Emerson Control Techniques Epsilon Eb-202 User manual

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Find the Emerson Motion Control Epsilon Eb-203-00-000 at our website: Click HERE

Information furnished by EMERSON Motion Control is believed to be accurate and
reliable. However, no responsibility is assumed by EMERSON Motion Control for its use.
EMERSON Motion Control reserves the right to change the design or operation of the
equipment described herein and any associated motion products without notice.
EMERSON Motion Control also assumes no responsibility for any errors that may appear
in this document. Information in this document is subject to change without notice.
P/N 400501-05
Rev. A1
Date: April 3, 2000
© 2000 EMERSON Motion Control. All rights reserved.
Epsilon Eb
Digital Servo Drive
Installation Manual
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ii
© 2000 EMERSON Motion Control. All rights reserved.
Part Number: 400501-05
Revision: A1
Date: April 3, 2000
Printed in United States of America
Information in this document is subject to change without notice.
Companies, names, and data used in examples herein are fictitious
unless otherwise noted. No part of this document may be reproduced or
transmitted in any form or by any means, electronic or mechanical, for
any purpose, without the express written permission of EMERSON
Motion Control.
The following are trademarks of EMERSON Motion Control and may
not be reproduced in any fashion without written approval of
EMERSON Motion Control.
Microsoft, Excel and Windows are registered trademarks of Microsoft Corporation.
IBM is a registered trademark of International Business Machines, Inc.
Modbus is a trademark of Modicon, Inc.
Data Highway Plus is a trademark of Allen-Bradley
Schaffner is a trademark of Schaffner
Commercial names of products from other manufacturers or developers
that appear in this manual are registered or unregistered trademarks
of those respective manufacturers or developers, which have expressed
neither approval nor disapproval of EMERSON Motion Control.
This document has been prepared to conform to the current released version of the
hardware and software system. Because of our extensive development efforts and our
desire to further improve and enhance the product, inconsistencies may exist between the
product and documentation in some instances. Call your customer support representative if
you encounter an inconsistency.
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Customer Service
EMERSON Motion Control
12005 Technology Drive
Eden Prairie, Minnesota 55344-3620
U.S.A.
Telephone: [phone] or [phone]
It is EMERSON Motion Control’s goal to ensure your greatest
possible satisfaction with the operation of our products. We are
dedicated to providing fast, friendly, and accurate assistance.
That is why we offer you so many ways to get the support you
need. Whether it’s by phone, fax or modem, you can access
EMERSON Motion Control support information 24 hours a
day, seven days a week. Our wide range of services include:
FAX [phone]
You can FAX questions and comments to EMERSON Motion
Control. Just send a FAX to the number listed above.
Website and Email www.emersondrivesolutions.com
Website: www.emersondrivesolutions.com
Email: [email protected]
If you have Internet capabilities, you also have access to
technical support using our website. The website includes
technical notes, frequently asked questions, release notes and
other technical documentation. This direct technical support
connection lets you request assistance and exchange software
files electronically.
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Epsilon Eb Digital Servo Drive Installation Manual
Technical Service [phone]
Email: [email protected]
EMERSON Motion Control’s products are backed by a team of
professionals who will service your installation wherever it
may be. Our technical service center in Minneapolis,
Minnesota is ready to help you solve those occasional problems
over the telephone. Our technical service center is available 24
hours a day for emergency service to help speed any problem
solving. Also, all hardware replacement parts, should they ever
be needed, are available through our service organization.
When you call, please be at your computer, have your
documentation in hand, and be prepared to provide the
following information:
•Product version number, found by choosing About from the
Help menu.
•The type of controller or product you are using.
•Exact wording of any messages that appear on your screen.
•What you were doing when the problem occurred.
•How you tried to solve the problem.
Need on-site help? EMERSON Motion Control provides
service, in most cases, the next day. Just call EMERSON’s
technical service center when on-site service or maintenance is
required.
Training Services [phone]
Email: [email protected]
EMERSON Motion Control maintains a highly trained staff of
instructors to familiarize customers with EMERSON Motion
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v
Control’s products and their applications. A number of courses
are offered, many of which can be taught in your plant upon
request.
Application Engineering [phone]
Email: [email protected]
An experienced staff of factory application engineers provides
complete customer support for tough or complex applications.
