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Strany 1 - Attachment for

Attachment for the EN Drive onConair SCE Cutters and theCombination Puller/Cutter (modelsSCE ) EN Drive IME011/1202

Strany 2 - Epsilon Eb and EN Drives

viiUnderwriters Laboratories ListedThe Epsilon and EN Digital Servo Drives are marked with the “UL Listed” label after passing a rigorous set of desig

Strany 3

81Installation Figure 52: AC Filter and Cable Connections for EN Drives Figure 53: AC Filter and Cable Connections for Epsilon DrivesNEMA EnclosureThi

Strany 4 - Reference Manual

82Epsilon Eb and EN Drives Reference ManualEnvironmental ConsiderationsIf the product will be subjected to atmospheric contaminants such as moisture,

Strany 5

83InstallationMotor MountingMotors should be mounted firmly to a metal mounting surface to ensure maximum heat transfer for maximum power output and t

Strany 6 - Customer Support

84Epsilon Eb and EN Drives Reference ManualElectrical InstallationSystem Grounding Figure 54: Typical System Grounding Diagram

Strany 7 - Document Conventions

85InstallationPower Supply RequirementsThe examples below show AC power connections for single phase and three phase drives. These examples are shown

Strany 8

86Epsilon Eb and EN Drives Reference Manual Figure 55: Earth Grounded WYE Distribution Transformer Figure 56: Earth Grounded Delta Distribution Transf

Strany 9 - Reference Materials

87Installation Figure 58: Three Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE Isolation Transformer Figure 59: Delta to Delta Isolati

Strany 10 - Drive Overload Protection

88Epsilon Eb and EN Drives Reference Manualthe required KVA rating are high transformer ambient temperatures (>40° C or >104° F) and drive opera

Strany 11 - CE Declaration of Conformity

89InstallationLine Fusing and Wire SizeYou must incorporate over current protection for the incoming AC power with the minimum rating shown here. Cont

Strany 12 - Supplementary information:

90Epsilon Eb and EN Drives Reference ManualEN OnlyENAccording to UL requirements, the EN drive is suitable for use on a circuit capable of delivering

Strany 13

viiiCE Declaration of ConformityThe Epsilon and EN Digital Servo Drives are marked with the “Conformite Europeenne Mark” (CE mark) after passing a rig

Strany 14 - Safety Considerations

91Installation Figure 61: EN AC Power Wiring DiagramL1 L2 L3 PEWire crimp ferrules are recommended:If 14 AWG, use panduit #PV14-P47.If 12 AWG, use Pan

Strany 15

92Epsilon Eb and EN Drives Reference Manual Figure 62: Epsilon AC Power Wiring DiagramDo not connect or disconnect AC power by inserting or removing t

Strany 16 - Table of Contents

93InstallationAuxiliary Logic Power Usage ( EN Only)) Figure 63: EN Auxiliary Power Supply Wiring DiagramAs shown in Figure 63, the auxiliary logic po

Strany 17 - Installation 77

94Epsilon Eb and EN Drives Reference ManualControl Techniques offers Auxiliary Logic Power Supplies (models ALP-130 and -430) that supply enough power

Strany 18

95Installation Epsilon OnlyIf the low DC bus fault is disabled with PowerTools software on the Advanced tab, resetting the drive is not necessaryDo no

Strany 19 - Index 239

96Epsilon Eb and EN Drives Reference ManualNoteConnecting 24V common on the APS to chassis ground reduces offset voltage in the Analog Diagnostics Out

Strany 20 - Introduction

97InstallationNoteThe motor ground wire and shields must be run all the way back to the amplifier terminal and must not be connected to any other cond

Strany 21 - E Series E

98Epsilon Eb and EN Drives Reference Manual Figure 67: Epsilon Motor Power Wiring DiagramMotor Feedback WiringEncoder feedback connections are made wi

Strany 22

99Installation Figure 68: Motor Feedback Connector PinoutMotor Brake WiringMotors equipped with brakes have a three-pin MS style connector. The brake

Strany 23

100Epsilon Eb and EN Drives Reference Manual Figure 69: EN Brake Wiring Diagram using the Command Connector Figure 70: EN Brake Wiring Diagram using t

Strany 24 - Operational Overview

ixDeclaration of ConformityManufacturer’s Name:Control Techniques Manufacturer’s Address:12005 Technology DriveEden Prairie, MN 55344USADeclares that

Strany 25 - How Motion Works

101Installation Figure 71: Epsilon Brake Wiring Diagram using the Command Connector Figure 72: Epsilon Brake Wiring Diagram using the I/O ConnectorInp

Strany 26 - Pulse Mode

102Epsilon Eb and EN Drives Reference Manual Figure 73: EN Input/Output Wiring Diagram Figure 74: Epsilon Input/Output Wiring DiagramFront ViewI/O sup

Strany 27

103InstallationEN OnlyENThe I/O connector is a 10-pin removable terminal block. It is recommended that #18 to 24 AWG stranded wire be used. Epsilon On

Strany 28

104Epsilon Eb and EN Drives Reference Manual Figure 76: Epsilon I/O Connector to Command Connector Internal ConnectionsNoteIf loads are applied to the

Strany 29 - Pulse/Pulse Interpretation

105Installation(ECI-44) which provides a convenient screw terminal connection strip. Connect one end of the CMDX command cable to your drive and the o

Strany 30 - Pulse Mode Parameters

106Epsilon Eb and EN Drives Reference ManualFor information about Command Connector pinout and CMDO-XXX cable wire colors, see the "Specification

Strany 31 - Velocity Mode

107InstallationAnalog Command Wiring Figure 78: Analog Command, Differential Wiring Diagram Figure 79: Analog Command, Single Ended Wiring DiagramEnco

Strany 32 - Presets Submode

108Epsilon Eb and EN Drives Reference ManualThe default encoder output scaling is set to output the actual motor encoder resolutions. The standard MG

