Attachment for the EN Drive onConair SCE Cutters and theCombination Puller/Cutter (modelsSCE ) EN Drive IME011/1202
viiUnderwriters Laboratories ListedThe Epsilon and EN Digital Servo Drives are marked with the “UL Listed” label after passing a rigorous set of desig
81Installation Figure 52: AC Filter and Cable Connections for EN Drives Figure 53: AC Filter and Cable Connections for Epsilon DrivesNEMA EnclosureThi
82Epsilon Eb and EN Drives Reference ManualEnvironmental ConsiderationsIf the product will be subjected to atmospheric contaminants such as moisture,
83InstallationMotor MountingMotors should be mounted firmly to a metal mounting surface to ensure maximum heat transfer for maximum power output and t
84Epsilon Eb and EN Drives Reference ManualElectrical InstallationSystem Grounding Figure 54: Typical System Grounding Diagram
85InstallationPower Supply RequirementsThe examples below show AC power connections for single phase and three phase drives. These examples are shown
86Epsilon Eb and EN Drives Reference Manual Figure 55: Earth Grounded WYE Distribution Transformer Figure 56: Earth Grounded Delta Distribution Transf
87Installation Figure 58: Three Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE Isolation Transformer Figure 59: Delta to Delta Isolati
88Epsilon Eb and EN Drives Reference Manualthe required KVA rating are high transformer ambient temperatures (>40° C or >104° F) and drive opera
89InstallationLine Fusing and Wire SizeYou must incorporate over current protection for the incoming AC power with the minimum rating shown here. Cont
90Epsilon Eb and EN Drives Reference ManualEN OnlyENAccording to UL requirements, the EN drive is suitable for use on a circuit capable of delivering
viiiCE Declaration of ConformityThe Epsilon and EN Digital Servo Drives are marked with the “Conformite Europeenne Mark” (CE mark) after passing a rig
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
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
93InstallationAuxiliary Logic Power Usage ( EN Only)) Figure 63: EN Auxiliary Power Supply Wiring DiagramAs shown in Figure 63, the auxiliary logic po
94Epsilon Eb and EN Drives Reference ManualControl Techniques offers Auxiliary Logic Power Supplies (models ALP-130 and -430) that supply enough power
95Installation Epsilon OnlyIf the low DC bus fault is disabled with PowerTools software on the Advanced tab, resetting the drive is not necessaryDo no
96Epsilon Eb and EN Drives Reference ManualNoteConnecting 24V common on the APS to chassis ground reduces offset voltage in the Analog Diagnostics Out
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
98Epsilon Eb and EN Drives Reference Manual Figure 67: Epsilon Motor Power Wiring DiagramMotor Feedback WiringEncoder feedback connections are made wi
99Installation Figure 68: Motor Feedback Connector PinoutMotor Brake WiringMotors equipped with brakes have a three-pin MS style connector. The brake
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
ixDeclaration of ConformityManufacturer’s Name:Control Techniques Manufacturer’s Address:12005 Technology DriveEden Prairie, MN 55344USADeclares that
101Installation Figure 71: Epsilon Brake Wiring Diagram using the Command Connector Figure 72: Epsilon Brake Wiring Diagram using the I/O ConnectorInp
102Epsilon Eb and EN Drives Reference Manual Figure 73: EN Input/Output Wiring Diagram Figure 74: Epsilon Input/Output Wiring DiagramFront ViewI/O sup
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
104Epsilon Eb and EN Drives Reference Manual Figure 76: Epsilon I/O Connector to Command Connector Internal ConnectionsNoteIf loads are applied to the
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
106Epsilon Eb and EN Drives Reference ManualFor information about Command Connector pinout and CMDO-XXX cable wire colors, see the "Specification
107InstallationAnalog Command Wiring Figure 78: Analog Command, Differential Wiring Diagram Figure 79: Analog Command, Single Ended Wiring DiagramEnco
108Epsilon Eb and EN Drives Reference ManualThe default encoder output scaling is set to output the actual motor encoder resolutions. The standard MG
109InstallationPulse Mode Wiring, Differential Inputs Figure 82: Pulse Mode, Differential Output to Differential Input Figure 83: Pulse Mode, Single E
110Epsilon Eb and EN Drives Reference ManualPulse Mode Wiring, Single Ended Inputs Figure 84: Pulse Mode, Single Ended Output to Single Ended Input (t
