the charge stored in the bus capacitor by semiconductor devices. To avoid any possibility of electric shock from the pins, if they are accessible, a means must be provided for automatically disconnecting the plug from the drive (e.g., a latching contactor). Grounding (Earthing, equipotential bonding) The drive must be grounded by a conductor sufficient to carry all possible fault current in the event of a fault. The ground connections shown in the manual must be followed. Fuses Fuses or over-current protection must be provided at the input in accordance with the instructions in the manual. Isolation of 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 E Series EN Drive Installation Manual Table of Contents Underwriters Laboratories Listed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii Safety Considerations Introduction E Series Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Installation Basic Installation Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Diagnostics and Troubleshooting Diagnostic Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Diagnostic Analog Output Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Drive Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Watch Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 View Motor Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Specifications Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Drive Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Drive and Motor Combination Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Motor Brake Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Power Dissipation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Speed Torque Curves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 E Series Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 NT Motor Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Cable Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Vendor Contact Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 xiii E Series EN Drive Installation Manual Glossary Index xiv E Series EN Drive Installation Manual Introduction E Series Drives The E Series 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 drives can be quickly configured to many applications in less than 5 minutes with PowerTools software on a PC running Windows 95, 98 or NT 4.0. Complete diagnostics are provided for quick troubleshooting. A diagnostic display on the front of the drive informs the user of the operational or fault status. The last 10 faults are stored in non-volatile memory along with a time stamp for easy recall. The E Series drives are designed to accept a line of function modules that further enhance its use in various applications. • FM-P can access and modify parameters in the drive and monitor drive functions. • FM-1 is an expansion of the basic drive functions and can be used in various line shafting and velocity control applications. • FM-2 provides the EN Drives with positioning capabilities, such as Home, Jog and Indexing. • FM-3 expands on the positioning capabilities of the FM-2 with User Units, Programs, Synchronized moves, 256 Indexes, and PLS Outputs features. E Series drives are available in three power ratings • EN-204 – 1.75 Kw (4.5 amps cont, 9.0 amps peak) • EN-208 – 2.75 Kw (9.0 amps cont, 18.0 amps peak) • EN-214 – 4.34 Kw (13 amps cont, 26 amps peak) The MG and NT motors that are matched to the E Series drives provide low inertia, high power to size ratios, and encoder feedback for accurate positioning. Figure 1 shows the location of the EN Drive connectors. 1 E Series EN Drive Installation Manual Figure 1: 2 E Series EN Drive Connector Location E Series EN Drive Installation Manual Installation This chapter describes basic, mechanical, and electrical installations as well as serial communications. 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. “Safety Considerations” on page xi 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; 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 “Achieving Low Impedance Connections” on page 4. for more information. • If grounding is required for cable grommets, connectors and/or conduit fittings at locations where cables are mounted through the enclosure wall, paint must be removed from the enclosure surface at the contact points. 3 E Series EN Drive Installation Manual • AC line filter input and output wires and cables should be shielded, and all shields must be grounded to the enclosure. 