Functional Overview; Pulse Mode - Emerson Epsilon Eb Series Reference Manual

Epsilon Eb and E Series EN Drives Reference Manual
• The Positive Direction parameter affects all motion by specifying which direction the
motor shaft will rotate (CW or CCW) when the command position is increasing.
• When changing modes with Torque Mode Enable input function, no ramping occurs
between the two different commands.
• When using Summation mode, the properties of both summed modes are honored.

Functional Overview

The drive is a digital servo drive which provides three basic modes of operation: Pulse,
Velocity and Torque. The Operating Mode selection defines the basic operation of the drive.
External control capability is provided through the use of input and output functions. These
functions may be assigned to any input or output line which may be controlled by external
devices, such as a PLC or multi-axis controller, to affect the drive operation.
Drive parameters can be modified using PowerTools software or an FM-P. All drive
parameters have a pre-assigned Modbus address which allows you to access them using a
Modbus interface.

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.
Note
High Performance Gains check box in PowerTools software is typically enabled when
Pulse mode is used (the default is enabled).
Pulse Source Selection
The drive provides two types of pulse input circuits which allows you to choose the
appropriate input type to match the device generating the position pulses. The selection is
done by wiring to the desired input pins of the Command Connector and setting the Pulse
Source selection in the Pulse Setup tab. The Differential setting (default) is perfect for most
encoders or upstream drives. The Single Ended setting is a good match for any open collector
driver that requires an external pull up resistors making it ideal for most stepper controllers,
PLC stepper cards and PC computer parallel printer ports.
The two hardware input circuits are included in the drive and are accessible through the drive
command connector. The differential input circuit is RS-422 compatible making it inherently
noise immune while being able to accept pulse rates of up to 2 Mhz per channel. The single
ended inputs use high noise immunity circuitry and have internal pull-up resistors to the
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