Control Techniques Epsilon EP-I Reference Manual
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Control Techniques Epsilon EP-I Reference Manual

Indexing drive and indexing module
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Epsilon EP-I Indexing Drive and
FM-2 Indexing Module
Reference Manual
P/N 400518-02
Revision: A2
Date: December 29, 2017

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Summary of Contents for Control Techniques Epsilon EP-I

  • Page 1 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual P/N 400518-02 Revision: A2 Date: December 29, 2017...
  • Page 3 Information furnished by Control Techniques Americas is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques Americas. Control Techniques Americas reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Control Techniques Americas also assumes no responsibility for any errors that may appear in this document.
  • Page 4 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 Americas.

  • Page 5: Customer Support

    For the purpose of this manual and product, the “Epsilon” symbol indicates information about the Epsilon drive specifically. Throughout this manual, the word “drive” refers to an Epsilon EP-I and the word “base drive” refers to an MDS drive module.

  • Page 6: Safety Instructions

    “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.

  • Page 7: Safety Considerations

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Safety Considerations Safety Precautions This product is intended for professional incorporation into a complete system by qualified persons. 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.
  • Page 8 For the purpose of this manual and product, “Note” indicates essential information about the product or the respective part of the manual. Throughout this manual, the word “drive” refers to an Epsilon EP-I and the word “base drive” refers to an MDS drive module. viii...

  • Page 9: Table Of Contents

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Table of Contents Customer Support ................iii Safety Instructions .
  • Page 10 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Quick Start Offline Setup ................. . 89 Online Setup .

  • Page 11: Introduction

    Introduction Epsilon Indexing Drives The Epsilon EP-I 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.

  • Page 12: Model Fm

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Module is setup using PowerTools Pro v4.0 software. PowerTools Pro v4.0 is an easy-to-use Microsoft® Windows® based setup and diagnostics tool. Locking Latch Indexing Module 100-Pin Connector Inputs Inputs Outputs...

  • Page 13: Setting Up Parameters

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Setting Up Parameters Graph View Figure 3: Graph View Data Capture Group Graph State There are three graph state conditions in the following order: Filling Buffer, Filled. Waiting for Trigger, and Filled and Triggered.
  • Page 14 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Timing Group The sliders can be moved in several different ways. 1. With the mouse pointer over the slider, left click and hold while dragging the slider back or forth to the desire setting.

  • Page 15: Setup View

    Epsilons and five groups for FM-2 modules. The groups are Identification, Configuration, Drive Encoder Output, Positive Direction, and Switching Frequency with an explanation of each function. Figure 4: Epsilon EP-I Setup View Identification Group The identification group consists of the Axis and the Axis Address.

  • Page 16: Motor View

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Switching Frequency Group (FM-2 only) Switching Frequency (FM-2 Only) “Switching Frequency” is used to select the Drive Module switching frequency. There are two switching frequencies, 5 KHz (default) and 10 KHz. When using 10 KHz the Drive Module current rating will be derated.
  • Page 17 Setting Up Parameters Following is a description of all the different functions on the Motor view. Figure 6: Motor View Motor Type List Box Use this list box to select the motor type. PowerTools Pro software will display all the standard motor models and any user defined motors.
  • Page 18 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Motor Parameters Column Motor Parameters column is a column of data displayed on the Motor view under the Setup view (See Figure 6). This column of data contains the values for each of the motor data parameters. The values in this column are unavailable for edit if the “Use Motor Data From .ddf File”...
  • Page 19 Setting Up Parameters nLines = Total number of Encoder Lines n = Motor Encoder Lines per Rev Coefficient x = Motor Encoder Exponent The total number of encoder lines is used both for commutation and for position/velocity control. To properly commutate the motor, the drive must know the electrical angle (the angle between the motor magnetic field and stator coils).
  • Page 20 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual in the FM3/4 module. Therefore, in order to store the values in the FM module, the Auto-Tune values must be applied to the configuration file. When the user presses “Apply to Config.”, the values in the “Values From Drive” column are transferred into the Motor Parameters column.
  • Page 21 Setting Up Parameters Figure 7: Auto-Tune Dialog Box - Auto-Tune Mode 3 After the Auto-Tune Mode has been selected, click Proceed, to start the Auto-Tune. When the Auto-Tune is completed the results will be in the Values from Drive column on the Motor view. Save .ddf Values Button Once the user has entered the data for the motor they are using, they may or may not wish to save the motor data to the Motor.ddf file so it can be easily recalled at a later time.
  • Page 22 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 8: The User Defined Motor Name Conflict Dialog Box The User Defined Motor Name Conflict dialog box presents the user with four options on how to proceed with saving the motor data.

  • Page 23: User Units View

    Setting Up Parameters Parameters Not Matching List This list is part of the User Defined Motor Name Conflict dialog box and displays the parameter value(s) from the Motor Parameters column that do not match the equivalent parameter value in either the motor.ddf or stdmotor.ddf files, for the motor with the matching name.

  • Page 24: Position View

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Time Scale Group Time Base Select either minute or second as the time scale for the configuration. The default time scale is minutes. If the selected time scale is seconds, then the velocity units will appear as user units/sec.
  • Page 25 Setting Up Parameters Or the In Position window is set to 0.001 inches. If at the end of an index, the following error is calculated to be 0.0015 inches, then the InPosn output will not activate. In Position Time This is the amount of time in seconds that commanded motion must be complete and the absolute value of the following error must be less than the In Position Window parameter for the InPosn output to activate.
  • Page 26 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Following Error The Following Error is the difference (in user units) between the Position Command and the Position Feedback. It is positive when the Position Command is greater than the Position Feedback.