Strany 33 - Summation Submode

109InstallationPulse Mode Wiring, Differential Inputs Figure 82: Pulse Mode, Differential Output to Differential Input Figure 83: Pulse Mode, Single E

Strany 34 - Torque Mode

110Epsilon Eb and EN Drives Reference ManualPulse Mode Wiring, Single Ended Inputs Figure 84: Pulse Mode, Single Ended Output to Single Ended Input (t

Strany 35 - Drive Modifiers

xDeclaration of ConformityManufacturer’s Name:Control TechniquesManufacturer’s Address:12005 Technology DriveEden Prairie, MN 55344USADeclares that th

Strany 36

111Installation Figure 86: Pulse/Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) Figure 87: Master/Slave Encoder Connec

Strany 37 - Torque Limit Function

112Epsilon Eb and EN Drives Reference Manualoutput resolution is 2048 lines per motor revolution. This resolution is adjustable in one line per revolu

Strany 38 - Overspeed Velocity Parameter

113Installation Figure 89: Epsilon RS-232 and RS-485 Internal Connections between the Command Connector and the Serial Communication ConnectorWhen con

Strany 39 - Motor Direction Polarity

114Epsilon Eb and EN Drives Reference ManualModbus CommunicationsThe drive’s serial communication protocol is Modbus RTU slave with a 32 bit data exte

Strany 40 - Current Foldback

115Installation Figure 91: Epsilon Eb Multi-Drop Wiring DiagramNote:The terminating resistor packs, TERM-Hand TERM-T, should be installed on thefirst

Strany 41 - Stall Foldback

116Epsilon Eb and EN Drives Reference Manual Figure 92: Multi-Drop Wiring Pinout+ 50 V6187345621987RX (232)TX (232)Ground345621987Computer345621987Dri

Strany 42 - Shunt Operation

117Quick StartOffline SetupNoteGenerally, online setup is used when editing parameters in a drive. Offline setup editing is usually only done when not

Strany 43 - Drive Ambient Temperature

118Epsilon Eb and EN Drives Reference Manual Figure 94: PowerTools FM Window, Detailed Setup View, OfflineDetailed Setup ViewThe Detailed Setup view a

Strany 44

119Quick StartStep 2: Opening an Offline Configuration WindowTo open an offline Configuration Window, click the New icon from the toolbar or select Ne

Strany 45 - External Shunt Operation

120Epsilon Eb and EN Drives Reference Manual2. Enter the “Target Drive Address(es)” to which you wish to download the setup information. Unless you ha

Strany 46 - - Auxiliary Supply

xiSafety ConsiderationsSafety PrecautionsThis product is intended for professional incorporation into a complete system. If you install the product in

Strany 47 - Brake Operation

121Quick StartPulse Mode SetupThis procedure assumes that you have connected the proper pulse mode wiring as described in the "Installation"

Strany 48 - Analog Command Input

122Epsilon Eb and EN Drives Reference Manual Figure 100: Operating Mode, Velocity Mode Selected3. Enter a “Full Scale Velocity” value. The velocity is

Strany 49 - With positive direction = CW

123Quick Start3. Select the desired “Velocity Preset” number.4. Enter a "Velocity Preset" for each "Preset Number" being used.5. E

Strany 50 - Analog Outputs

124Epsilon Eb and EN Drives Reference ManualTorque Level 1 and 2 SetupThis function can be active in any Operating Mode.1. Click on the Outputs tab.2.

Strany 51 - Digital Inputs and Outputs

125Quick StartInertia RatioInertia 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

Strany 52 - Input Functions

126Epsilon Eb and EN Drives Reference Manual Figure 105: Inputs TabTo assign an Input Function to an Input line:1. Assign an input by highlighting an

Strany 53

127Quick Start“Output Lines” window, on the right side, displays the three output lines, the line active state and the output function assignments. Fi

Strany 54 - Output Functions

128Epsilon Eb and EN Drives Reference ManualNoteGenerally, online setup is used when editing parameters in a drive. Offline setup editing is usually o

Strany 55

129Quick StartStep 2: Downloading the Configuration FileWhen you are ready to download the information in the current Configuration Window, go to the

Strany 56

130Epsilon Eb and EN Drives Reference ManualSelected Drives Radio ButtonIf you have only one device connected, that device’s address will be displayed

Strany 57

xiiEpsilon Eb and E Series EN Drives Reference Manualvoltages used in this unit can cause severe electric shock and/or burns, and could be lethal. Ext

Strany 58 - Setting Up Parameters

131Quick Start3. The drive enabled.4. The characters “V, T, P or +” displays verified on the drive "LED" status display with the decimal poi

Strany 59 - (Detailed Setup view only)

132Epsilon Eb and EN Drives Reference Manual

Strany 60 - Load Group

133Tuning ProceduresOverviewThe drive uses closed loop controllers to control the position and velocity of the attached motor. These position and velo

Strany 61 - Operating Mode Group

134Epsilon Eb and EN Drives Reference ManualTuning ProcedureOnce the initial setup has been completed, you can run the system to determine if the leve

Strany 62 - Source Group

135Tuning ProceduresThis unique feature offers an extra level of safety because the drive can override the position controller and bring the axis to a

Strany 63 - Following Error Limit Group

136Epsilon Eb and EN Drives Reference Manual4. Enable the drive and run the system.5. Adjust Response to obtain the best performance.General Tuning Hi

Strany 64 - Velocity Mode Submode Group

137Tuning ProceduresIf you enter an inertia value lower than the actual inertia, but is between 10 and 90 percent of the actual, the drive will tend t

Strany 65

138Epsilon Eb and EN Drives Reference ManualHigh Performance Gains, when enabled, make the system less forgiving in applications where the actual iner