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 larger one. Low impedance connections can be achieved by bringing large areas of conductive surfaces into direct contact with each other. In most cases this requires paint removal because a ground connection through bolt threads is not sufficient. However, component materials should be conductive, compatible and exhibit good atmospheric corrosion 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. Note that 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. 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. 4 Installation E Series 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: Drive 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 Figure 2. 5 E Series EN Drive Installation Manual Figure 2: Cable Type Through Wall Shield Grommet Control Techniques Cable Model Shielded Cable Grommet Kit Part # Conduit Dimension Hole Size Actual Hole Size Motor Cable, 16 Ga CMDS CGS-050 1/2" pipe 7/8" Motor Cable, 12 Ga CMMS CGS-050 1/2" pipe 7/8" Feedback Cable CFOS CGS-050 1/2" pipe 7/8" Flex Motor Cable, 16 Ga CMDF CGS-050 1/2" pipe 7/8" Flex Motor Cable, 12 Ga CMMF CGS-075 3/4" pipe 1 1/16" CFCF, CFOF CGS-063 3/4" pipe 1 1/16" ENCO CGS-038 1/2" pipe 7/8" user supplied user supplied user supplied user supplied Flex Feedback Cable External Encoder AC Power 6 Installation Figure 3: AC Filter and Cable Connections for E Series 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. 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, and so on). • 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. 7 E Series EN Drive Installation Manual • 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 Note: See “Specifications” on page 45. for information about weights and mounting for both drive and motor dimensions. 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. 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. 8 Installation Electrical Installation System Grounding Figure 4: Typical System Grounding Diagram 9 E Series EN Drive Installation Manual Power Supply Requirements The examples below show AC power connections for single phase and three phase drives. These examples are shown for reference only. Local electrical codes should be consulted before installation. 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. 10 Installation Figure 5: Earth Grounded WYE Distribution Transformer Figure 6: 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. 11 E Series EN Drive Installation Manual 12 Figure 7: Three Phase Delta (with mid-phase GND) Distribution to a Three-Phase Delta/WYE Isolation Transformer Figure 8: Three Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE Isolation Transformer Figure 9: Delta to Delta Isolation Transformer Installation Figure 10: Single Phase Power Supply Connections Transformer Sizing If your application requires a transformer, use the following table for sizing the KVA rating. The values in the table are based on “worst case” power usage and can be considered a conservative recommendation. You can down-size the values only if the maximum power usage is less than the transformer continuous power rating. Other factors that may influence the required KVA rating are high transformer ambient temperatures (>40° C or >104° F) and drive operation near the maximum speeds. Drive/Motor Combination Suggested KVA Rating EN-204/MG-205 0.8 EN-204/NT-207 1.0 EN-204/MG-208 1.5 EN-204/NT-212 1.7 EN-204/MG-316 2.3 EN-208/MG-316 2.3 EN-208/MG-340 3.9 EN-208/MG-455 4.9 EN-214/MG-455 4.3 EN-214/MG-490 6.0 EN-214/MG-4120 6.5 Transformer output voltage drop may become a limiting factor at motor speeds and loads near maximum ratings. Typically, higher KVA transformers have lower voltage drop due to lower impedance. 13 E Series EN Drive Installation Manual 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, KTK, LPN or equivalent. Drive Model External AC Line Fuse Recommended Minimum AC/PE Line Wire Gauge EN-204 KTK 15 Amp 1Ø 14 AWG EN-208 KTK 20 Amp 1Ø 12 AWG EN-214 KTK 20 Amp 3Ø 12 AWG Drive Model Input Voltage (VAC) Frequency (Hz) Input Current (Amps RMS) at full drive output current 1Ø * EN-204 90 - 264 / 1 Ø EN-208 90 - 264 / 1 Ø EN-214 90 - 264 / 1 - 3 Ø 47 - 63 Inrush Current (Amps) 1st Cycle 2nd Cycle 3Ø 9.5 A - 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 E Series drive is suitable for use on a circuit capable of delivering not more than 5000 RMS symmetrical amperes, 240 volts maximum. Figure 11: 14 E Series 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. 