  • Page 27: Velocity View

    Setting Up Parameters Velocity View This view allows the user to set the drive limits, and if online, view the velocity feedback parameters. Figure 11: Velocity View - Online Limits Group Overspeed Velocity This parameter specifies the maximum allowable speed. If the Velocity Feedback exceeds either the drive’s internal overspeed fault limit or the value of the Overspeed Velocity, an Overspeed Fault will be generated.

  • Page 28: Ramps View

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Ramps View Ramps Group Stop Deceleration The value you enter here defines the rate of velocity change to zero speed when a Stop input function is activated. Travel Limit Deceleration The value you enter here defines the rate of velocity change to zero speed when a Travel Limit input function is activated.
  • Page 29 Setting Up Parameters Torque Level 1 and 2 This parameter sets the activation level for the Torque Level 1 Active and Torque Level 2 Active output functions. Peak Torque Available This displays the maximum torque available from the selected drive and motor combination. This is calculated by PowerTools Pro and is not a drive parameter.

  • Page 30: Tuning View

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Tuning View All parameters on the Tuning view are related to the load on the motor and application requirements. The load on the motor is specified by two parameters: Inertia Ratio and Friction. Typical application requirements are specified by the response adjustment and Feedforward Gains.
  • Page 31 Setting Up Parameters Low Pass Filter Group Low Pass Filter Enable Check Box This check box when selected enables a low pass filter applied to the output of the velocity command before the torque compensator. The low pass filter is only active in Pulse and Velocity modes, not Torque Modes. Low Pass Frequency This parameter defines the low pass filter cut-off frequency.

  • Page 32: Alternate Mode View

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Alternate Mode View Figure 14: Alternate View Alternate Mode Selection See “Alternate Mode Select” on page 70 for details on selecting a mode of operation.

  • Page 33: Faults View

    Setting Up Parameters Faults View Figure 15: Faults View - Online Fault Enable Group Low DC Bus Fault Enable This parameter’s default setting is enabled. When enabled, the drive will detect a low DC bus at 60 Vdc and will log a Low DC Bus Fault if a power down is not completed after the low DC bus is detected.

  • Page 34: I/O Setup

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual I/O Setup Input Lines View The Input Lines view is used to assign an input function to an input line. This view is divided into two windows. The “Input Function” window, on the left side, displays the input functions available and the function configuration. The “Input Line”...
  • Page 35 Setting Up Parameters Input Line Window This window displays the input function assigned to the input line and the configuration of the input line and input function. Attached Function This displays the Input Function assigned each particular Input Line. Configuration The debounce value is displayed next to each input line, the active state for the attached input function is shown next to the input function.

  • Page 36: Outputs View

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Outputs View This view is divided into two windows. The “Output Function” window, on the left side, displays the available output functions. The “Output Line” window, on the right side, displays the output lines, the attached output function and the line configuration (Active Off).

  • Page 37: Analog Inputs View

    Setting Up Parameters Active Off Check Box The default active state of an output line is Active On. This means that the output line will supply a voltage when the result of the logical Or of the output function(s) assigned to that output line is active. Making an output line "Active Off"...

  • Page 38: Analog Outputs View

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Analog Outputs View This view displays the setup and feedback data for the two Analog Outputs. Figure 20: Analog View - Online Analog Outputs Group Source Select the signal to use as the source for the Analog Output. There are six options: Velocity Feedback, Velocity Command, Torque Feedback, Torque Command, Position Feedback and Following Error.
  • Page 39 Setting Up Parameters Figure 21: Jog View Jog Velocity This parameter specifies the velocity used for jogging with the Jog + or Jog - input functions. Jog Fast Velocity This parameter specifies the velocity used for fast jogging with the Jog Fast input function in conjunction with either the Jog + or Jog - input functions.

  • Page 40: Home View

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Home View This view allows you to enable and define the home function. Figure 22: Home View Home Type The Home Type parameter determines the type of home, Standard Home or One Side Home.

  • Page 41: Index # View

    Setting Up Parameters Acceleration This parameter specifies the acceleration value to be used during the home. The acceleration units are defined by the Time Scale parameter on the User Units view. Deceleration This parameter specifies the deceleration value to be used during the home. The deceleration units are defined by the Time Scale parameter on the User Units view.
  • Page 42 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 23: Index0 View Index Number The device supports up to 16 indexes (0 - 15). Use the scroll arrows to change the index number or click on the index number in the hierarchy tree.
  • Page 43 Setting Up Parameters Velocity The Velocity parameter specifies the velocity used for the index. The velocity parameter is unsigned and must be greater than zero. Acceleration The Acceleration parameter specifies the acceleration value to be used during the index. The acceleration is specified in units of ms/(k(user unit)/min) or user units/sec , depending on the time base parameter from the User Units View.
  • Page 44 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 24: Index View - Chain Tab Compound Indexes This chaining instruction is used to initiate an index which has no deceleration ramp. The index accelerates up to speed and runs at speed until the specified distance is reached.

  • Page 45: Status View

    Setting Up Parameters Figure 27: Index 0 Compounded into Index 1 Status View This view has two tabs, the Status Online tab displays the drive status in real time and the Information tab displays general information about the drive/module the user is online with. Status Online Tab The information in this view is divided into five categories: Position, Velocity, Torque, Drive Status and Index.
  • Page 46 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Following Error The Following Error is the difference between the Position Command and the Position Feedback. It is positive when the Position Command is greater than the Position Feedback. Encoder Feedback The motor position in encoder counts since power up when the value was set to zero.

