Epsilon Eb Digital Servo Drive Installation Manual

Epsilon Eb Digital Servo Drive Installation Manual
Epsilon Eb
Digital Servo Drive
Installation Manual
Information furnished by EMERSON Motion Control is believed to be accurate and
reliable. However, no responsibility is assumed by EMERSON Motion Control for its use.
EMERSON Motion Control reserves the right to change the design or operation of the
equipment described herein and any associated motion products without notice.
EMERSON Motion Control also assumes no responsibility for any errors that may appear
in this document. Information in this document is subject to change without notice.
P/N 400501-05
Rev. A1
Date: April 3, 2000
© 2000 EMERSON Motion Control. All rights reserved.
© 2000 EMERSON Motion Control. All rights reserved.
Part Number: 400501-05
Revision: A1
Date: April 3, 2000
Printed in United States of America
Information in this document is subject to change without notice.
Companies, names, and data used in examples herein are fictitious
unless otherwise noted. 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 EMERSON
Motion Control.
The following are trademarks of EMERSON Motion Control and may
not be reproduced in any fashion without written approval of
EMERSON Motion Control.
Microsoft, Excel and Windows are registered trademarks of Microsoft Corporation.
IBM is a registered trademark of International Business Machines, Inc.
Modbus is a trademark of Modicon, Inc.
Data Highway Plus is a trademark of Allen-Bradley
Schaffner is a trademark of Schaffner
Commercial names of products from other manufacturers or developers
that appear in this manual are registered or unregistered trademarks
of those respective manufacturers or developers, which have expressed
neither approval nor disapproval of EMERSON Motion Control.
This document has been prepared to conform to the current released version of the
hardware and software system. Because of our extensive development efforts and our
desire to further improve and enhance the product, inconsistencies may exist between the
product and documentation in some instances. Call your customer support representative if
you encounter an inconsistency.
ii
Customer Service
EMERSON Motion Control
12005 Technology Drive
Eden Prairie, Minnesota 55344-3620
U.S.A.
Telephone: (612) 995-8000 or (800) 397-3786
It is EMERSON Motion Control’s 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
EMERSON Motion Control support information 24 hours a
day, seven days a week. Our wide range of services include:
FAX
(952) 995-8011
You can FAX questions and comments to EMERSON Motion
Control. Just send a FAX to the number listed above.
Website and Email
www.emersondrivesolutions.com
Website: www.emersondrivesolutions.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.
iii
Epsilon Eb Digital Servo Drive Installation Manual
Technical Service
(952) 995-8033
Email: [email protected]
EMERSON Motion Control’s products are backed by a team of
professionals who will service your installation wherever it
may be. Our technical service center in Minneapolis,
Minnesota is ready to help you solve those occasional problems
over the telephone. Our technical service center is available 24
hours a day for emergency service to help speed any problem
solving. Also, all hardware replacement parts, should they ever
be needed, are available through our service organization.
When you call, please be at your computer, have your
documentation in hand, and be prepared to provide the
following information:
• Product version number, found by choosing About from the
Help menu.
• The type of controller or product you are using.
• Exact wording of any messages that appear on your screen.
• What you were doing when the problem occurred.
• How you tried to solve the problem.
Need on-site help? EMERSON Motion Control provides
service, in most cases, the next day. Just call EMERSON’s
technical service center when on-site service or maintenance is
required.
Training Services
(952) 995-8000
Email: [email protected]
EMERSON Motion Control maintains a highly trained staff of
instructors to familiarize customers with EMERSON Motion
iv
Control’s products and their applications. A number of courses
are offered, many of which can be taught in your plant upon
request.
Application Engineering
(952) 995-8003
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
Email: [email protected]
Authorized EMERSON Motion Control distributors may place
orders directly with our Order Processing Department by
calling the number listed above. For information on your local
distributor, call EMERSON Motion Control.
Document Conventions
Manual conventions have been established to help you learn to
use this manual quickly and easily. As much as possible, these
conventions correspond to those found in other Microsoft
Windows documentation.
Menu 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”.
v
Epsilon Eb Digital Servo Drive Installation Manual
Button names are in italic: OK button.
Source code is printed in Courier font: Case ERMS.
In addition, you will find the following typographic conventions
throughout this manual.
This
Represents
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
Place holders 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.
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 it. 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
vi
involved. In addition, this individual has the following
qualifications:
• Is trained and authorized to energize, de-energize, clear,
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.
Warning
For the purpose of this manual and product, “Warning”
indicates death, severe personal injury or substantial
damage CAN result if proper precautions are not taken.
Caution
For the purpose of this manual and product, “Caution”
indicates minor personal injury or property damage CAN
result if proper precautions are not taken.
Note
For the purpose of this manual and product, “Note”
indicates information about the product or the respective
part of the manual which is essential to highlight.
vii
Epsilon Eb Digital Servo
Underwriters Laboratories Listed
LISTED 51Y8
IND. CONT. EQ.
The Epsilon Digital Servo Drives are marked with the “UL
Listed” label after passing a rigorous set of design and testing
criteria developed by UL (UL508C). This label indicates that
UL certifies this product to be safe when installed according to
the installation guidelines and used within the product
specifications.
The “conditions of acceptability” required by UL are:
• The Epsilon drive surrounding air ambient temperature
must be 40° C (104° F) or less.
• Epsilon drive surrounding air ambient temperature can be
up to 50°C (122° F) with 3% linear derating for every degree
above 40° C (104° F)
• This product is suitable for use on a circuit of delivering not
more than 5000 RMS symmetrical amperes, 240 volts
maximum.
• Motors must incorporate an overload protection device such
as an overtemperature switch.
Drive Overload Protection
The drive output current overload protection is provided by the
drive and is not adjustable. This overload protection is based on
maximum continuous output current capacity. It will allow up
to 200 percent of the drive rated current to be delivered for the
amount of time determined by the following chart.
ix
Epsilon Eb Digital Servo Drive Installation Manual
Rated output current (Amps RMS)
Drive Model
Continuous
Peak
Eb-202
1.8
3.6
Eb-203
3
6
Eb-205
5.0
10.0
Drive Output Current vs. Time graph
60
Time (seconds)
50
40
30
20
10
0
100
125
150
175
200
% Drive Rated Current
CE Declaration of Conformity
The Epsilon 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.
x
Declaration of Conformity
EMERSON Motion Control
Manufacturer’s Name:
12005 Technology Drive
Eden Prairie, MN 55344
USA
Manufacturer’s Address:
Declares that the following products:
Products Description:
Epsilon Series Digital Servo Drive
Model Number:
Eb-202, Ei-202, Eb-203, Ei-203, Eb-205 and Ei-205
System Options:
This declaration covers the above products with the 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 61800-3,
1996:
IEC 1000-4-2/1995; EN 61000-4-2, 6kV CD
IEC 1000-4-3/1995; EN 61000-4-3, ENV 50140/1993, 80% AM, 10V/m @ 3 m
IEC 1000-4-4/1995; EN 61000-4-4, 2 kV ALL LINES
EN 61000-4-5, 1kV L-L, 2kV L-G
EN 61000-4-11, 300 ms/1000 ms 100% DIP
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.
August 18, 1999
Bradley Schwartz/ VP Engineering
European Contact:
Date
Sobetra Automation
Langeveldpark Lot 10
P. Dasterleusstraat 2
1600 St. Pieters Leeuw, Belgium
xi
Table of Contents
Introduction
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
How this Manual is Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Reference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safety Considerations
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Enclosure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Setup, Commissioning and Maintenance . . . . . . . . . . . . . . . 8
Safety of Machinery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Installation
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Basic Installation Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . 11
Environmental Considerations . . . . . . . . . . . . . . . . . . . . . . 17
Wiring Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Drive Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Motor Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Power Supply Requirements . . . . . . . . . . . . . . . . . . . . . . . . 21
Transformer Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Line Fusing and Wire Size . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Input Power Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Alternate Power Supply Wiring. . . . . . . . . . . . . . . . . . . . . . 28
Motor Power Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Motor Feedback Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Input/Output and Drive Enable Wiring. . . . . . . . . . . . . . . .34
Command Connector Wiring . . . . . . . . . . . . . . . . . . . . . . . .37
Command Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
Analog Command Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Encoder Output Signal Wiring . . . . . . . . . . . . . . . . . . . . . . .41
Pulse Mode Wiring, Differential Inputs. . . . . . . . . . . . . . . .43
Pulse Mode Wiring, Single Ended Inputs . . . . . . . . . . . . . .44
Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
Modbus Communications . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Multi-Drop Communications . . . . . . . . . . . . . . . . . . . . . . . .49
Diagnostics and Troubleshooting
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
Diagnostic Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
Fault Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
Diagnostic Analog Output Test Points . . . . . . . . . . . . . . . . . . . .59
Drive Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
Resetting Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
Viewing Active Drive Faults. . . . . . . . . . . . . . . . . . . . . . . . .61
Rebooting the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
Watch Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
View Motor Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
Options and Accessories
ECI-44 External Connector Interface. . . . . . . . . . . . . . . . . . . . .68
STI-EIO Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
Specifications
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
xiv
Drive Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Drive and Motor Combination Specifications . . . . . . . . . . . . . . 77
Motor Brake Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Power Dissipation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Speed Torque Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Epsilon Drive Dimensions: Eb 202, Eb-203, Eb-205 . . . . . . . . . 87
MG Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
NT Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Cable Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
CMDX-XXX Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
CMDO-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
CDRO-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
AX-CEN-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
EIO-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
TIA-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
DDS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
TERM-H (Head) Terminator . . . . . . . . . . . . . . . . . . . . . . . 107
TERM-T (Tail) Terminator. . . . . . . . . . . . . . . . . . . . . . . . . 107
CMDS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
CMMS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
CFCS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
CFCO-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
CFOS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Vendor Contact Information. . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Index
xv
xvi
Epsilon Eb Digital Servo
Introduction
Overview
The Epsilon 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 the
operational or fault status. The last 10 faults are stored in nonvolatile memory along with a time stamp for easy recall.