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 lb. (2.9 kg) ALP-430 115/230 VAC 40-60 Watts 140 VDC (4) x 20 Watts 20 50° C (122° F) 7.7 lb. (3.5 kg) Model Auxiliary Logic Power Usage 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. Control Techniques offers Auxiliary Logic Power Supplies (models ALP-130 and -430) that supply enough power for one E Series drive with an FM-P module and four E Series drives with FM-Ps respectively. 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. 15 E Series EN Drive Installation Manual Use 16 to 18 AWG stranded wire + Bus J Bus 2 -V - Auxiliary Supply J 3 + Auxiliary Supply Top View Two position receptacle. The mating cables are supplied with the ALP Auxiliary Power Supply. 0.5 Amp Fuses + + +V Auxiliary Supply 220µ F 127 to 373 VDC Drive #2 -V Auxiliary Supply Figure 12: 16 + +V Auxiliary Supply 220µ F + - J3 0.5 Amp Fuses - - J3 AC - Drive #1 -V Auxiliary Supply 127 to 373 VDC E Series Auxiliary Power Supply Wiring Diagram 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) Installation Motor Power Wiring MG and NT Motors are equipped with up to three male MS (Military Style) connectors, one for stator connections, one for encoder connections and one for the brake (if so equipped). Stator connections from the drive to the motor are made with the CMDS 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. PE Bottom View Motor Power Connection Drive R S T GND R S T Shield Green/Yellow Brown Black Blue Important: Ground should connect to drive and motor only. Nothing should be connected between these devices. Connector Shell D A B C Ground R S T 2" or 3" Motors: PT06A-15-8SSR 4" Motors: MS3106A-20-15SSR Wire crimp ferrules are recommended: If 14 to 16 AWG, use panduit #PV14-P47. If 12 AWG, use Panduit #PV10-P55. Tighten screws to 5 lb-in. Figure 13: E Series Motor Power Wiring Diagram Motor Feedback Wiring Encoder feedback connections are made with the CFCS cable. This cable has an MS style connector on the motor end and a 26-pin high density “D” connector on the drive end. For A, A, B, B and Z, Z pairs, the CFCS cable uses low capacitance (~10 pf/ft) wire to get a characteristic impedance of 120 ohms. This impedance match is important to minimize signal loss and ringing. 17 E Series EN Drive Installation Manual Figure 14: Motor Feedback Connector Pinout Motor Brake Wiring Motors equipped with brakes have a three-pin MS style connector. The Control Techniques brake power cable (model CBMS-XXX) has an MS style connector on the motor end and three wire leads on the amplifier end (see 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. 18 Installation Figure 15: E Series Brake Wiring Diagram using the Command Connector Figure 16: E Series 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. 19 E Series EN Drive Installation Manual Figure 17: E Series 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 18: 20 E Series I/O Connector to Command Connector Internal Connections Installation Note If loads are applied to the same output signal on both Command Connector and I/O Connector, the sum total current loading must be limited to 150 mA per output signal. Command Connector Wiring All command and digital I/O signals are available using the 44-pin Command Connector. If you are interfacing your drive(s) to an AXIMA 2000 or 4000 multi-axis controller, simply connect the 44-pin connector of your 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-sss 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. 21 E Series EN Drive Installation Manual 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 19 (BRN/BLK) (PRP/ORG) (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 22 = Twisted Pair Figure 19: 22 30 42 PE Input #1 10 Ohm Input #2 Input #3 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 Do Not Connect Do Not Connect Do Not Connect Do Not Connect Command Connector (J5) Pinout and CMDO-xxx Wire Colors Installation 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 “Specifications” on page 45.. 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 table 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 “Specifications” on page 45.. 