  • Page 47: Graph View

    Setting Up Parameters ID Group Firmware Revision (Epsilon only) Displays the revision of the firmware in the drive you are currently online with. FM Firmware (FM-2 only) Displays the revision of the firmware in the drive you are currently online with. Serial Number or Drive Serial Number Displays the serial number of the drive with which you are currently online.
  • Page 48 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Data Capture The Data Capture group includes initiate, stop, and graph commands for the graphical monitor. The “Run” button commands the drive to begin a high speed data capture of the parameters as selected in each of the four data channels.
  • Page 49 Setting Up Parameters Figure 30: Graphical Plot...
  • Page 50 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual...

  • Page 51: Operational Overview

    Torque Presets is not available when a FM-2 Module is attached. The Epsilon EP-I Indexing Drive and FM-2 Indexing Module allow you to setup 16 different indexes, Slow and Fast Jog functions and a single Home routine. They also provide eight digital input lines and four digital output lines in addition to the four input and three output lines available on the drive.
  • Page 52 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 32: Jog View Jog and Jog Fast Velocity The Jog Velocity parameter specifies the velocity used for jogging with the Jog + or Jog - input functions. The Jog Fast Velocity parameter specifies the velocity used for fast jogging with the Jog Fast input function in conjunction with either the Jog + or Jog - input function.

  • Page 53: How Home Works

    Operational Overview Jog + Input Velocity Time Figure 33: Jog Input Jog + Input Jog Fast Input Velocity Time Figure 34: Jog Input and Jog Fast Input When the Jog Fast input function is not active, the target velocity for the jog is the Jog Velocity. If the Jog Fast input function is active, the target velocity of the jog is the Jog Fast Velocity.
  • Page 54 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 35: Home View Home Type The first step in setting up a home routine is to select the desired home type. Standard Home The device can home the motor to an external sensor, the motor’s encoder marker pulse or to a sensor and then to the encoder marker pulse.
  • Page 55 Operational Overview Standard Home Sequence Initiate Home Absolute Position Valid = OFF Reverse Motor Direction Home Sensor (default) =ON? Home Sensor = OFF? Home Sensor Reverse Motor Direction = ON? Home Sensor = ON? Travel Spec or Calc Offset Travel Spec or Calc Offset Absolute Position Valid = ON Absolute Position Valid = ON Figure 37:...
  • Page 56 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual One Side Home Sequence Initiate Home Absolute Position Valid = OFF Reverse Motor Direction Home Sensor (default) =ON? Home Sensor = OFF? Home Sensor =ON? Reverse Motor Direction Travel Limit?
  • Page 57 Operational Overview Establishing a Home Reference Position The second step in setting up a home routine is to select the desired home reference type. The Home Reference parameter selected determines how the Home Reference Position is established. PowerTools Pro allows selection of one of three different Home References: Sensor, Marker, or Sensor and Marker for a Standard Home and Sensor for a One Side Home.
  • Page 58 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Note The data above assumes the use of a perfectly repeatable home sensor. Sensor and Marker, and Marker home types will establish a repeatable home position within one encoder count at any motor velocity.
  • Page 59 Operational Overview The calculated offset is the distance travelled during deceleration ramp from the home velocity to a stop plus the distance travelled at the home velocity for 400µs. This extra distance is used to guarantee that the motor will not need to backup after the deceleration ramp.
  • Page 60 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Home Offset Examples The following three home cycle examples each use a different offset method or value. Example 1: Calculated Offset In the example below, a calculated offset is used.
  • Page 61 Operational Overview Figure 47: Specified Offset Screen Figure 48: Specified Offset, Greater than Calculated Offset...
  • Page 62 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Example 3: Specified Offset, Back up Required In the example below the specified offset is located such that the motor must stop and back up to get to the offset position.
  • Page 63 Operational Overview Gear Reducer External NT Motor with Home Sensor Encoder Carriage Figure 51: Back Off Sensor Example Home Sensor Input Velocity Back off Sensor Move Time Start of Normal Home Routine Home Reference Position Figure 52: Back Off Sensor In the figure on the previous page, the motor has restricted travel.
  • Page 64 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual t o r Figure 53: Move Forward Off Sensor Example In the application shown above we will assume that the motor can only move in the positive (+) direction. The Home Sensor input can be triggered by any one of the spacer lugs on the belt.
  • Page 65 Operational Overview Home Limit Distance Hit This output function indicates that no home reference was found while traveling to the Home Limit Distance. The device will decelerate and stop at the Home Limit Distance. This output function is activated when the motor stops. It is deactivated when any index, home or jog is initiated.
  • Page 66 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 55: Home Screen, Sensor and Marker Selected Velocity + 100 + 100 Back off Sensor Time - 100 Sensor Marker Figure 56: Home Velocity Profile Marker Sensor Home Move...
  • Page 67 Operational Overview External Home Sensor Figure 58: Sensor and Marker then Offset When the device sees the rising edge of the Home Initiate input function, it accelerates the motor to the Home Velocity. The motor continues at that velocity until it first senses the Home Sensor input. The motor continues on at the home velocity until the marker is activated.