Epsilon drives operate at 42 to 264 VAC standalone or at 24 to
375 VDC with an A.P.S. (Alternate Power Supply) and are
available in two power ratings. The drive will fit in a 6 inch
deep enclosure with cables connected.
• Epsilon E(x)-202 – 650 Watts (1.8 amps cont, 3.6 amps peak)
• Epsilon E(x)-203 – 1100 Watts (3.0 amps cont, 6.0 amps
peak)
• Epsilon E(x)-205 – 1750 Watts (5.0 amps cont, 10.0 amps
peak)
1
Epsilon Eb Digital Servo Drive Installation Manual
The MG and NT motors that are matched to the Epsilon drives
provide low inertia, high power to size ratios, and encoder
feedback for accurate positioning.
Features
• Digital drive design using DSP, ASIC and surface mount
technologies.
• Epsilon input power is rated at 42 to 264 VAC (12 to 264
VAC or 12 to 375 VDC when using an A.P.S.).
• Small mounting footprint.
• Auxiliary logic power supply capability.
• Five optically isolated inputs and three optically isolated
outputs.
• Built-in RS-232C to RS-485 converter for multi-drop
applications.
• RS-232C/485 serial communications interface using
industry standard Modbus® protocol up to 19.2 kbaud.
• Diagnostic and operating mode status display.
• Extensive fault sensing and diagnostics, including storage
and time stamping of the last ten faults.
• Maximum input response time is 500 µs for command and
input functions.
• Peak torque up to three times continuous motor torque
rating 200% for 5 seconds.
• Sinusoidal commutation for efficiency and motor smooth
motion.
• No potentiometers or selector switches.
2
Introduction
• No tuning needed for no-load up to 10:1 inertia mismatch.
• High performance tuning based on inertia ratio, friction and
response with PowerTools software (available separately).
• High resolution encoder.
• Four velocity presets.
• Programmable pulse follower ratio.
• Pulse mode input type selectable between differential and
single-ended.
• Removable connectors for easy installation.
• Single cable connection to EMERSON Motion Control’s
AXIMA 2000 and 4000 multi-axis controllers.
• Scalable Encoder Output in one line per revolution
increments.
• Travel Limit Function in Torque mode.
• Access to bus voltage for external shunt.
• Able to operate non-EMERSON motors with encoders.
3
Epsilon Eb Digital Servo Drive Installation Manual
Figure 1:
Epsilon Eb Drives Feature Location
How this Manual is Organized
This manual is divided into the following major sections:
Introduction
This section introduces you to the Epsilon Eb hardware and
software features, requirements and operation.
Safety Considerations
This section describes a number of safety precautions that need
to be addressed in a system design.
Diagnostics and Troubleshooting
This section explains various diagnostic and troubleshooting
aids.
4
Introduction
Installation
This section describes the Epsilon Eb drive hardware features
including mounting, AC power wiring, I/O wiring and drive
communications.
Options and Accessories
This section describes the various options and accessories for
the Epsilon Eb drive.
Specifications
This section contains the specifications for the Epsilon Eb
drive.
Reference Materials
The following related reference and installation manuals may
be useful with your particuliar system.
• Epsilon Eb and E Series En Drives Reference Manual (P/N
400501-01)
• PowerTools Software User’s Guide (P/N 400503-01)
• Epsilon and E Series Drive Parameters Reference Manual
(P/N 400504-01)
5
Epsilon Eb Digital Servo
Safety Considerations
Overview
This chapter describes the safety issues which need to be
addressed in the system design when using this product.
Specifically, it includes:
•
•
•
•
Safety Precautions
Enclosure Design
Setting Up, Commissioning and Maintenance
Safety of Machinery
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, carries a high level of stored electrical
energy, or is used to control mechanical equipment which can
cause injury.
You should give close attention to the electrical installation
and system design to avoid hazards either in normal operation
or in the event of equipment malfunction. System design,
installation, commissioning and maintenance must be carried
out by personnel who have the necessary training and
experience. Read and follow this safety information and the
instruction manual carefully.
Enclosure
This product is intended to be mounted in an enclosure which
prevents access except by trained and authorized personnel,
and which prevents the ingress of contamination. This product
7
Epsilon Eb Digital Servo Drive Installation Manual
is designed for use in an environment classified as pollution
degree 2 in accordance with IEC664-1. This means that only
dry, non-conducting contamination is acceptable.
Setup, Commissioning and Maintenance
It is essential that you give careful consideration to changes to
drive settings. Depending on the application, a change could
have an impact on safety. You must take appropriate
precautions against inadvertent changes or tampering.
Restoring default parameters in certain applications may
cause unpredictable or hazardous operation.
Safety of Machinery
Within the European Union all machinery in which this
product is used must comply with Directive 89/392/EEC, Safety
of Machinery.
The product has been designed and tested to a high standard,
and failures are very unlikely. However the level of integrity
offered by the product’s control function – for example stop/
start, forward/reverse and maximum speed – is not sufficient
for use in safety-critical applications without additional
independent channels of protection. All applications where
malfunction could cause injury or loss of life must be subject to
a risk assessment, and further protection provided where
needed.
Warning
General warning
Failure to follow safe installation guidelines can cause death or
serious injury. The voltages used in this unit can cause severe
electric shock and/or burns, and could be lethal. Extreme care is
necessary 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.
8
Safety Considerations
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.
9
Epsilon Eb Digital Servo
Installation
Overview
This chapter describes how to install the drive, motor and
cables. Specifically, it includes:
•
•
•
•
Basic Installation Notes
Mechanical Installation
Electrical Installation
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. See the "Safety Considerations" section for
more information.
Electromagnetic Compatibility (EMC)
Drives are designed to meet the requirements of EMC. Under
extreme conditions a drive might cause or suffer from
disturbances due to electromagnetic interaction with other
equipment. It is the responsibility of the installer to ensure
that the equipment or system into which the drive is
incorporated complies with the relevant EMC legislation in the
country of use.
The following instructions provide you with installation
guidance designed to help you meet the requirements of the
EMC Directive 89/336/EEC.
11
Epsilon Eb Digital Servo Drive Installation Manual
Adhering to the following guidelines will greatly improve the
electromagnetic compatibility of your system; however, final
responsibility for EMC compliance rests with the machine
builder, and EMERSON Motion Control 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"
section for more information.
• If grounding is required for cable grommets, connectors and/
or conduit fittings at locations where cables are mounted
through the enclosure wall, paint must be removed from the
enclosure surface at the contact points.
• AC line filter input and output wires and cables should be
shielded, and all shields must be grounded to the enclosure.
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
12
Installation
very little resistance. Impedance cannot be accurately
measured with a standard ohmmeter, because an ohmmeter
measures DC resistance. For example, a 12 inch long 8 gauge
round wire has a significatly higher impedance than a 12 inch
long 12 gauge flat braided conductor. A short wire has less
impedance than a larger one.
Low impedance connections can be achieved by bringing large
areas of conductive surfaces into direct contact with each other.
In most cases this requires paint removal because a ground
connection through bolt threads is not sufficient. However,
component materials should be conductive, compatible and
exhibit good atmospheric corrosion resistance to prevent loss
through corrosion, which will hinder the low impedance
connection. Enclosure manufacturers offer corrosion resistant,
unpainted mounting plates to help.
Bringing components into direct contact cannot always be
achieved. In these situations a conductor must be relied upon
to provide a low impedance path between components.
Remember a flat braided wire has lower impedance than a
round wire of a large guage 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
13
Epsilon Eb Digital Servo Drive Installation Manual
• 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 EMERSON Motion Control’s
compliance testing are listed below. These filters are capable of
supplying the drive input power to the specified drive under
maximum output power conditions.