23 E Series EN Drive Installation Manual Analog Command Wiring 24 Figure 20: Analog Command, Differential Output Wiring Diagram Figure 21: Analog Command, Single Ended Output Wiring Diagram Installation 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. Figure 22: Command Connector Encoder Output Wiring Figure 23: Direction Convention Diagram 25 E Series EN Drive Installation Manual Pulse Mode Wiring, Differential Inputs 26 Figure 24: Pulse Mode, Differential Output to Differential Input Figure 25: Pulse Mode, Single Ended Output to Differential Input Installation Pulse Mode Wiring, Single Ended Inputs +5 Logic Power Pulse A/ Direct B Sinking Outputs (typ) Common isolated from other sources Figure 26: 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 27: Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) 27 E Series EN Drive Installation Manual +5 Logic Power CW Pulse CCW Pulse Sinking Outputs (typ) CW Pulse CCW Pulse Common isolated from other sources Figure 28: Pulse/Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) Figure 29: 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 28 Installation output resolution is 2048 lines per motor revolution. This resolution is adjustable in one line per revolution increments with PowerTools software. The range is between 200 and the actual motor encoder density. 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. Figure 30: E Series 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. 29 E Series EN Drive Installation Manual Modbus Communications The drive’s serial communication protocol is Modbus RTU slave with a 32 bit data extension. The Modbus protocol is available on most operator interface panels and PLCs. 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. Figure 31: 30 E Series EN Multi-Drop Wiring Diagram Installation TIA Cable DDS Cable DDS Cable TERM-T TERM-H RX (232) TX (232) Ground 1 2 3 4 5 6 7 8 9 120 Ohm Computer Computer Serial Port 1 2 1 2 1 2 1 2 3 4 5 6 3 4 5 6 3 4 5 6 3 4 5 6 7 8 9 7 8 9 7 8 9 7 8 9 Drive Serial Port Drive Serial Port Drive Serial Port Drive Serial Port Drive Serial Port 0V +5 1 2 3 4 5 6 7 8 9 576 Ohm 485 + 120 Ohm 485 - 576 Ohm Drive Serial Port TERM-H TERM-T TIA Cable DDS Cable DDS Cable Top View of Multi-drop Cabling Figure 32: Multi-Drop Wiring Pinout 31 E Series EN Drive Installation Manual 32 E Series EN Drive Installation Manual Diagnostics and Troubleshooting This section provides you with guidelines and hints on troubleshooting various problems that may be encountered during setup and operation of your E Series drive. 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. 33 E Series EN Drive Installation Manual Display Indication Status Description Stall Foldback (E Series drive only) Drive output current is limited to 80 percent of drive stall current. Ready to Run Drive enabled, no Stop input. Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some faults, like high DC bus and amplifier or motor over temperature, can be reset with the Reset button on the front of the drive or the Reset input function. Other faults, such as encoder faults, can only be reset by cycling power “Off” (wait until the status display turns “Off”), then power “On”. The drive accurately tracks motor position during fault conditions. For example, if there is a “Low DC Bus” fault where the power stage is disabled, the drive will continue to track the motor’s position provided the logic power is not interrupted. The +/- Travel Limit faults are automatically cleared when the fault condition is removed. The table below lists all the fault codes in priority order from highest to lowest. This means that if two faults are active, only the higher priority fault will be displayed. Display Fault Bridge Disabled Power Up Test Power Yes NVM Invalid Button or Input Yes Invalid Configuration (E Series drive only) Button or Input Yes Button or Input (for E Series) Yes Power Module 34 Action to Reset Diagnostics and Troubleshooting Display Fault Action to Reset Bridge Disabled High DC Bus Button or Input Yes Low DC Bus Button or Input Yes Encoder State Power Yes Encoder Hardware Power Yes Motor Overtemp Cool down, Button or Input Yes RMS Shunt Power (E Series drives only) Button or Input Yes Overspeed Button or Input Yes Following Error (Pulse mode only) Button or Input Yes Travel Limit +/- Auto No All “On” Normally “On” for one second during power-up Yes 35 E Series EN Drive Installation Manual Fault Descriptions Power Up Test This fault indicates that the power-up self-test has failed. This fault cannot be reset with the reset command or reset button. NVM Invalid At power-up the drive tests the integrity of the non-volatile memory. This fault is generated if the contents of the non-volatile memory are invalid. Invalid Configuration A function module was attached to the drive on its previous power-up. To clear, press and hold the Reset button for 10 seconds. 