Strany 66 - Torque Mode Group

139Tuning ProceduresWhen Feedforwards are enabled, the accuracy of the Inertia Ratio and Friction parameters is very important. If the Inertia Ratio p

Strany 67 - (Detailed Setup view only)

140Epsilon Eb and EN Drives Reference ManualThe Line Voltage must never be set to 115 VAC if the applied voltage is actually 230 VAC. This can cause d

Strany 68 - Inputs Tab

xiiiSafety Considerations xiSafety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Strany 69 - Epsilon Only

141Tuning Procedures• If your application has travel limits, it may be helpful to use an external position controller to prevent the axis from exceedi

Strany 70

142Epsilon Eb and EN Drives Reference Manual Figure 110: Trapezoidal Velocity Waveform with Torque WaveformDetermining Inertia RatioActual system Iner

Strany 71 - Outputs Tab

143Tuning ProceduresInertia Measurement Procedure:NoteThe test profile will need to be run a number of times in order to get a good sample of data.1.

Strany 72

144Epsilon Eb and EN Drives Reference ManualMany position controllers define acceleration in units per sec2. The formulas above use ms/kRPM. Make sure

Strany 73 - Limits Group

145Tuning ProceduresNT-320Eb-2054.77 30 600NT-330 5.50 30 600NT-345 5.10 30 600Motor Drive VmPercent Continuous/volt Scaled Torque Command Output (def

Strany 74 - Actual Group

146Epsilon Eb and EN Drives Reference Manual

Strany 75

147Diagnostics and TroubleshootingDiagnostic DisplayThe diagnostic display on the front of the drive shows drive status and fault codes. When a fault

Strany 76 - Trigger Group

148Epsilon Eb and EN Drives Reference ManualFault CodesA number of diagnostic and fault detection circuits are incorporated to protect the drive. Some

Strany 77

149Diagnostics and TroubleshootingHigh DC Bus Reset Button or Input Line YesLow DC Bus Reset Button or Input Line YesEncoder State Cycle Power YesEnco

Strany 78

150Epsilon Eb and EN Drives Reference ManualFault DescriptionsPower Up Test This fault indicates that the power-up self-test has failed. This fault ca

Strany 79 - Configuration Group

xivPosition Tab (Detailed Setup view only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Limits Group . . .

Strany 80 - Encoder Output Group

151Diagnostics and Troubleshootingcondition or an application that requires an external shunt (e.g., a large load with rapid deceleration).Low DC Bus

Strany 81 - Position Error Integral Group

152Epsilon Eb and EN Drives Reference ManualOverspeed This fault occurs in one of two circumstances:1. When the actual motor speed exceeds the Overspe

Strany 82 - Analog Inputs Group

153Diagnostics and TroubleshootingAnalog Output Source options are:• Velocity Command• Velocity Feedback• Torque Command (equates to Torque Command Ac

Strany 83 - Analog Outputs Group

154Epsilon Eb and EN Drives Reference Manual Figure 112: Diagnostic Cable (DGNE) DiagramDrive FaultsThe Active Drive Faults dialog box is automaticall

Strany 84 - I/O Status Tab

155Diagnostics and TroubleshootingViewing Active Drive FaultsTo view all active drive faults, select the View Faults command from the Device menu or b

Strany 85

156Epsilon Eb and EN Drives Reference Manualwatch, click the Close button. The Select Drive Parameters dialog box will close and the Watch Window will

Strany 86 - Outputs Group

157Diagnostics and Troubleshooting Figure 116: View Motor Parameters WindowThe View Motor Parameters window is accessed by selecting View Motor Parame

Strany 87

158Epsilon Eb and EN Drives Reference ManualNo device selected. No device selected during flash upgrade. Select device(s) from list box.The drive at a

Strany 88 - Status Tab

159User Defined MotorsDrives can be configured to operate with brushless DC (synchronous permanent magnet) motors not manufactured by Control Techniqu

Strany 89 - Torque Group

160Epsilon Eb and EN Drives Reference Manual1. Determine if your motor is compatible with the drive by verifying its characteristics. There are a numb

Strany 90 - Drive Status Group

xvSerial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112Quick Start 1

Strany 91

161User Defined Motors Figure 117: CCW Rotation of the Motor5. Look at the phase-to-phase voltages VCA and VBA. There are two possibilities. If VCA le

Strany 92

162Epsilon Eb and EN Drives Reference Manual Figure 118: Phase Plot Used to Determining Stator WiringNoteFor the remainder of this procedure we will r

Strany 93 - Fault Log Group

163User Defined MotorsEncoder Electrical InterfacingEach of the encoder signals is received by a differential receiver to minimize the noise susceptib

Strany 94 - Advanced Tab

164Epsilon Eb and EN Drives Reference Manual Figure 120: User Defined Motor Single Ended Feedback ConnectionsThermal Switch InterfacingThe drive provi

Strany 95 - Bus Voltage Group

165User Defined MotorsThere are two steps in interfacing the encoder signals:1. Determine whether your encoder has all the required signals to operate

Strany 96

166Epsilon Eb and EN Drives Reference ManualNoteIt is important that all the encoder phases match the phase plot in the figure above. (i.e., A leads B

Strany 97

167User Defined Motors Figure 123: Oscilloscope ConnectionsCCW Reference RotationBefore reading the motor signals, zero the VTS oscilloscope channel o

Strany 98 - Cable to Enclosure Shielding

168Epsilon Eb and EN Drives Reference Manual Figure 124: CCW Electrical Angle Plot Where:EUA = Motor Encoder “U” AngleIf EUA is >360° subtract 3

Strany 99

169User Defined MotorsWhere:EMA = Motor Encoder Marker AngleIf EMA is >360° subtract 360°.Many encoders are designed so that the encoder marker pul

Strany 100 - NEMA Enclosure

170Epsilon Eb and EN Drives Reference Manual Figure 125: CW Electrical Angle PlotIn Figure 124 the electrical angle decreases from left to right and t

Strany 101 - Mechanical Installation

xviMotor Brake Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198Motor Weights.