Epsilon
Eb-202, Eb-203*
Eb-205
E Series
Schaffner Part #
EMERSON Part #
Rating
10A, 240V, 1 Ø
FN2070-10/08
960307-01
EN-204
FS5278-16/08
960305-01
EN-208
FS5278-16/08
960305-01
EN-214
FN-258/16
960304-01
16A, 240V, 1 Ø
16A, 480V, 3 Ø
Alternately, EMERSON Motion Control has also seen good
results with the following line filters:
Drive
Part #
Rating
Corcom 20EQ1
20A, 240V, 1 Ø
Schaffner FN 2070-6-06
6A, 240V, 1 Ø
EN-204
EN-208
Eb-202, Eb-203, Eb-205
Eb-202
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.
14
Installation
• 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 EMERSON Motion Control’s
compliance testing and are necessary to meet the EMC
requirements. Each cable shield was grounded at the enclosure
wall by the type of grommet described earlier and shown in the
figure below.
Figure 2:
Through Wall Shield Grommet
15
Epsilon Eb Digital Servo Drive Installation Manual
EMERSON
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
Cable Type
Flex Feedback
Cable
External Encoder
AC Power
16
Installation
Figure 3:AC Filter and Cable Connections for Epsilon 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.
17
Epsilon Eb Digital Servo Drive Installation Manual
Note
For Epsilon drives, surrounding air ambient temperature
can be up to 50°C (122° F) with 3% linear derating for every
degree above 40° C (104° F)
The amount of cooling depends on the size of the enclosure, the
thermal transfer of the enclosure to the ambient air and the
amount of power being dissipated inside the enclosure. Consult
your enclosure manufacturer for assistance with determining
cooling requirements.
Wiring Notes
18
•
To avoid problems associated with EMI (electromagnetic
interference), you should route high power lines (AC input power and
motor power) away from low power lines (encoder feedback, serial
communications, etc.).
•
If a neutral wire (not the same as Earth Ground), is supplied from the
building distribution panel it should never be bonded with PE wire in
the enclosure.
•
You should consider future troubleshooting and repair when
installing all wiring. All wiring should be either color coded and/or
tagged with industrial wire tabs.
•
As a general rule, the minimum cable bend radius is ten times the
cable outer diameter.
•
All wiring and cables, stationary and moving, must be protected from
abrasion.
•
Ground wires should not be shared with other equipment.
•
Ensure that metal to metal contact is made between the enclosure
ground lug and the metal enclosure, not simply through the mounting
bolt and threads.
Installation
•
All inductive coils must be suppressed with appropriate devices, such
as diodes or resistor/capacitor (RC) networks.
Mechanical Installation
Drive Mounting
Drives must be back mounted vertically on a metal surface
such as a NEMA enclosure. A minimum spacing of two inches
must be maintained above and below the drive for ventilation.
Side by side drive spacing requirements vary by drive size and
RMS loading. Additional space may be necessary for wiring
and cable connections.
For drive dimensions, weights and mounting specifications, see
the "Specifications" section.
Motor Mounting
Motors should be mounted firmly to a metal mounting surface
to ensure maximum heat transfer for maximum power output
and to provide a good ground.
For motor dimensions, weights and mounting specifications,
see the "Specifications" section.
19
Epsilon Eb Digital Servo Drive Installation Manual
Electrical Installation
Figure 4:
20
Typical System Grounding Diagram
Installation
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.
Warning
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 Eb-202, Eb-203 and Eb-205 drives require 42 to 264 VAC
single-phase power. An Epsilon drive can be connected to any
pair of power phases on a 1 Ø or 3 Ø power source that is
grounded as shown in the following diagrams.
If using an APS Logic Power input and the Low DC Bus fault
is disabled, minimum supply voltage to an Epsilon can be
reduced to 15 VAC on the AC inputs or 24 VDC on the Bus +/connections.
Note
The maximum voltage applied to the drive terminals must
not exceed 264 VAC phase to phase and phase to PE ground.
This can be accomplished by referencing the AC supply to
earth ground.
Caution
Do not connect or disconnect the AC power by inserting or
removing the AC power connector. Using the connector in
this manner, even once, will damage the connector, making
it unusable.
21
Epsilon Eb Digital Servo Drive Installation Manual
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.
22
Figure 5:
Earth Grounded WYE Distribution Transformer
Figure 6:
Earth Grounded Delta Distribution Transformer
Installation
AC Supplies Requiring Transformers
If the distribution transformer is configured as shown in the
figures below, an isolation transformer is required.
If an isolation transformer is used between the power
distribution point and the drives, the transformer secondary
must be grounded for safety reasons as shown in the figures
below.
Figure 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
23
Epsilon Eb Digital Servo Drive Installation Manual
Figure 9:
Delta to Delta Isolation Transformer
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
24
Installation
temperatures (>40° C or >104° F) and drive operation near the
maximum speeds.
Drive/Motor Combination
Suggested KVA Rating
Eb-202/NT-207
1.0
Eb-203/NT-207
1.0
Eb-202/NT-212
1.2
Eb-203/NT-212
1.7
Eb-203/MG-316
2.3
Eb-205 / MG-340
3.0
Transformer output voltage drop may become a limiting factor
at motor speeds and loads near maximum ratings. Typically,
higher KVA transformers have lower voltage drop due to lower
impedance.
25
Epsilon Eb Digital Servo Drive Installation Manual
Line Fusing and Wire Size
You must incorporate over current protection for the incoming
AC power with the minimum rating shown below. EMERSON
Motion Control recommends Bussman type: KTK-R, KTK, LPN
or equivalent.
Drive Model
External AC Line Fuse
Recommended Minimum AC/PE Line
Wire Gauge
Eb-202
LPN 6 Amp
16 AWG
Eb-203
LPN 8 Amp
16 AWG
Eb-205
LPN 12 Amp
16 AWG
Drive Model
Input Voltage
(VAC)
Frequenc
y (Hz)
240 / 1 Ø
47 - 63
Eb-202
Eb-203
Input Current
(Amps RMS) at
full drive output
current
4.3
Eb-205
6.5
10.8
Inrush Current (Amps)
1 st Cycle
2nd Cycle
140 (2 ms)
20 (2 ms)
140 (5 ms)
30 (2 ms)
This inrush current specification assumes the drive has been
powered off for at least eight minutes at 40° C ambient or five
minutes at 25° C ambient. If this amount of time has not
elapsed since power off, the inrush current will be higher.
Input Power Connections
Power must be "Off" for a minimum of 6 minutes for the
Epsilon drive before unplugging the power connection, to
ensure the bus voltage has bled down to a safe level (below 50
VDC).
26
Installation
Front View
L1
L2
GND
50/60 Hz
90-264 VAC
Tighten screws
to 5 lb-in.
J1
Figure 11:
Epsilon AC Power Wiring Diagram
Caution
Do not connect or disconnect AC power by inserting or
removing the AC power connector. Using the connector in
this manner, even once, will damage the connector making
it unusable.
27
Epsilon Eb Digital Servo Drive Installation Manual
Side View
Front View
2A
Fuse
+
24 VDC
J1
Single point PE
ground
(recommended)
Important: Slide the side access panel
up into the open position. Remove the
jumper from the AC position (Default)
and reinstall it into the 24 V position
(A.P.S.). The instruction on the side of
the drive will show which position to put
the jumper.
Figure 12:
Epsilon Auxiliary Power Supply Wiring Diagram
Alternate Power Supply Wiring
An Alternate 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.
Enabling APS power is done by sliding open the access panel on
the side of the drive. Then move the jumper into the APS
position using needle nose pliers.
28
Installation
Use static control procedures when handling the jumper inside
the drive case.
The APS input is isolated from all other circuits on the Epsilon
drive including the DC bus, logic and I/O. This permits you to
use one common 24 VDC power supply for multiple drives
without concern for ground loops and noise coupling between
drives. The APS connection will generate some high frequency
ripple (.25 Amps at 80 khz) on the APS power lines. This may
disturb sensitive equipment that shares the same power
supply.
APS Input Specification
Voltage Range
Current
Inrush Current
18-30 VDC
0.5 A maximum
0.7 A peak
( 0.4 A maximum
0.6 A peak if external
encoder is not used )
80 A for 1 ms if not limited by
power supply
Using the APS supply input to power the drive logic and motor
encoder allows the drive bus to operate at DC voltages below 42
VAC (60 VDC bus). The drive will operate down to 12 VDC on
the bus (10 VAC on L1 and L2). However the low DC bus
monitoring must be disabled to prevent faults at these low DC
bus voltage levels. This can be done with PowerTools software
on the Advanced tab in Detailed Setup mode.
Caution
Do not wire AC line into the APS input. Doing so will
damage the drive.
29
Epsilon Eb Digital Servo Drive Installation Manual
Warning
Do not open the APS jumper access panel until at least six
minutes after the main AC power has been removed from
the L1 and L2 terminals.
