Emerson Epsilon EP Drive 400518-01 Instalační manuál

Reference ManualP/N 400518-03Revision: A1Date: April 9, 2007© Control Techniques Americas LLC 2007Epsilon EP-B Base Drive

viiiEpsilon EP-B Base Drive Reference ManualDiagnostics and Troubleshooting 79Diagnostic Display . . . . . . . . . . . . . . . . . . . . . . . . . . .

90Epsilon EP-B Base Drive Reference ManualVelocityThe rate of change in position in a given direction during a certain time interval.Windows, Microsof

91SpecificationsEpsilon EP SpecificationsEpsilon EP SeriesPower Requirements20 Vac-264 Vac, 1 Ø, 47-63 Hz(240 Vac for rated performance)Type TN (Groun

92Epsilon EP-B Base Drive Reference ManualEncoder Output SignalDifferential line driver, RS-422 and TTL compatibleScalable in one line increment resol

93SpecificationsEpsilon EP Drive DimensionsThe following table applies to A* and B* as shown in the figure below.Drive ModelDimension A* (shown in inc

94Epsilon EP-B Base Drive Reference ManualCable DiagramsEIO26 CableEIOPIN 10.7701.530SOLDER SIDESocket2019 242221 23 262512 34 658791110 151312 14 171

95SpecificationsXV Motor CablesXTMDS CableXCMDS CablePIN 1GRN/YELBRNBLKBLU2341BRAID SHIELD FORM WIRERSTPE/GND1324REAR VIEW OF CONNECTORGRN/YELBRNBLKBL

96Epsilon EP-B Base Drive Reference ManualXCMDBS CableXTBMS CableUVWPE/GNDBRK+BRK -SOLDER SIDEDEGFCBAGRN/YELBRNBLKBLUBCDABRAID SHIELDFORM WIREEFBLU

97SpecificationsXEFTS / XUFTS CablePRED/GRNGRN/RED914131271152131084615U+5 VDC0VW/VWV/U/ZZ/B/BA/AREAR VIEW OF CONNECTOR1234511 12 13 14 15671098SHIELD

98Epsilon EP-B Base Drive Reference ManualXEFCS / XUFCS CablePRED/GRNGRN/REDU+5 Vdc0VW/VWV/U/ZZ/B/BA/ASHIELDOverall Shield Drain Wire91078614SOLDER SI

99SpecificationsNT and MG Motor CablesCMDS CableCMMS Cable3 3/4" MAX.1 1/2" MAX.SOLDER SIDEGRN/YELBRNBLKBLUCBDAABCDEFGHRSTPE/GNDBRAID SHIELD

1IntroductionEpsilon EP-B Base DriveThe Epsilon EP-B drives are stand-alone, fully digital brushless servo drives designed and built to reliably provi

100Epsilon EP-B Base Drive Reference ManualCBMS CableEFCS / UFCS CableSOLDER SIDEREDBLKDRAIN WIREABCGNDCABSocketPin 1PPPPPPPPEVATKHFGMPNBRSCUZUMOTOR O

101SpecificationsSync CablesSNCESNCDD-915Pin 1CJDABIHF1RED/WHT687352DRAIN WIREBLKREDBLUBLK/WHTBLU/WHTYEL/WHTYELPPPP4A+A-B+B-Z+Z-+5 VdcGNDGND+5 VdcZ-Z+

102Epsilon EP-B Base Drive Reference ManualSNCFLOASNCMD-815PinSOLDER SIDE1012 11534921136147158Blunt endPin 1413851415612731110219ENCODER OUT AENCODER

103SpecificationsSNCFLISNCMD-89YELGRNPORGREDBRNBLKBLUPURPPPDrain Wire74812356Pin7SOLDER SIDE98534621AZAGND5VZBB9N/CPin 1Blunt endPin12543PPPPYELGRNORG

104Epsilon EP-B Base Drive Reference ManualCommunications CablesESA-SP-485ETH-PATCH14141315152517174191961818161620208 7222292121232311111313121225252

105IndexAAnalog Outputs, 30Analog Velocity Submode, 10Assigning Outputs, 5CCable Diagrams, 94CMDS-XXX Cable, 99CMMS-XXX Cable, 99DDiagnostics and Trou

106Epsilon EP-B Base Drive Reference ManualTTorque Limiting, 27Torque Mode, 12Travel Limit Application Notes, 26Tuning Procedures, 73Fault Codes, 79PI

