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Emerson Control Techniques Epsilon Eb Series Reference Manual

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Emerson Control Techniques Epsilon Eb Series Reference Manual

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  • Page 1 (217) 352-9330 | Click HERE Find the Emerson Motion Control EN-208 at our website:...
  • Page 2 Epsilon Eb and EN Drives Reference Manual P/N 400501-01 Revision: A4 Date: October 8,2001 © Control Techniques Drives, Inc, 1997, 2001 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 4 Epsilon Eb and EN Drives Reference Manual Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice.
  • Page 5 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: EMERSON Motion Control, EMERSON Motion Control PowerTools.
  • Page 6 Customer Support Control Techniques 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A. Telephone: (952) 995-8000 or (800) 397-3786 It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you need.
  • Page 7 • Exact wording of any messages that appear on your screen • What you were doing when the problem occurred • How you tried to solve the problem Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’...
  • Page 8 In addition, you will find the following typographic conventions throughout this manual. This Represents Characters that you must type exactly as they appear. For example, if you are directed to type bold a:setup, you should type all the bold characters exactly as they are printed. Placeholders for information you must provide.
  • Page 9 Safety Instructions General Warning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause severe electric shock and/or burns and could be lethal. Extreme care is necessary at all times when working with or adjacent to the product. The installation must comply with all relevant safety legislation in the country of use.
  • Page 10 Underwriters Laboratories Listed LISTED 51Y8 IND. CONT. EQ. The Epsilon and EN 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.
  • Page 11 Drive Output Current vs. Time graph % Drive Rated Current CE Declaration of Conformity The Epsilon and EN 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.
  • Page 12 Declaration of Conformity Manufacturer’s Name: Control Techniques 12005 Technology Drive Eden Prairie, MN 55344 Manufacturer’s Address: Declares that the following products: Epsilon Series Digital Servo Drive Products Description: Eb-202, Ei-202, Eb-203, Ei-203, Eb-205 and Ei-205 Model Number: This declaration covers the above products with the ECI-44 Screw System Options: Terminal Interface.
  • Page 13 Declaration of Conformity Manufacturer’s Name: Control Techniques 12005 Technology Drive Eden Prairie, MN 55344 Manufacturer’s Address: Declares that the following products: E Series Digital Servo Drive Products Description: EN-204, EN-208 and EN-214 Model Number: This declaration covers the above products with the ALP-130 Backup System Options: Logic Power Supply and ECI-44 Screw Terminal Interface.

  • Page 14: Enclosure

    Epsilon Eb and E Series EN Drives Reference Manual Safety Considerations Safety Precautions This product is intended for professional incorporation into a complete system. If you install the product incorrectly, it may present a safety hazard. The product and system may use high voltages and currents, carry a high level of stored electrical energy, or are used to control mechanical equipment that can cause injury.
  • Page 15 Epsilon Eb and E Series EN Drives Reference Manual 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.

  • Page 16: Table Of Contents

    Table of Contents Safety Considerations Safety Precautions ............xi Enclosure .
  • Page 17 Position Tab (Detailed Setup view only) ......... . 54 Limits Group .
  • Page 18 Serial Communications ............112 Quick Start Offline Setup .
  • Page 19 Motor Brake Specifications........... . 198 Motor Weights.

  • Page 20: Introduction

    Epsilon Eb and EN Drives Reference Manual Introduction Epsilon Eb and EN Drives The Epsilon Eb and EN 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.
  • Page 21 Epsilon Eb and EN Drives Reference Manual assignments in the software. PowerTools software is an easy-to-use Microsoft® Windows® based setup and diagnostics tool. Epsilon Eb Drive Drive Reset Button Logic Power Supply Status Display Selection Access Panel AC Power Input (J1) Bus Power Connection (J1) Motor Power Connection (J1) Alternate Logic Power...
  • Page 22 Introduction EN drives are available in three power ratings Drive Model Power Rating Continuous Current Peak Current EN-204 1750 W 4.5 A RMS 9.0 A RMS EN-208 2750 W 9.0 A RMS 18.0 A RMS EN-214 4340 W 13 A RMS 26 A RMS Epsilon drives are available in three power ratings.
  • Page 23 Epsilon Eb and EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 24: Operational Overview

    Epsilon Eb and EN Drives Reference Manual Operational Overview User Interface The EN drive and the Epsilon drive are set up using PowerTools FM software. PowerTools FM Software PowerTools FM software is an easy to use Windows®-based setup and diagnostics tool. PowerTools FM software provides you with the ability to create, edit and maintain your drive’s setup.

  • Page 25: How Motion Works

    Epsilon Eb and EN Drives Reference Manual Figure 3: PowerTools FM Window, Detailed Setup View How Motion Works Below is a list of details related to motion in a drive. • The Stop input function overrides motion in all operating modes including Pulse and Torque mode.

  • Page 26: Functional Overview

    Operational Overview 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.
  • Page 27 Epsilon Eb and EN Drives Reference Manual • Pulse frequency > 250 kHz • Pulse command cable length > 25 feet • Noisy electrical environments Differential input circuit specifications: Input frequency maximum 2 Mhz Input device: AM26C32 Input impedance 12 Kohms each input Maximum voltage applied to input pins (A, A/) or (B, B/ ) Single Ended (referenced to 0V drive logic) +/-10V...
  • Page 28 Operational Overview Signal common connected to Drive Logic 0V (Sync Encoder Common 0V) Command Pulse-Direction Pulse-Pulse Pulse Quadrature ECI-44 terminal Connector Pin # Signal Signal Signal Pulse / Pulse CW / Direction Pulse CCW / Pulse / : Commands motion on the falling edge (active edge). Direction: Positive (+) motion when high (inactive) and Negative (-) motion when low (active).
  • Page 29 Epsilon Eb and EN Drives Reference Manual negative changes to the Pulse Position Input. All edges of A and B are counted, therefore one revolution of a 2048 line encoder will produce an 8192 count change on the Pulse Position Input.
  • Page 30 Operational Overview Pulse Mode Parameters The Pulse Position Input parameter shows the total pulse count received by the drive since the last power-up. The Pulse Position Input, Position Command, Position Feedback Encoder and Position Feedback are initialized to zero on power-up. Only Position Feedback Encoder can be pre- loaded serially with a value after power-up.

  • Page 31: Velocity Mode

    Epsilon Eb and EN Drives Reference Manual setting will change which direction the motor rotates when the position feedback and position command are counting up. In the default setting the position counts up when the motor shaft rotates clockwise (when viewed from the shaft end). The Encoder Feedback (Position Feedback Encoder) parameter can be pre-loaded serially by setting the Position Feedback Encoder Modbus parameter.
  • Page 32 Operational Overview Presets Submode Presets submode provides up to eight digital Velocity Presets and associated Accel/Decel Presets. At any time only one Velocity Preset can be selected. They are selected using the Velocity Preset Line #1, Line #2 and Line #3 input functions (see table below). Selected Velocity and Accel Velocity Preset Line #3 Velocity Preset Line #2...
  • Page 33 Epsilon Eb and EN Drives Reference Manual Figure 8: Velocity vs. Time Diagram using Preset Velocities Summation Submode In Summation submode the Velocity Command is the result of the sum of the Velocity Command Analog and the Velocity Command Preset values.: Where: VC = Velocity Command AC = Velocity Command Analog...

  • Page 34: Torque Mode

    Operational Overview Example 2: Use the Velocity Command Analog as a trim adjustment to the digital Velocity Presets. Velocity Preset #2 is selected with Analog Input at 0, so the Velocity Command Preset and Velocity Command are equal (set to match a conveyor speed). You can use the Analog Input (Velocity Command Analog) as a fine adjust for the Velocity Command to exactly match the conveyor speed.

  • Page 35: Drive Modifiers

    Epsilon Eb and EN Drives Reference Manual 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)
  • Page 36 Operational Overview For example, the + Travel Limit will stop motion only if the motor is moving + but allows - motion to move off the limit switch. Conversely, the - Travel Limit will stop motion only if the motor is moving - but allows + motion to move off the limit switch. If both input functions are active at the same time, no motion in either direction will be possible until at least one of the inputs is released.
  • Page 37 Epsilon Eb and EN Drives Reference Manual In applications with un-counterbalanced vertical loads, you must be careful not to set the controller’s torque command to zero when the upper Travel limit is activated. Setting the controllers analog torque command to zero in this situation will command the axis to move off the limit switch causing the load to drop.
  • Page 38 Operational Overview Where: = Total Torque Limit = Peak motor torque = Peak drive torque = RMS foldback limit (80 percent of continuous system torque rating) = Stall foldback limit (80 percent of drive stall current rating) = Programmable Torque Limit Note The Torque Limit Enable input must be active to use P If the application requires that the Torque Limit be enabled at all times, the Torque Limit...
  • Page 39 Epsilon Eb and EN Drives Reference Manual 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. In Pulse mode operation and any Summation mode which uses Pulse mode, the input pulse command frequency is monitored and this calculation is made.

  • Page 40: Current Foldback

    Operational Overview • A positive analog velocity or torque command (i.e., a higher voltage on the (+) differential input than on the (-) input). • A positive direction (+) pulse command. • A positive preset velocity or torque command. Current Foldback Current foldback is used to protect the motor and drive from overload.
  • Page 41 Epsilon Eb and EN Drives Reference Manual Figure 12: RMS Foldback Trip Point (this graph is accurate to ±5 percent) Stall Foldback EN Only Stall Foldback prevents overheating of the Power Stage. It activates in any mode when the motor velocity is 100 RPM or less and the Torque Command causes the current to exceed the stall current threshold for 100 ms or more.