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 (for example, a large load with rapid deceleration). High DC Bus Threshold Low DC Bus Threshold 440 125 E Series 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. E Series 36 High DC Bus Threshold Low DC Bus Threshold 440 125 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: • 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. • 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. 37 E Series 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: 38 • Channel 1 = Velocity Feedback • Channel 2 = Torque Command 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 33: 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 34: GND GND 1 1 44 29 43 Command Connector Pin #'s Diagnostic Cable (DGNE) Diagram 39 E Series 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 35: Active Drive Faults 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” in order to be cleared. If you wish to continue working in the PowerTools software without resetting the fault, click the Ignore Fault button. To reset faults that can be reset with the Reset Faults button, simply click the Reset Faults button in the Drive Faults Detected dialog box or push the Reset button on the front of the drive where the fault occurred. Viewing Active Drive Faults To view all active drive faults, select the View Faults command from the Device menu. The dialog box displayed is the same as Active Drive Faults dialog box described above. Rebooting the Drive To reboot the drive, cycle power or select the Reboot Drive command from the Device menu. This command reboots the drive attached to the active Configuration Window. Watch Window This feature allows you to customize a window to monitor drive parameters that 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. 40 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. 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 36: Watch Window The Watch Window is accessed by selecting Watch Drive Parameters from the Tools menu or by clicking on the Watch Window icon on the toolbar. The Watch Window will automatically appear as soon as you select a parameter from the Select Drive Parameters dialog box. After you have selected the parameters you wish to watch, click the Close button. The Select Drive Parameters dialog box will close and the Watch Window will remain open. Figure 37: Select Drive Parameters Dialog Box 41 E Series 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 38: 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. 42 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. 43 E Series EN Drive Installation Manual 44 E Series EN Drive Installation Manual Specifications Overview This chapter describes specifications for the drive and motor, the motor brake, and encoder. It also provides information about power dissipation, speed torque curves, E series drive dimensions, MG motor dimensions, cable diagrams and vendor contacts. Drive Specifications E Series 90 - 264 VAC, 47-63 Hz (240 VAC for rated performance) Power Requirements EN-204: 1 Ø EN-208: 1 Ø EN-214: 3 Ø (for 1 Ø operation, drive output power must be derated by 20%) Auxiliary Power Supply/ Auxiliary Logic Power Input 130 - 370 VDC, 18 W load (including FMs attached to the drive) Switching Frequency 20 kHz Power Supply Output 5 VDC, 250 mA maximum for master encoder usage Efficiency - Drive 90-93% at full rated output power Ingress Protection (IP) Rating Drive: IP20 MG motors: IP65 NT motors: IP65/IP54 Molded motor and feedback cables: IP65 Serial Interface RS-232 / RS-485 Internal RS-232 to RS-485 converter Modbus protocol with 32 bit data extension 9600 or 19.2 k baud Analog command: ±10 VDC 14 bit, 100 k Ohm impedance, differential Maximum Voltage Input Rating: Differential = +/- 14VDC, each input to 0V = +/ - 14 VDC Control Inputs 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 Input debounce: 0-2000 ms Diagnostic analog outputs: (2) ±10 VDC (single ended, 20 mA max) 10 bit software selectable output signals Control Outputs Digital outputs: (3) 10-30 VDC 150 mA max, current sourcing, (active high) optically