Strany 102 - Motor Mounting

171User Defined MotorsDynamic Alignment MethodThis method is used at Control Techniques to establish the alignment on motors. It is accomplished by sp

Strany 103 - Electrical Installation

172Epsilon Eb and EN Drives Reference Manual Figure 127: Static Alignment SchematicThe current applied through R to S should be the same polarity each

Strany 104 - Epsilon Only

173User Defined MotorsNoteWhen using an oscilloscope, use the following formula to determine the motor velocity in RPM.Use the following formula to de

Strany 105

174Epsilon Eb and EN Drives Reference Manual7. Calculate the number of motor poles: Step 5: Editing the MOTOR.DDF FileThe PowerTools software obtains

Strany 106 - Transformer Sizing

175User Defined MotorsMotorID is used for each motor to mark the beginning of a new user defined motor definition. The format is [MotorXX] where XX is

Strany 107

176Epsilon Eb and EN Drives Reference ManualIn this example, the parameters of two user defined motors are named “User1” and “User2”. Abbreviated para

Strany 108 - Input Power Connections

177User Defined MotorsThe total number of encoder lines is used both for commutation and for position/ velocity control. To properly commutate the mot

Strany 109

178Epsilon Eb and EN Drives Reference Manualwill then operate more efficiently. See “Step 3: Determine Encoder Alignment” for a detailed procedure on

Strany 110 - Installation

179User Defined MotorsMotor Peak CurrentSpecifies the peak current allowed by the motor. The range is 1 to 100 ARMS. If the peak current of the motor

Strany 111 - Front View

180Epsilon Eb and EN Drives Reference Manual Figure 128: Motor Parameters Dialog Box3. Select the correct drive type.4. Download the configuration to

Strany 112 - Top View

Reference ManualP/N 400501-01Revision: A4Date: October 8,2001© Control Techniques Drives, Inc, 1997, 2001Epsilon Eb and EN Drives

Strany 113 - Side View

1IntroductionEpsilon Eb and EN DrivesThe Epsilon Eb and EN drives are stand-alone, fully digital brushless servo drives designed and built to reliably

Strany 114 - APS Input Specification

181User Defined MotorsThe motor may run away during this test. Make sure it is securely fastened and that there is nothing connected to the motor shaf

Strany 115 - Motor Power Wiring

182Epsilon Eb and EN Drives Reference Manualsignals are wired correctly and the Motor Encoder Reference Motion parameter is correct.5. Manually rotate

Strany 116

183User Defined Motors2. Move to the Analog tab and find the "Analog Input" parameter.3. Using your simulator adjust the analog command unti

Strany 117 - Motor Feedback Wiring

184Epsilon Eb and EN Drives Reference ManualVelocity Test1. Disable the drive.2. Select Velocity Analog mode and set "Full Scale Velocity" p

Strany 118 - Motor Brake Wiring

185Options and AccessoriesEN Drive OptionsControl Techniques Drives952-995-80001230Del456±789F1 F4 F7 F10 Toggleè, +PageDownF1 F2LastMsg.AlarmAck.Cle

Strany 119

186Epsilon Eb and EN Drives Reference ManualEpsilon Eb Drive OptionsSTI-EIOControl Techni ques Drives952-995- 80001230Del456±789F1 F4 F7 F10 Toggleè,

Strany 120

187Options and AccessoriesSTI-EIO Standard Terminal InterfaceThe STI-EIO interface allows access to all digital input and output signals. The STI-EIO

Strany 121

188Epsilon Eb and EN Drives Reference Manual Figure 131: Dimensions of ECI-44NoteShield connection points are connected to the shell of the 44-pin “D”

Strany 122

189Options and Accessories Figure 132: ECI-44 Signal ConnectionsFM-1 Speed ModuleThe FM-1 is a compact and rugged module that attaches to the front of

Strany 123 - Command Connector (J5) Wiring

190Epsilon Eb and EN Drives Reference Manualsoftware. PowerTools FM is an easy-to-use Microsoft® Windows®-based setup and diagnostics tool.With the FM

Strany 124

2Epsilon Eb and EN Drives Reference Manualassignments in the software. PowerTools software is an easy-to-use Microsoft® Windows® based setup and diagn

Strany 125 - Command Cables

191Options and Accessoriesaddition to the four input and three output lines available on the EN drive. The FM-4 and FM-4DN Programming Modules offer c

Strany 126 - Analog Command Wiring

192Epsilon Eb and EN Drives Reference Manual

Strany 127 - Controller

193SpecificationsDrive SpecificationsEN Epsilon SeriesPower Requirements90 - 264 VAC, 47-63 Hz (240 VAC for rated performance)EN-204: 1 ØEN-208: 1 ØEN

Strany 128

194Epsilon Eb and EN Drives Reference ManualPulse ModeInterface: Software selectable differential (RS422) or single ended (TTL Schmitt Trigger)Maximum

Strany 129

195SpecificationsCooling MethodEN-204, EN-208: Natural ConvectionEN-214: Integral thermally controlled fan (60°)Eb-202, Eb-203, Eb-205: Natural Convec

Strany 130

196Epsilon Eb and EN Drives Reference ManualDrive and Motor Combination SpecificationsDrive MotorCont. Torquelb-in(Nm)Peak Torquelb-in(Nm)PowerHP @ Ra

Strany 131 - Serial Communications

197Specifications Eb-203NT-21212.5(1.41)27(3.05)0.8(0.6)0.000164(0.185)5000 2048 34.75.08(0.57)MG-2055(0.56)15.0(1.69)0.31(0.23)0.000084(0.95)5000 204

Strany 132 - Bottom View

198Epsilon Eb and EN Drives Reference ManualMotor Brake Specifications Motor WeightsMotorHoldingTorquelb-in(Nm)Added Inertialb-in-sec2(kg-cm2)Added We