  • Page 42: Shunt Operation

    Operational Overview Shunt Operation The EN-208 and EN-214 drive models have internal shunt control. The Epsilon and EN-204 have an output function to control an external shunt transistor, but no internal shunt transistor or resistor. The E -208 has a 50 ohm, 50 watt internal resistor and the EN-214 has a 33 ohm, 50 watt internal shunt resistor to dissipate regenerative energy generated when braking a motor.
  • Page 43 Epsilon Eb and EN Drives Reference Manual the actual drive loading and ambient temperature. The heat sink is designed with a certain amount of dissipation capability and the sum of the heat generated by the drive bridge rectifier, power module and shunt resistor must be less than this total capacity.
  • Page 44 Operational Overview Ambient Temperature parameter to the actual ambient temperature allows you to take advantage of a lower temperature and could eliminate the need for an external shunt resistor and controller. The charts below indicate the operating range for a given ambient temperature. 140% 120% 100%...
  • Page 45 Epsilon Eb and EN Drives Reference Manual 140% 120% 100% 20 C 30 C 40 C 50 C 100% 150% Heatsink RMS Figure 14: EN-214 Shunt Power RMS vs. Heatsink RMS External Shunt Operation The DC bus is accessible for applications requiring an external shunt regulator. Control Techniques offers an external shunt regulator (model RSR-2) which can provide additional regenerative power dissipation.
  • Page 46 Operational Overview Figure 15: External Shunt Wiring Diagram Use 16 to 18 AWG stranded wire Top View + Bus - Bus - Auxiliary Supply + Auxiliary Supply Two position header. The mating ALPC-006 cables is supplied with the ALP Auxiliary Power Supply. Figure 16: EN Bus Connections Front View...

  • Page 47: Brake Operation

    Epsilon Eb and EN Drives Reference Manual Brake Operation Motor brake operation is controlled by the Brake Release and Brake Control input functions. These input functions can be used together to control the state of the Brake output function. The table below shows the relationship between the Brake input and Brake output functions. Note No motion should be commanded while the brake is engaged.

  • Page 48: Analog Command Input

    Operational Overview Analog Command Input The Analog Command Input can be used as a velocity or torque command. The drive accepts a ±10 VDC differential analog command on pins 14 and 15 of the Command Connector and has 14 bits of resolution. The Analog Inputs Bandwidth, Analog Full Scale and Analog Input Zero Offset parameters are applied to the Analog Input to generate either an analog velocity or torque command.
  • Page 49 Epsilon Eb and EN Drives Reference Manual Analog Command Wiring Command Connector With positive direction = CW Figure 18: Analog Command, Differential Wiring Diagram Figure 19: Analog Command, Single-ended Wiring Diagram Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 50: Analog Outputs

    Operational Overview Analog Outputs The drive has two 8 bit 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 output pins located on the front of the drive.

  • Page 51: Digital Inputs And Outputs

    Epsilon Eb and EN Drives Reference Manual Example: You could use the Analog Outputs to accurately measure velocity overshoot. For example, to measure a target velocity of 2000 RPM at a resolution of ±10 V = ±200 RPM do the following.
  • Page 52 Operational Overview Input Line Debounce Time You can program a “Debounce Time” which means the line will need to be active for at least the debounce time before it is recognized. This feature helps prevent false triggering in applications with high ambient noise. Figure 20: Input Line Diagram Output Line Active State...
  • Page 53 Epsilon Eb and EN Drives Reference Manual drive. Once the axis is driven off the limit switch, the fault will be cleared and the “L” will disappear. If both Travel Limit input functions are activated simultaneously, the drive will respond as if the Stop input function has been activated and will use the Stop Deceleration ramp.
  • Page 54 Operational Overview Selected Velocity and Accel/ Velocity Preset #3 Velocity Preset Line #2 Velocity Preset Line #1 Decel Preset # (0) = Inactive input function (1) = Active input function Torque Limit Enable This input function, when active, causes the Torque Command to be limited to the value of the Torque Limit parameter.
  • Page 55 Epsilon Eb and EN Drives Reference Manual Foldback Active This output function is active when the drive is limiting motor current. If the RMS Foldback value exceeds 100 percent of the continuous rating, the current foldback algorithm will limit the current delivered to the motor to 80 percent of the continuous rating. Drive OK This output function is active whenever no fault condition exists.
  • Page 56 Operational Overview If the Actual Velocity Command exceeds the velocity limit, the command will be limited and the Velocity Limiting Active output function will be active. Shunt Active This is a real time indicator of the internal shunt activity. For EN-204 and Epsilon drives this output can be used to control all external shunt control switches.
  • Page 57 Epsilon Eb and EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 58: Setting Up Parameters

    Epsilon Eb and EN Drives Reference Manual Setting Up Parameters EZ Setup/Detailed Setup Tab This is the default tab that is displayed each time you open a Configuration Window. Figure 21: Default Offline EZ Setup Tab Identification Group Name Enter a 24 character alpha-numeric name for the drive you are currently setting up. Assigning a unique name for each drive in your system allows you to quickly identify a drive when downloading, editing and troubleshooting.

  • Page 59: Configuration Group (Ez Setup View Only)

    Epsilon Eb and EN Drives Reference Manual Configuration Group (EZ Setup view only) Drive Type Select the drive model for the system you are currently setting up. PowerTools FM software will only display the motor models that are compatible with the drive you selected and any user defined motors.

  • Page 60: Load Group

    Setting Up Parameters EN Only Line Voltage - Line Voltage specifies the applied power and adjusts the internal gains to compensate for it. This parameter has two choices 115 VAC and 230VAC. If the line Voltage is set to 230VAC when the actual applied voltage is 115 VAC, the motor will be slightly less responsive to commands and load disturbances.

  • Page 61: Operating Mode Group

    Epsilon Eb and EN Drives Reference Manual Operating Mode Group Disabled Radio Button Selecting this radio button to put the drive in the disabled mode. This is equivalent to removing the Drive Enable input. Figure 23: Operating Mode, Disabled Mode Selected Pulse Mode Radio Button Selecting this radio button puts your drive into Pulse mode and displays three Interpretations: Pulse/Pulse, Pulse/Direction and Pulse/Quadrature.

  • Page 62: Pulse Mode Interpretation Group

    Setting Up Parameters Pulse Mode Interpretation Group Figure 24: Operating Mode, Pulse Mode Selected Pulse/Pulse Radio Button Selecting this radio button puts your drive in Pulse/Pulse interpretation. In Pulse/Pulse mode, pulses received on the A channel are interpreted as positive changes to the Pulse Position Input, and pulses received on the B channel are interpreted as negative changes to the Pulse Position Input.
  • Page 63 Epsilon Eb and EN Drives Reference Manual Command Pulse-Direction Pulse-Pulse Pulse Quadrature ECI-44 Terminal Connector Pin # Signal Signal Signal Sync Enc In “A/” Pulse/ Pulse +/ Sync Enc In “B” Direction Pulse - Sync Enc In “B/” Direction/ Pulse -/ Differential Inputs are typically needed for pulse rate 7250 kHz or high ambient noise environments.

  • Page 64: Velocity Mode Submode Group

    Setting Up Parameters Velocity Mode Submode Group Analog Radio Button Selecting this radio button puts the drive into Analog submode. In Velocity mode the drive develops velocity in proportion to the voltage received on the Analog Input. The Analog Input is scaled to the Analog Velocity Command by the Full Scale Velocity, Analog Input Full Scale, and Analog Input Zero Offset parameters.
  • Page 65 Epsilon Eb and EN Drives Reference Manual Presets Radio Button Selecting this radio button puts the drive into Presets submode. Presets submode provides up to eight digital Velocity Presets and associated Accel/Decel Presets. At any time, only one Velocity Preset can be selected. They are selected using the Velocity Preset 1, the Velocity Preset 2 and the Velocity Preset 3 input functions.

  • Page 66: Torque Mode Group

    Setting Up Parameters Velocity Presets Enter a value for each of the Velocity Presets you wish to use. The units are RPM and the range is from ± maximum motor velocity. A positive value will cause CW motion and a negative value will cause CCW motion.

  • Page 67: Positive Direction Group (Detailed Setup View Only)

    Epsilon Eb and EN Drives Reference Manual Figure 28: Operating Mode, Torque Mode Selected Full Scale Torque This parameter specifies the Torque Command when the Analog Input voltage is equal to the Analog Full Scale parameter. Torque Limit This value is the level which the Torque Command will be limited to when the Torque Limit input function is active.

  • Page 68: Inputs Tab

    Setting Up Parameters Figure 30: CW Motor Rotation CCW Motor Rotation Radio Button This defines that the motor will rotate counterclockwise when given a positive velocity, torque or position command. CW/CCW is defined when facing the motor output shaft. Inputs Tab This tab is divided into two windows: The “Input Functions”...
  • Page 69 Epsilon Eb and EN Drives Reference Manual Input Functions Window This window allows you to select the input function you wish to assign to an input line. Active State The active state of each input function is displayed next to the output function. See the "Active Off"...
  • Page 70 Setting Up Parameters Making an input function “Active On” means that it will be active when +10 to 30 VDC is applied to the input line it’s assigned to and is inactive when no voltage is applied to the line. Making an input function "Active Off"...

  • Page 71: Outputs Tab

    Epsilon Eb and EN Drives Reference Manual Outputs Tab This tab is divided into two windows: The “Output Functions” window, on the left side, displays the available output functions. The “Output Lines” window, on the right side, displays the output lines, the line active state and the output function assignments. Figure 34: Outputs Tab Output Functions Window...
  • Page 72 Setting Up Parameters mouse is not available to navigate the software. Assigning the input functions can also be accomplished by dragging the Output Function and dropping it onto an Output line. To unassign an output function, highlight the function in the Output Lines window and press the delete key or drag the output function from the Output Lines window back to the Output Functions Window.