isolated: Input debounce: Programmable range, 0 to 200 ms Motor temp sensor (analog): 0 to +5 VDC (single ended), 10 kOhm impedance 45 E Series EN Drive Installation Manual E Series Interface: Software selectable differential (RS422) or single ended (TTL Schmitt Trigger) Maximum input frequency: Differential - 2 MHz per channel; 50% duty cycle (8 MHz count in quadrature) Pulse Mode Single ended - 1 MHz per channel; 50% duty cycle (4 MHz count in quadrature) Ratio Capabilities: 20 to 163,840,000 PPR Input Device = AM26C32 Vdiff = 0.1 - 0.2 V V common mode max = +/- 7 V Input impedance each input to 0 V = 12 - 17 kOhm Differential line driver, RS-422 and TTL compatible Scalable in one line increment resolution up to 2048 lines/rev of the motor (MG and NT) Encoder Output Signal Shunt Resistor Capacity/ Regeneration Capacity 46 Output Device = AM26C31 20 ma per channel, sink and/or source Vout Hi @ 20 ma = 3.8 - 4.5 V Vout Lo @ 20 ma = 0.2 - 0.4 V Vout 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 Internal: The internal shunting capacity for the drive/motor combinations listed below is based on full speed and peak torque reversal. EN-204/MG-316: 10:1 Mismatch, Bus Capacitance EN-208/MG-455: 5:1 Mismatch, 50W, 50 Ohm EN-214/MG-4120: 10:1 Mismatch, 50 W, 33 Ohm External: Bus connections are provided for connection to external shunt controller. The EMC model RSR-2 is recommended. The shunt resistor connected to the RSR2 must be 20 Ohms or greater and be limited to 5 ARMS. Multiple RSR-2s can be paralleled to give additional shunting capacity, but the current draw through the bus connections on the drive must be limited to 15 ARMS. Fault Detection Capability 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 Cooling Method EN-204, EN-208: Convection EN-214: Integral thermally controlled fan (60°) Specifications E Series Ambient temperature range for rated output: 32° F to 104° F (O° C to 40° C) Maximum ambient operating temperature: 104° F to 122° F (40° C to 50° C) with power derating of 3%/°C Environmental Rated altitude: 3,280 feet (1000 m) Vibration: 10 - 2000 Hz at 2g Humidity requirement: 10 - 95% non-condensing Storage temperature: -13 °F to 167 °F (-25 °C to 75 °C) Temperature: Operation in ambient temperature over 50° C (122° F) not recommended. Drive output power must be derated by 3%/°C between 104° F to 122° F (40° C to 50° C) Derating Single phase operation: EN-214 drive output power rating is reduced by 20% Derating altitude: Above 3,280.8 ft (1000 m) reduce output by 1% per 328.08 ft (100 m) Standards and Agency Approvals UL Listed Canadian UL Listed CE Mark: Low voltage directive; EMC directive ALP-130: Input 115/230 VAC; Output 140 VDC, 30 W Accessory Specifications Amplifier Weights ALP-430: Input 115/230 VAC; Output 140 VDC, (4)x20 W EN-2046.4 lb. (2.9 kg) EN-2087.7 lb. (3.5 kg) EN-2148.9 lb. (4.0 kg) 47 E Series EN Drive Installation Manual Drive and Motor Combination Specifications Drive EN-204 EN-208 EN-214 Motor Cont. Torque lb-in (Nm) Peak Torque lb-in (Nm) Power HP @ Rated Speed (kWatts) Inertia lb-in-sec2 (kg-cm2) Max speed RPM Encoder resolution lines/rev Motor Ke VRMS/krpm Motor Kt lb-in/ARMS (Nm/ARMS) MGE-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) MGE-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) MGE-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) MGE-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) MGM-340 48 (5.65) 133.0 (15.0) 2.00 (1.49) 0.00125 (1.414) 3000 2048 55.0 8.0 (0.90) MGE/M455 68 (7.68) 139.1 (15.72) 2.46 (1.83) 0.00338 (3.819) 3000 2048 60.0 8.8 (0.99) MGE/M455 68 (7.68) 201.0 (22.71) 2.46 (1.83) 0.00338 (3.819) 3000 2048 60.0 8.8 (0.99) MGE/M490 100 (11.30) 208.0 (23.50) 3.75 (2.79) 0.00648 (7.319) 3000 2048 58.9 8.6 (0.97) MGE/M4120 132 (14.92) 257.0 (29.03) 5.30 (3.95) 0.00938 (10.593) 3000 2048 71.8 10.5 (1.19) 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 MGE-2XXCB 10 (1.13) 0.000025 (0.0282) 1.8 (0.82) 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 NT-207 NT-212 20 (2.26) 0.000106 (0.12) 1 (0.45) 24 (±10%) 0.33 (±10%) 28 ms 14 ms 48 Specifications Motor Weights Motor Weight lb (kg) without Brake Weight lb (kg) with Brake MGE-205 3.0 (1.36) N/A MGE-208 4.0 (1.8) 5.8 (2.6) MGE-316 8.3 (3.8) 10.7 (4.9) MGE/M-340 14.6 (6.6) 17.0 (7.7) MGE/M-455 18.5 (8.4) 24.3 (11.0) MGE/M-490 27.0 (12.3) 32.8 (14.9) MGE/M-4120 38.0 (17.3) 43.8 (19.9) NT-207 3 (1.36) 4 (1.81) NT-212 4 (1.81) 5 (2.268) 49 E Series EN Drive Installation Manual Axial/Radial Loading Motor Max Radial Load (lb.) Max. Axial Load (lb.) 