Our engineers offer you a broad base of experience and
knowledge of electronic motion control applications.
Customer Service (Sales) [phone]
Email: [email protected]
Authorized EMERSON Motion Control distributors may place
orders directly with our Order Processing Department by
calling the number listed above. For information on your local
distributor, call EMERSON Motion Control.
Document Conventions
Manual conventions have been established to help you learn to
use this manual quickly and easily. As much as possible, these
conventions correspond to those found in other Microsoft
Windows documentation.
Menu names and options are printed in bold type: the File
menu.
Dialog box names begin with uppercase letters: the Axis Limits
dialog box.
Dialog box field names are in quotes: “Field Name”.
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Epsilon Eb Digital Servo Drive Installation Manual
Button names are in italic: OK button.
Source code is printed in Courier font: Case ERMS.
In addition, you will find the following typographic conventions
throughout this manual.
Safety Instructions
General Warning
Failure to follow safe installation guidelines can cause death or
serious injury. The voltages used in the product can cause
severe electric shock and/or burns, and could be
lethal.Extreme care is necessary at all times when working
with or adjacent to it. The installation must comply with all
relevant safety legislation in the country of use.
Qualified Person
For the purpose of this manual and product, a “qualified
person” is one who is familiar with the installation,
construction and operation of the equipment and the hazards
This Represents
bold Characters that you must type exactly as they appear. For example, if you are directed to type a:setup, you should type
all the bold characters exactly as they are printed.
italic Place holders for information you must provide. For example, if you are directed to type filename, you should type the actual
name for a file instead of the word shown in italic type.
ALL CAPITALS Directory names, file names, key names, and acronyms.
SMALL CAPS Non-printable ASCII control characters.
KEY1+KEY2
example: (Alt+F) A plus sign (+) between key names means to press and hold down the first key while you press the second key.
KEY1,KEY2
example: (Alt,F) A comma (,) between key names means to press and release the keys one after the other.
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vii
involved. In addition, this individual has the following
qualifications:
•Is trained and authorized to energize, de-energize, clear,
ground and tag circuits and equipment in accordance with
established safety practices.
•Is trained in the proper care and use of protective
equipment in accordance with established safety practices.
•Is trained in rendering first aid.
Warning
For the purpose of this manual and product, “Warning”
indicates death, severe personal injury or substantial
damage CAN result if proper precautions are not taken.
Caution
For the purpose of this manual and product, “Caution”
indicates minor personal injury or property damage CAN
result if proper precautions are not taken.
Note
For the purpose of this manual and product, “Note”
indicates information about the product or the respective
part of the manual which is essential to highlight.
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Underwriters Laboratories Listed
The Epsilon Digital Servo Drives are marked with the “UL
Listed” label after passing a rigorous set of design and testing
criteria developed by UL (UL508C). This label indicates that
UL certifies this product to be safe when installed according to
the installation guidelines and used within the product
specifications.
The “conditions of acceptability” required by UL are:
•The Epsilon drive surrounding air ambient temperature
must be 40° C (104° F) or less.
•Epsilon drive surrounding air ambient temperature can be
up to 50°C (122° F) with 3% linear derating for every degree
above 40° C (104° F)
•This product is suitable for use on a circuit of delivering not
more than 5000 RMS symmetrical amperes, 240 volts
maximum.
•Motors must incorporate an overload protection device such
as an overtemperature switch.
Drive Overload Protection
The drive output current overload protection is provided by the
drive and is not adjustable. This overload protection is based on
maximum continuous output current capacity. It will allow up
to 200 percent of the drive rated current to be delivered for the
amount of time determined by the following chart.
LISTED 51Y8
IND. CONT. EQ.
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Epsilon Eb Digital Servo Drive Installation Manual
CE Declaration of Conformity
The Epsilon Digital Servo Drives are marked with the
“Conformite Europeenne Mark” (CE mark) after passing a
rigorous set of design and testing criteria. This label indicates
that this product meets safety and noise immunity and
emissions (EMC) standards when installed according to the
installation guidelines and used within the product
specifications.