Note
Connecting 24V common on the APS to chassis ground
reduces offset voltage in Analog Diagnostic Outputs.
Front View
Front View
1A
Fuse
1A
Fuse
J1
30
-
Figure 13:
+
Single point PE
ground
(recommended)
J1
24 VDC
Multiple APS Wiring Diagram
Installation
Motor Power Wiring
Motors are equipped with up to three male MS (Military Style)
connectors, one for stator connections, one for encoder
connections and one for the brake (if so equipped).
Stator connections from the drive to the motor are made with
the CMDS cable which has a female MS style connector on the
motor end and four individual wires and shield that connect to
the motor power connector on the bottom of the drive.
Wire crimp ferrules are recommended:
For ground lead use Pheonix Contact P/N AI-TWIN 2x1, 5-8 Bk/32 00 82 3
American Electrical/DigiKey 1381015/288-1130-ND
For motor leads use Phoenix Contact P/N AI 1, 5-8 RD/ 32 01 13 6
ALTEC P/N H1.5/14 2204.0 Pk/100
Front View
Motor Power
Connection
Brown
Black
Blue
Green/Yellow
Shield
J1
Important: PE ground
should connect to drive
and motor only. Nothing
should be connected
between these devices.
Tighten screws to 5 lb-in.
Figure 14:
A
R
B
S
C
T
D
Ground
Connector Shell
2" and 3" motor cable
connector (CMDS-xxx cable)
PT06A-16-8SSR
Epsilon Motor Power Wiring Diagram
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.
31
Epsilon Eb Digital Servo Drive Installation Manual
Motor Feedback Wiring
Encoder feedback connections are made with the CFCS cable.
This cable has an MS style connector on the motor end and a
26-pin high density “D” connector on the drive end.
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.
Figure 15:
Motor Feedback Connector Pinout
Motor Brake Wiring
Motors equipped with brakes have a three-pin MS style
connector. The EMERSON Motion Control brake power cable
32
Installation
(model CBMS-XXX) has an MS style connector on the motor
end and three wire leads on the amplifier end (see wiring
diagram below).
You must provide a DC power supply rated at +24 VDC with a
2 amp minimum current capacity for the brake. If you use this
voltage source to power other accessories such as I/O or more
than one brake, you must increase its current capability.
CBMS-xxx Cable
Black -
Bottom View
A2
A1
Output #3
17
16
34
Drive Enable
I/O Supply
I/O Supply
I/O Common
I/O Common
33
32
31
J5
Single point
PE ground.
Figure 16:
Customer
supplied drive
enable contact
C
B
A
K1
Internal
to Motor
2 Amp
Fuse
14
1 Amp
Fuse
11
Relay:
EMC #BRM-1
- +
Red +
Motor
Connected to
grounded
mounting panel.
24 VDC
Epsilon Brake Wiring Diagram using the
Command Connector
33
Epsilon Eb Digital Servo Drive Installation Manual
Front View
CBMS-xxx Cable
Black A2
A1
Output #3
Drive Enable
8
10
I/O Supply
19
I/O Common
20
Customer
supplied drive
enable contact
Internal
to Motor
2 Amp
Fuse
14
1 Amp
Fuse
Single point
PE ground.
11
Relay:
EMC #BRM-1
- +
J3
Figure 17:
C
B
A
K1
Red +
Motor
Connected to
grounded
mounting panel.
24 VDC
Epsilon 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.
34
Installation
Front View
A highspeed diode
(such as a 1N4000) is
required for inductive
loads such as a relay,
solenoid or contactor.
I/O supply
+10 to 30 VDC
2.8 k
Load
Output #3
8
Output #2
17
Output #1
7
Input #4
12
Input #3
2
Input #2
11
Load
Input #1
1
Drive Enable Input
10
I/O Supply +
19
I/O Common -
20
1 Amp Fuse
- +
J3
Single point
PE ground.
Figure 18:
Load
24 VDC
Epsilon Input/Output Wiring Diagram
The I/O connector is a 26-pin male connector on the front of the
drive. EMERSON Motion Control offers a low profile interface
plug and cable (EIO-xxx) for connections.
35
Epsilon Eb Digital Servo Drive Installation Manual
Bottom View
Internal to Drive
Input #4
4
Input #3
3
Input #2
Input #1
Drive Enable Input
2
1
16
17
Output #3
Output #2
Output #1
Front View
I/O Common I/O Common I/O Supply +
I/O Supply +
2.8 k
18
19
31
32
33
34
J5
Input #4
Input #3
Input #2
Input #1
Drive Enable Input
Output #3
Output #2
Output #1
I/O Common I/O Supply +
12
2
11
1
10
8
17
7
20
19
J3
Figure 19:
Epsilon I/O to Command Connector Internal
Connections
Note
If loads are applied to the same output signal on both
Command Connector and I/O Connector, the sum total
36
GND
Installation
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 44pin Command Connector.
If you are interfacing your drive(s) to an AXIMA 2000 or 4000
multi-axis controller, simply connect the 44-pin connector of
your AX-CEN-XXX cable to the drive and the 25-pin connector
to the AXIMA multi-axis controller.
If you are interfacing your drive(s) to an AXIMA or any other
motion controller, you may use either the CDRO-sss or CMDOxxx cables or the optional External Connection Interface (ECI44) 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.
37
Epsilon Eb Digital Servo Drive Installation Manual
Shield
Connected to
Connector Shell
Command Connector
(RED/BRN)
1
(BRN/RED)
(BLK/BLU)
2
3
4
(BLU/BLK)
(WHT/ORG)
(ORG/WHT)
(PRP/BLU)
6
10 Ohm
Input #3
Input #4
RS 485+
21
8
RS 485Encoder Output Channel A
(BLU/PRP)
(RED/BLU)
9
11
Encoder Output Channel A/
Encoder Supply +5 Volts - Output. 200 mA
(BLU/RED)
(BLK/GRN)
12
16
Encoder Common
(GRN/BLK)
(BLK/BRN)
17
18
(BRN/BLK)
(PRP/ORG)
19
Output #1
23
24
25
39
Encoder Output Channel B
(ORG/PRP)
(BLK/RED)
(RED/BLK)
(PRP/GRN)
(GRN/PRP)
(YEL/BLU)
27
41
Drive Enable Input
Output #3
Output #2
Encoder Output Channel B/
Pulse Input Z
Pulse Input Z/
Pulse Input A
34
32
Pulse Input A/
I/O Supply +
I/O Common -
33
31
37
I/O Supply +
I/O Common Encoder Output Channel Z
(BRN/PRP)
(PRP/GRY)
38
40
Pulse Input B/
(GRY/PRP)
(WHT/BLU)
26
14
Pulse Input B
- Analog Command In
(BLU/WHT)
(WHT/GRN)
15
+ Analog Command In
Diagnostics Output Channel 1
Diagnostics Output Channel 2
(BLU/YEL)
(YEL/BRN)
(BRN/YEL)
(PRP/BRN)
(GRN/WHT)
(WHT/RED)
(RED/WHT)
(GRY/YEL)
(YEL/GRY)
43
44
29
28
36
20
35
= Twisted Pair
Figure 20:
38
Input #1
Input #2
PE
Encoder Output Channel Z/
Diagnostic Output Common
+15 Out (Test Only)
Pulse In B Single-ended
Pulse In A Single-ended
Do Not Connect
7
10
Do Not Connect
13
5
Do Not Connect
Do Not Connect
22
Do Not Connect
Do Not Connect
30
Do Not Connect
42
Do Not Connect
Command Connector (J5) Pinout and CMDO-xxx
Wire Colors
Installation
For information about Command Connector pinout and
CMDO-XXX cable wire colors, see the "Specifications" section.
Function
Pin Numbers
Electrical Characteristics
Inputs and Drive
Enable
1, 2, 3, 4, 16
10-30 V (“On”) 0-3 V (“Off”) optically isolated
Outputs
17, 18, 19
10-30 VDC sourcing 150 mA
I/O Supply
33, 34
10 - 30 VDC @ 1 Amp maximum
I/O Common
31, 32
I/O return
Pulse Inputs
Differential
25, 26, 27, 39, 40,
41
5 V, 200 mV differential, 60 mV hysteresis, RS-422
compatible
Pulse Inputs Single
Ended
20, 36
TTL, 330 ohm pull-ups to internal 5 V, 1.5 V = low,
3.5 V = high
Encoder Supply Output
+5 V
11
+5 V (200mA) output self-resetting fused internally
Encoder Common 0 V
12
0.0 V, 10 ohms away from PE
Encoder Out
8, 9, 23, 24, 37, 38
Differential line driver output (RS 422)
Analog In
14, 15
± 10 VDC differential command
Diagnostic Output
43, 44
± 10 VDC 10 mA maximum. Analog diagnostic
output, ref. to pin 29
Diagnostic Output
Common
29
0.0 V, 10 ohms away from PE
0 ohms away from Encoder Common 0V (pin 12)
RS 485 ±
6, 21
Same signals as the Serial Connector
+15 out
28
10 mA supply. ref. pin 29 (for test purposes only.)