Strany 133 - Multi-Drop Communications

199SpecificationsAxial/Radial LoadingFigure 133 Axial/Radial LoadingMotorMax RadialLoad (lb.)Max. AxialLoad (lb.)NTE/M-207 20 15NTE/M-212 20 15NTE/M-3

Strany 134

200Epsilon Eb and EN Drives Reference ManualIP RatingsEncoder SpecificationsMotor RatingMG (all) IP65NT-207 IP65NT-207 (w/o seals) IP54NT-212 IP65NT-2

Strany 135 - Computer Serial

3IntroductionEN drives are available in three power ratings Epsilon drives are available in three power ratings. The Epsilon Eb drive will fit in a 6

Strany 136 - Quick Start

201SpecificationsPower DissipationIn general, the drive power stages are 90 to 95 percent efficient depending on the actual point of the torque speed

Strany 137 - Detailed Setup View

202Epsilon Eb and EN Drives Reference ManualPower Dissipation CalculationCalculating actual dissipation requirements in an application can help minimi

Strany 138

203SpecificationsSpeed Torque CurvesContinuous ratings of the MG and NT motors are based on 100°C (212°F) motor case temperature and 25°C (77°F) ambie

Strany 139

204Epsilon Eb and EN Drives Reference Manual

Strany 141

206Epsilon Eb and EN Drives Reference Manual

Strany 142 - Torque Limit Setup

207Specificationslb-inNmlb-inNmlb-inNmlb-inNmlb-inNmlb-inNmContinuousRatingPeakRating120 VAC50010001500200025003000350040004500000TorqueSpeed (RPM)50.

Strany 143 - Torque Level 1 and 2 Setup

208Epsilon Eb and EN Drives Reference Manuallb-inNmlb-inNmlb-inNmlb-inNmNT-345 with En-208NT-345 with En-214NT-355 with En-208NT-355 with En-214Contin

Strany 144 - Step 6: Assigning Inputs

209SpecificationsEN Drive DimensionsModel Dim “A”EN-204 2.93 [74.4]EN-208 3.43 [87.1]EN-214 3.93 [99.8]11.20 [284.54]1.85 [47.12]"A"0.39[9.7

Strany 145 - Step 7: Assigning Outputs

210Epsilon Eb and EN Drives Reference ManualEpsilon Drive DimensionsThe following table applies to A* and B* as shown in the figure below.Drive ModelD

Strany 146 - Online Setup

4Epsilon Eb and EN Drives Reference Manual

Strany 147

211SpecificationsMG Motor DimensionsMGE-205 and 208 MotorsMGE-316 and 340 MotorsMGE-205 and 208 Mounting Dimensionsinches (mm)AG A BC AH U Max XD S Mi

Strany 148

212Epsilon Eb and EN Drives Reference ManualMGE-455, 490 and 4120 Motors MGE-455, 490 and 4120 Mounting Dimensionsinches (mm)AG A BC AH U Max XD S Min

Strany 149

213SpecificationsNT Motor DimensionsNTE-207 and 212 Motors; English Face (NEMA 23 with 3/8 inch shaft)NoteMounting ears have clearance for #10 or M5 A

Strany 150

214Epsilon Eb and EN Drives Reference ManualNTM-207 and 212 Motors; Metric FaceNoteMounting ears have clearance for 10mm across flats hex nut or 13mm

Strany 151

215SpecificationsNTE-207 and 212 Brake Motors; English Face (NEMA 23 with 3/8 inch shaft)NoteMounting ears have clearance for #10 or M5 Allen head scr

Strany 152 - Tuning Procedures

216Epsilon Eb and EN Drives Reference ManualNTE-207 and 212 Brake Motors; Metric Face159,NoteMounting ears have clearance for 10mm across flats hex nu

Strany 153 - Tuning Procedure

217SpecificationsNTE/M-320, 330, 345 and 355 MotorsNTE-320, 330, 345, 355 -CONS, TONS and LONS Mounting Dimensions (inches (mm))NTM-320, 330, 345, 355

Strany 154

218Epsilon Eb and EN Drives Reference ManualMotor Wiring Color Cable*Encoder Shield and Power Shield must be separated from each other all the way bac

Strany 155 - Tuning Parameters

219SpecificationsCable DiagramsDrive Signal CMDX, CMDO, ECI-44 CDRO AX4-CENAnalog Command In + X X XAnalog Command In - X X XEncoder Out A X X XEncode

Strany 156 - High Performance Gains

220Epsilon Eb and EN Drives Reference ManualI/O Power + In (1st wire) X X XI/O Power + In (2nd wire) X X XI/O Power 0V In (1st wire) X X XI/O Power 0V

Strany 157 - Feedforwards

5Operational OverviewUser InterfaceThe EN drive and the Epsilon drive are set up using PowerTools FM software. PowerTools FM SoftwarePowerTools FM sof

Strany 158 - Line Voltage (EN Only)

221SpecificationsCMDX-XXX CableNoteSome CMDX cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown i

Strany 159 - Determining Friction

222Epsilon Eb and EN Drives Reference ManualCMDO-XXX CableNoteSome CMDO cables may have White/Yellow and Yellow/White wires in place of the White/Oran

Strany 160 - FV )100(=

223SpecificationsCDRO-XXX CablePIN 1174144433133191826291514371634233824894027BLU/PURPUR/BLUORG/PURPUR/ORGBRN/PURPUR/BRNRED/BLUBLU/REDGRN/BLKBLK/GRNWH

Strany 161 - Determining Inertia Ratio

224Epsilon Eb and EN Drives Reference ManualAX4-CEN-XXX CableDISCRETE INPUT (CW TRAVEL LIMIT)ANALOG COMMAND OUTPUT +ANALOG COMMAND OUTPUT -DISCRETE IN