  • Page 68: How Indexes Work

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 60: Home Velocity Profile Figure 61: Home Move Sequence How Indexes Work An index is a complete motion sequence that moves the motor a specific incremental distance or to an absolute position. This motion sequence includes an acceleration ramp to a programmed velocity, a run at velocity, a deceleration to a stop, and a dwell time.
  • Page 69 Operational Overview Figure 63: Index 0 View All Indexes use linear acceleration and deceleration ramps which may or may not reach the specified velocity depending on the total distance and the ramp values. For example, a short move with long acceleration and deceleration ramps may not reach the peak velocity entered.
  • Page 70 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Motor Revolutions Figure 64: Absolute Index In the example above, the index position is 4 revs. If this index is initiated the motor will travel to a position of 4 revs no matter where it is sitting before the move.
  • Page 71 Operational Overview regardless of the starting point. A Rotary Plus Index moves to the specified position, but is forced in a positive direction. Similarly, a Rotary Minus Index moves to the specific position, but is forced in a negative direction. Rotary Plus and Minus Indexes are usually used in rotary applications, therefore the rotary rollover feature on the User Units view in PowerTools Pro software must be enabled to use them.
  • Page 72 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Dwell Time The Index Dwell Time parameter specifies the amount of time the system will wait after the index motion before the index is considered complete. Index Count The Index Count parameter specifies how many times the index will repeat itself upon being initiated. There are three different parameters to choose from, Repeat Forever, Repeat Count, and Repeat while Input Function active.
  • Page 73 Operational Overview Registration Window End This parameter defines the end of the Registration Sensor Valid Window relative to start position of this index. This is an unsigned value and is relative only to starting position of this index. Index direction does not affect this parameter. The Registration Window End position (or distance) should be greater than the Registration Window Start position.

  • Page 74: How Chaining Works

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual How Chaining Works Chaining is a way to combine two or more indexes into a single sequence. Any index can be chained to another index regardless of index type. By chaining multiple indexes together, the user is only required to perform a single index initiate to execute multiple indexes.

  • Page 75: Index Input And Output Functions

    Operational Overview Stop If “Stop” is selected, then the motor will come to a stop at the end of the index and the system will return to a Ready state. If Stop is selected, the Next Index parameter will be unavailable. Start Next Index If “Start Next Index”...
  • Page 76 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual functions. The table below shows this concept. The status of the four Index Select Input functions are combined together to form a 4 bit binary number. Index Index Index Index...
  • Page 77 Operational Overview End of Chaining Count This output function is activated when the index chain has repeated the chain the number of times as specified in the Global Chain Count parameter. When the last index in the chain has completed the specified Chain Count times (after the Dwell), the End of Chaining Count will activate and remain on until the next index initiate.
  • Page 78 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual When this index is complete then: Stop Chain Count = 1 Index1 Index1 Index2 Index1 Index1 Index2 Dwell Dwell Dwell End of Index Motion Less than 10 usec End of Index...

  • Page 79: How Alternate Mode Works

    Operational Overview Index6 Index5 Index5 Index6 Dwell End of Index Motion End of Index End of Index Count Run Next Index Run Next Index Input Function Turned On Figure 70: Example 3 – Index5 is chained to Index6 using the Wait for Run Next Index input function. How Alternate Mode Works In addition to Jog, Index, and Home functions, the EP-I drive provides three basic modes of operation in Alternate Mode: Analog Velocity, Analog Torque, and Pulse Mode.
  • Page 80 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Alternate Mode Select Analog Velocity Mode Analog Inputs The Analog Inputs receives an analog voltage which is converted to the Velocity Command Analog parameter using the Full Scale Velocity, Analog Input Full Scale, and Analog Input Zero Offset parameters. The equation for this conversion is: ((AI −...
  • Page 81 Operational Overview In Torque mode the drive receives an Analog Input which is scaled to the Analog Torque Command by the Full Scale Torque, Analog Input Full Scale, and Analog Input Zero Offset parameters. The equation is: − ((AI AZO) FST) Where: TC = Torque Command...
  • Page 82 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Pulse Mode In Pulse mode, the drive will receive pulses which are used to control the position and velocity of the motor. There are three pulse interpretations associated with Pulse mode: Pulse/Pulse, Pulse/Direction and Pulse/Quadrature. These selections determine how the input pulses are interpreted by the drive.
  • Page 83 Operational Overview Figure 76: Pulse/Direction Signals, Differential Inputs Pulse/Quadrature Interpretation In Pulse/Quadrature interpretation, a full quadrature encoder signal is used as the command. When B leads A encoder counts are received they are interpreted as positive changes to the Pulse Position Input. When A leads B encoder counts are received they are interpreted as negative changes to the Pulse Position Input.
  • Page 84 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Differential Source The Differential setting (default) is perfect for most encoders or upstream drives. The differential input circuit is RS-422 compatible making it inherently noise immune while being able to accept pulse rates of up to 1.75 Mhz per channel.
  • Page 85 Pulse CCW /: Commands negative (-) motion on the falling edge (active edge) of a pulse. A and B: Encoder Quadrature signal interpretation. When B leads A Positive (+) motion commands will be generated, When A leads B, negative (-) motion commands will be generated. Epsilon EP-I Wiring Example: STI-SNCOA Analog/Sync Pulse-Direction Pulse-Pulse...
  • Page 86 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Online Tab This tab is only available when online with the drive. Velocity Group Analog Command Velocity When the drive is in Analog Velocity mode this parameter shows the current velocity commanded after the scaling of the Analog input function.

  • Page 87: Drive Modifiers

    Operational Overview Drive Modifiers This section describes functions that can modify the operation of the drive. Stop The Stop input function, when activated, will cause motion to stop regardless of motor direction or the operating mode. The Stop Deceleration Ramp defines the rate of velocity change to zero speed. Activating the Stop input function causes the drive to change to Velocity mode.

  • Page 88: Shunt Operation

    An internal shunt control algorithm is used to prevent the external shunt resistor from overloading. It is necessary to provide the appropriate shunt resistor ratings in the PowerTools Pro software. Default values are in place for the Control Techniques shunt resistor kit.