  • Page 73: Position Tab (Detailed Setup View Only)

    Epsilon Eb and EN Drives Reference Manual Position Tab (Detailed Setup view only) This tab is only definable in Pulse mode and allows you to enable and define the Following Error Limit and if you are on line, view actual operating parameters. Figure 37: Position Tab Limits Group...

  • Page 74: Actual Group

    Setting Up Parameters Actual Group Pulse Position Input This parameter returns the total number of actual pulses received on the pulse input hardware. This value is active in all operating modes. Position Command This is the commanded position generated by either the pulse command or velocity command. In Pulse Summation mode, it is the sum total position command by both pulse and velocity commands.

  • Page 75: Velocity Tab (Detailed Setup View Only)

    Epsilon Eb and EN Drives Reference Manual Velocity Tab (Detailed Setup view only) This tab allows you to set the drive limits, and if you are online, view the actual operating velocity feedback parameters. Figure 38: Velocity Tab Limits Group Stop Deceleration The value you enter here defines the rate of velocity change to zero speed when a Stop input function is activated.

  • Page 76: Trigger Group

    Setting Up Parameters 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 which is lower, an Overspeed fault will be generated. The internal overspeed fault limit is equal to 150 percent of the Motor Maximum Operating Speed.

  • Page 77: Torque Tab (Detailed Setup View Only)

    Epsilon Eb and EN Drives Reference Manual Velocity Presets Enter a value for each of the Velocity Presets you wish to use. The units are RPM and the range is from ± maximum motor velocity. A positive value will cause CW motion and a negative value will cause CCW motion.

  • Page 78: Actual Group

    Setting Up Parameters Actual Group Torque Command This parameter returns the torque command value before it is limited. The Torque Command may be limited by either the Torque Limit (if the Torque Limit Enable input function is active) or current foldback. Torque Limit This value is the level which the Torque Command will be limited to when the Torque Limit input function is active.

  • Page 79: Configuration Group

    Epsilon Eb and EN Drives Reference Manual All parameters on the Motor tab 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. Position Error Integral is provided to compensate for systems with high friction or vertical loads.

  • Page 80: Low Pass Filter Group

    Setting Up Parameters Low Pass Filter Group Low Pass Filter Enable Checkbox This 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.

  • Page 81: Tuning Group

    Epsilon Eb and EN Drives Reference Manual Tuning Group Response The Response adjusts the velocity loop bandwidth with a range of 1 to 500 Hz. In general, it affects how quickly the drive will respond to commands, load disturbances and velocity corrections.

  • Page 82: Analog Tab (Detailed Setup View Only)

    Setting Up Parameters Enable Feedforwards Check Box When feedforwards are enabled, the accuracy of the Inertia and Friction are very important. If the Inertia is larger than the actual inertia, the result could be a significant overshoot during ramping. If the Inertia is smaller than the actual inertia, following error during ramping will be reduced but not eliminated.

  • Page 83: Analog Outputs Group

    Epsilon Eb and EN Drives Reference Manual Analog Zero Offset This parameter is used to null any voltage present at the drive when a zero velocity or torque command is provided by a controller. The amount of offset can be measured by the Analog Input parameter when a zero velocity or torque command is supplied.

  • Page 84: I/O Status Tab

    Setting Up Parameters I/O Status Tab This tab displays the status of the input and output functions in real time and is only available when you are online with a drive. This tab is divided into two windows, the "Inputs" window and the "Outputs"...
  • Page 85 Epsilon Eb and EN Drives Reference Manual Note The forced state of input and output lines are not saved to NVM and will be lost when the drive is powered down. Sort By Function/Line Button Click on this button to change how the "Inputs" window is sorted (i.e., by functions or lines). The window can be sorted by either function or line.

  • Page 86: Outputs Group

    Setting Up Parameters Outputs Group Outputs Lines Window This feature shows the various output lines and whether they are active. The line is active if the circle next to the line is green or lit-up. Active State The active state is displayed for each output line. Forced The forced state is displayed for each output line.
  • Page 87 Epsilon Eb and EN Drives Reference Manual Figure 44: Collapsed and Expanded Views If the function or line is currently active, the "LED" to the left of the function or line name will be green. Note When a function or line is active, the state of the "LED" associated with the function or line is dependent on how the "Always Active", "Forced On or Off"...

  • Page 88: Status Tab

    Setting Up Parameters Status Tab This tab displays the drive status in real time and is only available when you are on-line with a drive. The information in this tab is divided into six categories: Position, Velocity, Torque, Drive Status, I.D. and Drive Run Time. Figure 45: Status Tab Note...

  • Page 89: Velocity Group

    Epsilon Eb and EN Drives 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. This is a signed 32 bit value.

  • Page 90: Drive Status Group

    Setting Up Parameters Actual Command Displays the Torque command after all limiting. This command is used by the current loop to generate Motor Torque. Drive Status Group Foldback RMS This parameter accurately models the RMS loading of the drive and motor. When it reaches 100 percent, current foldback will be activated.

  • Page 91: Id Group (Detailed Setup View Only)

    Epsilon Eb and EN Drives Reference Manual ID Group (Detailed Setup view only) Firmware Revision Displays the revision of the firmware in the drive you are currently online with. Serial Number Displays the serial number of the drive with which you are currently online. Drive Run Time Group (Detailed Setup view only) Total Power Up Time...

  • Page 92: Fault Log Group (Ez Setup View Only)

    Setting Up Parameters Fault Log Group (EZ Setup view only) Figure 47: Fault Log View Fault Log Window This window displays the last ten drive faults with time stamps. The first fault is the most recent fault. The information in this window is read only and cannot be edited or cleared. Power up This feature indicates during which power-up that the fault occurred.

  • Page 93: History Tab (Detailed Setup View Only)

    Epsilon Eb and EN Drives Reference Manual History Tab (Detailed Setup view only) This tab displays a complete fault history including a "Fault Log" window and a "Fault Count" window. Figure 48: History Tab Note The "Fault Log" and "Fault Counts" cannot be cleared. Fault Log Group Fault Log Window This window displays the last ten drive faults with time stamps.

  • Page 94: Fault Counts Group

    Setting Up Parameters Fault Counts Group Fault Counts Window The "Fault Counts" window displays all the faults that can occur and the number of times those faults happened since the drive was originally powered-up. The information in this window cannot be edited or cleared. # of Occurrences The "# of Occurrences"...

  • Page 95: Bus Voltage Group

    Epsilon Eb and EN Drives Reference Manual Bus Voltage Group Epsilon Only Low DC Bus 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 96: Installation

    Epsilon Eb and EN Drives Reference Manual Installation 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.
  • Page 97 Epsilon Eb and EN Drives Reference Manual Achieving Low Impedance Connections Noise immunity can be improved and emissions reduced by making sure that all the components have a low impedance connection to the same ground point. A low impedance connection is one that conducts high frequency current with very little resistance. Impedance cannot be accurately measured with a standard ohmmeter, because an ohmmeter measures DC resistance.
  • Page 98 Installation AC Line Filters The AC line filters used during Control Techniques’ compliance testing are listed below. These filters are capable of supplying the drive input power to the specified drive under maximum output power conditions. Control Techniques Epsilon EN Model Schaffner Part # Rating Part #...
  • Page 99 Epsilon Eb and EN Drives Reference Manual Figure 51: Through Wall Shield Grommet Cable Shielded Cable Grommet Conduit Dimension Cable Type Actual Hole Size Model Kit Part # Hole Size Motor Cable, 16 Ga CMDS CGS-050 1/2" pipe 7/8" Motor Cable, 12 Ga CMMS CGS-050 1/2"...
  • Page 100 Installation NEMA Enclosure Note: This wail must have good EMC testing was done continuity to enclosure ground. with surface paint removed from the AC In mounting panel area Through wall shield grommets for drive contact. Bonded to mounting plate and enclosure wall External Encoder Drive 3-phase...

  • Page 101: Mechanical Installation

    Epsilon Eb and EN Drives Reference Manual 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°...
  • Page 102 Installation 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. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 103: Electrical Installation

    Epsilon Eb and EN Drives Reference Manual Electrical Installation System Grounding Figure 54: Typical System Grounding Diagram Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 104 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. The Protective Earth (PE) wire connection is mandatory for human safety and proper operation.
  • Page 105 Epsilon Eb and EN Drives Reference Manual Figure 55: Earth Grounded WYE Distribution Transformer Figure 56: Earth Grounded Delta Distribution Transformer AC Supplies Requiring Transformers If the distribution transformer is configured as shown in the figures below, an isolation transformer is required. If an isolation transformer is used between the power distribution point and the drives, the transformer secondary must be grounded for safety reasons as shown in the figures below.
  • Page 106 Installation Figure 58: Three Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE Isolation Transformer Figure 59: Delta to Delta Isolation Transformer Figure 60: 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”...
  • Page 107 Epsilon Eb and EN Drives Reference Manual the required KVA rating are high transformer ambient temperatures (>40° C or >104° F) and drive operation near the maximum speeds. Drive/Motor Combination Suggested KVA Rating EN-204/NT-320 EN-204/MG-205 EN-204/MG-208 EN-204/MG-316 EN-208/NT-320 EN-208/NT-330 EN-208/NT-345 EN-208/NT-355 EN-208/MG-316 EN-208/MG-340...