Strany 162 - Ramp Units Conversion

225SpecificationsEIO-XXX CableEIOPIN 10.7701.530OVERALL T/C BRAID1102311124135146157179168181920N/C2122N/CN/C232625N/C24WIRING SIDE SUB "D"1

Strany 163 - Conversion Formula:

226Epsilon Eb and EN Drives Reference ManualTIA-XXX CableDDS-XXX CableMALE(PINS).63 MAX (2X)2.5 MAX (2X)0.250END VIEWEND VIEWPIN 1(SOCKETS)FEMALEPIN 1

Strany 164

227SpecificationsTERM-H (Head) TerminatorTERM-T (Tail) Terminator NoteSee the "Multi-drop Communications" section for resistor values..20PIN

Strany 165

228Epsilon Eb and EN Drives Reference ManualCMDS-XXX CableCMMS-XXX Cable3.0 +/- 0.253.231.20FCSOLDER SIDEEDBLKBLUAGHBSHELLCBGRN/YELBRN AD3.0 +/- 0.253

Strany 166 - Diagnostic Display

229SpecificationsCFCS-XXX Cable1.181.552.243.16SOLDER SIDERED/GRN ORKRED/BLUSOLDER SIDEZDRAINSGRN/REDRED/GRNBLU/REDN/CN/CN/CN/CN/CN/CDWJXYAVLTLARGE 18

Strany 167 - Fault Codes

230Epsilon Eb and EN Drives Reference ManualCFCO-XXX CablePIN 12.241.55PLUGGING SIDERED/GRN ORKRED/BLUSOLDER SIDEZDRAINSGRN/REDRED/GRNBLU/REDN/CN/CN/C

Strany 168

6Epsilon Eb and EN Drives Reference Manual Figure 3: PowerTools FM Window, Detailed Setup ViewHow Motion WorksBelow is a list of details related to mo

Strany 169 - Fault Descriptions

231SpecificationsCFOS-XXX Cable1.183.16RED/GRN ORKRED/BLUSOLDER SIDEZDRAINSGRN/REDRED/GRNBLU/REDN/CN/CN/CN/CN/CN/CDWJXYAVLTLARGE 18GA PAIRGRNWHT/BRNGR

Strany 170

232Epsilon Eb and EN Drives Reference Manual

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233GlossaryµsMicrosecond.AAmps.ARMSAmps (RMS).AWGAmerican Wire Gauge.Baud RateThe number of binary bits transmitted per second on a serial communicati

Strany 172 - Epsilon Drive

234Epsilon Eb and EN Drives Reference ManualDownloadingThe transfer of a complete set of parameters from PowerTools or an FM-P.EEPROMAn EEPROM chip is

Strany 173 - Drive Faults

235GlossaryInput LineThe actual electrical input, a screw terminal.Least Significant BitThe bit in a binary number that is the least important or havi

Strany 174 - Watch Window

236Epsilon Eb and EN Drives Reference ManualOutput FunctionA function (i.e., Drive OK, Fault) that may be attached to an output line.Output LineThe ac

Strany 175 - View Motor Parameters

237GlossaryRPMRevolutions Per Minute.Serial PortA digital data communications port configured with a minimum number of signal lines. This is achieved

Strany 176 - Error Messages

238Epsilon Eb and EN Drives Reference Manual

Strany 177 - The drive at address is use

239IndexAAC Line Filter Installation Notes, 79AC Line Filters, 79AC Supplies NOT Requiring Transformers, 85AC Supplies Requiring Transformers, 86Achie

Strany 178 - User Defined Motors

240Epsilon Eb and EN Drives Reference ManualDisconnecting Communications, 131Downloading the Configuration File, 129Drive Ambient Temperature, 24Drive

Strany 179 - Step 1: Motor Wiring

7Operational OverviewFunctional OverviewThe drive is a digital servo drive which provides three basic modes of operation: Pulse, Velocity and Torque.

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241IndexMMechanical Installation, 82MG and NT with Epsilon Speed Torque Curves, 205MG Motor Dimensions, 211MG with EN Motor Speed Torque Curves, 203MG

Strany 181 - Step 2: Motor Feedback Wiring

242Epsilon Eb and EN Drives Reference ManualRotation Test, 181SSafety Considerations, xiSafety of Machinery, xiSafety Precautions, xiSaving the Config

Strany 183 - Encoder Logical Interfacing

Since 1979, the “Motion Made Easy” products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease

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8Epsilon Eb and EN Drives Reference Manual• Pulse frequency > 250 kHz• Pulse command cable length > 25 feet• Noisy electrical environmentsDiffer

Strany 185 - Reading Encoder Alignment

9Operational OverviewSignal common connected to Drive Logic 0V (Sync Encoder Common 0V)Pulse / : Commands motion on the falling edge (active edge).Dir

Strany 186 - CCW Reference Rotation

10Epsilon Eb and EN Drives Reference Manualnegative changes to the Pulse Position Input. All edges of A and B are counted, therefore one revolution of

Strany 188 - CW Reference Rotation

11Operational OverviewPulse Mode ParametersThe Pulse Position Input parameter shows the total pulse count received by the drive since the last power-u

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12Epsilon Eb and EN Drives Reference Manualsetting will change which direction the motor rotates when the position feedback and position command are c

Strany 190 - Static Alignment Method

13Operational OverviewPresets SubmodePresets submode provides up to eight digital Velocity Presets and associated Accel/Decel Presets. At any time onl

Strany 191 - Motor Ke

14Epsilon Eb and EN Drives Reference Manual Figure 8: Velocity vs. Time Diagram using Preset VelocitiesSummation Submode In Summation submode the Velo

Strany 192 - Motor Pole Count

15Operational OverviewExample 2: Use the Velocity Command Analog as a trim adjustment to the digital Velocity Presets. Velocity Preset #2 is selected

Strany 193 - Motor Data

16Epsilon Eb and EN Drives Reference ManualIn Torque mode the drive receives an Analog Input which is scaled to the Analog Torque Command by the Full

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17Operational OverviewFor example, the + Travel Limit will stop motion only if the motor is moving + but allows - motion to move off the limit switch.