  • Page 89: Analog Inputs View

    Operational Overview Note No motion should be commanded while the brake is engaged. Brake Release Input Brake Control Input Enabled Drive Power Stage Disabled (1) = Active output function (0) = Inactive output function Brake Release The Brake Release input function will release the brake under all conditions. When this input function is on, the Brake output function will be on (i.e., release brake).

  • Page 90: Digital Inputs And Outputs

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual • Position Feedback Default Analog Output Source: • Channel 1 = Velocity Command • Channel 2 = Velocity Command Output Source Offset Scale Velocity Command 600 RPM/volt Velocity Command 600 RPM/volt Each channel includes a programmable Analog Output Offset and an Analog Output Scale.
  • Page 91 Operational Overview All inputs and outputs are configured as sourcing and are designed to operate from a +10 Vdc to +30 Vdc power source. The user is responsible for limiting the output current to less than 150 mA for each digital output. Input Function Active State The active state of an input function can be programmed to be Active Off or Active On using PowerTools Pro.
  • Page 92 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Making an output line "Active Off" means that the line will be “Off” (not conducting) when the result of the logical Or of the output function(s) assigned to that output line is active, and will supply a voltage when the logical Or of the output function(s) is not active.
  • Page 93 Operational Overview Index Index Index Index Selected Select #0 Select #1 Select #2 Select #3 Index (value = 1) (value = 2) (value = 4) (value = 8) With all four Index Select lines assigned, but none of them active, Index number 0 will be initiated when the Index Initiate input function goes activated.
  • Page 94 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Torque Limit Enable This input function, when active, causes the Torque Command to be limited to the value of the Torque Limit parameter. Travel Limit + and - The + and - Travel Limit input functions will stop motion in the direction indicated by the input function name using the Travel Limit Deceleration rate.
  • Page 95 Operational Overview Home Limit Distance Hit This output function indicates that no home reference was sensed during the move to the Home Limit Distance. In + and In - Motion This output function is activated whenever the velocity is greater than the In Motion Velocity parameter in the positive or negative direction.

  • Page 96: How Communications Work

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual How Communications Work Configuring Communication Before attempting to upload or download a configuration file using PowerTools Pro, the software must be configured to the correct communication settings for the intended communication connection.
  • Page 97 Operational Overview Downloading Downloading is the process of sending the configuration created with PowerTools Pro from the PC to the device. Changes made in PowerTools Pro will not take effect until the information has been downloaded or the Update to RAM button has been clicked.
  • Page 98 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual • Base/Drive FW Revision • Module FW Revision • Module Serial Number • Drive Serial Number Figure 83: Change Path Dialog Box Select the device in the list and then click OK. The communication connection path will then be displayed in the status bar at...

  • Page 99: Epsilon Ep-I Indexing Drive And Fm-2 Indexing Module Reference Manual

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Quick Start Offline Setup Note Generally, online setup is used when editing parameters in a device. Offline setup editing is usually only done when not connected to a device. Step 1: Opening an Offline Configuration Window To open an offline Configuration Window, click the New button from the toolbar or select New from the File menu.
  • Page 100 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 86: Setup View Entering Identification Parameters: Enter an axis identifying name for the drive you are setting up. You can use up to 24 alpha-numeric characters. Enter the Axis Address to which you wish to download the setup information. Unless you have changed the Modbus address of your device, leave this parameter set to the default value of 1.
  • Page 101 Quick Start Step 3: Assigning Inputs Inputs are assigned in the Inputs view which is divided into two windows. The “Input Functions” window, on the left side, displays the input functions available, the function polarity and the always active state. The “Input Lines” window, on the right side, displays the drive enable input, four input lines, the debounce value and input function assignments.
  • Page 102 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 89: Outputs View To assign an Output Function to an Output Line: Assign an output by highlighting an output function in the “Output Function” window and drag the highlighted output function to the desired output in the "Output Line"...
  • Page 103 Quick Start Figure 90: Jogging Parameter Set-up Before initiating jogging motion, enter the jog related parameters as described below. The Jog Velocity parameter specifies the velocity used for jogging when the Jog Fast input function is not active. The Jog Fast Velocity parameter specifies the velocity used for jogging when the Jog Fast input function is active. The Acceleration parameter specifies the acceleration value to be used during jogging.
  • Page 104 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual The Home Reference parameter determines how the home reference position is established. The parameter can have one of three different values: ‘Sensor’, ‘Marker’, ‘Sensor and Marker’. • When the Home Reference is ‘Sensor’ the going active edge of the ‘Home Sensor’ input function is used to establish the reference position.

  • Page 105: Online Setup

    Quick Start Use the scroll wheels to select the Index Number you want to modify (0 to 15) or click the on the index number in the hierarchy view. Select the index type. Absolute indexes travel to specific absolute positions. Incremental indexes move the axis a specific distance from its current position.
  • Page 106 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 93: Communications Setup Screen Note After communications are established the baud rate can be changed by selecting from the Device menu, choose Change Baud Rate. Step 2: Downloading the Configuration File When you are ready to download the information in the current Configuration Window, go to the Setup view and enter the address of the device you wish to download to in the “Axis Address”...
  • Page 107 Quick Start Figure 94: Upload Drive Configuration Dialog Box Step 5: Operation Verification After downloading a configuration file to the device the user may want to verify the operation of the system using the checklist below. I/O powered and Logic powered if applicable Connections installed Enable the drive Verify “R”...
  • Page 108 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual...