Command Cables
The CMDO, CMDX and CDRO cables are all cables that plug
into the Command Connector.
The CMDO and CMDX cables both use the same straight
connector style, same color code and carry the full complement
of signals available from the Command Connector. The
difference is the CMDO cable has a male connector on one end
39
Epsilon Eb Digital Servo Drive Installation Manual
with open wires on the other while the CMDX cable has male
connectors on both ends.
For information about CMDO-XXX and CMDX-XXX (18 pair
cable) cable wire colors see the "Specifications" section.
Note
Some CMDO and CMDX cables may have White/Yellow and
Yellow/White wires in place of the White/Orange and
Orange/White shown in the figure above (pins 6 and 21).
The CDRO cable includes only the most commonly used signals
to reduce the cable outer dimension and has a connector at only
one end. The 45 degree connector design used on the CDRO
cable also reduces the enclosure spacing requirement below the
drive.
For information about the CDRO-XXX (13 pair) cable wire
colors, see the "Specifications" section.
Analog Command Wiring
Command Connector
with positive direction = CW
Figure 21:
40
Analog Command, Differential Output Wiring
Diagram
Installation
Command Connector
Figure 22:
Analog Command, Single Ended Output Wiring
Diagram
Encoder Output Signal Wiring
The Epsilon drive encoder outputs meet RS-422 line driver
specifications and can drive up to ten RS-422 signal recievers.
The default encoder output resolution is set so it outputs the
actual motor encoder resolutions. The standard MG and NT
motors have 2048 lines per revolution. This resolution is
adjustable in one line per revolution increments with
PowerTools software. With the range of one line per revolution
to the actual motor encoder density.
41
Epsilon Eb Digital Servo Drive Installation Manual
42
Figure 23:
Command Connector Encoder Output Wiring
Figure 24:
Direction Convention Diagram
Installation
Pulse Mode Wiring, Differential Inputs
Figure 25:
Pulse Mode, Differential Output to Differential
Input
43
Epsilon Eb Digital Servo Drive Installation Manual
Figure 26:
Pulse Mode, Single Ended Output to Differential Input
Pulse Mode Wiring, Single Ended Inputs
44
Installation
+5
Logic
Power
Pulse
A/
Direct
B
Sinking
Outputs (typ)
Common isolated
from other sources
Figure 27: Pulse Mode, Single Ended Output to Single Ended Input
(twisted pair cable)
+5
Logic
Power
Pulse
A/
Direct
B
Sinking
Outputs (typ)
Common isolated
from other sources
Figure 28:
Pulse Mode, Single Ended Output to Single Ended Input
(non-twisted pair cable)
45
Epsilon Eb Digital Servo Drive Installation Manual
Figure 29:
Master/Slave Encoder Connections
Note
Epsilon encoder outputs meet RS-422 driver specifications
and can drive up to 10 RS-422 signal recievers. Each
Epsilon differential pulse input is an RS-422 line recievers.
The default encoder output resolution is 2048 lines per
motor revolution. This resolution is adjustable in one line
per revolution increments with PowerTools software. The
range is between 200 and the actual motor encoder density.
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
46
Installation
two wire non-isolated RS-485. RS-485 is also available through
the 44-pin Command Connector.
Front View
RS-485 N/C
9
8
N/C
+5
7
6
Comm Common
5
4
RS-485 +
TX (232)
RX (232)
3
2
Shield
1
To drive
processor.
J2
Bottom View
RS-485 -
21
12
RS-485 +
6
PE
10 Ohm
Single point
ground
J5
Figure 30:
Epsilon RS-232 and RS-485 Internal
Connections between the Command Connector
and the Serial Communication Connector
47
Epsilon Eb Digital Servo Drive Installation Manual
Caution
When connecting the serial port of your PC to the serial port
of the drive, verify that your PC’s ground is the same as the
drive PE ground. Failure to do so can result in damage to
your PC and/or your drive.
Note
Communication errors can usually be avoided by powering
the computer or host device 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 benefical even with battery powered
computers.
Modbus Communications
The drive’s serial communication protocol is Modbus RTU
slave with a 32 bit data extension. The Modbus protocol is
available on most operator interface panels and PLC’s.
Serial Communications Specifications
Max baud rate
19.2k
Start bit
1
Stop bit
2
Parity
none
Data
8
EMERSON Motion Control’s Motion Interface panels are
supplied with a Modbus master communications driver.
48
Installation
Multi-Drop Communications
The RS-485 option (pins 4 and 9) is provided for multi-drop
configurations of up to 32 drives. EMERSON Motion Control
provides a special multi-drop serial cable which allows you to
easily connect two or more drives.
TERM-H
TERM-T
TIA-XXX
Serial Cable
DDS-XXX
Serial Cables
Note:
The terminating resistor packs, TERM-H
and TERM-T, should be installed on the
first (TERM-H) and last (TERM-T) drive in
the string if the total cable length is over
50 feet.
Figure 31:
Multi-Drop Wiring Diagram
49
Epsilon Eb Digital Servo Drive Installation Manual
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
0V
+5
Drive Serial Port
1
2
3
4
5
6
7
8
9
50
120
Ohm
485 -
576
Ohm
TERM-T
DDS Cable
Top View of Multi-drop Cabling
Figure 32:
485 +
Drive Serial Port
TERM-H
TIA Cable
576
Ohm
Multi-Drop Wiring Pinout
DDS Cable
Epsilon Eb Digital Servo
Diagnostics and
Troubleshooting
Overview
This section provides you with guidelines and hints on
troubleshooting various problems that may be encountered
during setup and operation of your Epsilon or E Series drive.
Specifically, it includes:
•
•
•
•
•
Diagnostic Display
Fault Codes
Diagnostics Analog Output Test Points
Drive Faults
Control Panel
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
Brake Engaged (Output "Off")
Description
Motor brake is mechanically engaged.
This character will only appear if the
Brake output function is assigned to an
output line.
51
Epsilon Eb Digital Servo Drive Installation Manual
Display Indication
52
Status
Description
Disabled
Power Stage is disabled.
Position
Pulse mode operation.
Velocity
Velocity mode operation.
Torque
Torque mode operation.
Summation
Summation mode operation.
RMS Foldback
Motor torque is limited to 80 percent.
Stall Foldback
Drive output current is limited to 80
percent of drive stall current.
Ready to Run
Drive enabled, no Stop input.
Diagnostics and Troubleshooting
Fault Codes
A number of diagnostic and fault detection circuits are
incorporated to protect the drive. Some faults, like high DC bus
and amplifier or motor over temperature, can be reset with the
Reset button on the front of the drive or the Reset input
function. Other faults, such as encoder faults, can only be reset
by cycling power “Off” (wait until the status display turns
“Off”), then power “On”.
The drive accurately tracks motor position during fault
conditions. For example, if there is a Low DC Bus fault where
the power stage is disabled, the drive will continue to track the
motor’s position provided the logic power is not interrupted.
The +/- Travel Limit faults are automatically cleared when the
fault condition is removed. The table below lists all the fault
codes in priority order from highest to lowest. This means that
if two faults are active, only the higher priority fault will be
displayed.
Display
Fault
Action to Reset
Bridge Disabled
NVM Invalid
Button or Input
Yes
Drive Overtemp
Cool down,
Cycle Power
Yes
Power Module
Power
Yes
53
Epsilon Eb Digital Servo Drive Installation Manual
Display
54
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
Overspeed
Button or Input
Yes
Max Following Error
(Position mode)
Button or Input
Yes
Travel Limit +/-
Auto
No
Diagnostics and Troubleshooting
Display
Fault
Action to Reset
Normally "On" for
one second during
power-up
All "On"
Bridge Disabled
Yes
Fault Descriptions
Power Up Test
This fault indicates that the power-up self-test has failed. This
fault cannot be reset with the reset command or reset button.
NVM Invalid
At power-up the drive tests the integrity of the non-volatile
memory. This fault is generated if the contents of the nonvolatile memory are invalid.
Invalid Configuration
This fault will occur if the digital board in the drive does not
match the power board settings. It is only useful during
manufacturing. A drive with this fault should be returned for
service.
Drive Overtemp
Indicates the drive IGBT temperature has reached 100° C.
Power Module
This fault is generated when a power stage over-temperature,
over-current or loss of power stage logic supply occurs. This can
55
Epsilon Eb Digital Servo Drive Installation Manual
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).
This fault should not be allowed to occur repeatedly. System
changes should be made to eliminate Z fault events. Drive
power stage will become degraded if allowed to continue.