Strany 195 - Motor Parameter Descriptions

18Epsilon Eb and EN Drives Reference ManualIn applications with un-counterbalanced vertical loads, you must be careful not to set the controller’s tor

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19Operational OverviewWhere:TTL = Total Torque Limit PMT = Peak motor torquePDT = Peak drive torqueRFL = RMS foldback limit (80 percent of continuous

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20Epsilon Eb and EN Drives Reference Manual2. If the combination of command pulse frequency and Pulse Ratio can generate a motor command speed in exce

Strany 198 - Step 6: Configuring the Drive

Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is as

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21Operational Overview• A positive analog velocity or torque command (i.e., a higher voltage on the (+) differential input than on the (-) input).•

Strany 200 - Rotation Test

22Epsilon Eb and EN Drives Reference Manual Figure 12: RMS Foldback Trip Point (this graph is accurate to ±5 percent)Stall FoldbackEN OnlyENStall Fold

Strany 201 - Torque Test

23Operational OverviewShunt OperationThe EN-208 and EN-214 drive models have internal shunt control. The Epsilon and EN-204 have an output function to

Strany 202 - Commutation Accuracy Test

24Epsilon Eb and EN Drives Reference Manualthe actual drive loading and ambient temperature.The heat sink is designed with a certain amount of dissipa

Strany 203 - Velocity Test

25Operational OverviewAmbient Temperature parameter to the actual ambient temperature allows you to take advantage of a lower temperature and could el

Strany 204 - Options and Accessories

26Epsilon Eb and EN Drives Reference Manual Figure 14: EN-214 Shunt Power RMS vs. Heatsink RMSExternal Shunt OperationThe DC bus is accessible for app

Strany 205 - Epsilon Eb Drive Options

27Operational Overview Figure 15: External Shunt Wiring Diagram Figure 16: EN Bus Connections Figure 17: Epsilon Bus ConnectionsTop View-V- BusUse 16

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28Epsilon Eb and EN Drives Reference ManualBrake OperationMotor brake operation is controlled by the Brake Release and Brake Control input functions.

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29Operational OverviewAnalog Command InputThe Analog Command Input can be used as a velocity or torque command. The drive accepts a ±10 VDC differenti

Strany 208 - FM-1 Speed Module

30Epsilon Eb and EN Drives Reference ManualAnalog Command Wiring Figure 18: Analog Command, Differential Wiring Diagram Figure 19: Analog Command, Sin

Strany 209 - FM-2 Indexing Module

ii© Control Techniques Drives, Inc. 1997, 2001Part Number: 400501-01Revision: A4Date: October 2001Printed in United States of AmericaInformation in th

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31Operational OverviewAnalog OutputsThe drive has two 8 bit Analog Outputs which may be used for diagnostics, monitoring or control purposes. These ou

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32Epsilon Eb and EN Drives Reference ManualExample: You could use the Analog Outputs to accurately measure velocity overshoot. For example, to measure

Strany 212 - Specifications

33Operational OverviewInput Line Debounce TimeYou can program a “Debounce Time” which means the line will need to be active for at least the debounce

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34Epsilon Eb and EN Drives Reference Manualdrive. Once the axis is driven off the limit switch, the fault will be cleared and the “L” will disappear.I

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35Operational Overview* (0) = Inactive input function(1) = Active input functionTorque Limit EnableThis input function, when active, causes the Torque

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36Epsilon Eb and EN Drives Reference ManualFoldback ActiveThis output function is active when the drive is limiting motor current. If the RMS Foldback

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37Operational OverviewIf the Actual Velocity Command exceeds the velocity limit, the command will be limited and the Velocity Limiting Active output f

Strany 217 - Motor Weights

38Epsilon Eb and EN Drives Reference Manual

Strany 218 - Axial/Radial Loading

39Setting Up ParametersEZ Setup/Detailed Setup TabThis is the default tab that is displayed each time you open a Configuration Window. Figure 21: Defa

Strany 219 - Encoder Specifications

40Epsilon Eb and EN Drives Reference ManualConfiguration Group (EZ Setup view only)Drive TypeSelect the drive model for the system you are currently s

Strany 220 - Power Dissipation

iiiCustomer SupportControl Techniques12005 Technology DriveEden Prairie, Minnesota 55344-3620U.S.A.Telephone: (952) 995-8000 or (800) 397-3786It is Co

Strany 221 - Power Dissipation Calculation

41Setting Up ParametersLine Voltage - EN OnlyLine Voltage specifies the applied power and adjusts the internal gains to compensate for it. This parame

Strany 222 - Speed Torque Curves

42Epsilon Eb and EN Drives Reference ManualOperating Mode Group Disabled Radio ButtonSelecting this radio button to put the drive in the disabled mode

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43Setting Up ParametersPulse Mode Interpretation Group Figure 24: Operating Mode, Pulse Mode SelectedPulse/Pulse Radio ButtonSelecting this radio butt

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44Epsilon Eb and EN Drives Reference ManualDifferential Inputs are typically needed for pulse rate 7250 kHz or high ambient noise environments.Single

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45Setting Up ParametersVelocity Mode Submode GroupAnalog Radio ButtonSelecting this radio button puts the drive into Analog submode. In Velocity mode

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46Epsilon Eb and EN Drives Reference ManualPresets Radio ButtonSelecting this radio button puts the drive into Presets submode. Presets submode provid

Strany 227 - NT-355 with En-214

47Setting Up ParametersVelocity PresetsEnter a value for each of the Velocity Presets you wish to use. The units are RPM and the range is from ± maxim