  • Page 109: Tuning Procedures

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Tuning Procedures The drive uses closed loop controllers to control the position and velocity Travel Limit of the attached motor. These position and velocity controllers and the associated tuning parameters are in effect when the drive is in velocity or pulse mode and have no effect when the drive is in Torque mode.
  • Page 110 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Tuning steps If your Inertia Ratio is greater than 10 times the motor inertia, go directly to the Intermediate Level tuning. No Tuning No tuning will be required in most applications where the load inertia is 10 times the motor inertia or less.
  • Page 111 Tuning Procedures Figure 95: Default Inertia Setting (0) Figure 96: Inertia Setting (5) Increase the response parameter The Response is normally the next adjustment when tuning. For best performance the Response should be lower with a higher inertia mismatch (>10:1) and higher with a lower inertia mismatch. This is because most higher inertia systems have torsional compliance in the frequency range of interest.
  • Page 112 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 97: Inertia Setting (5) Response Position Error Integral The difference in motion when this parameter is disabled and enabled can be observed in the following graphs. The first graph shows motion with the position error integral turned off.

  • Page 113: Tuning Parameters

    Tuning Procedures Tuning Parameters Inertia Ratio Inertia Ratio specifies the load to motor inertia ratio and has a range of 0.0 to 50.0. A value of 1.0 specifies that load inertia equals the motor inertia (1:1 load to motor inertia). The drives can control up to a 10:1 inertia mismatch with the default Inertia Ratio value of 0.0.
  • Page 114 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual High Performance Gains Enabling High Performance Gains fundamentally affects the closed loop operation of the drive and greatly modifies the effect of the Response parameter. High Performance Gains are most beneficial when the Inertia Ratio and Friction parameters are accurate.

  • Page 115: Determining Tuning Parameter Values

    Tuning Procedures Determining Tuning Parameter Values For optimum performance you will need to enter the actual system parameters into the drive. This section discusses the methods which will most accurately determine those parameters. Note If you have an application which exerts a constant unidirectional loading throughout the travel such as in a vertical axis, the inertia tests must be performed in both directions to cancel out the unidirectional loading effect.
  • Page 116 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Use the appropriate formula below to calculate the inertia. For horizontal loads or counterbalanced vertical loads use the following formula: • Vm (Ta Td)) − 2000 Where: IR = Inertia Ratio...
  • Page 117 Tuning Procedures Percent Continuous/volt RPM /volt (default scaled Motor Drive (default scaled Torque Actual Velocity) Command) MG-316 3.17 MG-340 3.14 MG-455 2.44 NT-320 EN-208 5.16 NT-330 6.87 NT-345 6.72 NT-355 5.97 MG-455 2.44 MG-490 1.85 MG-4120 EN-214 1.69 NT-345 6.72 NT-355 5.97 NT-207...
  • Page 118 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual...

  • Page 119: Diagnostics And Troubleshooting

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Diagnostics and Troubleshooting Diagnostic Display The diagnostic display on the front of the drive shows drive, base drive and FM-2 Module status and fault codes. When a fault condition occurs, the drive will display the fault code, overriding the status code.

  • Page 120: Fault Codes

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Display Indication Status Description Stall Foldback Drive output current is limited to 80 percent of drive stall current. (EN drive only) Ready to Run Drive enabled, no Stop input. Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive.
  • Page 121 This fault indicates that the firmware checksum has failed. From the Tools menu, Flash Upgrade to reprogram/upgrade the firmware stored in flash memory. If this problem persists, call Control Techniques. A common cause would be an interrupted F/W Flash upgrade (cable disconnected in the middle of an upgrade process).
  • Page 122 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual This can also happen when a FM is removed from a drive and the drive is powered-up. To reset the fault, create or open a configuration file with the correct drive and motor selections and download the configuration to the FM or drive.

  • Page 123: Diagnostic Analog Output Test Points

    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 Technical Service at Control Techniques. Diagnostic Analog Output Test Points The DGNE cable was designed to be use with either an oscilloscope or a meter. The wires are different lengths to avoid shorting to each other.
  • Page 124 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 101: Diagnostic Cable (DGNE) Diagram...

  • Page 125: Drive Faults

    Diagnostics and Troubleshooting Drive Faults Faults View The Faults view displays any active faults in the system. Those faults that do not require a reboot, can be cleared by clicking on the Reset button on the front of the drive or module. Figure 102: Faults View Resetting Faults...

  • Page 126: Watch Window

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Watch Window PowerTools Pro contains a diagnostic utility called the Watch Window. The Watch Window can be used while PowerTools Pro is running and the PC is online with the device. The Watch Window allows the user to monitor the status of all the desired system parameters in one location.
  • Page 127 Diagnostics and Troubleshooting Figure 104: The Watch Window Once a parameter is added to the Watch Window, it’s current value or state is constantly monitored. If a parameter in the window changes value or state, it will change to a red color. It will remain red until it hasn’t changed for a period of 4 seconds. After 4 seconds, the parameter will turn back to black in color.

  • Page 128: Error Messages

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Error Messages PowerTools Pro 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.