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

2Epsilon EP-B Base Drive Reference Manual

3Quick StartOffline SetupGenerally, online setup is used when editing parameters in a device. Offline setup editing is usually only done when not conn

4Epsilon EP-B Base Drive Reference Manual Figure 4: Setup ViewEntering Identification Parameters:1. Enter an axis identifying name for the drive you a

5Quick StartStep 3: Assigning InputsInputs are assigned in the Inputs view which is divided into two windows. The “Input Functions” window, on the lef

6Epsilon EP-B Base Drive Reference Manual Figure 7: Outputs ViewTo assign an Output Function to an Output Line:1. Assign an output by highlighting an

7Quick Start Figure 8: Communications Setup ScreenAfter communications are established the baud rate can be changed by selecting from the Device menu,

8Epsilon EP-B Base Drive Reference Manual Figure 9: Upload Drive Configuration Dialog BoxStep 4: Operation VerificationAfter downloading a configurati

9Operational OverviewUser InterfaceThe Epsilon EP-B Base Drive is set up using PowerTools Pro software. PowerTools Pro is an easy-to-use Windows-based

10Epsilon EP-B Base Drive Reference ManualAnalog Velocity Sub-ModeThe Analog Input receives an analog voltage which is converted to the Velocity Comma

11Operational Overview Figure 11: Velocity vs. Time Diagram using Preset VelocitiesAnalog + Preset Summation Sub-Mode In Analog + Preset Summation sub

12Epsilon EP-B Base Drive Reference Manual Figure 12: Summation Mode Block Diagram. Figure 13: Velocity vs. Time Diagram, Analog + Preset Summation Su

13Operational Overview Figure 14: Setup View - Pulse ModeHigh Performance Gains Enable check box in PowerTools Pro software is typically enabled when

14Epsilon EP-B Base Drive Reference Manual Figure 16: Pulse/Direction Signals, Differential InputsPulse/Quadrature InterpretationIn Pulse/Quadrature i

15Operational Overviewinstallation techniques are followed, the differential input setup will provide a more robust and noise immune system than a sin

16Epsilon EP-B Base Drive Reference ManualActual motor rotation direction will depend on pulse ratio polarity and setting of the Positive Direction bi

17Operational OverviewAnalog Position Mode SetupWithin the PowerTools Pro click on Setup in the hierarchy tree and then select Analog Position Mode in

18Epsilon EP-B Base Drive Reference Manualactual position. This move may occur more rapidly than the user would like. To have a slower and safer initi

19Operational OverviewAnalog Zero offset• Range -10.000 to +10.000 • Provides an offset voltage to zero the signal. For example, if your analog source

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

20Epsilon EP-B Base Drive Reference ManualPosition Limit Min• If “Position Limit Enable” is set, the value of “Position Limit Min” will be the lower l

21Operational Overview• Units are defined by the source selected• Note: This is does not limit the D/A output valueAnalog Min Voltage• The lower Volta

22Epsilon EP-B Base Drive Reference ManualSet Analog Out Ch2 Voltage• On teach, load the Channel 2 Analog Output’s “Analog Min Voltage” with current “

23Operational OverviewDigital Input Setup for Analog Position ModeAnalog Position Mode Enable• Move Motor from Starting “Position Command” to “Analog

24Epsilon EP-B Base Drive Reference Manual4. Leave the operating mode in Velocity Presets.Step 3:1. On the Input Lines view select the input functions

25Operational Overviewf. Select the “Set Position Limit” check box so the maximum point will also restrict the Analog Position Command so it does not

26Epsilon EP-B Base Drive Reference Manual+/- Travel LimitsThe + and - Travel Limit input functions will stop motion in the direction indicated by the

27Operational OverviewTorque LimitingThe Torque Command is calculated as shown previously, but its value is limited by the Torque Limit parameter and

28Epsilon EP-B Base Drive Reference ManualMotor Direction PolarityThe direction that the motor turns with a positive command can be changed with the P

29Operational Overview Figure 23: RMS Foldback Trip Point (this graph is accurate to ±5 percent)Stall FoldbackStall Foldback will also be triggered wh

ii© Control Techniques Americas LLC 2007Part Number: 400518-03Revision: A1Date: April 2007Printed in United States of AmericaInformation in this docum

30Epsilon EP-B Base Drive Reference ManualBrake ReleaseThe Brake Release input function will release the brake under all conditions. When this input f

31Operational OverviewAnalog Output Offset units:• Velocity Command = RPM• Velocity Feedback = RPM• Torque Command = Percent of continuous torque• Tor

32Epsilon EP-B Base Drive Reference Manual Figure 24: Input Line DiagramIf the Input Line attached to the home sensor is debounced, the actual rising

33Operational OverviewTorque Mode EnableThis Torque Mode Enable input function, when active, causes the drive to change operating mode to torque mode.