xDeclaration of ConformityManufacturer’s Name:Control TechniquesManufacturer’s Address:12005 Technology DriveEden Prairie, MN 55344USADeclares that th
111Installation Figure 86: Pulse/Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) Figure 87: Master/Slave Encoder Connec
112Epsilon Eb and EN Drives Reference Manualoutput resolution is 2048 lines per motor revolution. This resolution is adjustable in one line per revolu
113Installation Figure 89: Epsilon RS-232 and RS-485 Internal Connections between the Command Connector and the Serial Communication ConnectorWhen con
114Epsilon Eb and EN Drives Reference ManualModbus CommunicationsThe drive’s serial communication protocol is Modbus RTU slave with a 32 bit data exte
115Installation Figure 91: Epsilon Eb Multi-Drop Wiring DiagramNote:The terminating resistor packs, TERM-Hand TERM-T, should be installed on thefirst
116Epsilon Eb and EN Drives Reference Manual Figure 92: Multi-Drop Wiring Pinout+ 50 V6187345621987RX (232)TX (232)Ground345621987Computer345621987Dri
117Quick StartOffline SetupNoteGenerally, online setup is used when editing parameters in a drive. Offline setup editing is usually only done when not
118Epsilon Eb and EN Drives Reference Manual Figure 94: PowerTools FM Window, Detailed Setup View, OfflineDetailed Setup ViewThe Detailed Setup view a
119Quick StartStep 2: Opening an Offline Configuration WindowTo open an offline Configuration Window, click the New icon from the toolbar or select Ne
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
xiSafety ConsiderationsSafety PrecautionsThis product is intended for professional incorporation into a complete system. If you install the product in
121Quick StartPulse Mode SetupThis procedure assumes that you have connected the proper pulse mode wiring as described in the "Installation"
122Epsilon Eb and EN Drives Reference Manual Figure 100: Operating Mode, Velocity Mode Selected3. Enter a “Full Scale Velocity” value. The velocity is
123Quick Start3. Select the desired “Velocity Preset” number.4. Enter a "Velocity Preset" for each "Preset Number" being used.5. E
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.
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
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
127Quick Start“Output Lines” window, on the right side, displays the three output lines, the line active state and the output function assignments. Fi
128Epsilon Eb and EN Drives Reference ManualNoteGenerally, online setup is used when editing parameters in a drive. Offline setup editing is usually o
129Quick StartStep 2: Downloading the Configuration FileWhen you are ready to download the information in the current Configuration Window, go to the
130Epsilon Eb and EN Drives Reference ManualSelected Drives Radio ButtonIf you have only one device connected, that device’s address will be displayed
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
131Quick Start3. The drive enabled.4. The characters “V, T, P or +” displays verified on the drive "LED" status display with the decimal poi
132Epsilon Eb and EN Drives Reference Manual
133Tuning ProceduresOverviewThe drive uses closed loop controllers to control the position and velocity of the attached motor. These position and velo
134Epsilon Eb and EN Drives Reference ManualTuning ProcedureOnce the initial setup has been completed, you can run the system to determine if the leve
135Tuning ProceduresThis unique feature offers an extra level of safety because the drive can override the position controller and bring the axis to a
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
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
138Epsilon Eb and EN Drives Reference ManualHigh Performance Gains, when enabled, make the system less forgiving in applications where the actual iner
139Tuning ProceduresWhen Feedforwards are enabled, the accuracy of the Inertia Ratio and Friction parameters is very important. If the Inertia Ratio p
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
xiiiSafety Considerations xiSafety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
141Tuning Procedures• If your application has travel limits, it may be helpful to use an external position controller to prevent the axis from exceedi
142Epsilon Eb and EN Drives Reference Manual Figure 110: Trapezoidal Velocity Waveform with Torque WaveformDetermining Inertia RatioActual system Iner
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.