Rated output current (Amps RMS)
Drive Model Continuous Peak
Eb-202 1.8 3.6
Eb-203 3 6
Eb-205 5.0 10.0
Drive Output Current vs. Time graph
0
10
20
30
40
50
60
100 125 150 175 200
% Drive Rated Current
Time (seconds)
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Declaration of Conformity
Manufacturer’s Name: EMERSON Motion Control
Manufacturer’s Address:
12005 Technology Drive
Eden Prairie, MN 55344
USA
Declares that the following products:
Products Description: Epsilon Series Digital Servo Drive
Model Number: Eb-202, Ei-202, Eb-203, Ei-203, Eb-205 and Ei-205
System Options: This declaration covers the above products with the ECI-44 Screw Terminal Interface.
Conforms to the following product specification:
Electomagnetic Compatibility (EMC):
EN 55011/1991 Class A Group 1, CISPR 11/1990 Class A Group 1
EN 61800-3,
1996:
IEC 1000-4-2/1995; EN 61000-4-2, 6kV CD
IEC 1000-4-3/1995; EN 61000-4-3, ENV 50140/1993, 80% AM, 10V/m @ 3 m
IEC 1000-4-4/1995; EN 61000-4-4, 2 kV ALL LINES
EN 61000-4-5, 1kV L-L, 2kV L-G
EN 61000-4-11, 300 ms/1000 ms 100% DIP
ENV 50204/1995, Pulse, 900 MHz, 50% DTY, 200 Hz
Supplementary information:
The products herewith comply with the requirements of the Low Voltage Directive (LVD) 73/23/EEC and EMC Directive 89/336/EEC
This electronic drive product is intended to be used with an appropriate motor, electrical protection components and other equipment to form a complete
end product or system. It must only be installed by a professional assembler who is familiar with requirements for safety and electromagnetic compatibility
(“EMC”). The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used.
Refer to the product manual for installation guidelines.
August 18, 1999
Bradley Schwartz/ VP Engineering Date
European Contact: Sobetra Automation
Langeveldpark Lot 10
P. Dasterleusstraat 2
1600 St. Pieters Leeuw, Belgium
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Introduction
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
How this Manual is Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Reference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safety Considerations
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Enclosure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Setup, Commissioning and Maintenance . . . . . . . . . . . . . . . 8
Safety of Machinery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Installation
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Basic Installation Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . 11
Environmental Considerations . . . . . . . . . . . . . . . . . . . . . . 17
Wiring Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Drive Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Motor Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Power Supply Requirements . . . . . . . . . . . . . . . . . . . . . . . . 21
Transformer Sizing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Line Fusing and Wire Size. . . . . . . . . . . . . . . . . . . . . . . . . . 26
Input Power Connections . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Alternate Power Supply Wiring. . . . . . . . . . . . . . . . . . . . . . 28
Motor Power Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
Table of Contents
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Motor Feedback Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Input/Output and Drive Enable Wiring. . . . . . . . . . . . . . . .34
Command Connector Wiring . . . . . . . . . . . . . . . . . . . . . . . .37
Command Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
Analog Command Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Encoder Output Signal Wiring. . . . . . . . . . . . . . . . . . . . . . .41
Pulse Mode Wiring, Differential Inputs. . . . . . . . . . . . . . . .43
Pulse Mode Wiring, Single Ended Inputs . . . . . . . . . . . . . .44
Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
Modbus Communications . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Multi-Drop Communications . . . . . . . . . . . . . . . . . . . . . . . .49
Diagnostics and Troubleshooting
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
Diagnostic Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
Fault Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
Diagnostic Analog Output Test Points . . . . . . . . . . . . . . . . . . . .59
Drive Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
Resetting Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
Viewing Active Drive Faults. . . . . . . . . . . . . . . . . . . . . . . . .61
Rebooting the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
Watch Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
View Motor Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
Options and Accessories
ECI-44 External Connector Interface. . . . . . . . . . . . . . . . . . . . .68
STI-EIO Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
Specifications
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
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Drive Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Drive and Motor Combination Specifications . . . . . . . . . . . . . .77
Motor Brake Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Power Dissipation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Speed Torque Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Epsilon Drive Dimensions: Eb 202, Eb-203, Eb-205 . . . . . . . . .87
MG Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
NT Motor Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91
Cable Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
CMDX-XXX Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
CMDO-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
CDRO-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
AX-CEN-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
EIO-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
TIA-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
DDS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
TERM-H (Head) Terminator . . . . . . . . . . . . . . . . . . . . . . . 107
TERM-T (Tail) Terminator. . . . . . . . . . . . . . . . . . . . . . . . .107
CMDS-XXX Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108
CMMS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
CFCS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
CFCO-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
CFOS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
Vendor Contact Information. . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Index
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1
Introduction
Overview
The Epsilon drives are stand-alone, fully digital brushless
servo drives designed and built to reliably provide high
performance and flexibility without sacrificing ease of use.