Note
If a cause for Z faults cannot be determined, write down all
observations prior to and after the Z faults and contact
Emerson Motion Control Technical Service.
High DC Bus
This fault will occur whenever the voltage on the DC bus
exceeds 415 VDC. The most likely cause of this fault would be
an open external shunt fuse, a high AC line condition or an
application that requires an external shunt (e.g., a large load
with rapid deceleration).
High DC Bus Threshold
Low DC Bus Treshold
E Series
440
96
Epsilon
415
60
Low DC Bus
This fault will occur whenever the voltage on the DC bus drops
below 60 volts. The most likely cause of this fault is a reduction
(or loss) of AC power. A 50 ms debounce time is used with this
fault to avoid faults caused by intermittent power disruption.
56
Diagnostics and Troubleshooting
With and Epsilon drive, the low DC bus monitoring can be
disabled with PowerTools software in the Advanced tab.
High DC Bus Threshold
Low DC Bus Treshold
E Series
440
96
Epsilon
415
60
Encoder State
Certain encoder states and state transitions are invalid and
will cause the drive to report an encoder state fault. This is
usually the result of noisy encoder feedback caused by poor
shielding.
Encoder Hardware
If any pair of complentary encoder lines are in the same state,
an encoder line fault is generated. The most likely cause is a
missing or bad encoder connection.
Motor Overtemp
This fault is generated when the motor thermal switch is open
due to motor over-temperature or incorrect wiring.
Overspeed
This fault occurs in one of two circumstances:
1. When the actual motor speed exceeds the Overspeed
Velocity Limit parameter or 150% of motor maximum
operating speed. This parameter can be accessed with
PowerTools software.
57
Epsilon Eb Digital Servo Drive Installation Manual
2. If the combination of command pulse frequency and Pulse
Ratio can generate a motor command speed in excess of the
fixed limit of 13000 RPM, an Overspeed Fault will be
activated. In Pulse mode operation and any Summation
mode which uses Pulse mode, the input pulse command
frequency is monitored and this calculation is made. For
example, with a Pulse Ratio of 10 pulses per motor
revolution, the first pulse received will cause an Overspeed
fault even before there is any motor motion.
Max Following Error
This fault is generated when the following error exceeds the
following error limit (default following error limit is .2 revs).
With PowerTools you can change the Following Error Limit
value or disable in the Position tab.
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
EMERSON for service advice.
Normally, "All On" appears for less than one second during
power-up. All segments are dimly lit when power is "Off." This
is normal when an external signal is applied to the encoder
inputs (motor or master) or serial port from an externally
powered device. The signals applied to the inputs cannot
exceed 5.5V level required to drive logic common or drive
damage will occur.
58
Diagnostics and Troubleshooting
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 can be programmed to the following sources:
Analog Output Source options
• Velocity Command
• Velocity Feedback
• Torque Command (equates to Torque Command Actual
parameter)
• Torque Feedback
• Following Error
Default Analog Output Source
• 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
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.
59
Epsilon Eb Digital Servo Drive Installation Manual
Note
Connecting the A.P.S. 24V return to chassis ground reduces
output offset voltage.
D/A
Black
(GND)
D/A
Yellow
Blue
10 Ohm
2
10 Ohm
2
DGNE Cable
DGNE Cable
60
GND
GND 1
1
44
29
43
Command Connector
Pin #'s
Figure 33:
Diagnostic Cable (DGNE) Diagram
Figure 34:
Epsilon Location
Diagnostics and Troubleshooting
Drive Faults
The Drive Faults Detected dialog box is automatically
displayed whenever a fault occurs. There are three options in
this dialog box: Reset Faults, Ignore Faults and Help.
Figure 35:
Drive Faults Detected Dialog Box
Resetting Faults
Some drive faults are automatically reset when the fault
condition is cleared. Others require drive power to be cycled or
the drive to be “rebooted” to be cleared. If you wish to continue
working in the PowerTools software without resetting the
fault, click the Ignore Fault button.
To reset faults that can be reset with the Reset Faults button,
simply click the Reset Faults button in the Drive Faults
Detected dialog box or push the Reset button on the front of the
drive where the fault occurred.
Viewing Active Drive Faults
To view all active drive faults, select the View Faults command
from the Device menu. The dialog box displayed is the same as
Active Drive Faults dialog box described above.
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Epsilon Eb Digital Servo Drive Installation Manual
Rebooting the Drive
To reboot the drive, cycle power or select the Reboot Drive
command from the Device menu. This command reboots the
drive attached to the active Configuration Window.
Watch Window
This feature allows you to customize a window to monitor drive
parameters which you select from a complete list of drive
parameters. From this window you can watch the parameters
you selected in real time. This feature is only available when
you are online with the drive.
Note
You cannot change the values of the parameters while they
are being displayed in the Watch Window. The parameter in
the setup screens will look like they have been changed
when they actually have not. To update a parameter, delete
it from the Watch Window selection.
Note
It is normal to have the Watch Window show up with the
three motor parameters already selected if the motor
parameters window has been accessed previously. If you do
not need to view them, simply push the Clear All button and
select the parameters you wish to view.
62
Diagnostics and Troubleshooting
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
63
Epsilon Eb Digital Servo Drive Installation Manual
Group
This list box enables you to view the complete list of
parameters or just a group of parameters you are interested in.
The groups include:
Analog Out
Fault Log
Setup
Communication
Home (FM-2 / Ei only)
Status
Digital Inputs
ID
Torque
Digital Outputs
Index (FM-2 / Ei only)
Tuning
Execution
Motor
User Def Motor
Fault Counts
Position
Velocity
Clear All Button
This button is used to clear all the parameter selections that
were previously selected.
Save Selections Button
This button saves the parameter selections. This enables you to
restore the same list of parameters for use in future online
sessions.
Restore Selections Button
This button restores the parameter selections previously
saved. This enables you to restore the list of parameters you
created in a previous online session.
64
Diagnostics and Troubleshooting
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.
65
Epsilon Eb Digital Servo Drive Installation Manual
66
Epsilon Eb Digital Servo
Options and Accessories
Epsilon Eb Digital Servo Drive
STI-EIO
67
Epsilon Eb Digital Servo Drive Installation Manual
ECI-44 External Connector Interface
The ECI-44 allows access to all command and input and output
signals. The ECI-44 should be mounted close to the drive and
away from any high voltage wiring. The ECI-44 comes
complete with the hardware necessary for mounting to most
DIN rail mounting tracks.
Figure 39:
Dimensions of ECI-44
Note
Shield connection points are connected to the shell of the 44pin “D” connector on the ECI-44. Also, the shield connection
points of the ECI-44 are also designed to provide a point for
cable strain relief.
68
Options and Accessories
Use tie wraps to provide a strain relief and a ground connection
at the shield connection points.
If you do not wish to use the DIN rail mounting hardware, the
ECI-44 can be disassembled and the mounting clips removed.
The ECI-44 wire range is #18 to 24 AWG stranded insulated
wire.
Note
Wiring should be done with consideration for future
troubleshooting and repair. All wiring should be either color
coded and/or tagged with industrial wire tabs. Low voltage
wiring should be routed away from high voltage wiring.
STI-EIO Interface
The STI-EIO interface allows access to all digital input and
output signals. The STI-EIO mounts directly to the J3
connector on the drive. See Figure 40 on page 70.
Note
Shield connection points are connected to the shell of the 44pin “D” connector on the STI EIO.
The STI-EIO wire range is #18 to 24 AWG stranded insulated
wire.
Note
Wiring should be done with consideration for future
troubleshooting and repair. All wiring should be either color
coded and/or tagged with industrial wire tabs. Low voltage
wiring should be routed away from high voltage wiring.
69
Epsilon Eb Digital Servo Drive Installation Manual
Figure 40:
70
Dimensions of STI-EIO
Options and Accessories
Figure 41:
ECI-44 Signal Connections
71
Epsilon Eb Digital Servo Drive Installation Manual
72
Epsilon Eb Digital Servo
Specifications
Overview
This chapter describes the drive/motor specifications and cable
diagrams. Specifically, it includes:
•
•
•
•
•
•
•
Drive and Motor Specifications
Power Dissipation
Speed Torque Curves
Epsilon Drive Dimensions
MG Motor Dimensions and NT Motor dimensions
Cable Diagrams
Vendor Contact Information
Drive Specifications
Epsilon Series
Power Requirements
42 - 264 VAC, 1 Ø, 47 - 63 Hz
240 VAC for rated performance or 12 - 375
VDC when using an A.P.S. Logic Supply Input
and disabled Low DC Bus alarm.