144Epsilon Eb and EN Drives Reference ManualMany position controllers define acceleration in units per sec2. The formulas above use ms/kRPM. Make sure
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
146Epsilon Eb and EN Drives Reference Manual
147Diagnostics and TroubleshootingDiagnostic DisplayThe diagnostic display on the front of the drive shows drive status and fault codes. When a fault
148Epsilon Eb and EN Drives Reference ManualFault CodesA number of diagnostic and fault detection circuits are incorporated to protect the drive. Some
149Diagnostics and TroubleshootingHigh DC Bus Reset Button or Input Line YesLow DC Bus Reset Button or Input Line YesEncoder State Cycle Power YesEnco
150Epsilon Eb and EN Drives Reference ManualFault DescriptionsPower Up Test This fault indicates that the power-up self-test has failed. This fault ca
xivPosition Tab (Detailed Setup view only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Limits Group . . .
151Diagnostics and Troubleshootingcondition or an application that requires an external shunt (e.g., a large load with rapid deceleration).Low DC Bus
152Epsilon Eb and EN Drives Reference ManualOverspeed This fault occurs in one of two circumstances:1. When the actual motor speed exceeds the Overspe
153Diagnostics and TroubleshootingAnalog Output Source options are:• Velocity Command• Velocity Feedback• Torque Command (equates to Torque Command Ac
154Epsilon Eb and EN Drives Reference Manual Figure 112: Diagnostic Cable (DGNE) DiagramDrive FaultsThe Active Drive Faults dialog box is automaticall
155Diagnostics and TroubleshootingViewing Active Drive FaultsTo view all active drive faults, select the View Faults command from the Device menu or b
156Epsilon Eb and EN Drives Reference Manualwatch, click the Close button. The Select Drive Parameters dialog box will close and the Watch Window will
157Diagnostics and Troubleshooting Figure 116: View Motor Parameters WindowThe View Motor Parameters window is accessed by selecting View Motor Parame
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
159User Defined MotorsDrives can be configured to operate with brushless DC (synchronous permanent magnet) motors not manufactured by Control Techniqu
160Epsilon Eb and EN Drives Reference Manual1. Determine if your motor is compatible with the drive by verifying its characteristics. There are a numb
xvSerial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112Quick Start 1
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
162Epsilon Eb and EN Drives Reference Manual Figure 118: Phase Plot Used to Determining Stator WiringNoteFor the remainder of this procedure we will r
163User Defined MotorsEncoder Electrical InterfacingEach of the encoder signals is received by a differential receiver to minimize the noise susceptib
164Epsilon Eb and EN Drives Reference Manual Figure 120: User Defined Motor Single Ended Feedback ConnectionsThermal Switch InterfacingThe drive provi
165User Defined MotorsThere are two steps in interfacing the encoder signals:1. Determine whether your encoder has all the required signals to operate
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
167User Defined Motors Figure 123: Oscilloscope ConnectionsCCW Reference RotationBefore reading the motor signals, zero the VTS oscilloscope channel o
168Epsilon Eb and EN Drives Reference Manual Figure 124: CCW Electrical Angle Plot Where:EUA = Motor Encoder “U” AngleIf EUA is >360° subtract 3
169User Defined MotorsWhere:EMA = Motor Encoder Marker AngleIf EMA is >360° subtract 360°.Many encoders are designed so that the encoder marker pul
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
xviMotor Brake Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198Motor Weights.