34Epsilon EP-B Base Drive Reference ManualFaultThis output function is active whenever a drive fault condition exists.Foldback ActiveThis output funct

35Operational OverviewHow Communications WorkConfiguring Communication Before attempting to upload or download a configuration file using PowerTools P

36Epsilon EP-B Base Drive Reference Manual• Modbus Address ID•Drive Type• Module Type• Communication Options• Base/Drive FW Revision• Module FW Revisi

37Operational Overview Figure 27: Change Path Dialog BoxSelect the device in the list and then click OK. The communication connection path will then b

38Epsilon EP-B Base Drive Reference Manual

39Setting Up ParametersGraph ViewThe Graph view is only available when online with the drive. The Graphing function in the drive makes use of an inter

iiiCustomer SupportControl Techniques Americas LLC12005 Technology DriveEden Prairie, Minnesota 55344-3620U.S.A.Telephone: (952) 995-8000 or (800) 893

40Epsilon EP-B Base Drive Reference ManualTiming GroupThe sliders can be moved in several different ways.1. With the mouse pointer over the slider, le

41Setting Up Parameters Figure 29: Graphical PlotSetup ViewThe Setup View contains all of the primary system setup parameters. These parameters must b

42Epsilon EP-B Base Drive Reference ManualIdentification GroupThe identification group consists of the Axis and the Axis Address.AxisEnter a 24 charac

43Setting Up ParametersFull Scale Velocity = 4000 RPM Figure 31: Velocity Mode Setup Tab - Analog Velocity Sub-ModeFull Scale VelocityThis parameter i

44Epsilon EP-B Base Drive Reference Manual Figure 33: Velocity Mode Setup Tab - Analog + Preset Summation Sub-ModeFull Scale VelocityThis parameter is

45Setting Up Parameters Figure 34: Torque Mode Setup TabFull Scale TorqueThis parameter specifies the Torque Command when the Analog Input voltage is

46Epsilon EP-B Base Drive Reference ManualPulse/Direction Radio ButtonSelecting this radio button puts your drive in Pulse/Direction interpretation. I

47Setting Up ParametersAnalog Position Mode Figure 36: Setup View-Analog Position ModeAnalog Position Mode Setup TabAnalog Limit Starting EnableSelect

48Epsilon EP-B Base Drive Reference Manual Figure 37: Motor Rotation PerspectiveCW Motor Rotation Option ButtonSelect this option button for applicati

49Setting Up ParametersMotor Type List BoxUse this list box to select the motor type. PowerTools Pro software will display all the standard motor mode

ivDocument ConventionsManual conventions have been established to help you learn to use this manual quickly and easily. As much as possible, these con

50Epsilon EP-B Base Drive Reference ManualRotor InertiaThis parameter specifies the inertia of the motor rotor. The drive uses this parameter to inter

51Setting Up ParametersEncoder TypeThe supported values for this parameter are 1 and 0. If set to a 1 the drive uses the Encoder Marker angle as well

52Epsilon EP-B Base Drive Reference Manual Figure 39: Auto-Tune Dialog Box - Auto-Tune Mode 3After the Auto-Tune Mode has been selected, click Proceed

53Setting Up Parameters Figure 40: The User Defined Motor Name Conflict Dialog BoxThe User Defined Motor Name Conflict dialog box presents the user wi

54Epsilon EP-B Base Drive Reference ManualParameters Not Matching ListThis list is part of the User Defined Motor Name Conflict dialog box and display

55Setting Up ParametersEncoder PositionThe motor position in encoder counts since power up when the value was set to zero. This is a signed 32 bit val

56Epsilon EP-B Base Drive Reference ManualRamps View Figure 43: Ramps ViewRamps GroupStop DecelerationThe value the user enters here defines the rate

57Setting Up ParametersTorque ViewThis view allows the user to edit the Torque Limit and when online with the device view the torque parameters. Figur

58Epsilon EP-B Base Drive Reference ManualTuning ViewAll parameters on the Tuning view are related to the load on the motor and application requiremen

59Setting Up ParametersLow Pass Filter GroupLow Pass Filter Enable Check BoxThis check box when selected enables a low pass filter applied to the outp

vSafety InformationSafety PrecautionsThis product is intended for professional incorporation into a complete system by qualified persons. If you insta