The use of State-Space algorithms make tuning very simple
and forgiving. The drives are designed to operate with up to a
10 :1 inertia mismatch right out of the box. Higher (50 :1 and
more) inertial mismatches are possible with two simple
parameter settings.
The drives can be quickly configured to many applications in
less than 5 minutes with PowerTools software on a PC running
Windows 95, 98 or NT 4.0.
Complete diagnostics are provided for quick troubleshooting. A
diagnostic display on the front of the drive informs the user the
operational or fault status. The last 10 faults are stored in non-
volatile memory along with a time stamp for easy recall.
Epsilon drives operate at 42 to 264 VAC standalone or at 24 to
375 VDC with an A.P.S. (Alternate Power Supply) and are
available in two power ratings. The drive will fit in a 6 inch
deep enclosure with cables connected.
•Epsilon E(x)-202 – 650 Watts (1.8 amps cont, 3.6 amps peak)
•Epsilon E(x)-203 – 1100 Watts (3.0 amps cont, 6.0 amps
peak)
•Epsilon E(x)-205 – 1750 Watts (5.0 amps cont, 10.0 amps
peak)
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Epsilon Eb Digital Servo Drive Installation Manual
The MG and NT motors that are matched to the Epsilon drives
provide low inertia, high power to size ratios, and encoder
feedback for accurate positioning.
Features
•Digital drive design using DSP, ASIC and surface mount
technologies.
•Epsilon input power is rated at 42 to 264 VAC (12 to 264
VAC or 12 to 375 VDC when using an A.P.S.).
•Small mounting footprint.
•Auxiliary logic power supply capability.
•Five optically isolated inputs and three optically isolated
outputs.
•Built-in RS-232C to RS-485 converter for multi-drop
applications.
•RS-232C/485 serial communications interface using
industry standard Modbus® protocol up to 19.2 kbaud.
•Diagnostic and operating mode status display.
•Extensive fault sensing and diagnostics, including storage
and time stamping of the last ten faults.
•Maximum input response time is 500 µs for command and
input functions.
•Peak torque up to three times continuous motor torque
rating 200% for 5 seconds.
•Sinusoidal commutation for efficiency and motor smooth
motion.
•No potentiometers or selector switches.
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3
Introduction
•No tuning needed for no-load up to 10:1 inertia mismatch.
•High performance tuning based on inertia ratio, friction and
response with PowerTools software (available separately).
•High resolution encoder.
•Four velocity presets.
•Programmable pulse follower ratio.
•Pulse mode input type selectable between differential and
single-ended.
•Removable connectors for easy installation.
•Single cable connection to EMERSON Motion Control’s
AXIMA 2000 and 4000 multi-axis controllers.
•Scalable Encoder Output in one line per revolution
increments.
•Travel Limit Function in Torque mode.
•Access to bus voltage for external shunt.
•Able to operate non-EMERSON motors with encoders.
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4
Epsilon Eb Digital Servo Drive Installation Manual
Figure 1: Epsilon Eb Drives Feature Location
How this Manual is Organized
This manual is divided into the following major sections:
Introduction
This section introduces you to the Epsilon Eb hardware and
software features, requirements and operation.
Safety Considerations
This section describes a number of safety precautions that need
to be addressed in a system design.
Diagnostics and Troubleshooting
This section explains various diagnostic and troubleshooting
aids.
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5
Introduction
Installation
This section describes the Epsilon Eb drive hardware features
including mounting, AC power wiring, I/O wiring and drive
communications.
Options and Accessories
This section describes the various options and accessories for
the Epsilon Eb drive.
Specifications
This section contains the specifications for the Epsilon Eb
drive.
Reference Materials
The following related reference and installation manuals may
be useful with your particuliar system.
•Epsilon Eb and E Series En Drives Reference Manual (P/N
400501-01)
•PowerTools Software User’s Guide (P/N 400503-01)
•Epsilon and E Series Drive Parameters Reference Manual
(P/N 400504-01)
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