171User Defined MotorsDynamic Alignment MethodThis method is used at Control Techniques to establish the alignment on motors. It is accomplished by sp
172Epsilon Eb and EN Drives Reference Manual Figure 127: Static Alignment SchematicThe current applied through R to S should be the same polarity each
173User Defined MotorsNoteWhen using an oscilloscope, use the following formula to determine the motor velocity in RPM.Use the following formula to de
174Epsilon Eb and EN Drives Reference Manual7. Calculate the number of motor poles: Step 5: Editing the MOTOR.DDF FileThe PowerTools software obtains
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
176Epsilon Eb and EN Drives Reference ManualIn this example, the parameters of two user defined motors are named “User1” and “User2”. Abbreviated para
177User Defined MotorsThe total number of encoder lines is used both for commutation and for position/ velocity control. To properly commutate the mot
178Epsilon Eb and EN Drives Reference Manualwill then operate more efficiently. See “Step 3: Determine Encoder Alignment” for a detailed procedure on
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
180Epsilon Eb and EN Drives Reference Manual Figure 128: Motor Parameters Dialog Box3. Select the correct drive type.4. Download the configuration to
Reference ManualP/N 400501-01Revision: A4Date: October 8,2001© Control Techniques Drives, Inc, 1997, 2001Epsilon Eb and EN Drives
1IntroductionEpsilon Eb and EN DrivesThe Epsilon Eb and EN drives are stand-alone, fully digital brushless servo drives designed and built to reliably
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
182Epsilon Eb and EN Drives Reference Manualsignals are wired correctly and the Motor Encoder Reference Motion parameter is correct.5. Manually rotate
183User Defined Motors2. Move to the Analog tab and find the "Analog Input" parameter.3. Using your simulator adjust the analog command unti
184Epsilon Eb and EN Drives Reference ManualVelocity Test1. Disable the drive.2. Select Velocity Analog mode and set "Full Scale Velocity" p
185Options and AccessoriesEN Drive OptionsControl Techniques Drives952-995-80001230Del456±789F1 F4 F7 F10 Toggleè, +PageDownF1 F2LastMsg.AlarmAck.Cle
186Epsilon Eb and EN Drives Reference ManualEpsilon Eb Drive OptionsSTI-EIOControl Techni ques Drives952-995- 80001230Del456±789F1 F4 F7 F10 Toggleè,
187Options and AccessoriesSTI-EIO Standard Terminal InterfaceThe STI-EIO interface allows access to all digital input and output signals. The STI-EIO
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”
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
190Epsilon Eb and EN Drives Reference Manualsoftware. PowerTools FM is an easy-to-use Microsoft® Windows®-based setup and diagnostics tool.With the FM
2Epsilon Eb and EN Drives Reference Manualassignments in the software. PowerTools software is an easy-to-use Microsoft® Windows® based setup and diagn
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
192Epsilon Eb and EN Drives Reference Manual
193SpecificationsDrive SpecificationsEN Epsilon SeriesPower Requirements90 - 264 VAC, 47-63 Hz (240 VAC for rated performance)EN-204: 1 ØEN-208: 1 ØEN
194Epsilon Eb and EN Drives Reference ManualPulse ModeInterface: Software selectable differential (RS422) or single ended (TTL Schmitt Trigger)Maximum
195SpecificationsCooling MethodEN-204, EN-208: Natural ConvectionEN-214: Integral thermally controlled fan (60°)Eb-202, Eb-203, Eb-205: Natural Convec
196Epsilon Eb and EN Drives Reference ManualDrive and Motor Combination SpecificationsDrive MotorCont. Torquelb-in(Nm)Peak Torquelb-in(Nm)PowerHP @ Ra
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
198Epsilon Eb and EN Drives Reference ManualMotor Brake Specifications Motor WeightsMotorHoldingTorquelb-in(Nm)Added Inertialb-in-sec2(kg-cm2)Added We
199SpecificationsAxial/Radial LoadingFigure 133 Axial/Radial LoadingMotorMax RadialLoad (lb.)Max. AxialLoad (lb.)NTE/M-207 20 15NTE/M-212 20 15NTE/M-3
200Epsilon Eb and EN Drives Reference ManualIP RatingsEncoder SpecificationsMotor RatingMG (all) IP65NT-207 IP65NT-207 (w/o seals) IP54NT-212 IP65NT-2
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
201SpecificationsPower DissipationIn general, the drive power stages are 90 to 95 percent efficient depending on the actual point of the torque speed
202Epsilon Eb and EN Drives Reference ManualPower Dissipation CalculationCalculating actual dissipation requirements in an application can help minimi
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
204Epsilon Eb and EN Drives Reference Manual
205Specifications
206Epsilon Eb and EN Drives Reference Manual
207Specificationslb-inNmlb-inNmlb-inNmlb-inNmlb-inNmlb-inNmContinuousRatingPeakRating120 VAC50010001500200025003000350040004500000TorqueSpeed (RPM)50.