Auxiliary Power Supply/
Auxiliary Logic Power Input
For logic backup, 24 VDC, 0.5A
Switching Frequency
20 kHz
Power Supply Output
5 VDC, 250 mA maximum for master encoder
usage
Efficiency - Drive
Eb-202/203: 93% at full rated output power
Eb-205: 95% at full rated output power
Ingress Protection (IP) Rating
Drive: IP20
MG motors: IP65
NT motors: IP65/IP54
Molded motor and feedback cables: IP65
73
Epsilon Eb Digital Servo Drive Installation Manual
Epsilon Series
Serial Interface
RS-232 / RS-485
Internal RS-232 to RS-485 converter
Modbus protocol with 32 bit data extention
9600 or 19.2 k baud
Analog command: ±10 VDC 14 bit, 13 bit, 100
kohm impedance, differential
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
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
74
Specifications
Epsilon Series
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
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: At full speed, use full torque decel
and 5:1 inertial load for Eb 202/203 with NT212 or Eb-205 with MG-340. Repetition
frequency limited only by drive RMS capacity.
No internal shunt resistor.
External: Bus connection provided for
external regeneration unit (EMC model RSR-2
with a 20 ohms resistor) 15 ARMS capacity.
Fault Detection Capability
Low DC bus (can be disabled)
High DC bus
Power Stage fault
Logic power
Encoder state
Encoder line break
Drive overtemperature
Motor over temperature
Overspeed
Travel limit (+)
Travel limit (-)
Pulse mode position error
Watchdog timer
Power-up self test failure
Non-volatile memory invalid
Cooling Method
Eb-202, Eb-203, Eb-205: Convection
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Epsilon Eb Digital Servo Drive Installation Manual
Epsilon 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% noncondensing
Storage temperature: -13 °F to 167 °F (-25
°C to 75 °C)
Derating
Temperature:
Operation in ambient temperature over 50° C
(122° F) not recommended.
Drive output power must be derated by 3 %/°C
between 104° F to 122° F (40° C to 50° C)
Derating altitude: Above 3,280.8 ft (1000 m)
reduce output by 1% per 328.08 ft (100 m)
Standards and Agency Approvals
UL listed
Canadian UL listed
CE Mark: Low voltage directive; EMC directive
Accessory Specifications
Amplifier Weights
Eb-202
Eb-203
Eb-205
3.3 lb (1.5 kg)
3.3 lb (1.5 kg)
3.7 lb (1.7 kg)
*Add 1 lb for shipping.
76
Specifications
Drive and Motor Combination Specifications
Drive
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
Encode
r
resoluti
on
lines/
rev
Motor
Ke
VRMS/
krpm
Motor
Kt
lb-in/
ARMS
(Nm/
ARMS)
MG-205
5
(0.56)
13.5
(1.53)
0.31
(0.23)
0.000084
(0.95)
5000
2048
28.3
4.1
(0.46)
MG-208
6.7
(0.76)
13.2
(1.49)
0.53
(0.4)
0.000144
(0.163)
5000
2048
28.3
4.1
(0.46)
NT-207
7.3
(0.82)
15.2
(1.72)
0.45
(0.34)
0.000094
(0.1063)
5000
2048
35
5.124
(0.58)
NT-212
9.2
(1.04)
18
(2.03)
0.71
(0.53)
0.000164
(0.185)
5000
2048
34.7
5.08
(0.57)
MG-205
5
(0.56)
15.0
(1.69)
0.31
(0.23)
0.000084
(0.95)
5000
2048
28.3
4.1
(0.46)
MG-208
9.1
(1.03)
20
(2.26)
0.58
(0.43)
0.000144
(0.163)
5000
2048
28.3
4.1
(0.46)
MG-316
15.8
(1.79)
31.8
(3.59)
1.0
(0.75)
0.000498
(0.562)
4000
2048
37.6
5.5
(0.62)
NT-212
12.5
(1.41)
27
(3.05)
0.8
(0.6)
0.000164
(0.185)
5000
2048
34.7
5.08
(0.57)
NT-212
12.5
(1.41)
30
(3.4)
0.8
(0.6)
0.00164
(0.185)
5000
2048
34.7
5.08
(0.57)
MG-316
18.6
(2.1)
52
(5.9)
1.00
(0.75)
0.000498
(0.562
4000
2048
37.6
5.5
(0.62)
MG-340
39.5
(4.5)
83
(9.4)
1.8
(1.4)
0.00125
(1.414)
3000
2048
55
8.0
(0.90)
Eb-202
Eb-203
Eb-205
77
Epsilon Eb Digital Servo Drive Installation Manual
Motor Brake Specifications
78
Motor
Holding
Torque
lb-in
(Nm)
Added Inertia
lb-in-sec2
(kg-cm2)
Added Weight
lb (kg)
MGE-2XXCB
10
(1.13)
0.000025
(0.0282)
1.8
(0.55)
MGE-316CB
MGM-340CB
50
(5.6)
0.00015
(0.1693)
2.4
(1.1)
MGE/M-455CB
MG-490CB
MG-4120CB
220
(24.9)
0.000412
(0.4652)
5.8
(2.6)
Motor
Coil Voltage
(VDC)
Coil Current
(Amps)
Mechanical
Disengagement
Time
Mechanical
Engagement
Time
MGE-2XXCB
24 (±10%)
0.48 (±10%)
25 ms
40 ms
MGE-316CB
MGM-340CB
24 (±10%)
0.52 (±10%)
100 ms
250 ms
MGE/M-455CB
MG-490CB
MG-4120CB
24 (±10%)
0.88 (±10%)
100 ms
250 ms
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)
N/A
NT-212
4 (1.81)
N/A
79
Epsilon Eb Digital Servo 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
Figure 42 Axial/Radial Loading
80
Specifications
IP Ratings
Motor
Rating
MG (all)
IP65
NT-207
IP65
NT-207 (w/o seals)
IP54
NT-212
IP65
NT-212 (w/o seals)
IP54
Encoder Specifications
Motor
Density
Output Type
Output
Frequency
Output Signals
Power Supply
MG
and NT
2048
lines/rev
RS422
differential
driver
250 kHz
per channel
A, B, Z, Comm U,
Comm W, Comm V
and all complements
5V, 200 mA ±10%
81
Epsilon Eb Digital Servo Drive Installation Manual
Power Dissipation
In general, the drive power stages are 90 to 95 percent efficient
depending on the actual point of the torque speed curve the
drive is operating. Logic power losses on the Epsilon drive are
11 W with normal loads to 15 W with additional loads such as
external encoder and low input voltage (<22 VDC on A.P.S. or
120 VAC on AC input).
The values shown in the table below represent the typical
dissipation that could occur with the drive/motor combination
specified at maximum output power.
Maximum Power Stage
Losses
(Pp) (Watts)
Total
Power Losses
(Watts)
Eb-202 / MG-205
25
36
Eb-202 / NT-207
25
36
Eb-202 / NT-212
30
41
Eb-203 / NT-207
30
41
Eb-203 / MG-208
55
66
55
66
Eb-203 / MG-316
60
71
Drive Model
Eb-203 / NT-212
82
Logic Power Losses
(typ) Drive
(Pld) (Watts)
11
Eb-205 / NT-212
55
66
Eb-205 / MG-316
72
83
Eb-205 / MG-340
88
99
Specifications
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.
83
Epsilon Eb Digital Servo 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
Mounting Plate Size
MG-205 and 208, NT-207 and 212
6” x 6” x .25”
MG-316 through 490
10” x 10” x .375
MG-4120
12” x 16” x .5”
• Speed torque curves are based on 240 VAC drive operation.
• All specifications are ±5 percent due to motor parameter
variations.
84
Specifications
Figure 43:
Epsilon Speed Torque Curves, sheet 1 of 2
85
Epsilon Eb Digital Servo Drive Installation Manual
Figure 44:
86
Epsilon Speed Torque Curves, sheet 2 of 2
Specifications
Epsilon Drive Dimensions: Eb 202, Eb-203, Eb-205
The following table applies to A* and B* as shown in Figure 45.