60Epsilon EP-B Base Drive Reference ManualResistanceThe resistance value of the shunt.Shunt Control GroupShunt Power RMSThis parameter models the ther

61Setting Up ParametersSet Analog Out Ch 2 PositionSelect this check box to load the position command value in the Analog Min Value for Channel 2 (on

62Epsilon EP-B Base Drive Reference ManualFaults View Figure 47: Faults View - OnlineFault Enable GroupLow DC Bus Fault EnableThis parameter’s default

63Setting Up ParametersI/O SetupInput Lines ViewThe Input Lines view is used to assign an input function to an input line. This view is divided into t

64Epsilon EP-B Base Drive Reference ManualAttached FunctionThis displays the Input Function assigned each particular Input Line.ConfigurationThe debou

65Setting Up Parameters Figure 50: Output Lines View for a Epsilon EP-B DriveFor wiring information, refer to the “Installation” section of the Epsilo

66Epsilon EP-B Base Drive Reference ManualAnalog Inputs ViewThe drive has one analog input channel that accepts a +10 V to -10 V signal. The drive has

67Setting Up ParametersAnalog Min VoltageThis parameter sets the lower value in the point set in volts.Position Limit EnableSelect this check box to e

68Epsilon EP-B Base Drive Reference ManualAnalog Outputs ViewThis view displays the setup and feedback data for the two Analog Output channels. Figure

69Setting Up Parameters• Note: This does not limit the D/A output voltageAnalog Min Value• The lower Value in the point set (Value,Voltage):•RW • Unit

viEpsilon EP-B Base Drive Reference Manualsevere electric shock and/or burns, and could be lethal. Extreme care is necessary at all times when working

70Epsilon EP-B Base Drive Reference ManualPosition CommandThis is the commanded position generated by the device. Following ErrorThe Following Error i

71Setting Up ParametersShunt Control GroupShunt Power RMSThis parameter models the thermal heating and cooling of the drive internal shunt. This param

72Epsilon EP-B Base Drive Reference Manual

73Tuning ProceduresThe drive uses closed loop controllers to control the position and velocity Travel Limit of the attached motor. These position and

74Epsilon EP-B Base Drive Reference ManualBasic LevelAdjust Response to obtain the best performance.Intermediate Level1. Calculate or estimate the loa

75Tuning Procedures Figure 55: Inertia Setting (5)2. Increase the response parameterThe Response is normally the next adjustment when tuning. For best

76Epsilon EP-B Base Drive Reference Manual Figure 57: PEI = off Figure 58: PEI = onFeedforwards gain can be enabled if the performance requirements ar

77Tuning 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 to

78Epsilon EP-B Base Drive Reference ManualFeedforwards can be enabled in any operating mode, however, in certain modes they do not function. These mod

79Diagnostics and TroubleshootingDiagnostic DisplayThe diagnostic display on the front of the drive shows drive status and fault codes. When a fault c

viiCustomer Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

80Epsilon EP-B Base Drive Reference ManualThe +/- Limit faults are automatically cleared when the fault condition is removed. The table below lists al

81Diagnostics and TroubleshootingFault DescriptionsFlash InvalidThis fault indicates that the firmware checksum has failed. From the Tools menu, Flash

82Epsilon EP-B Base Drive Reference ManualEncoder StateCertain encoder states and state transitions are invalid and will cause the drive to report an

83Diagnostics and TroubleshootingDrive FaultsFaults ViewThe Faults view displays any active faults in the system. Those faults that do not require a r

84Epsilon EP-B Base Drive Reference Manual Figure 60: Watch Window - Select Parameters WindowThe Select Parameters window as seen in Figure 60 allows

85Diagnostics and TroubleshootingClear All ButtonThis button is used to clear all the parameter selections in the "Parameter Displayed in Watch W

86Epsilon EP-B Base Drive Reference ManualError MessagesPowerTools Pro will pop-up an error message box to alert you to any errors it encounters. Thes

87GlossaryµsMicrosecond, which is 0.000001 seconds.AAmpere. The unit of electrical current.AmplifierServo drive.ARMSAmpere (RMS).Root Mean Square.AWGA

88Epsilon EP-B Base Drive Reference ManualFlashAnother type of EEPROM.Flash FileThis file loads the firmware into the drive. Flash files can field upg

89GlossaryOutput FunctionA function (i.e., Drive OK, Fault) that may be assigned to an output line.Output LineThe actual transistor or relay controlle