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
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
210Epsilon Eb and EN Drives Reference ManualEpsilon Drive DimensionsThe following table applies to A* and B* as shown in the figure below.Drive ModelD
4Epsilon Eb and EN Drives Reference Manual
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
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
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
214Epsilon Eb and EN Drives Reference ManualNTM-207 and 212 Motors; Metric FaceNoteMounting ears have clearance for 10mm across flats hex nut or 13mm
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
216Epsilon Eb and EN Drives Reference ManualNTE-207 and 212 Brake Motors; Metric Face159,NoteMounting ears have clearance for 10mm across flats hex nu
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
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
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
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
5Operational OverviewUser InterfaceThe EN drive and the Epsilon drive are set up using PowerTools FM software. PowerTools FM SoftwarePowerTools FM sof
221SpecificationsCMDX-XXX CableNoteSome CMDX cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown i
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
223SpecificationsCDRO-XXX CablePIN 1174144433133191826291514371634233824894027BLU/PURPUR/BLUORG/PURPUR/ORGBRN/PURPUR/BRNRED/BLUBLU/REDGRN/BLKBLK/GRNWH
224Epsilon Eb and EN Drives Reference ManualAX4-CEN-XXX CableDISCRETE INPUT (CW TRAVEL LIMIT)ANALOG COMMAND OUTPUT +ANALOG COMMAND OUTPUT -DISCRETE IN
225SpecificationsEIO-XXX CableEIOPIN 10.7701.530OVERALL T/C BRAID1102311124135146157179168181920N/C2122N/CN/C232625N/C24WIRING SIDE SUB "D"1
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
227SpecificationsTERM-H (Head) TerminatorTERM-T (Tail) Terminator NoteSee the "Multi-drop Communications" section for resistor values..20PIN
228Epsilon Eb and EN Drives Reference ManualCMDS-XXX CableCMMS-XXX Cable3.0 +/- 0.253.231.20FCSOLDER SIDEEDBLKBLUAGHBSHELLCBGRN/YELBRN AD3.0 +/- 0.253
229SpecificationsCFCS-XXX Cable1.181.552.243.16SOLDER SIDERED/GRN ORKRED/BLUSOLDER SIDEZDRAINSGRN/REDRED/GRNBLU/REDN/CN/CN/CN/CN/CN/CDWJXYAVLTLARGE 18
230Epsilon Eb and EN Drives Reference ManualCFCO-XXX CablePIN 12.241.55PLUGGING SIDERED/GRN ORKRED/BLUSOLDER SIDEZDRAINSGRN/REDRED/GRNBLU/REDN/CN/CN/C
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
231SpecificationsCFOS-XXX Cable1.183.16RED/GRN ORKRED/BLUSOLDER SIDEZDRAINSGRN/REDRED/GRNBLU/REDN/CN/CN/CN/CN/CN/CDWJXYAVLTLARGE 18GA PAIRGRNWHT/BRNGR
232Epsilon Eb and EN Drives Reference Manual
233GlossaryµsMicrosecond.AAmps.ARMSAmps (RMS).AWGAmerican Wire Gauge.Baud RateThe number of binary bits transmitted per second on a serial communicati
234Epsilon Eb and EN Drives Reference ManualDownloadingThe transfer of a complete set of parameters from PowerTools or an FM-P.EEPROMAn EEPROM chip is
235GlossaryInput LineThe actual electrical input, a screw terminal.Least Significant BitThe bit in a binary number that is the least important or havi
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
237GlossaryRPMRevolutions Per Minute.Serial PortA digital data communications port configured with a minimum number of signal lines. This is achieved
238Epsilon Eb and EN Drives Reference Manual
239IndexAAC Line Filter Installation Notes, 79AC Line Filters, 79AC Supplies NOT Requiring Transformers, 85AC Supplies Requiring Transformers, 86Achie
240Epsilon Eb and EN Drives Reference ManualDisconnecting Communications, 131Downloading the Configuration File, 129Drive Ambient Temperature, 24Drive
7Operational OverviewFunctional OverviewThe drive is a digital servo drive which provides three basic modes of operation: Pulse, Velocity and Torque.