  • Page 108: Input Power Connections

    Installation Line Fusing and Wire Size You must incorporate over current protection for the incoming AC power with the minimum rating shown here. Control Techniques recommends Bussman type: KTK-R, RK1or equivalent. Recommended Minimum AC/PE Line Wire Drive Model External AC Line Fuse Gauge EN-204 KTK-R 15 Amp 1Ø...
  • Page 109 Epsilon Eb and EN Drives Reference Manual EN Only According to UL requirements, the EN drive is suitable for use on a circuit capable of delivering not more than 5000 RMS symmetrical amperes, 240 volts maximum. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 110 Installation 50/60 Hz 90-264 VAC Front View L3 is used with the E -214 only. Note: L2 L3 GND Wire crimp ferrules are recommended: When cycling power make sure AC If 14 AWG, use panduit #PV14-P47. power is off for 5 seconds minimum If 12 AWG, use Panduit #PV10-P55.
  • Page 111 Epsilon Eb and EN Drives Reference Manual Front View 50/60 Hz 90-264 VAC Tighten screws to 5 lb-in. Figure 62: Epsilon AC Power Wiring Diagram 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.
  • Page 112 Installation Auxiliary Logic Power Usage ( EN Only) Use 16 to 18 AWG stranded wire Top View - Auxiliary Supply + Auxiliary Supply J3 - Two position header. The mating ALPC-006 cable is supplied with the ALP Auxiliary Power Supply. 0.5 Amp Drive #1 Fuses...
  • Page 113 Epsilon Eb and EN Drives Reference Manual Control Techniques offers Auxiliary Logic Power Supplies (models ALP-130 and -430) that supply enough power for one EN drive with an FM module and four EN drives with FM mod- ule’s respectively. See the "Options and Accessories" section for more information. Rated Ambient Model Input...
  • Page 114 Installation Epsilon Only If the low DC bus fault is disabled with PowerTools software on the Advanced tab, resetting the drive is not necessary Do not move the APS jumper with the main AC power applied to the drive. Wait at least 6 minutes after the main AC power has been removed from the L1 and L2 terminals.
  • Page 115 Epsilon Eb and EN Drives Reference Manual Note Connecting 24V common on the APS to chassis ground reduces offset voltage in the Analog Diagnostics Outputs. Front View Front View Fuse Fuse Single point PE ground (recommended) 24 VDC Figure 65: Multiple APS Wiring Diagram Motor Power Wiring MG and NT Motors are equipped with up to three male MS (Military Standard) connectors,...
  • Page 116 Installation 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. Front View Motor Power Connection Drive Blue Black Brown Green/Yellow Ground Shield...
  • Page 117 Epsilon Eb and EN Drives Reference Manual Wire crimp ferrules are recommended: For Motor ground lead use - Pheonix Contact P/N AI-TWIN 2x1, 5-8 Bk/32 00 82 3 Front View American Electrical/DigiKey 1381015/288-1130-ND For motor phase 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 Motor Power Connection...
  • Page 118 Installation Figure 68: Motor Feedback Connector Pinout Motor Brake Wiring Motors equipped with brakes have a three-pin MS style connector. The brake power cable (model CBMS-XXX) has an MS style connector on the motor end and three wire leads on the amplifier end (see the following wiring diagrams).
  • Page 119 Epsilon Eb and EN Drives Reference Manual Figure 69: EN Brake Wiring Diagram using the Command Connector Figure 70: EN Brake Wiring Diagram using the I/O Connector Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 120 Installation CBMS-xxx Cable Black - Bottom View Customer supplied drive Internal enable contact Output #3 to Motor Drive Enable 2 Amp I/O Supply Fuse I/O Supply Red + 1 Amp I/O Common Relay: Motor Fuse I/O Common EMC #BRM-1 Connected to grounded mounting panel.
  • Page 121 Epsilon Eb and EN Drives Reference Manual Front View A highspeed diode (such as a 1N5819) is required for inductive I/O supply loads such as a relay, +10 to 30 VDC solenoid or contactor. Load Load Load 2.8 k 1 Amp Fuse Single point PE ground.
  • Page 122 Installation EN Only The I/O connector is a 10-pin removable terminal block. It is recommended that #18 to 24 AWG stranded wire be used. Epsilon Only The I/O connector is a 26-pin male connector on the front of the drive. Control Techniques offers a low profile interface plug (STI-EIO) and cable (EIO-xxx) for connections.
  • Page 123 Epsilon Eb and EN Drives Reference Manual Bottom View Internal to Drive Input #4 2.8 k Input #3 Input #2 Input #1 Drive Enable Input Output #3 Output #2 Output #1 Front View I/O Common - I/O Common - I/O Supply + I/O Supply + Input #4 Input #3...
  • Page 124 Installation (ECI-44) which provides a convenient screw terminal connection strip. Connect one end of the CMDX command cable to your drive and the other end to the ECI-44. Shield Connected to Connector Shell Command Connector (RED/BRN) Input #1 10 Ohm (BRN/RED) Input #2 (BLK/BLU)
  • Page 125 Epsilon Eb and EN Drives Reference Manual 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...
  • Page 126 Installation Analog Command Wiring Command Connector With positive direction = CW Figure 78: Analog Command, Differential Wiring Diagram Figure 79: Analog Command, Single Ended Wiring Diagram Encoder Output Signal Wiring The encoder outputs meet RS-422 line driver specifications and can drive up to ten RS-422 signal receivers.
  • Page 127 Epsilon Eb and EN Drives Reference Manual The default encoder output scaling is set to output the actual motor encoder resolutions. The standard MG and NT motors have 2048 lines per revolution. With PowerTools this resolution is adjustable in one line per revolution increments up to the density of the encoder in the motor.
  • Page 128 Installation Pulse Mode Wiring, Differential Inputs Single Point Panel Ground Twisted Pair Note: If the external controller does not have an internal terminating resistor R1, R2, and R3 must be mounted within 6" of the drive. A 120 ohm resistor is recommended for high frequency Single Point (over 250 kHz) feedback signals or cable lengths longer PE Ground...
  • Page 129 Epsilon Eb and EN Drives Reference Manual Pulse Mode Wiring, Single Ended Inputs Logic Power Direct Pulse Sinking Outputs (typ) Common isolated from other sources Figure 84: Pulse Mode, Single Ended Output to Single Ended Input (twisted pair cable) Logic Power Pulse Direct...
  • Page 130 Installation CW Pulse Logic Power CCW Pulse Sinking Outputs (typ) CW Pulse CCW Pulse Common isolated from other sources Figure 86: Pulse/Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) Master Encoder or Drive Output Note: R1, R2, and R3 must be mounted within 6" of the end drive. A 120 ohm resistor is recommended for high frequency (over 250 kHz) stepping or cable lengths longer than 25 feet.

  • Page 131: Serial Communications

    Epsilon Eb and EN Drives Reference Manual 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 1 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.
  • Page 132 Installation Front View RS-485 - Comm Common RS-485 + TX (232) To drive processor. RX (232) Shield Bottom View RS-485 - RS-485 + 10 Ohm Single point ground Figure 89: Epsilon RS-232 and RS-485 Internal Connections between the Command Connector and the Serial Communication Connector When connecting the serial port of your PC to the serial port of the drive, verify that your PC’s ground is the same as the drive PE ground.
  • Page 133 Epsilon Eb and EN Drives Reference Manual Modbus Communications The drive’s serial communication protocol is Modbus RTU slave with a 32 bit data extension. The Modbus protocol is available on most operator interface panels and PLC’s. Serial Communications Specifications Max baud rate 19.2k Start bit Stop bit...
  • Page 134 Installation TERM-H TERM-T TIA-XXX DDS-XXX DDS-XXX Serial Cable Serial Cables 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.
  • Page 135 Epsilon Eb and EN Drives Reference Manual TIA Cable DDS Cable DDS Cable TERM-T TERM-H RX (232) TX (232) 485 + Ground 485 - Computer Drive Drive Drive Serial Port Serial Port Serial Port Computer Serial Drive Serial Port Drive Serial Port Drive Serial Port Port TERM-H...

  • Page 136: Quick Start

    Epsilon Eb and EN Drives Reference Manual Quick Start Offline Setup Note Generally, online setup is used when editing parameters in a drive. Offline setup editing is usually only done when not connected to a drive. EZ Setup View The EZ Setup view is the default tab that is displayed each time you open the PowerTools software.
  • Page 137 Epsilon Eb and EN Drives Reference Manual Figure 94: PowerTools FM Window, Detailed Setup View, Offline Detailed Setup View The Detailed Setup view allows you to access many additional parameters and details about your drive. When you are online with a drive, PowerTools FM will display twelve tabs if you have selected to view the Advanced tab in the Options/Preferences/General dialog box.
  • Page 138 Quick Start Step 2: Opening an Offline Configuration Window To open an offline Configuration Window, click the New icon from the toolbar or select New from the File menu. Figure 96: New Dialog Box When the Predefined Setup Selection dialog box appears, select the desired predefined setup and press the OK button.
  • Page 139 Epsilon Eb and EN Drives Reference Manual Enter the “Target Drive Address(es)” to which you wish to download the setup information. Unless you have changed the Modbus address of your drive, leave this parameter set to the default value of 1. You may use commas (,) or spaces ( ) to separate individual drive addresses or you may use hyphens (-) to include all the drive addresses within a range.
  • Page 140 Quick Start Pulse Mode Setup This procedure assumes that you have connected the proper pulse mode wiring as described in the "Installation" section of this manual. Select the “Pulse Mode” radio button from the Operating Mode group. Figure 99: Operating Mode View Select one of the Interpretation group radio buttons;...
  • Page 141 Epsilon Eb and EN Drives Reference Manual Figure 100: Operating Mode, Velocity Mode Selected Enter a “Full Scale Velocity” value. The velocity is equal to the Analog Full Scale parameter which is defaulted to a 10V analog command. Velocity Presets Submode Setup Select the “Velocity Mode”...
  • Page 142 Quick Start Select the desired “Velocity Preset” number. Enter a "Velocity Preset" for each "Preset Number" being used. Enter an “Accel/Decel Presets” value for each "Preset Number" being used Figure 102: Velocity Summation Submode Torque Mode Setup This procedure assumes that you have connected the proper analog command wiring as described in the "Installation"...
  • Page 143 Epsilon Eb and EN Drives Reference Manual Torque Level 1 and 2 Setup This function can be active in any Operating Mode. Click on the Outputs tab. Highlight the “Torque Level 1 Active or Torque Level 2 Active” output function in the “Output Functions”...
  • Page 144 Quick Start Inertia Ratio Inertia Ratio specifies the load to rotor inertia ratio and has a range of 0.0 to 50.0. A value of 1.0 specifies that load inertia equals the rotor inertia (1:1 load to motor inertia). The drives can control up to a 10:1 inertia mismatch with the default Inertia value of 0.0.
  • Page 145 Epsilon Eb and EN Drives Reference Manual Figure 105: Inputs Tab To assign an Input Function to an Input line: Assign an input by highlighting an input function in the "Input Functions" window and selecting the desired input radio button or by dragging the highlighted input function to the desired input in the "Input Lines"...

  • Page 146: Online Setup

    Quick Start “Output Lines” window, on the right side, displays the three output lines, the line active state and the output function assignments. Figure 106: Outputs Tab To assign an Output Function to an Output Line: Assign an output by highlighting an output function in the "Output Functions" window and selecting the desired output radio button or by dragging the highlighted output function to the desired output in the "Output Lines"...
  • Page 147 Epsilon Eb and EN Drives Reference Manual Note Generally, online setup is used when editing parameters in a drive. Offline setup editing is usually only done when not connected to a drive. Step 1: Establishing Communications with Drive Now that the basic EN drive setup parameters are entered, it is time to establish communications with the drive and download the configuration data.
  • Page 148 Quick Start Step 2: Downloading the Configuration File When you are ready to download the information in the current Configuration Window, go to the Setup tab and enter the address(es) of the drive(s) you wish to download to in the “Target Drive Address(es)”...
  • Page 149 Epsilon Eb and EN Drives Reference Manual Selected Drives Radio Button If you have only one device connected, that device’s address will be displayed in the Selected drives data box. If you have more than one device connected in a multi-drop configuration, the Selected drives data box will be empty.
  • Page 150 Quick Start The drive enabled. The characters “V, T, P or +” displays verified on the drive "LED" status display with the decimal point "On". Step 5: Saving the Configuration File To save the drive setup information, select Save from the File menu. Follow the dialog box instructions.
  • Page 151 Epsilon Eb and EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 152: Tuning Procedures

    Epsilon Eb and EN Drives Reference Manual Tuning Procedures Overview The drive uses closed loop controllers to control the position and velocity 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 153: Tuning Procedure

    Epsilon Eb and EN Drives Reference Manual Tuning Procedure Once the initial setup has been completed, you can run the system to determine if the level of tuning is adequate for the application. There are basically four levels of tuning for a drive. •...
  • Page 154 Tuning Procedures This unique feature offers an extra level of safety because the drive can override the position controller and bring the axis to a safe stop if the controller loses the ability to control the axis. Tuning steps If your Inertia Ratio is greater than 10 times the motor inertia go directly to the Intermediate Level tuning.

  • Page 155: Tuning Parameters

    Epsilon Eb and EN Drives Reference Manual Enable the drive and run the system. Adjust Response to obtain the best performance. General Tuning Hints The Response is normally the final 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.
  • Page 156 Tuning Procedures If you enter an inertia value lower than the actual inertia, but is between 10 and 90 percent of the actual, the drive will tend to be more sluggish than optimum but will usually operate satisfactorily. If the value you enter is less than 10 percent of the actual inertia, the drive will have a low frequency oscillation at speed.
  • Page 157 Epsilon Eb and EN Drives Reference Manual High Performance Gains, when enabled, make the system less forgiving in applications where the actual inertia varies or the coupling between the motor and the load has excessive windup or backlash. Note When using an external position controller, some applications will benefit in rare instances by disabling High Performance Gains.
  • Page 158 Tuning Procedures When Feedforwards are enabled, the accuracy of the Inertia Ratio and Friction parameters is very important. If the Inertia Ratio parameter is larger than the actual inertia, the result would be a significant velocity overshoot during ramping. If the Inertia parameter is smaller than the actual inertia, velocity error during ramping will be reduced but not eliminated.

  • Page 159: Determining Tuning Parameter Values

    Epsilon Eb and EN Drives Reference Manual The Line Voltage must never be set to 115 VAC if the applied voltage is actually 230 VAC. This can cause drive instability and failure. 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.
  • Page 160 Tuning Procedures • If your application has travel limits, it may be helpful to use an external position controller to prevent the axis from exceeding the machine limits. Set up a trapezoidal profile as shown. • In the procedure below, the Torque Command and Velocity Feedback parameters can be measured using the drive’s analog outputs, PowerTools software.
  • Page 161 Epsilon Eb and EN Drives Reference Manual Figure 110: Trapezoidal Velocity Waveform with Torque Waveform Determining Inertia Ratio Actual system Inertia Ratio is determined by accelerating and decelerating the load with a known ramp while measuring the torque required. Consider the following before determining the inertia: •...
  • Page 162 Tuning Procedures Inertia Measurement Procedure: Note The test profile will need to be run a number of times in order to get a good sample of data. Enable the drives and run the test profiles. Note the Torque Command Limited value during acceleration and deceleration. Use the appropriate formula below to calculate the inertia.
  • Page 163 Epsilon Eb and EN Drives Reference Manual Many position controllers define acceleration in units per sec . The formulas above use ms/ kRPM. Make sure you make this conversion when entering the information into the formula. Conversion Formula: (RPSS · Where: MPK = accel ramp in ms/kRPM RPSS = accel ramp in revolutions per second...
  • Page 164 Tuning Procedures Percent Continuous/volt RPM /volt Scaled Velocity Motor Drive Scaled Torque Command Command Output (default)) Output (default)) NT-320 4.77 NT-330 Eb-205 5.50 NT-345 5.10 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 165 Epsilon Eb and EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 166: Diagnostics And Troubleshooting

    Epsilon Eb and EN Drives Reference Manual Diagnostics and Troubleshooting 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”...

  • Page 167: Fault Codes

    Epsilon Eb and EN Drives Reference Manual Display Indication Status Description Ready to Run Drive enabled, no Stop input. Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some faults, like high DC bus and amplifier or motor over temperature, can be reset with the Reset button on the front of the drive or the Reset input function.
  • Page 168 Diagnostics and Troubleshooting Display Fault Action to Reset Bridge Disabled High DC Bus Reset Button or Input Line Low DC Bus Reset Button or Input Line Encoder State Cycle Power Encoder Hardware Cycle Power Allow Motor to cool down, Motor Overtemp Reset Button or Input Line RMS Shunt Power Reset Button or Input Line...
  • Page 169 Epsilon Eb and EN Drives Reference Manual Fault Descriptions Power Up Test This fault indicates that the power-up self-test has failed. This fault cannot be reset with the reset command or reset button. NVM Invalid At power-up the drive tests the integrity of the non-volatile memory. This fault is generated if the contents of the non-volatile memory are invalid.
  • Page 170 Diagnostics and Troubleshooting condition or an application that requires an external shunt (e.g., a large load with rapid deceleration). High DC Bus Threshold Low DC Bus Threshold Epsilon Low DC Bus This fault will occur whenever the voltage on the DC bus drops below the Low DC Bus threshold.

  • Page 171: Diagnostic Analog Output Test Points

    Epsilon Eb and EN Drives Reference Manual Overspeed This fault occurs in one of two circumstances: When the actual motor speed exceeds the Overspeed Velocity Limit parameter or 150% of motor maximum operating speed. This parameter can be accessed with PowerTools software.
  • Page 172 Diagnostics and Troubleshooting Analog Output Source options are: • Velocity Command • Velocity Feedback • Torque Command (equates to Torque Command Actual parameter) • Torque Feedback • Following Error Default Analog Output Source: • Channel 1 = Velocity Feedback • Channel 2 = Torque Command Channel Output Source...

  • Page 173: Drive Faults

    Epsilon Eb and EN Drives Reference Manual Black (GND) Yellow Blue 10 Ohm 10 Ohm DGNE Cable Pin #'s Command Connector DGNE Cable Figure 112: Diagnostic Cable (DGNE) Diagram Drive Faults The Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There are two options in this dialog box: Reset Faults and Ignore Faults.

  • Page 174: Watch Window

    Diagnostics and Troubleshooting Viewing Active Drive Faults To view all active drive faults, select the View Faults command from the Device menu or by clicking on the View Faults icon on the toolbar. The dialog box displayed is the same as Active Drive Faults Detected dialog box described above.

  • Page 175: View Motor Parameters

    Epsilon Eb and EN Drives Reference Manual watch, click the Close button. The Select Drive Parameters dialog box will close and the Watch Window will remain open. Figure 115: Select Drive Parameters Dialog Box Group This list box enables you to view the complete list of parameters or just a group of parameters you are interested in.

  • Page 176: Error Messages

    Diagnostics and Troubleshooting Figure 116: View Motor Parameters Window The View Motor Parameters window is accessed by selecting View Motor Parameters from the Tools menu. Error Messages PowerTools will pop-up an error message box to alert you to any errors it encounters. These message boxes will describe the error and offer a possible solution.
  • Page 177 Epsilon Eb and EN Drives Reference Manual Problem/Message Cause Solution No device selected. No device selected during flash upgrade. Select device(s) from list box. Close any other windows that are using the The drive at address is use. same addresses and try again. Artisan Technology Group - Quality Instrumentation ...

  • Page 178: User Defined Motors

    Epsilon Eb and EN Drives Reference Manual User Defined Motors Drives can be configured to operate with brushless DC (synchronous permanent magnet) motors not manufactured by Control Techniques. This feature is very useful for users who are retrofitting drives on existing systems or who have special motor requirements. Commutation Basics To properly commutate the motor, the drive must know the electrical angle (the angle between the motor magnetic field and stator coils;...
  • Page 179 Epsilon Eb and EN Drives Reference Manual Determine if your motor is compatible with the drive by verifying its characteristics. There are a number of restrictions such as encoder line density and motor pole count that must be considered. Most of these parameters are commonly found on a motor data sheet and some may have to be determined by testing.
  • Page 180 User Defined Motors Figure 117: CCW Rotation of the Motor Look at the phase-to-phase voltages VCA and VBA. There are two possibilities. If VCA leads VBA, then assign B to S and C to T. If VBA leads VCA, then assign B to T and C to S.
  • Page 181 Epsilon Eb and EN Drives Reference Manual Figure 118: 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.
  • Page 182 User Defined Motors Encoder Electrical Interfacing Each of the encoder signals is received by a differential receiver to minimize the noise susceptibility and to increase frequency bandwidth. This requires two wires for each logical signal. (i.e., signal A requires channel A and A/, etc.). For optimum performance these signals should be generated by an encoder with a line driver output.
  • Page 183 Epsilon Eb and EN Drives Reference Manual Figure 120: User Defined Motor Single Ended Feedback Connections Thermal Switch Interfacing The drive provides a facility to monitor the motor thermal sensor and shut the drive down in the event of a motor overtemp condition. This must be connected properly in order to enable the protection.
  • Page 184 User Defined Motors There are two steps in interfacing the encoder signals: Determine whether your encoder has all the required signals to operate with a drive. Some encoders, for example, do not provide a marker pulse or the marker pulse may not have a fixed phase relationship to the commutation tracks.
  • Page 185 Epsilon Eb and EN Drives Reference Manual Note It is important that all the encoder phases match the phase plot in the figure above. (i.e., A leads B, U leads V and V leads W. No particular phase relationship is required between the A and B pari and the U, V, W signals.
  • Page 186 User Defined Motors Figure 123: Oscilloscope Connections CCW Reference Rotation Before reading the motor signals, zero the V oscilloscope channel on a horizontal graduation marker to allow more accurate readings. Couple the drill motor to the motor shaft. While spinning the motor counter-clockwise, use an oscilloscope to examine the phase relationship between encoder channel U and positive peak of V (the voltage at motor power terminal T with reference to S).
  • Page 187 Epsilon Eb and EN Drives Reference Manual Figure 124: CCW Electrical Angle Plot æ ö ° ç ÷ è ø 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 188 User Defined Motors æ ö ° ç ÷ è ø Where: EMA = Motor Encoder Marker Angle If EMA is >360° subtract 360°. Many encoders are designed so that the encoder marker pulse occurs a specified number of electrical degrees from the rising edge of U. You could obtain this value from the encoder specification sheet however, to minimize errors in conversion, you should make this measurement.
  • Page 189 Epsilon Eb and EN Drives Reference Manual Figure 125: CW Electrical Angle Plot In Figure 124 the electrical angle decreases from left to right and the positive peak of V occurs at zero degrees electrical. In Figure 125 the electrical angle increases from left to right and the negative peak of V occurs at zero degrees electrical.
  • Page 190 User Defined Motors 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 it’s mounting until the desired alignment is established.
  • Page 191 Epsilon Eb and EN Drives Reference Manual Figure 127: Static Alignment Schematic The current applied through R to S should be the same polarity each time (i.e., + on R) and the current must be controlled to no more than 50 percent of the RMS stall current rating of the motor.
  • Page 192 User Defined Motors Note When using an oscilloscope, use the following formula to determine the motor velocity in RPM. RPM = Seconds/Re volutions Use the following formula to determine the Ke of the motor after the voltage and speed measurements. VRMS Ke = 1000...
  • Page 193 Epsilon Eb and EN Drives Reference Manual Calculate the number of motor poles: · Number Cycles Number Motor Poles Step 5: Editing the MOTOR.DDF File The PowerTools software obtains the names and parameters of user defined motors from the Motor Data Definition File (MOTOR.DDF). This file is automatically loaded during the PowerTools installation and is located in the same directory as the PowerTools software.
  • Page 194 User Defined Motors MotorID is used for each motor to mark the beginning of a new user defined motor definition. The format is [MotorXX] where XX is the ID number starting with zero and incrementing by one. You must use both ID numbers. For example, an ID of 1 would be entered as 01. There is no practical limit to the number of user defined motors allowed in the .ddf file.
  • Page 195 Epsilon Eb and EN Drives Reference Manual In this example, the parameters of two user defined motors are named “User1” and “User2”. Abbreviated parameter identifiers are used in the .ddf file. The table below shows the abbreviated identifier for each parameter followed by a description of each. Motor Parameter DDF Identifier Motor Poles...
  • Page 196 User Defined Motors 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). Motor Encoder Lines Per Revolution Coefficient Specifies a coefficient for determining the number of encoder lines per mechanical revolution.
  • Page 197 Epsilon Eb and EN Drives Reference Manual will then operate more efficiently. See “Step 3: Determine Encoder Alignment” for a detailed procedure on how to determine this parameter. 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.
  • Page 198 User Defined Motors Motor Peak Current Specifies the peak current allowed by the motor. The range is 1 to 100 ARMS. If the peak current of the motor is greater than 30 ARMS, specify the peak as 30 ARMS. The drive will limit the peak current to the drive’s capacity.
  • Page 199 Epsilon Eb and EN Drives Reference Manual Figure 128: Motor Parameters Dialog Box Select the correct drive type. Download the configuration to the drive. Select the OK button. The drive will now be configured for the non-Control Techniques motor. Step 7: Verification and Checkout Once the cabling and interface circuitry have been assembled and the drive has been correctly configured, you are ready to power-up the drive.
  • Page 200 User Defined Motors The motor may run away during this test. Make sure it is securely fastened and that there is nothing connected to the motor shaft. At a certain point in the test it will be necessary to manually rotate the motor through an integral number of revolutions.
  • Page 201 Epsilon Eb and EN Drives Reference Manual signals are wired correctly and the Motor Encoder Reference Motion parameter is correct. Manually rotate the motor as accurately as you can, CW 20 revolutions. The Position Feedback should increase by exactly 20 revs. If the change has some significant fractional part (20.5 for example) the Motor Encoder Lines Per Revolution parameter is probably wrong.
  • Page 202 User Defined Motors Move to the Analog tab and find the "Analog Input" parameter. Using your simulator adjust the analog command until the value of this parameter is approximately 0 volts. Enable the drive. It should not move. If the drive faults at this point you most likely have a wiring problem (see “Step 1: Motor Wiring”).
  • Page 203 Epsilon Eb and EN Drives Reference Manual Velocity Test Disable the drive. Select Velocity Analog mode and set "Full Scale Velocity" parameter to 12 RPM. Use the simulator to adjust the analog command voltage to 5 volts. Enable the drive. Find the "Velocity Command Analog" parameter on the Status tab. Adjust the analog command until this parameter reads exactly 6 RPM.

  • Page 204: Options And Accessories

    Epsilon Eb and EN Drives Reference Manual Options and Accessories EN Drive Options FM-4 Programming Module FM-3 Programming Module FM-2 Indexing Module Programming Module OIT-3165 Operator FM-1 Interface Panel Speed Module Programming Module Control Techniques Drives 952-995-8000 Toggle Page Down Last Alarm Clear...

  • Page 205: Epsilon Eb Drive Options

    Epsilon Eb and EN Drives Reference Manual Epsilon Eb Drive Options OIT-3165 Operator Interface Panel Control Techniques Drives 952-995-8000 Toggle Page Dow n Last Alarm Clear Msg. Ack. è Next Help Enter – Msg. ± OIT-EN-232-XXX OIT-EN-485-XXX Epsilon Software CT-MME-POWER-CD Contains PowerTools -FM 962524-00 June 15, 2001...

  • Page 206: Sti-Eio Standard Terminal Interface

    Options and Accessories STI-EIO Standard Terminal 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 the figure below. Note Shield connection points are connected to the shell of the 44-pin “D” connector on the STI EIO.
  • Page 207 Epsilon Eb and EN Drives Reference Manual Figure 131: Dimensions of ECI-44 Note Shield connection points are connected to the shell of the 44-pin “D” connector on the ECI-44. Use tie wraps to provide a strain relief and a ground connection at the shield connection points.

  • Page 208: Fm-1 Speed Module

    Options and Accessories Figure 132: ECI-44 Signal Connections FM-1 Speed Module The FM-1 is a compact and rugged module that attaches to the front of the EN drive. It provides eight digital input lines and four digital output lines in addition to the four input and three output lines available on the EN drive.

  • Page 209: Fm-2 Indexing Module

    Epsilon Eb and EN Drives Reference Manual software. PowerTools FM is an easy-to-use Microsoft® Windows®-based setup and diagnostics tool. With the FM-1 installed, the base drive functions normally, with some additional features, including eight more inputs and four more outputs. The additional major features include; four additional Velocity presets, eight digital Torque presets, two additional Summation modes, plus an Alternate Operating mode function.
  • Page 210 Options and Accessories addition to the four input and three output lines available on the EN drive. The FM-4 and FM- 4DN Programming Modules offer complex motion profiling, along with multi-tasking user programs. A compex motion profile consists of two or more indexes that are executed in sequence such that the final velosity of each index except the last is non-zero.
  • Page 211 Epsilon Eb and EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 212: Specifications

    Epsilon Eb and EN Drives Reference Manual Specifications Drive Specifications Epsilon Series 90 - 264 VAC, 47-63 Hz (240 VAC for rated performance) Standard Range: 90-264 VAC, 1 Ø, 47-63 Hz EN-204: 1 Ø Extended Range: (requires APS) Power Requirements EN-208: 1 Ø...
  • Page 213 Epsilon Eb and EN Drives Reference Manual Epsilon Series Interface: Software selectable differential (RS422) or single ended (TTL Schmitt Trigger) Maximum input frequency: Differential - 2 MHz per channel; 50% duty cycle (8 MHz count in quadrature) Single ended - 1 MHz per channel; 50% duty cycle (4 MHz count in quadrature) Pulse Mode Ratio Capabilities: 20 to 163,840,000 PPR Input Device = AM26C32...
  • Page 214 Specifications Epsilon Series EN-204, EN-208: Natural Convection EN-214: Integral thermally controlled fan Eb-202, Eb-203, Eb-205: Natural Convection Cooling Method (60°) 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 Rated altitude: 3,280 feet (1000 m) Environmental...

  • Page 215: Drive And Motor Combination Specifications

    Epsilon Eb and EN Drives Reference Manual Drive and Motor Combination Specifications Power Motor Kt Cont. Peak HP @ Inertia Encoder Motor Ke lb-in/ Torque Torque Drive Motor Rated lb-in-sec speed resolution VRMS/ ARMS lb-in lb-in Speed (kg-cm lines/rev krpm (Nm/ (Nm) (Nm)
  • Page 216 Specifications Power Motor Kt Cont. Peak HP @ Inertia Encoder Motor Ke lb-in/ Torque Torque Drive Motor Rated lb-in-sec speed resolution VRMS/ ARMS lb-in lb-in Speed (kg-cm lines/rev krpm (Nm/ (Nm) (Nm) (kWatts) ARMS) 12.5 0.000164 5.08 NT-212 5000 2048 34.7 (1.41) (3.05)

  • Page 217: Motor Brake Specifications

    Epsilon Eb and EN Drives Reference Manual Motor Brake Specifications Holding Added Inertia Added Mechanical Mechanical Torque Coil Voltage Coil Current Motor lb-in-sec2 Weight Disengagement Engagement lb-in (VDC) (Amps) (kg-cm2) lb (kg) Time Time (Nm) 0.000106 NTE/M-2XX-CBNS 24 (±10%) 0.33 (±10%) 28 ms 14 ms (2.26)

  • Page 218: Axial/Radial Loading

    Specifications Axial/Radial Loading Max Radial Max. Axial Motor Load (lb.) Load (lb.) NTE/M-207 NTE/M-212 NTE/M-320 NTE/M-330 NTE/M-345 NTE/M-355 MGE-205 MGE-208 MGE-316 MGM-340 MGE/M-455 MGE/M-490 MGE/M-4120 Figure 133 Axial/Radial Loading Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 219: Ip Ratings

    Epsilon Eb and EN Drives Reference Manual 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 NT-3XX (all) IP65 Encoder Specifications Motor Density Output Type Output Frequency Output Signals Power Supply A, B, Z, Comm U, RS422 differential MG and NT...

  • Page 220: Power Dissipation

    Specifications 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 EN drive is 11 W minimum to 21 W depending on external loading such as FM modules and input voltages. 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.
  • Page 221 Epsilon Eb and EN Drives Reference Manual 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.

  • Page 222: Speed Torque Curves

    Specifications 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...
  • Page 223 Epsilon Eb and EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 224 Specifications Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 225 Epsilon Eb and EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 226 Specifications NT-320 with Eb/i-205 NT-320 with En-204 4500 4500 4000 4000 3500 3500 120 VAC 120 VAC 3000 3000 2500 2500 2000 2000 1500 1500 1000 1000 Continuous Peak Continuous Peak Rating Rating Rating Rating lb-in lb-in 0.56 1.13 1.69 2.26 2.82 3.39...
  • Page 227 Epsilon Eb and EN Drives Reference Manual NT-345 with En-208 NT-345 with En-214 3500 3500 3000 3000 2500 2500 120 VAC 120 VAC 2000 2000 1500 1500 1000 1000 Peak Continuous Peak Continuous Rating Rating Rating Rating lb-in lb-in 1.13 2.26 3.39 4.52...

  • Page 228: En Drive Dimensions

    Specifications EN Drive Dimensions Minimum Connector Clearance if used "A" 6.90 0.39 [175.24] 1.75 [9.78] 1.85 [44.57] 0.41 [47.12] 0.33 [10.49] [8.32] 11.20 11.70 [284.54] [297.08] 0.41 [10.37] 0.20 (5.08) Typ. 4 Places Model Dim “A” EN-204 2.93 [74.4] EN-208 3.43 [87.1] EN-214 3.93 [99.8]...

  • Page 229: Epsilon Drive Dimensions

    Epsilon Eb and EN Drives Reference Manual Epsilon Drive Dimensions The following table applies to A* and B* as shown in the figure below. Dimension A* Dimension B* Drive Model (shown in (shown in inches/mm) inches/mm) Eb-202 2.10 [53.3] .45 [11.4] Eb-203 2.10 [53.3] .45 [11.4]...

  • Page 230: Mg Motor Dimensions

    Specifications MG Motor Dimensions MGE-205 and 208 Motors MGE-205 and 208 Mounting Dimensions inches (mm) U Max S Min C Max 5.60 2.25 0.46 1.20 0.375 0.563 0.127 0.300 2.625 0.063 1.502 0.205 (143.0) (57.2) (11.2) (30.5) (9.525) (14.3) (3.23) (7.62) (51) (66.68)
  • Page 231 Epsilon Eb and EN Drives Reference Manual MGE-455, 490 and 4120 Motors MGE-455, 490 and 4120 Mounting Dimensions inches (mm) U Max S Min C Max 8.61 5.00 0.53 0.6245 1.50 0.1875 0.51 3.20 5.875 0.10 4.500 3/8-16 (218.7) (127.0) (13.5) (48.2) (15.862)

  • Page 232: Nt Motor Dimensions

    Specifications NT Motor Dimensions NTE-207 and 212 Motors; English Face (NEMA 23 with 3/8 inch shaft) 1.780 [45.21] ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-23S (-CONS) MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S DRILLED (-CONS) THRU (4) EQUALLY SPACED ON 1.925 [48.89] NTE-207, 212 -CONS,TONS and LONS Mounting Dimensions inches (mm) 5.55...
  • Page 233 Epsilon Eb and EN Drives Reference Manual NTM-207 and 212 Motors; Metric Face 1.780 [45.21] ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-23S (-CONS) MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S DRILLED (-CONS) THRU (4) EQUALLY SPACED ON 1.925 [48.89] NTM-207, 212 -CONS,TONS and LONS Mounting Dimensions mm (inches) 140.96 65.18...
  • Page 234 Specifications NTE-207 and 212 Brake Motors; English Face (NEMA 23 with 3/8 inch shaft) MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S (-TBNS) FLYING LEAD LENGTH: 39.37±2.00 [1000±50.8] (-LBNS and -TBNS) ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-23S (-TBNS) BRAKE CONN: PT02E-8-3P MATING CONN: PT06E-8-3S (-TBNS) ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-23S (-CBNS)
  • Page 235 Epsilon Eb and EN Drives Reference Manual NTE-207 and 212 Brake Motors; Metric Face 159, MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S (-TBNS) FLYING LEAD LENGTH: 39.37±2.00 [1000±50.8] (-LBNS and -TBNS) ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-23S (-TBNS) BRAKE CONN: PT02E-8-3P MATING CONN: PT06E-8-3S (-TBNS) ENCODER CONN: PT02E-16-23P...
  • Page 236 Specifications NTE/M-320, 330, 345 and 355 Motors FLYING LEAD LENGTH: 39.37±2.00 [1000±50.8] (-LONS and -TONS) 2.35 [59.69] MOTOR CONN: PT02E-16-8P ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-8S MATING CONN: PT06E-16-23S (-CONS) (-CONS) DRILLED THRU (4) EQUALLY SPACED ON 2.450 [62.24] 45° (MIN) SQR.

  • Page 237: Motor Wiring Color Cable

    Epsilon Eb and EN Drives Reference Manual Motor Wiring Color Cable Motor Encoder Motor Cable Motor Cable Motor Encoder CFCO Cable Connector Pin # Signal Name Colors Colors Cable Colors (CONS/TONS) (Current) (Previous) Blue Blue Blue Orange Blue/White Orange Green Green Green Brown...