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 NT-207 20 15 NT-212 20 15 Figure 39 Axial/Radial Loading IP Ratings Motor Rating MG (all) IP65 NT-207 IP65 NT-212 IP65 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 E Series drive is 50 Specifications 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. Maximum Power Stage Losses (Pp) (Watts) Total Power Losses (Watts) EN-204 / MG-205 30 52 EN-204 / MG-208 50 72 EN-204 / MG-316 82 104 160 182 EN-208 / MG-455 200 222 EN-214 / MG-490 300 322 EN-214 / MG-4120 430 452 Drive Model EN-208 / MG-340 Logic Power Losses (typ) Drive (Pld) (Watts) 19 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. 51 E Series EN Drive Installation Manual 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 MG-205 and 208, NT-207 and 212 6” x 6” x .25” MG-316 through 490 10” x 10” x .375 MG-4120 12” x 16” x .5” • Speed torque curves are based on 240 VAC drive operation. • All specifications are ±5 percent due to motor parameter variations. MG Motors 52 Mounting Plate Size Specifications 53 E Series EN Drive Installation Manual NT Motors 54 Specifications E Series Drive Dimensions 55 E Series 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) .46 (11.2) 1.20 (30.5) .375 (9.525) .563 (14.3) .127 (3.23) 0.300 (7.62) 2.0 (51) 2.625 (66.68) .063 (1.60) 1.502 (38.15) .205 (5.21) 208 6.75 (171.4) 2.25 (57.2) .46 (11.2) 1.20 (30.5) .375 (9.525) .563 (14.3) .127 (3.23) 0.300 (7.62) 2.0 (51) 2.625 (66.68) .063 (1.60) 1.502 (38.15) .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) .44 (11.2) 1.21 (30.7) .4997 (12.69) .90 (22.9) .1265 (3.213) .42 (10.7) 2.50 (64.0) 3.875 (98.43) .06 (1.600) 2.877 (73.08) .233 (66.0) 340 10.24 (260.1) 3.50 (89.0) .44 (11.2) 1.20 (30.6) .5512 (14.000) .787 (20.0) .197 (5.00) .429 (10.90) 2.50 (64.0) 3.937 (100.00) .118 (3.00) 3.150 (80.01) .276 (7.01) 56 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) .53 (13.5) 190 (48.2) .6245 (15.862) 1.50 (38.1) .1875 (4.763) .51 (13.0) 3.20 (81.3) 5.875 (149.23) .10 (2.50) 4.500 (114.30) 3/8-16 UNC 490 11.11 (282.10) 5.00 (127.0) .53 (13.5) 190 (48.2) .8750 (22.225) 1.50 (38.1) .1875 (4.763) .77 (19.6) 3.20 (81.3) 5.875 (149.23) .10 (2.50) 4.500 (114.30) 3/8-16 UNC 4120 13.61 (345.70) 5.00 (127.0) .53 (13.5) 190 (48.2) .8750 (22.225) 1.50 (38.1) .1875 (4.763) .77 (19.6) 3.20 (81.3) 5.875 (149.23) .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 (.51) 50.5 (1.99) 19.000 (.7480) 40.0 (1.58) 6.00 (.236) 15.5 (.61) 70.3 (2.77) 145.00 (5.709) 3.00 (.118) 110.10 (4.331) 10.00 (.394) 490 281.7 (11.09) 121.0 (4.764) 13.0 (.51) 50.5 (1.99) 24.000 (9.449) 37.1 (1.46) 7.963 (.3135) 19.9 (.78) 70.3 (2.77) 145.00 (5.709) 3.00 (.118) 110.10 (4.331) 10.00 (.394) 4120 343.1 (13.59) 121.0 (4.764) 13.0 (.51) 50.5 (1.99) 24.000 (9.449) 37.1 (1.46) 7.963 (.3135) 19.9 (.78) 70.3 (2.77) 145.00 (5.709) 3.00 (.118) 110.10 (4.331) 10.00 (.394) 57 E Series EN Drive Installation Manual NT Motor Dimensions NTE-207 Motors; English Face (NEMA 23 with 3/8 inch shaft) Note Mounting ears have clearance for #10 or M5 Allen head screw or .3125" or 8mm across flats hex nut. 58 Specifications NTM-207 Motors; Metric Face Note Mounting ears have clearance for 10mm across flats hex nut or 13mm O.D. washer. 59 E Series EN Drive Installation Manual NTE-212 Motors; English Face (NEMA 23 with 3/8 inch shaft) Note Mounting ears have clearance for #10 or M5 Allen head screw or .3125" or 8mm across flats hex nut. 60 Specifications NTM-212 Motors; Metric Face Note Mounting ears have clearance for 10mm across flats hex nut or 13mm O.D. washer. 61 E Series EN Drive Installation Manual Cable Diagrams Drive Signal 62 CMDX, CMDO, ECI-44 CDRO AX4-CEN Analog In + X X X Analog 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 X Pulse In B (single ended) X X Input Drive Enable X Input #1 X Input #2 X Input #3 X Input #4 X X X Output #1 X X X X X Output #2 X X X Output #3 X X X I/O Power + In (1st wire) X X X I/O Power + In (2nd wire) X X X I/O Power 0V In (1st wire) X X X I/O Power 0V In (2nd wire) X Analog Out 0V X X X Diagnostic Output Channel 1 X X X Diagnostic Output Channel 2 X X X External Encoder +5 Power Out (200 ma) X X X +15V Power Out (10 ma) X RS-485 + X RS-485 - X Specifications CMDX-XXX Cable 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). 