Drive Model
Dimension A*
(shown in
inches/mm)
Dimension B*
(shown in
inches/mm)
Eb-202
2.10 [53.3]
.45 [11.4]
Eb-203
2.10 [53.3]
.45 [11.4]
Eb-205
3.56 [90.42]
.7 [17.78]
Figure 45:
Drive Dimesions Eb-202, Eb-203, Eb-205
87
Epsilon Eb Digital Servo 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
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)
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)
MGE-205 and 208 Mounting Dimensions inches (mm)
88
R
C Max
AJ
BB
AK
BF
205
0.300
(7.62)
2.0
(51)
2.625
(66.68)
.063
(1.60)
1.502
(38.15)
.205
(5.21)
208
0.300
(7.62)
2.0
(51)
2.625
(66.68)
.063
(1.60)
1.502
(38.15)
.205
(5.21)
Specifications
MGE-316 and 340 Motors
MGE-316, MGM-316, and MGM-340 Mounting Dimensions
inches (mm)
AG
A
BC
AH
U Max
XD
316
E
7.24
(184.0)
3.31
(84.0)
.44
(11.2)
1.21
(30.7)
.4997
(12.69)
.90
(22.9)
316
M
7.24
(183.9)
3.50
(89.0)
0.44
(11.2)
1.20
(30.5)
.5512
(14.00)
0.79
(20.0)
340
10.24
(260.1)
3.50
(89.0)
.44
(11.2)
1.20
(30.6)
.5512
(14.000)
.787
(20.0)
MGE-316, MGM-316, and MGM-340 Mounting Dimensions inches (mm)
S Min
R
C Max
AJ
BB
AK
BF
316
E
.1265
(3.213)
.42
(10.7)
2.50
(64.0)
3.875
(98.43)
.06
(1.600)
2.877
(73.08)
.233
(66.0)
316
M
0.20
(5.08)
0.43
(10.9)
2.5
(64.0)
3.937
(108.0)
0.12
(3.0)
3.15
(80.0)
.276
(7.01)
340
.197
(5.00)
.429
(10.90)
2.50
(64.0)
3.937
(100.00)
.118
(3.00)
3.150
(80.01)
.276
(7.01)
89
Epsilon Eb Digital Servo Drive Installation Manual
MGE-455, 490 and 4120 Motors
MGE-455, 490 and 4120 Mounting Dimensions inches (mm)
AG
A
BC
AH
U Max
XD
S Min
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)
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)
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)
MGE-455, 490 and 4120 Mounting Dimensions inches (mm)
90
R
C Max
AJ
BB
AK
BF
455
.51
(13.0)
3.20
(81.3)
5.875
(149.23)
.10
(2.50)
4.500
(114.30)
3/8-16
UNC
490
.77
(19.6)
3.20
(81.3)
5.875
(149.23)
.10
(2.50)
4.500
(114.30)
3/8-16
UNC
4120
.77
(19.6)
3.20
(81.3)
5.875
(149.23)
.10
(2.50)
4.500
(114.30)
3/8-16
UNC
Specifications
MGM-455, 490 and 4120 Motors
MGE-455, 490 and 4120 Mounting Dimensions mm (inches)
AG
A
BC
AH
U Max
XD
S Min
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)
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)
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)
MGE-455, 490 and 4120 Mounting Dimensions mm (inches)
R
C Max
AJ
BB
AK
BF
455
15.5
(.61)
70.3
(2.77)
145.00
(5.709)
3.00
(.118)
110.10
(4.331)
10.00
(.394)
490
19.9
(.78)
70.3
(2.77)
145.00
(5.709)
3.00
(.118)
110.10
(4.331)
10.00
(.394)
4120
19.9
(.78)
70.3
(2.77)
145.00
(5.709)
3.00
(.118)
110.10
(4.331)
10.00
(.394)
91
Epsilon Eb Digital Servo Drive Installation Manual
NT Motor Dimensions
NTE-207 Motors; English Face (NEMA 23 with 3/8 inch shaft)
92
Specifications
Note
Mounting ears have clearance for #10 or M5 Allen head
screw or .3125" or 8mm across flat hex nut.
93
Epsilon Eb Digital Servo Drive Installation Manual
NTM-207 Motors; Metric Face
94
Specifications
Note
Mounting ears have clearance for #10 or M5 Allen head
screw or .3125" or 8mm across flat hex nut.
95
Epsilon Eb Digital Servo Drive Installation Manual
NTE-212 Motors; English Face (NEMA 23 with 3/8 inch shaft)
96
Specifications
Note
Mounting ears have clearance for #10mm or M5 Allen head
screw or .3125" or 8mm across flat head screw.
97
Epsilon Eb Digital Servo Drive Installation Manual
NTM-212 Motors; Metric Face
98
Specifications
Note
Mounting ears have clearance for 10mm across flat hex nut
or 13mm O.D. washer.
99
Epsilon Eb Digital Servo Drive Installation Manual
Cable Diagrams
CMDX, CMDO, ECI-44
CDRO
AX4-CEN
Analog In +
Drive Signal
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
Pulse In B (single ended)
X
I/O Input Drive Enable
X
I/O Input #1
X
I/O Input #2
X
I/O Input #3
X
I/O Input #4
I/O Output #1
X
X
X
X
X
X
X
X
X
X
I/O Output #2
X
X
X
I/O 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
100
Specifications
CMDX, CMDO, ECI-44
CDRO
AX4-CEN
Analog Out #1 +
Drive Signal
X
X
X
Analog Out #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
101
Epsilon Eb Digital Servo Drive Installation Manual
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).
102
Specifications
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).
103
CDRO-XXX Cable
Specifications
AX-CEN-XXX Cable
105
Epsilon Eb Digital Servo Drive Installation Manual
EIO-XXX Cable
Input #1
Drive Enable Input
Input #3
Input #2
Input #5
Input #4
Input #7
Input #6
Input #9
Input #8
Input #11
Input #10
Output #1
Output #2
Output #5
Input #12
Output #3
Output #4
I/O +V
I/O Common
N/C
N/C
N/C
N/C
Output #6
Output #7
106
Specifications
TIA-XXX Cable
DDS-XXX Cable
107
Epsilon Eb Digital Servo Drive Installation Manual
TERM-H (Head) Terminator
TERM-T (Tail) Terminator
Note
See the "Multi-drop Communications" section for resistor
values.
108
Specifications
CMDS-XXX Cable
CMMS-XXX Cable
109
CFCS-XXX Cable
Specifications
CFCO-XXX Cable
111
Epsilon Eb Digital Servo Drive Installation Manual
CFOS-XXX Cable
112
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
113
Epsilon Eb Digital Servo Drive Installation Manual
114
Epsilon Eb Digital Servo
Index
A
AC Line Filter Installation
Notes, 14
AC Line Filters, 14
AC Supplies NOT Requiring
Transformers, 22
AC Supplies Requiring
Transformers, 23
Achieving Low Impedance
Connections, 12
Analog Command Wiring, 40
AX-CEN-XXX Cable, 105
Axial/Radial Loading, 80
C
Cable Diagrams, 100
Cable to Enclosure Shielding, 15
CDRO-XXX Cable, 104
CFCO-XXX Cable, 111
CFCS-XXX Cable, 110
CFOS-XXX Cable, 112
CMDO-XXX Cable, 103
CMDS-XXX Cable, 109
CMDX-XXX Cable, 102
CMMS-XXX Cable, 109
Command Cables, 39
Command Connector Wiring, 37
D
DDS-XXX Cable, 107
Declaration of Conformity, x
Diagnostic Analog Output Test
Points, 59
Diagnostic Cable (DGNE)
Diagram, 60
Diagnostic Display, 51
Diagnostics and Troubleshooting,
51
Drive and Motor Combination
Specifications, 77
Drive Enable Wiring, 34
Drive Mounting, 19
Drive overload protection, ix
Drive Specifications, 73
E
ECI-44 External Connector
Interface, 68
EIO-XXX Cable, 106
Electrical Installation, 20
Electromagnetic Compatibility,
11
115
Epsilon Eb Digital Servo Drive Installation Manual
EMC, 11
Encoder Output Signal Wiring,
41
Encoder Specifications, 81
Environmental Considerations,
17
F
Fault Codes, 53
Fault Descriptions, 55
Feature Location, 4
Features, 2
I
Input Power Connections, 26
Input/Output, 34
Installation, 11
Installation Notes, 11
Introduction, 1
IP Ratings, 81
L
M
Mechanical Installation, 19
MG Motor Dimensions, 88
MGE-205 and 208 Motors, 88
MGE-316 and 340 Motors, 89
MGE-455, 490 and 4120 Motors,
90, 91
Modbus Communications, 48
Motor Brake Specifications, 78
Motor Brake Wiring, 32
Motor Feedback Wiring, 32
Motor Mounting, 19
Motor Power Wiring, 31
Motor Weights, 79
Multi-Drop Communications, 49
N
NT Motor Dimensions, 92
NTE-207 Motors, 92
NTE-212 Motors, 97
NTM-207 Motors, 94
NTM-212 Motors, 98
O
Line Fusing, 26
Options and Accessories, 67
116
Index
P
Power Dissipation, 82
Power Dissipation Calculation,
83
Power Supply Requirements, 21
Pulse Mode Wiring, 43
TIA-XXX Cable, 107
Transformer Sizing, 24
U
Underwriters Laboratories
Recognition, ix
R
V
Rebooting the Drive, 62
Resetting Faults, 61
Vendor Contact Information, 113
View Motor Parameters, 65
Viewing Active Drive Faults, 61
S
W
Safety Considerations, 7
Safety of Machinery, 8
Safety Precautions, 7
Serial Communications, 46
Setup, Commissioning and
Maintenance, 8
Specifications, 73
Speed Torque Curves, 84
T
TERM-H (Head) Terminator, 108
TERM-T (Tail) Terminator, 108
Watch Window, 62
Wire Size, 26
Wiring Notes, 18
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