control techniques servo e

control techniques servo e
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.
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement