Related Manuals for Emerson E Series
Summary of Contents for Emerson E Series
- Page 1 (217) 352-9330 | Click HERE Find the Emerson Motion Control EN-208 at our website:...
- Page 2 E Series Drives Basic Installation Manual L i M I E R S • N M O T I O N C O N T R O L...
- Page 3 Information furnished by EMERSON Motion Control is believed to be accurate and reliable. However, no responsibility is assumed by EMERSON Motion Control for its use. EMERSON Motion Control reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice.
- Page 4 Document Number: 400500-01 No part of this manual may be reproduced by any means without the written permission of EMERSON Motion Control. EMERSON Motion Control is a registered trademark of EMERSON Motion Control. AXIMA is a trademark of EMERSON Motion Control.
- Page 5 Customer Services: EMERSON Motion Control offers a wide range of services to support our customers' needs. Listed below are some examples of these services. Service Support (612)-474-8833 EMERSON Motion Control's products are backed by a team of professionals who will service your installation wherever it may be. Our customer service center in Minneapolis Minnesota is ready to help you solve those occasional problems over the telephone.
- Page 6 The "UL Listed designation is generally applicable to stand alone products where the "UL Recognized" designation is used for components that are part of a system. E Series Drives are usually considered components of a larger control system where the "UL Recognized" designating is very common and well...
- Page 7 D e c l a r e s T h a t T h e F o l l o w i n g P r o d u c t s : E Series Digital Servo Drtve Products Description: EN-204.
- Page 8 E Series Drives Basic Installation Manual...
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Page 9: Table Of Contents
Table of Contents Underwriters Laboratories Recognitioni Introduction Product Overview1 Manual Overview1 Operating Modes1 EN Drive Features 2 Installation Safety Precautions5 Enclosure Setting Up, Commissioning and Maintenance . . 5 Safety of Machinery 5 Electromagnetic Compatibility (EMC)6 Achieving Low Impedance Connections7 Environmental Considerations1 Basic Installation Notes 1 Typical Installation 1... - Page 10 Motor Wiring Motor Feedback Wiring Brake Wiring Input/Output And Drive Enable Wiring Command Connector Wiring Analog Command Wiring Pulse Mode Wiring Encoder Output Wiring Serial Communications Modbus Communications Multi-Drop Communications Quick Touch Setup Overview Pre-defined Setup Selection Pre-defined Setup Descriptions Motor Selection Drive Address Quick Touch Setup Procedure...
- Page 11 Specifications Drive/Motor Combination Specifications6 Speed Torque Curves 6 Vendor Contact Information6...
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Page 13: Product Overview1
Manual Overview This manual is intended for people who are experienced with servo drives and want to quickly get their E Series Drive installed and set up on their system. This manual does not cover EMC's PowerTools software which is available separately from Emerson Motion Control by calling (612) 474-1116. -
Page 14: En Drive Features
EN Series Drives Manual The following operating modes are also available but require Emerson Motion Control's PowerTools software: • V e l o c i t y Preset Mode (four defined velocity presets) • S u m m a t i o n Mode (Sumation of analog command and Velocity Presets) - Page 15 Introduction AC Power Input and PE Ground (J1) DC Bus (J2) Auxiliary Logic Power Input (J3) FM-P Connector (J9) arvitts9N Diagnostic Analog Outputs L o b , * 3 3 3 V W I N Reset/Setup Button r t . , 1 , 3 1 .
- Page 16 EN Series Drives Manual A W A R N I N G General warning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in this unit can cause severe electric shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to this equipment.
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Page 17: Installation
Installation Safety Precautions The EN Drive is intended for professional incorporation into a complete system. If you install the drive incorrectly, it may present a safety hazard. The product uses high voltages and currents, carries a high level of stored electrical energy, and is used to control mechanical equipment which can cause injury. -
Page 18: Electromagnetic Compatibility (Emc)6
The following instructions provide you with installation guidance designed to help you meet the requirements of the EMC Directive 89/336/EEC. Although Emerson Motion Control cannot guarantee your system will meet tested emission or immunity requirements, adhering to the following guidelines will greatly improve the electromagnetic compatibility of your system. -
Page 19: Achieving Low Impedance Connections7
Installation Achieving Low Impedance Connections Immunity can be improved and emissions reduced by maintaining the components of the installation at the same ground potential. Establishing zero potential difference between components requires a low impedance connection between the components. This can be achieved by bringing the conductive surfaces of the components into direct contact. - Page 20 EN Series Drives Manual The AC line filters used during Emerson's compliance testing are listed below. These filters are capable of supplying the drive input power to the specified drive under maximum output power conditions. Table 1 F i l t e r Part Numbers...
- Page 21 . Figure 2 T h r o u g h Wall Shield Grommet Table 1 G r o m m e t Part Numbers Emerson Cable Shielded Cable Grommet Kit Cable Type...
- Page 22 E n c o d e r E Series Drive CMOS o r CMMS Cable Sole: The CFCS c a b l e...
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Page 23: Environmental Considerations1
Installation Environmental Considerations I f your EN Drive 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 or equivalent enclosure as a minimum. I f the ambient temperature inside the enclosure will exceed 104°... -
Page 24: Typical Installation
EN Series Drives Manual Typical Installation The figure below shows a typical installation using an Emerson Motion Control AXIMA 4000 Multi-axis Controller, three EN Drives and an Emerson Motion Control Motion Interface Panel. AC Power & Ground EMERSON MOTION CONTROL'S... -
Page 25: Overview Of Cables
Motor Brake Cable, CBMS-XXX E Series Amplifier Command Cable, AX-CEN-XXX, Serial Cable, MI-CB7-015, E Series Drive to AXIMA 2000 or 4000 Motion Interface to E Series Drive ' 5 : 3 1 Command Cable, CMDX-003, E Series Drive to ECI-44... -
Page 26: Mechanical Installation1
EN Series Drives Manual Mechanical Installation Drive Mounting EN Drives must be back mounted vertically on a metal surface such as a NEMA enclosure. A minimum spacing of two inches must be maintained above and below the EN Drive for ventilation. Additional space may be necessary for wiring and cable connections. -
Page 27: Motor Mounting
Installation Motor Mounting Motors should be mounted with the connectors pointed downward to provide added protection against dust and water damage. 5.5' Minimum Cable Brake Connector Location Clearance (MGE-208 models only) BF - Dm:ugh • Hole • > Add 1 5 (38.10) with brake option Figure 7 M G E - 2 0 5 and 208 Dimensions MGE-205 and 208 Mounting Dimensions Inches (mm) C Max... - Page 28 EN Series Drives Manual 5.5" Minimum Cable Connector Location Clearance -340 models only) " XD a Brake Power Connector Location < BB (MGE-316 models only) Through Hole BC a a< A H a Add 1.50 (38.10) with brake option Figure 8 M G E - 3 1 6 and M G M -340 Dimensions MGE-316 and MGM-340 Mounting Dimensions inches (mm) U Max...
- Page 29 Installation 5.5" Minimum Cable Clearance Brake Connector Location (if Equipped) 3 4, BB Through BC 3 . A H 3 Add 2.00 (50.8) with brake option Figure 9 M G E / M - 4 5 5 , 490 and 4120 Dimensions MGE-455, 490 and 4120 Mounting Dimensions inches (mm) A l l...
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Page 30: Electrical Installation
E N S e r i e s D r i v e s M a n u a l Electrical Installation System Grounding AC Power Supply Enclosure +24V Fuses DC I/O Supply S i n g l e Point Ground 3 Phase Line Power (Bonded to Enclosure) Logic Common... -
Page 31: Ac Power Supply Requirements
AC Power Supply Requirements The examples below show AC power connections for single phase and three phase E Series Drives. These examples are shown for reference only. Local electrical codes should be consulted before installation. Note: T h e maximum voltage applied to the drive terminals must not exceed 264 VAC phase to phase and phase to PE ground. - Page 32 EN Series Drives Manual I f the distribution transformer is configured as shown in Figure 13 or Figure 14, an isolation transformer is required. I f 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.
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Page 33: Ac Line Fusing And Wire Size2
Installation Transformer Sizing I f your application requires a transformer, use the following table for sizing the KVA rating. The values in the table are based on "worst case" power usage and can be considered a conservative recommendation. You can downsize the values only if the peak power usage is less than the transformer continuous power rating. -
Page 34: Ac Input Power Connections2
EN Series Drives Manual Table 3 Fusing and Wire Gauge Sizes Drive Recommended Minimum External AC Line Fuse AC/PE Line Wire Gauge Model EN-204 15 Amp 10 14 AWG EN 208 12 AWG 20 Amp 10 EN-214 12 AWG 20 Amp 30 WARNING The Protective Earth (PE) wire connection is mandatory for human safety and proper operation. -
Page 35: Auxiliary Logic Power Wiring
AC power is re-applied if the backup supplies have been active. Note: Emerson Motion Control offers a power supply (model #ALP-130) that supplies enough power for one E Series Drive with an FM module (See "ALP-130 Power Supply" on page 25.) The auxiliary logic power connector is accessed through a plastic punch-out tab located on top of the drive that reads "BUS/AUX". - Page 36 EN Series Drives Manual W A R N I N G Do not connect AC power directly into the auxiliary logic connector. You must wire this connection correctly with "transformer isolated" 127 to 373 VDC power. Failure to do so can cause death, serious injury or equipment damage.
- Page 37 90 to 264 VAC) ALP-130 Power Supply The ALP-130 supplies enough power for one E Series Drive with an FM module. The ALP-130 comes complete with the hardware necessary for mounting to most DIN rail mounting tracks and includes the screw terminal plug connector to mate with the auxiliary supply receptacle on the drive.
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Page 38: External Shunt Option Wiring
EN Series Drives Manual External Shunt Option Wiring The DC Bus (J2) connector (see page 24) allows access to the DC bus for applications requiring an external shunt regulator. Note: T h e external shunt regulator must be able to sense the DC bus voltage and switch the shunt resistor in and out of the circuit as needed to maintain acceptable bus voltage. -
Page 39: Motor Wiring
Installation Motor Wiring MG motors are equipped with up to 3 male MS style connectors, one for stator connections, one for encoder connections and one for the brake (if so equipped). Stator connections from the EN Drive to the motor are made with either the CMDS (2"... -
Page 40: Motor Feedback Wiring
" R e d / G r e e n - o n s o m e C F C S c a b l e s . Figure 21 M o t o r Feedback Connector Pin-Out Note: F o r non-Emerson motors the thermal switch minimum requirements are as follows:... -
Page 41: Brake Wiring
Brake Wiring MG motors equipped with brakes have a three pin MS style connector. The EMERSON brake power cable (model CBMS-xxx) has an MS style connector on the motor end and three wire leads on the other end (see wiring diagram below). - Page 42 EN Series Drives Manual D r i v e C u s t o m e r S u p p l i e d Drive E n a b l e Ai. 0 C o n t a c t ;...
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Page 43: Input/Output And Drive Enable Wiring
Installation Input/Output And Drive Enable Wiring E Series Drives are equipped with five optically isolated input lines (one dedicated to a drive enable function) and three optically isolated output lines. They are designed to operate from a +10 to 30 VDC source. All inputs and outputs are configured as sourcing. -
Page 44: Command Connector Wiring
EMERSON controller, you may use the optional External Connection Interface (ECI-44) which provides a convenient screw terminal connection strip. Connect one end of the CMDX command cable to your E Series Drive and the other end to the ECI-44 (see ECI-44 on page 36) - Page 45 Installation Command Conrector p E Shield Connected To Command Conrec lot Connector Shell I/O Supply Input # 1 ( Y E L / 1 3 1 0 , ) , (RID/BRA),. I/O Cordrron - Input # 2 (9.RN/TI I ) (ERN/RED) <—...
- Page 46 G r a y / Ye l l , w Do N o t C o n n e c t Figure 27 C M D O - W Cable Wiring Diagram, E Series Drive to Lead Encoder The CMDX cable has the identical signal pin out and wire colors, but has a 44...
- Page 47 I n p u t A / Green/Purple DRAINS • • C D R O - X X X Cable W i r i n g Diagram, E Series Driue to A X I M A Figure 28 02 Through 08 or Other Controller...
- Page 48 ECI-44 should be mounted close to the drive and away from any high voltage wiring. The ECI-44 comes complete with the hardware necessary for mounting to most DIN rail mounting track (see mounting dimensions below). r;EMERSON PIN980300 morappr CONTROII REV Al SYNC ENCe001 INfIrrt n o r m -ax 1 .
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Page 49: Analog Command Wiring
Installation Note: Wiring should be done with consideration for future troubleshooting and repair. All wiring should be either color coded and/or tagged with Industrial wire tabs. Low voltage wiring should be routed away from high voltage wiring. Analog Command Wiring ( I m e r n u l ) 10 Ohrn :4 E N L o g i c... -
Page 50: Pulse Mode Wiring
EN Series Drives Manual Pulse Mode Wiring Shield c o n r e c t e d 200 ns Minimum t o connecto s h e l l Mnfion nrrur (41) Pr. se or 1 , n g ec2 10 On, (9) n r n r m n % "... -
Page 51: Encoder Output Wiring
Installation Encoder Output Wiring N o t , A ' A , a n d r r. ) r u s t o e rno.Aut.rd A I , o h m rer..),for s r q c o r u m e n d e d f o r h i g h frequency (over 2 5 0 Ir ) 1 e s p ) u o r c a q l e lengths Figure 34 C o m m a n d Connector Encoder Output Wiring R e i r r t H r... -
Page 52: Serial Communications
EN Series Drives Manual Serial Communications Serial communications with the E Series Drive is provided through the female DB-9 connector (J4) located on the front of the drive. The serial interface is either three wire non-isolated RS-232C or two wire non-isolated RS-485. RS- 485 is also available through the 44 pin command connector (see command connector on page 32). -
Page 53: Modbus Communications
Installation Modbus Communications The E Series 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... - Page 54 EN Series Drives Manual...
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Page 55: Quick Touch Setup
• A -OFF = Active Off (0-3 VDC) The Reset/Setup Button, located on the front of the E Series Drive, is a dual purpose Button. Its' primary function is fault condition reset. Its' secondary function is the selection of a pre-defined setup, the motor model and the drive... -
Page 56: Pre-Defined Setup Descriptions
This can cause equipment damage or human injury. Setup 3 (AXIMA Analog Velocity) This is the preferred setup for operating in velocity mode with Emerson Motion Control's AXIMA Multi-axis Controller. The drive will respond to a conventional ±10 volt DC signal applied to the analog command input of the command connector as a velocity command. - Page 57 Quick Touch Setup Setup 4 (AXIMA Analog Torque) This is the preferred pre-defined setup if you wish to operate in torque mode and you are interfacing with an EMC AXIMA Multi-axis Controller. The motor will respond to a conventional ±10 volt DC signal applied to the analog command input of the command connector as a torque command.
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Page 58: Motor Selection
EN Series Drives Manual Motor Selection Each E Series Drive is compatible with three different MG motors. When selecting a motor using the Quick Touch Setup, you will only be allowed to select a compatible motor size for your drive. -
Page 59: Quick Touch Setup Procedure
Quick Touch Setup CAUTION Selecting a pre-defined setup may affect the operating mode and input/ output functions assignments. These changes may cause unwanted motion which may result in personal injury or equipment damage. Quick Touch Setup Procedure You can use the Quick touch Setup Procedure to change the pre-defined setup, motor model, and/or drive address for your EN Drive. - Page 60 EN Series Drives Manual B. T o select a Setup, release the Reset/Setup Button when the drive displays the setup you want. a. T h e number selected will flash three times to confirm the setup number selected. b. T h e drive will then display a triple bar character for four seconds.
- Page 61 Quick Touch Setup b. T h e drive will then display a triple bar number for four seconds. C. P r e s s and hold the Reset/Setup Button while the drive displays the triple bar. c. T h e drive will display the valid address number for the ones' digit showing each for two seconds.
- Page 62 EN Series Drives Manual Drive Enable Input Off Drive O n e s D i s a b l e d Digit Address 2 Digit Address ▶ ( Release ) 2 sec. sec. 4 sec. 4 sec. min Valid Motor Select Codes Pre-defined Setups (0-7) displayed for 2 sec.
- Page 63 Quick Touch Setup Address, Ones' digit, 0-9, Address, Tens' digit, 0-9, displayed for 2 sec. each displayed for 2 sec. each When desired Number. When desired Number is displayed is displayed ♦ • Press/Hold ( Release ) ( Release ) Within Selected Number.
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Page 64: Input/Output Functions
The EN Drive has eleven input and twelve output functions available. Input and output function line assignments are determined by the pre-defined setup (see Pre-defined Setups on page 43). Changes to these assignments can only be made using the E Series PowerTools Software. Input Functions Drive Enable (Not Programmable) The Drive Enable input provides hardware control of the power stage. - Page 65 Brake Control.' This input function, when active, will engage the brake unless overridden by the Brake Release input function. This input lets you externally engage the 1.This input function can be assigned only through Emerson's PowerTools Software.
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Page 66: Output Functions
EN Series Drives Manual brake, while allowing the drive to also control the brake during fault and disabled conditions. Output Functions CW and CCW Travel Limits These outputs are active when a Travel Limit input becomes active. See CW and CCW Travel Limits input function explanation in the input section on page 52. - Page 67 (EN-208 and EN-214). On the EN-204 drives, this output merely indicates when the bus voltage is high enough to warrent adding an external shunt. 1.This o u t p u t function can be assigned only t h r o u g h Emerson's PowerTools Software.
- Page 68 EN Series Drives Manual...
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Page 69: Troubleshooting
Troubleshooting Diagnostic Display The diagnostic display on the front of the drive show drive status and fault codes. When a fault condition occurs, the drive will display the fault code, overriding the status code. See the table on the following page for a list of fault codes. - Page 70 EN Series Drives Manual The drive accurately tracks rotor position during fault conditions. For example, i f there is a "Low DC Bus" fault where the bridge is disabled, the drive will continue to track the rotor's position provided the logic power is not interrupted.
- Page 71 Invalid Configuration This fault code should not normally occur when using an MG series motor. I f this fault occurs, please call Emerson Motion Control service for assistance. Power Stage Fault This fault is generated when a power stage over-temperature, over-current or under voltage gate supply occurs.
- Page 72 EN Series Drives Manual Encoder Line Fault I f any pair of encoder lines are in the same state, an encoder line fault is generated. The most likely cause is a missing or bad encoder connection. Motor Over Temperature Fault This fault is generated when the motor thermal switch is open due to motor over-temperature or mis-wiring.
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Page 73: Diagnostic Outputs
Troubleshooting Diagnostic Outputs The diagnostic outputs are located on the front of the drive allow you to measure drive parameters. There are two diagnostic output channels associated with these test points. Default assignments: Output 1 = Velocity Feedback ± 10V = -± 6000 RPM Output 2 = Torque Command ±... - Page 74 EN Series Drives Manual...
- Page 75 Specifications AC Power Drive Encoder Output 90 - 264 VAC, 47 - 63 Hz Differential line driver, RS-422 1 0 for EN-204 and EN-208 compatible. Resolution is 1:1 o f the motor's 1 0 or 3 0 for EN-214 encoder (MG motors = 2048 lines/ Control Inputs motor rev.).
- Page 76 Drive with FM: 30 watts Motor over temperature RMS shunt power fault Auxiliary power supply available from Over speed Emerson Motion Control (#ALP-130). Following error (position mode) CW/CCW limit Pulse Mode 5V Open collector, TTL, Differential RS- 422 line driver compatible.
- Page 77 Specifications Drive/Motor Combination Specifications Table 12 D r i v e 1 Motor Specifications Drive Motor Model Cont. Peak Power Inertia Encoder Motor We Motor Kt speed &eel Rate resolution VRMS/ lb-in/ARMS Model Torque Torque HP 0 lb-in-see lb-in Rated (kg-em) ms/krpm lines/rev...
- Page 78 EN Series Drives Manual Table 14 D r i v e Motor Weights Weight Drive lb (kg) 6.4 ( 2 . 9 ) E N - 2 0 4 7,7 ( 3 . 5 ) E N - 2 0 8 8.9 (4.0) E N - 2 1 4 Weight...
- Page 79 Specifications Speed Torque Curves Continuous ratings of the MG motors are based on 100°C motor case temperature and 25°C ambient temperature with the motor mounted to an aluminum mounting plate as shown in the table below. Table 16 M o u n t i n g Plates Motor Mounting Plate Size MG-205 &...
- Page 80 EN Series Drives Manual MG-340 with EN-208 3 0 0 0 2 5 0 0 c e o . 2 0 0 0 Ul gt 1 5 0 0 • 1 0 0 0 O 2 0 1 0 0 140 lb-In O 2 .
- Page 81 Specifications Vendor Contact Information Schaffner (AC L i n e filters): (800) 367-5566 or (201) 379-7778 Cooper Industries, Inc. Crouse-Hinds Division (Cable Shield Grommets) (315) 477-5531...
- Page 82 EN Series Drives Manual...
- Page 83 Index Cables, 13 C Power CBMS brake cable, 29 fusing, 22 CDRO command cable, 35 Grounding, 18 Input Power, 21 CFCS Motor Feedback, 28 CMDO cammand cable, 34 Inrush Current, 22 Power Transformers, 19 CMDS/CMMS Motor Power, 27 Transformer Sizing, 21 Command Connector wire gauge sizes, 22 analog command wiring, 37...
- Page 84 assigning, 43 drive enable, 31 function descriptions, 52 wiring, 31 ECI (External Connector Interface) mounting, 36 EN Drive Features, 2 Enclosures, 5 External Shunt Motor requirements, 26 feedback wiring, 28 specifications, 26 Mounting, 15 Wiring Diagram, 26 stator wiring, 27 wiring diagram, 26 Operating Modes Fusing...
- Page 85 motor selection, 46 following error fault, 60 Pre-defined Setups, 43 high DC bus fault, 59 procedure, 47 invalid configuration, 59 low DC bus fault, 59 motor over temperature fault, 60 non-volatile memory invalid, 59 over speed fault, 60 power stage fault, 59 afety, 5 powr up self-test failure, 59 basic installation notes, 11...
- Page 88 EMERSON MOTION CONTROL Subsid.: Emerson Electric Company 1365 Park Road Chanhassen, Minnesota 55317 Sales 612-474-1116 or 1-800-FX-SERVO 24 hr. Service 612-474-8833 FAX: 612-474-8711 BBS: 612-474-8835 Website: www.emersonemc.com...