63 E Series EN Drive Installation Manual CMDO-XXX Cable 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). 64 Specifications CDRO-XXX Cable 65 E Series EN Drive Installation Manual AX4-CEN-XXX Cable 66 Specifications TIA-XXX Cable DDS-XXX Cable 67 E Series EN Drive Installation Manual TERM-H (Head) Terminator TERM-T (Tail) Terminator Note: See Figure 32 for resistor values. 68 Specifications CMDS-XXX Cable CMMS-XXX Cable 69 E Series EN Drive Installation Manual CFCS-XXX Cable 70 Specifications CFCO-XXX Cable 71 E Series EN Drive Installation Manual CFOS-XXX Cable 72 Specifications Vendor Contact Information Schaffner (AC Line Filters) (800) 367-5566 or (201) 379-7778 www.schaffner.com Cooper Industries, Inc. Crouse-Hinds Division (Cable Shield Grommets) (315) 477-5531 www.crouse-hinds.com Bussman P.O. Box 14460 St. Lois, MO. 63178-4460 (314) 394-3877 www.bussman.com Littelfuse 800 E. Northwest Hwy Des Plaines, IL. 60016 (847) 824-0400 www.littelfuse.com Wickmann USA 4100 Shirlel Dr. Atlanta, GA. 30336 (404) 699-7820 www.wickmann.com Corcom 844 E. Rockland Road Libertyville, IL 60048 (847) 680-7444 www.corcom.com 73 E Series EN Drive Installation Manual 74 E Series EN Drive Installation 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. 75 E Series EN Drive Installation 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. 76 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 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. 77 E Series EN Drive Installation 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-Base and -FM Windows®-based software to interface with E Series drives and 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 steady state 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. 78 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. 79 E Series EN Drive Installation Manual Index A AC Line Filter Installation Notes, 5 AC Line Filters, 4 AC Supplies NOT Requiring Transformers, 10 AC Supplies Requiring Transformers, 11 Achieving Low Impedance Connections, 4 Analog Command Wiring, 24 Auxiliary Logic Power Usage, 15 Auxiliary Logic/Alternate Power Wiring, 15 AX-CEN-XXX Cable, 66 Axial/Radial Loading, 50 C Cable Diagrams, 62 Cable to Enclosure Shielding, 5 CDRO-XXX Cable, 65 CFCO-XXX Cable, 71 CFCS-XXX Cable, 70 CFOS-XXX Cable, 72 CMDO-XXX Cable, 64 CMDS-XXX Cable, 69 CMDX-XXX Cable, 63 CMMS-XXX Cable, 69 Command Cables, 23 Command Connector Wiring, 21 D DDS-XXX Cable, 67 Declaration of Conformity, viii Diagnostic Analog Output Test Points, 38 Diagnostic Cable (DGNE) Diagram, 39 Diagnostic Display, 33 Diagnostics and Troubleshooting, 33 Drive and Motor Combination Specifications, 48 Drive Enable Wiring, 19 Drive Faults, 40 Drive Mounting, 8 Drive overload protection, vii Drive Specifications, 45 E E Series Drive Dimensions, 56 Electrical Installation, 9 Electromagnetic Compatibility, 3 Encoder Output Signal Wiring, 25 Encoder Specifications, 50 Environmental Considerations, 7 Error Messages, 42 F Fault Codes, 34 Fault Descriptions, 36 Features, 2 G Glossary, 75 I Input Power Connections, 14 Input/Output, 19 Installation, 3 Installation Notes, 3 81 E Series EN Drive Installation Manual Introduction, 1 IP Ratings, 50 R L Rebooting the Drive, 40 Resetting Faults, 40 Line Fusing, 14 S M Mechanical Installation, 8 MG Motor Dimensions, 56 MGE-205 and 208 Motors, 56 MGE-316 and 340 Motors, 56 MGE-455, 490 and 4120 Motors, 57 Modbus Communications, 30 Motor Brake Specifications, 48 Motor Brake Wiring, 18 Motor Feedback Wiring, 17 Motor Mounting, 8 Motor Power Wiring, 17 Motor Weights, 49 Multi-Drop Communications, 30 N NT Motor Dimensions, 58 NTE-207 Motors, 58 NTE-212 Motors, 60 NTM-207 Motors, 59 NTM-212 Motors, 61 Safety Considerations, xi Safety Precautions, xi Serial Communications, 29 Specifications, 45 Speed Torque Curves, 52 T TERM-H (Head) Terminator, 68 TIA-XXX Cable, 67 Transformer Sizing, 13 U Underwriters Laboratories Recognition, vii V Vendor Contact Information, 73 View Motor Parameters, 42 Viewing Active Drive Faults, 40 P W Power Dissipation, 50 Power Dissipation Calculation, 51 Pulse Mode Wiring, 26 Watch Window, 40 Wire Size, 14 Wiring Notes, 7 82 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) 893-2321 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) 893-2321 Fax: (952) 995-8129 Technical Support Phone: (952) 995-8033 or (800) 893-2321 Fax (952) 9995-8020 Printed in U.S.A.
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