241IndexMMechanical Installation, 82MG and NT with Epsilon Speed Torque Curves, 205MG Motor Dimensions, 211MG with EN Motor Speed Torque Curves, 203MG
242Epsilon Eb and EN Drives Reference ManualRotation Test, 181SSafety Considerations, xiSafety of Machinery, xiSafety Precautions, xiSaving the Config
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
8Epsilon Eb and EN Drives Reference Manual• Pulse frequency > 250 kHz• Pulse command cable length > 25 feet• Noisy electrical environmentsDiffer
9Operational OverviewSignal common connected to Drive Logic 0V (Sync Encoder Common 0V)Pulse / : Commands motion on the falling edge (active edge).Dir
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
11Operational OverviewPulse Mode ParametersThe Pulse Position Input parameter shows the total pulse count received by the drive since the last power-u
12Epsilon Eb and EN Drives Reference Manualsetting will change which direction the motor rotates when the position feedback and position command are c
13Operational OverviewPresets SubmodePresets submode provides up to eight digital Velocity Presets and associated Accel/Decel Presets. At any time onl
14Epsilon Eb and EN Drives Reference Manual Figure 8: Velocity vs. Time Diagram using Preset VelocitiesSummation Submode In Summation submode the Velo
15Operational OverviewExample 2: Use the Velocity Command Analog as a trim adjustment to the digital Velocity Presets. Velocity Preset #2 is selected
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
17Operational OverviewFor example, the + Travel Limit will stop motion only if the motor is moving + but allows - motion to move off the limit switch.
18Epsilon Eb and EN Drives Reference ManualIn applications with un-counterbalanced vertical loads, you must be careful not to set the controller’s tor
19Operational OverviewWhere:TTL = Total Torque Limit PMT = Peak motor torquePDT = Peak drive torqueRFL = RMS foldback limit (80 percent of continuous
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
Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is as
21Operational Overview• A positive analog velocity or torque command (i.e., a higher voltage on the (+) differential input than on the (-) input).•
22Epsilon Eb and EN Drives Reference Manual Figure 12: RMS Foldback Trip Point (this graph is accurate to ±5 percent)Stall FoldbackEN OnlyENStall Fold
23Operational OverviewShunt OperationThe EN-208 and EN-214 drive models have internal shunt control. The Epsilon and EN-204 have an output function to
24Epsilon Eb and EN Drives Reference Manualthe actual drive loading and ambient temperature.The heat sink is designed with a certain amount of dissipa
25Operational OverviewAmbient Temperature parameter to the actual ambient temperature allows you to take advantage of a lower temperature and could el
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
27Operational Overview Figure 15: External Shunt Wiring Diagram Figure 16: EN Bus Connections Figure 17: Epsilon Bus ConnectionsTop View-V- BusUse 16
28Epsilon Eb and EN Drives Reference ManualBrake OperationMotor brake operation is controlled by the Brake Release and Brake Control input functions.
29Operational OverviewAnalog Command InputThe Analog Command Input can be used as a velocity or torque command. The drive accepts a ±10 VDC differenti
30Epsilon Eb and EN Drives Reference ManualAnalog Command Wiring Figure 18: Analog Command, Differential Wiring Diagram Figure 19: Analog Command, Sin
ii© Control Techniques Drives, Inc. 1997, 2001Part Number: 400501-01Revision: A4Date: October 2001Printed in United States of AmericaInformation in th
31Operational OverviewAnalog OutputsThe drive has two 8 bit Analog Outputs which may be used for diagnostics, monitoring or control purposes. These ou
32Epsilon Eb and EN Drives Reference ManualExample: You could use the Analog Outputs to accurately measure velocity overshoot. For example, to measure
33Operational OverviewInput Line Debounce TimeYou can program a “Debounce Time” which means the line will need to be active for at least the debounce
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
35Operational Overview* (0) = Inactive input function(1) = Active input functionTorque Limit EnableThis input function, when active, causes the Torque
36Epsilon Eb and EN Drives Reference ManualFoldback ActiveThis output function is active when the drive is limiting motor current. If the RMS Foldback
37Operational OverviewIf the Actual Velocity Command exceeds the velocity limit, the command will be limited and the Velocity Limiting Active output f
38Epsilon Eb and EN Drives Reference Manual
39Setting Up ParametersEZ Setup/Detailed Setup TabThis is the default tab that is displayed each time you open a Configuration Window. Figure 21: Defa
40Epsilon Eb and EN Drives Reference ManualConfiguration Group (EZ Setup view only)Drive TypeSelect the drive model for the system you are currently s
iiiCustomer SupportControl Techniques12005 Technology DriveEden Prairie, Minnesota 55344-3620U.S.A.Telephone: (952) 995-8000 or (800) 397-3786It is Co