  • Page 129: User Defined Motors

    Test your system to verify that the servo system is working correctly. Step 1:Motor Wiring The first step is to wire the motor terminals to the drive. Control Techniques designates the motor terminals as R, S and T. Use the following procedure to establish the R, S and T mapping:...
  • Page 130 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Assume the motor terminals of the non-Control-Techniques motor are designated A, B and C. If they are not marked, name the terminals randomly. The next steps will determine their working designations.
  • Page 131 Figure 106: Phase Plot Used to Determining Stator Wiring Note For the remainder of this procedure we will refer to the motor terminals using the Control Techniques designations R, S and T. Step 2:Motor Feedback Wiring This step describes how to wire the feedback signals to the drive. There are two parts to this step: electrical interfacing and logical interfacing.
  • Page 132 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Figure 107: Encoder Connections, User Motor to a Control Techniques Drive Note The maximum current available out of the drive encoder +5 volt supply connection is 250 mA. Figure 108:...
  • Page 133 User Defined Motors • Voltage rating min: 10 Vdc • I capacity min: 1 mA Encoder Logical Interfacing The encoder is expected to provide six logical signals: A, B, Z, U, V and W. Each of these signals is received at the drive by a differential receiver circuit.
  • Page 134 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Encoder signals are used for commutation. Incorrectly wired encoder signals can cause damage to the drive. Step 3:Determine Encoder Alignment In order for the drive to commutate with a motor correctly, it must know how the encoder commutation tracks and how the marker pulses are aligned with respect to the R, S and T windings in the stator.
  • Page 135 User Defined Motors Figure 112: CCW Electrical Angle Plot   °     Where: EUA = Motor Encoder “U” Angle If EUA is >360° subtract 360°. Next, use the oscilloscope to examine the phase relationship between Z and V .
  • Page 136 CCW. Dynamic Alignment Method This method is used at Control Techniques to establish the alignment on motors. It is accomplished by spinning the motor CCW with another device while monitoring U and V . Then while the motor is spinning CCW, the encoder body is rotated on its mounting until the desired alignment is established.
  • Page 137 User Defined Motors Static Alignment Method Another method to align the encoder is to apply DC current through the motor power phases R to S and rotate the encoder on it’s mounting until the rising edge of U is detected with a voltmeter or an oscilloscope. This procedure does not require spinning the motor.
  • Page 138 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Determine the actual RPM using a photo-tachometer or by monitoring the frequency of the Z channel with an ocsilloscope. Note When using an oscilloscope, use the following formula to determine the motor velocity in RPM.
  • Page 139 The header includes the revision and serial number information along with a count of how many special motor definitions are included in the particular file. Standard Control Techniques motors will not appear in this file because their data is hard coded into the drive’s memory.
  • Page 140 Note These parameters are valid and active only when a user defined motor is selected. When a Control Techniques motor is selected, the data in these registers remain at the last value set and do not update to reflect the data of the Control Techniques motor selected.
  • Page 141 User Defined Motors Motor Encoder U Angle Specifies the electrical angle at which the rising edge of the U commutation track will occur with reference to V when the motor is spun in the encoder reference direction. At power-up the drive looks at the status of the U, V and W commutation tracks and, using this parameter, obtains a crude (± 30 °) estimate of the electrical angle.
  • Page 142 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Selecting a User Defined Motor Use the following procedure to select the user defined motor with PowerTools Pro. Start PowerTools Pro and either open an existing file or start a new file offline.
  • Page 143 User Defined Motors At a certain point in the test it will be necessary to manually rotate the motor through an integral number of revolutions. This can only be done if the motor shaft and housing are marked in some way so that the motor can be aligned to a specific position. A disk or pulley can be installed during that portion of the test to make this alignment more precise.
  • Page 144 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual To confirm this repeat Steps 7-9 several times with different motor shaft starting locations. If the absolute value of the parameter is greater than 40, there is either a problem with the phasing of U, V and W or an inconsistency in the encoder alignment parameters.
  • Page 145 User Defined Motors Confirm that the motor velocity is really 6 RPM by confirming that it takes 10 seconds to make one revolution. If this is not the case, the problem may be that both the motor poles and the encoder line density are off by the same factor. Reduce the analog command voltage to zero volts and disable the drive.
  • Page 146 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual...

  • Page 147: Options And Accessories

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Options and Accessories Epsilon EP Drive Options Drive Brake Relay, BRM-1 External Shunt Resistor, SM-Heatsink DBR1 Motor Power Cable, XTMDS-xxx Motor Brake Cable, XTBMS-xxx XV Motors ESA HMI to Drive,...

  • Page 148: Fm-2 Indexing Module Options

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual FM-2 Indexing Module Options The following cables are used to connect various components to the MDS drive module and FM-2. OIT-EN-232-XXX OIT-EN-485-XXX OIT-PC-232-XXX and D9P-D9P adapter Serial Cable, DDS-XXX, Drive to Drive (J4 to J4)

  • Page 149: Sti-24Io Interface

    STI-24IO Interface The STI-24IO interface for the Epsilon EP-I drives, see figure 116, allows access to all digital input and output signals. The STI-24IO board mounts directly to the Epsilon EP-I drive Input/Output Connection (J3) and away from any high voltage wiring.

  • Page 150: Sti-Eio Interface

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual STI-EIO Interface The STI-EIO interface for the Epsilon Classic drives, see figure 117, allows access to all digital input and output signals. The STI-EIO board mounts directly to the Epsilon drive’s Input/Output Connection (J3) and away from any high voltage wiring.

  • Page 151: Eci-44 External Connector Interface

    Options and Accessories ECI-44 External Connector Interface The ECI-44 allows access to all command and input and output signals on the MDS drive module. The ECI-44 should be mounted close to the drive module and away from any high voltage wiring. The ECI-44 comes complete with the hardware necessary for mounting to most DIN rail mounting tracks.
  • Page 152 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Command Connector on Drive (J5) Screw Terminals on ECI-44 Input #1 Input #2 Input #3 Inputs Input #4 Drive Enable Input Output #3 Output #2 Outputs Output #1 RS 485 +...