  • Page 238: Cable Diagrams

    Specifications Encoder Connector: PT02E-16-23P Motor Power Connector: PT02E-16-8P Mating Connector: PT06E-16-23S Mating Connector: PT06E-16-8S Cable Diagrams Drive Signal CMDX, CMDO, ECI-44 CDRO AX4-CEN Analog Command In + Analog Command In - Encoder Out A Encoder Out A/ Encoder Out B Encoder Out B/ Encoder Out Z Encoder Out Z/...
  • Page 239 Epsilon Eb and EN Drives Reference Manual Drive Signal CMDX, CMDO, ECI-44 CDRO AX4-CEN I/O Power + In (1st wire) I/O Power + In (2nd wire) I/O Power 0V In (1st wire) I/O Power 0V In (2nd wire) Analog Out 0V Analog Out Channel #1 + Analog Out Channel #2 + External Encoder +5 Power Out (200 ma)
  • Page 240 Specifications CMDX-XXX Cable FUNCTION COLOR CODE RED/BROWN STRIPE INPUT I/O 1 BROWN/RED STRIPE INPUT I/O 2 INPUT I/O 3 BLACK/BLUE STRIPE BLUE/BLACK STRIPE INPUT I/O 4 WHITE/ORANGE STRIPE RS-485+ RS-485- ORANGE/WHITE STRIPE MOTOR ENCODER OUTPUT A PURPLE/BLUE STRIPE* BLUE/PURPLE STRIPE* MOTOR ENCODER OUTPUT A/ RED/BLUE STRIPE EXT ENCODER 200mA max +5V...
  • Page 241 Epsilon Eb and EN Drives Reference Manual CMDO-XXX Cable PIN 1 2.10 COLOR CODE FUNCTION INPUT I/O 1 RED/BROWN STRIPE BROWN/RED STRIPE INPUT I/O 2 INPUT I/O 3 BLACK/BLUE STRIPE BLUE/BLACK STRIPE INPUT I/O 4 WHITE/ORANGE STRIPE RS-485+ ORANGE/WHITE STRIPE RS-485- PURPLE/BLUE STRIPE* MOTOR ENCODER OUTPUT A...
  • Page 242 Specifications CDRO-XXX Cable PIN 1 WIRE COLOR SOLID/STRIPE BLU/PUR ENCODER OUTPUT A/ PUR/BLU ENCODER OUTPUT A ORG/PUR ENCODER OUTPUT B/ PUR/ORG ENCODER OUTPUT B BRN/PUR ENCODER OUTPUT Z/ PUR/BRN ENCODER OUTPUT Z RED/BLU ENCODER +5VDC SUPPLY BLU/RED ENCODER SUPPLY COMMON GRN/BLK I/O SUPPLY + BLK/GRN...
  • Page 243 Epsilon Eb and EN Drives Reference Manual AX4-CEN-XXX Cable BLU/PUR ENCODER OUTPUT A/ ENCODER OUTPUT A/ PUR/BLU ENCODER OUTPUT A ENCODER OUTPUT A ORG/PUR ENCODER OUTPUT B/ ENCODER OUTPUT B/ PUR/ORG ENCODER OUTPUT B ENCODER OUTPUT B BRN/PUR ENCODER OUTPUT Z/ ENCODER OUTPUT Z/ PUR/BRN ENCODER OUTPUT Z...
  • Page 244 Specifications EIO-XXX Cable 1.530 PIN 1 0.770 OVERALL T/C BRAID FUNCTION COLOR INPUT LINE 1 RED/WHT ENABLE RED/BLK INPUT LINE 3 ORG/WHT INPUT LINE 2 ORG/BLK INPUT LINE 5 GRN/WHT INPUT LINE 4 GRN/BLK INPUT LINE 7 PNK/BLK INPUT LINE 6 YEL/BLK INPUT LINE 9 GRY/BLK...
  • Page 245 Epsilon Eb and EN Drives Reference Manual TIA-XXX Cable PIN 1 2.5 MAX (2X) PIN 1 0.250 .63 MAX (2X) END VIEW FEMALE END VIEW (SOCKETS) MALE (PINS) BLACK WHITE BLUE BRAID + DRAIN SHELL SHELL MALE DB-9 CONN FEMALE DB-9 CONN DDS-XXX Cable SHELL DB-9 MALE...
  • Page 246 Specifications TERM-H (Head) Terminator 1.22 R.195 TERM-H PIN #1 .110 MAX (2) .67 REF .090 MIN R1 IN (RX) T1 OUT (TX) 485+ 485- NOT USED NOT USED NOT USED SHELL SHELL DB-9 MALE DB-9 FEMALE TERM-T (Tail) Terminator 1.22 R.195 PIN #1 .110 MAX (2)
  • Page 247 Epsilon Eb and EN Drives Reference Manual CMDS-XXX Cable 3.23 1.20 3.0 +/- 0.25 GRN/YEL SHELL SOLDER SIDE CMMS-XXX Cable 3.99 1.40 3.0 +/- 0.25 GRN/YEL SHELL SOLDER SIDE Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 248 Specifications CFCS-XXX Cable 2.24 3.16 1.18 1.55 OVERALL TIN/COPPER BRAID SHELL WHT/BRN WHT/BRN BRN/WHT BRN/WHT WHT/GRY WHT/GRY GRY/WHT GRY/WHT RED/ORN RED/ORN ORN/RED ORN/RED LARGE 18GA PAIR RED/GRN OR RED/BLU 7 RED/BLU +5 VDC BLU/RED BLU/RED RED/GRN RED/GRN MOTOR OVERTEMP GRN/RED GRN/RED NOT USED 18 N/C...
  • Page 249 Epsilon Eb and EN Drives Reference Manual CFCO-XXX Cable 2.24 PIN 1 1.55 PLUGGING SIDE OVERALL TIN/COPPER BRAID SHELL WHT/BRN BRN/WHT WHT/GRY GRY/WHT RED/ORN ORN/RED LARGE 18GA PAIR RED/GRN OR RED/BLU BLU/RED RED/GRN GRN/RED = TWISTED PAIR DRAINS SOLDER SIDE Artisan Technology Group - Quality Instrumentation ...
  • Page 250 Specifications CFOS-XXX Cable 3.16 1.18 OVERALL TIN/COPPER BRAID SHELL WHT/BRN BRN/WHT WHT/GRY GRY/WHT RED/ORN ORN/RED LARGE 18GA PAIR RED/GRN OR RED/BLU BLU/RED RED/GRN GRN/RED = TWISTED PAIR DRAINS SOLDER SIDE Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 251 Epsilon Eb and EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 252: Glossary

    Epsilon Eb and EN Drives Reference Manual Glossary µs Microsecond. Amps. ARMS Amps (RMS). 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.) Check Box In a dialog box, a check box is a small box that the user can turn “On”...
  • Page 253 Epsilon Eb and EN Drives Reference Manual Downloading The transfer of a complete set of parameters from PowerTools or an FM-P. EEPROM An EEPROM chip is an Electrically Erasable Programmable Read-Only Memory; that is, its contents can be both recorded and erased by electrical signals, but they do not go blank when power is removed.
  • Page 254 Glossary Input Line The actual electrical input, a screw terminal. Least Significant Bit The bit in a binary number that is the least important or having the least weight. Light Emitting Diode. List Box In a dialog box, a list box is an area in which the user can choose among a list of items, such as files, directories, printers or the like.
  • Page 255 Epsilon Eb and EN Drives Reference Manual Output Function A function (i.e., Drive OK, Fault) that may be attached to an output line. Output Line The actual transistor or relay controlled output signal. Parameters User read only or read/write parameters that indicate and control the drive operation. Protective Earth.
  • Page 256 Glossary Revolutions Per Minute. Serial Port A digital data communications port configured with a minimum number of signal lines. This is achieved by passing binary information signals as a time series of 1’s and Ø’s on a single line. Uploading The transfer of a complete set of parameters from PowerTools or an FM-P.
  • Page 257 Epsilon Eb and EN Drives Reference Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 258: Index

    Epsilon Eb and EN Drives Reference Manual Index CFCO-XXX Cable, 230 CFCS-XXX Cable, 229 CFOS-XXX Cable, 231 AC Line Filter Installation Notes, 79 Changing the Default View, 117 AC Line Filters, 79 CMDO-XXX Cable, 222 AC Supplies NOT Requiring CMDS-XXX Cable, 228 Transformers, 85 CMDX-XXX Cable, 221 AC Supplies Requiring Transformers, 86...
  • Page 259 Epsilon Eb and EN Drives Reference Manual Disconnecting Communications, 131 Feedforwards, 138 Downloading the Configuration File, 129 FM-1 Speed Module, 189 Drive Ambient Temperature, 24 FM-2 Indexing Module, 190 Drive and Motor Combination Friction, 137 Specifications, 196 Functional Overview, 7 Drive Enable Wiring, 101 Drive Faults, 154 Drive Modifiers, 16...
  • Page 260 Index Opening an Online Configuration Window, Operation Verification, 130 Mechanical Installation, 82 Operational Overview, 5 MG and NT with Epsilon Speed Torque Options and Accessories, 185 Curves, 205 Output Functions, 35 MG Motor Dimensions, 211 Outputs Tab, 52 MG with EN Motor Speed Torque Curves, 203 MGE-205 and 208 Motors, 211 MGE-316 and 340 Motors, 211...
  • Page 261 Epsilon Eb and EN Drives Reference Manual Rotation Test, 181 Tuning Parameters, 136 Tuning Procedure, 134 Tuning Procedures, 133 Tuning steps, 135 Safety Considerations, xi Safety of Machinery, xi Safety Precautions, xi Saving the Configuration File, 131 Underwriters Laboratories Recognition, Selecting a User Defined Motor, 179 Selecting an Operating Mode, 120 User Defined Motors, 159...
  • Page 262 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 263 For more information about Control Techniques “Motion Made Easy” products and services, call (800) 397-3786 or contact our website at www.emersonct.com. Control Techniques Drives, Inc Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A. Customer Service...

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