41Setting Up ParametersLine Voltage - EN OnlyLine Voltage specifies the applied power and adjusts the internal gains to compensate for it. This parame
42Epsilon Eb and EN Drives Reference ManualOperating Mode Group Disabled Radio ButtonSelecting this radio button to put the drive in the disabled mode
43Setting Up ParametersPulse Mode Interpretation Group Figure 24: Operating Mode, Pulse Mode SelectedPulse/Pulse Radio ButtonSelecting this radio butt
44Epsilon Eb and EN Drives Reference ManualDifferential Inputs are typically needed for pulse rate 7250 kHz or high ambient noise environments.Single
45Setting Up ParametersVelocity Mode Submode GroupAnalog Radio ButtonSelecting this radio button puts the drive into Analog submode. In Velocity mode
46Epsilon Eb and EN Drives Reference ManualPresets Radio ButtonSelecting this radio button puts the drive into Presets submode. Presets submode provid
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
48Epsilon Eb and EN Drives Reference Manual Figure 28: Operating Mode, Torque Mode SelectedFull Scale TorqueThis parameter specifies the Torque Comman
49Setting Up Parameters Figure 30: CW Motor RotationCCW Motor Rotation Radio ButtonThis defines that the motor will rotate counterclockwise when given
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
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
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
52Epsilon Eb and EN Drives Reference ManualOutputs TabThis tab is divided into two windows: The “Output Functions” window, on the left side, displays
53Setting Up Parametersmouse is not available to navigate the software. Assigning the input functions can also be accomplished by dragging the Output
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
55Setting Up ParametersActual GroupPulse Position InputThis parameter returns the total number of actual pulses received on the pulse input hardware.
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,
57Setting Up ParametersOverspeed VelocityThis parameter specifies the maximum allowable speed. If the Velocity Feedback exceeds either the drive’s int
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
59Setting Up ParametersActual GroupTorque CommandThis parameter returns the torque command value before it is limited. The Torque Command may be limit
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
vIn addition, you will find the following typographic conventions throughout this manual. “Warning” indicates a potentially hazardous situation that,
61Setting Up ParametersLow Pass Filter GroupLow Pass Filter Enable CheckboxThis enables a low pass filter applied to the output of the velocity comman
62Epsilon Eb and EN Drives Reference ManualTuning GroupResponseThe Response adjusts the velocity loop bandwidth with a range of 1 to 500 Hz. In genera
63Setting Up ParametersEnable Feedforwards Check BoxWhen feedforwards are enabled, the accuracy of the Inertia and Friction are very important. If the
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
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
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
67Setting Up ParametersOutputs GroupOutputs Lines WindowThis feature shows the various output lines and whether they are active. The line is active if
68Epsilon Eb and EN Drives Reference Manual Figure 44: Collapsed and Expanded ViewsIf the function or line is currently active, the "LED" to
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
70Epsilon Eb and EN Drives Reference ManualFollowing ErrorThe Following Error is the difference between the Position Command and the Position Feedback
viSafety InstructionsGeneral WarningFailure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product
71Setting Up ParametersActual CommandDisplays the Torque command after all limiting. This command is used by the current loop to generate Motor Torque
72Epsilon Eb and EN Drives Reference ManualID Group (Detailed Setup view only)Firmware RevisionDisplays the revision of the firmware in the drive you
73Setting Up ParametersFault Log Group (EZ Setup view only) Figure 47: Fault Log ViewFault Log WindowThis window displays the last ten drive faults wi
74Epsilon Eb and EN Drives Reference ManualHistory Tab (Detailed Setup view only)This tab displays a complete fault history including a "Fault Lo
75Setting Up ParametersFault Counts GroupFault Counts WindowThe "Fault Counts" window displays all the faults that can occur and the number
76Epsilon Eb and EN Drives Reference ManualBus Voltage GroupLow DC Bus Enable - Epsilon OnlyThis parameter’s default setting is enabled. When enabled,
77InstallationBasic Installation NotesYou are required to follow all safety precautions during start-up such as providing proper equipment grounding,
78Epsilon Eb and EN Drives Reference ManualAchieving Low Impedance ConnectionsNoise immunity can be improved and emissions reduced by making sure that
79InstallationAC Line FiltersThe AC line filters used during Control Techniques’ compliance testing are listed below. These filters are capable of sup
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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