  • Page 153: Fm-2 Specifications

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Specifications Drive overload protection. Rated output current (Amps RMS) Drive Model Continuous Peak Ei-202 Ei-203 Ei-205 10.0 FM-2 Specifications Power consumption: 5 W from the drive module power supply. Function...

  • Page 154: Dimensions And Clearances

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Dimensions and Clearances Epsilon EP-I Drive The following table applies to the "A" as shown in the figure below. Dimension "A" Drive Model (shown in inches/mm) EP202/204 2.11 [53.59] EP206 2.82 [71.63]...

  • Page 155: Dimensions And Clearances

    Specifications FM-2 Dimensions and Clearances Figure 120: FM-2 Module Dimensions...
  • Page 156 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 the Application Department at Control Techniques with your system profiles and loads.

  • Page 157: Cable Diagrams

    Specifications Cable Diagrams CMDS-XXX Cable BRAID SHIELD FORM WIRE GRN/YEL PE/GND SOLDER SIDE Socket CMMS-XXX Cable BRAID SHIELD FORM WIRE GRN/YEL PE/GND SOLDER SIDE Socket...
  • Page 158 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual ESA-SP-485 Drain Wire WHT/GRN SIGNAL GND SIGNAL GND WHT/BLU TXRX+ TXRX+ TXRX- TXRX- WHT/ORG WHT/BRN 470 Ω 13 12 11 11 25 24 470 Ω 220 Ω SOLDER SIDE PIN 1...
  • Page 159 Specifications SNCE Pin 1 RED/WHT YEL/WHT BLU/WHT BLK/WHT +5 Vdc +5 Vdc DRAIN WIRE...
  • Page 160 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual SNCDD-915 Pin 1 Pin 1 Drain Wire SOLDER SIDE 12 11 SOLDER SIDE...
  • Page 161 Specifications SNCFLI Pin 1 Blunt end Drain Wire SOLDER SIDE...
  • Page 162 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual SNCFLOA Pin 1 Blunt end ENCODER OUT A ENCODER OUT A ENCODER OUT B ENCODER OUT B ENCODER OUT Z ENCODER OUT Z WHT/BRN PULSE IN A (SINGLE ENDED) BRN/WHT...
  • Page 163 Specifications MOTOR POWER CABLES XTMDS PIN 1 BRAID SHIELD FORM WIRE GRN/YEL PE/GND REAR VIEW OF CONNECTOR...
  • Page 164 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual XCMDS BRAID SHIELD FORM WIRE GRN/YEL PE/GND (20 AWG) BLU/WHT (20 AWG) Drain Wire SOLDER SIDE Socket XCMDBS FORM WIRE BRAID SHIELD GRN/YEL PE/GND (20 AWG) BRK+ BLU/WHT (20 AWG)
  • Page 165 Specifications MOTOR FEEDBACK CABLES XEFTS Pin 1 PIN 1 Inner Drain Wire Inner Drain Wire Inner Drain Wire WHT/BRN BRN/WHT WHT/GRY GRY/WHT RED/ORG ORG/RED RED/BLU (18 ga.) +5 VDC +5 VDC BLU/RED (18 ga.) COMMON Inner Drain Wire RED/GRN MOTOR TEMP GRN/RED SHIELD Overall Shield Drain Wire...
  • Page 166 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual XEFCS Pin 1 Inner Drain Wire Inner Drain Wire Inner Drain Wire WHT/BRN BRN/WHT WHT/GRY GRY/WHT RED/ORG ORG/RED RED/BLU (18 ga.) +5 VDC +5 VDC BLU/RED (18 ga.) COMMON Inner Drain Wire...
  • Page 167 Specifications EFCS Pin 1 Inner Drain Wire Inner Drain Wire WHT/BRN Inner Drain Wire BRN/WHT WHT/GRY GRY/WHT RED/ORG ORG/RED RED/BLU +5 VDC +5 VDC BLU/RED COMMON RED/GRN Inner Drain Wire MOTOR OVERTEMP MOTOR TEMP GRN/RED NOT USED Outer Drain Wire SOLDER SIDE SOLDER SIDE To Epsilon EP...
  • Page 168 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual...

  • Page 169: Glossary

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Glossary µs Microsecond, which is 0.000001 seconds. Ampere. The unit of electrical current. Amplifier Servo Drive. ARMS Ampere (RMS).Root Mean Square. American Wire Gauge. Baud Rate The number of binary bits transmitted per second on a serial communications link such as RS-232. (1 character is usually 10 bits.)
  • Page 170 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual 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).
  • Page 171 Glossary Milliamp, which is 1/1000th of an Ampere. Mega-byte. MODBUS® Communication Protocol by Gould, Inc. for industrial communications systems comprised of programmable controller interface units, protocol software and modems. The MDS drive module follows the Modbus specification outlined in the Modicon Modbus Protocol Reference Manual, PI-MBNS-300 Revision G, November 1994.
  • Page 172 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual PowerTools Pro Windows®-based software to interface with the Epsilon Classic and EP drives, MDS system, and FM-2/3/4 Function Modules. Radio Button See Option Button. 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.

  • Page 173: Index

    Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Index Absolute Index, 59 Quick Start, 89 Assigning Outputs, 91 Analog Outputs, 79 Brake Operation, 78 Current Foldback, 77 Digital Inputs and Outputs, 80 Encoder Output Scaling, 77 How Home Works, 43...
  • Page 174 Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual Tuning Procedures, 99 Determining Tuning Parameter Values, 105 Fault Codes, 110 PID vs. State-Space, 99 Tuning Procedure, 99 User Defined Motors, 119 Commutation Basics, 119...
  • Page 176 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.controltechniques.com.

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