Strany 228 - EN Drive Dimensions

48Epsilon Eb and EN Drives Reference Manual Figure 28: Operating Mode, Torque Mode SelectedFull Scale TorqueThis parameter specifies the Torque Comman

Strany 229 - Epsilon Drive Dimensions

49Setting Up Parameters Figure 30: CW Motor RotationCCW Motor Rotation Radio ButtonThis defines that the motor will rotate counterclockwise when given

Strany 230 - MG Motor Dimensions

50Epsilon Eb and EN Drives Reference ManualInput Functions WindowThis window allows you to select the input function you wish to assign to an input li

Strany 231 - MGE-455, 490 and 4120 Motors

iv• Exact wording of any messages that appear on your screen• What you were doing when the problem occurred• How you tried to solve the problemNeed on

Strany 232 - NT Motor Dimensions

51Setting Up ParametersMaking 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

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52Epsilon Eb and EN Drives Reference ManualOutputs TabThis tab is divided into two windows: The “Output Functions” window, on the left side, displays

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53Setting Up Parametersmouse is not available to navigate the software. Assigning the input functions can also be accomplished by dragging the Output

Strany 235 - 1.98 [50.39]

54Epsilon Eb and EN Drives Reference ManualPosition Tab (Detailed Setup view only)This tab is only definable in Pulse mode and allows you to enable an

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55Setting Up ParametersActual GroupPulse Position InputThis parameter returns the total number of actual pulses received on the pulse input hardware.

Strany 237 - Motor Wiring Color Cable

56Epsilon Eb and EN Drives Reference ManualVelocity Tab (Detailed Setup view only)This tab allows you to set the drive limits, and if you are online,

Strany 238 - Cable Diagrams

57Setting Up ParametersOverspeed VelocityThis parameter specifies the maximum allowable speed. If the Velocity Feedback exceeds either the drive’s int

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58Epsilon Eb and EN Drives Reference ManualVelocity PresetsEnter a value for each of the Velocity Presets you wish to use. The units are RPM and the r

Strany 240 - CMDX-XXX Cable

59Setting Up ParametersActual GroupTorque CommandThis parameter returns the torque command value before it is limited. The Torque Command may be limit

Strany 241 - CMDO-XXX Cable

60Epsilon Eb and EN Drives Reference ManualAll parameters on the Motor tab are related to the load on the motor and application requirements.The load

Strany 242 - CDRO-XXX Cable

vIn addition, you will find the following typographic conventions throughout this manual. “Warning” indicates a potentially hazardous situation that,

Strany 243 - AX4-CEN-XXX Cable

61Setting Up ParametersLow Pass Filter GroupLow Pass Filter Enable CheckboxThis enables a low pass filter applied to the output of the velocity comman

Strany 244 - EIO-XXX Cable

62Epsilon Eb and EN Drives Reference ManualTuning GroupResponseThe Response adjusts the velocity loop bandwidth with a range of 1 to 500 Hz. In genera

Strany 245 - DDS-XXX Cable

63Setting Up ParametersEnable Feedforwards Check BoxWhen feedforwards are enabled, the accuracy of the Inertia and Friction are very important. If the

Strany 246 - TERM-T (Tail) Terminator

64Epsilon Eb and EN Drives Reference ManualAnalog Zero OffsetThis parameter is used to null any voltage present at the drive when a zero velocity or t

Strany 247 - CMMS-XXX Cable

65Setting Up ParametersI/O Status TabThis tab displays the status of the input and output functions in real time and is only available when you are on

Strany 248 - CFCS-XXX Cable

66Epsilon Eb and EN Drives Reference ManualNoteThe forced state of input and output lines are not saved to NVM and will be lost when the drive is powe

Strany 249 - CFCO-XXX Cable

67Setting Up ParametersOutputs GroupOutputs Lines WindowThis feature shows the various output lines and whether they are active. The line is active if

Strany 250 - CFOS-XXX Cable

68Epsilon Eb and EN Drives Reference Manual Figure 44: Collapsed and Expanded ViewsIf the function or line is currently active, the "LED" to

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69Setting Up ParametersStatus TabThis tab displays the drive status in real time and is only available when you are on-line with a drive. The informat

Strany 252 - Glossary

70Epsilon Eb and EN Drives Reference ManualFollowing ErrorThe Following Error is the difference between the Position Command and the Position Feedback

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viSafety InstructionsGeneral WarningFailure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product

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71Setting Up ParametersActual CommandDisplays the Torque command after all limiting. This command is used by the current loop to generate Motor Torque

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72Epsilon Eb and EN Drives Reference ManualID Group (Detailed Setup view only)Firmware RevisionDisplays the revision of the firmware in the drive you

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73Setting Up ParametersFault Log Group (EZ Setup view only) Figure 47: Fault Log ViewFault Log WindowThis window displays the last ten drive faults wi

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74Epsilon Eb and EN Drives Reference ManualHistory Tab (Detailed Setup view only)This tab displays a complete fault history including a "Fault Lo

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75Setting Up ParametersFault Counts GroupFault Counts WindowThe "Fault Counts" window displays all the faults that can occur and the number

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76Epsilon Eb and EN Drives Reference ManualBus Voltage GroupLow DC Bus Enable - Epsilon OnlyThis parameter’s default setting is enabled. When enabled,

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77InstallationBasic Installation NotesYou are required to follow all safety precautions during start-up such as providing proper equipment grounding,

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78Epsilon Eb and EN Drives Reference ManualAchieving Low Impedance ConnectionsNoise immunity can be improved and emissions reduced by making sure that

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79InstallationAC Line FiltersThe AC line filters used during Control Techniques’ compliance testing are listed below. These filters are capable of sup

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80Epsilon Eb and EN Drives Reference Manual Figure 51: Through Wall Shield GrommetCable Type Cable ModelShielded Cable Grommet Kit Part #Conduit Dimen

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