Emerson Epsilon Eb Series User manual

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

P/N 400501-01
Revision: A3
Date: May 9, 2000
© 2000 EMERSON Motion Control. All rights reserved.
Epsilon Eband ESeries ENDrives
Reference Manual
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InformationfurnishedbyEMERSONMotionControlisbelievedtobeaccurateandreliable.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 400501-01
Revision: A3
Date: May 9, 2000
© 2000 EMERSON Motion Control. All rights reserved.
Epsilon Eb and
E Series ENDrives
Reference Manual
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ii
© 2000 EMERSON Motion Control. All rights reserved.
Part Number: 400501-01
Revision: A3
Date: May 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 product. 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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iii
Customer Service
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.
EMERSON Motion Control
12005 Technology Drive
Eden Prairie, Minnesota 55344
U.S.A.
Service Support 952.995.8033
EMERSON Motion Control’s products are backed by a team of professionals who will
service your installation wherever it may be. Our customer service center in Eden Prairie,
Minnesota is ready to help you solve those occasional problems over the telephone. Our
customer 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 customer service organization.
When you call, please be at your computer, have your documentation in hand, and be
prepared to provide the following information:
•Software product version number, found by choosing About from the Help menu.
•The type of drive controller or other 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.
You can also contact us by email: service@emersondrivesolutions.com
Need on-site help? EMERSON Motion Control provides service, in most cases, the next day.
Just call EMERSON’s customer service center when on-site service or maintenance is
required.
Training Services 800.397.3786 or Fax 952.995.8011
EMERSON Motion Control maintains a highly trained staff of instructors to familiarize
customers with EMERSON Motion Control’s products and their applications. A number of
courses are offered, many of which can be taught in your plant upon request.
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iv
Application Engineering applengr@emersondrivesolutions.com
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
knowledgeof electronic motion control applications. Applicationengineersmaybecontacted
by email at applengr@emersondrivesolutions.com or at the telephone number listed above.
FAX 952.995.8011
You can FAX questions and comments to EMERSON Motion Control. Just send a FAX to
the number listed above.
Website: www.emersondrivesolutions.com
If you have Internet capabilities, you also have access to technical support using our Website
at http://www.emersondrivesolutions.com. 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.
Sales: 1.800.397.3786 or 952.995.8000
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. You can also contact us by email at
[email protected]drivesolutions.com.
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”.
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.
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.
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v
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 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.
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.
This Represents
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vi
Epsilon Only
For the purpose of this manual and product, the “Epsilon” symbol indicates information
about the Epsilon drive specifically.
E Series Only
E
N
For the purpose of this manual and product, the “EN” symbol indicates information about
the E Series drive specifically.
Throughout this manual, the word "drive" refers to an Epsilon or E Series drive.
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vii
Underwriters Laboratories Listed
TheEpsilon and E SeriesDigitalServoDrives are marked with the“ULListed”labelafter
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 drive surrounding air ambient temperature must be 40° C (104° F) or less.
•Epsilon and E Series 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
Thedrive output current overloadprotectionisprovided by the drive andisnot 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.
Epsilon EbDigitalServo
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viii
Epsilon Eb and E Series EN Drives Reference Manual
CE Declaration of Conformity
The Epsilon and E SeriesDigital 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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ix
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
Declaration of Conformity
Manufacturer’s Name: EMERSON Motion Control
Manufacturer’s Address: 12005 Technology Drive
Eden Prairie, MN 55344
USA
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x
Epsilon Eb and E Series EN Drives Reference Manual
Declares that the following products:
Products Description: E Series Digital Servo Drive
Model Number: EN-204, EN-208 and EN-214
System Options: This declaration covers the above products with the ALP-130 Backup Logic Power Supply and 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 50082-2/1995: IEC 1000-4-2/1995; EN 61000-4-2, 4kV 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
IEC 1000-4-8/1993; EN 61000-4-8, 30 A/m
ENV 50141/1993, 80% AM, 10V, .15-80 MHz
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.
December 2, 1997
Bradley Schwartz/ VP Engineering Date
European Contact: Sobetra Automation
Langeveldpark Lot 10
P. Dasterleusstraat 2
1600 St. Pieters Leeuw, Belgium
Declaration of Conformity
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xi
Introduction
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Safety Considerations
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Enclosure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Setup, Commissioning and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safety of Machinery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Quick Start
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Offline Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Online Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Operational Overview
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
How Motion Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Functional Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Pulse Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Torque Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Drive Modifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Current Foldback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Shunt Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Brake Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Analog Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Digital Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Setting Up Parameters
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
EZ Setup/Detailed Setup Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Source Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Table of Contents
Epsilon Eb and E Series EN Drives Reference
Manual
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xii
Epsilon Eb and E Series EN Drives Reference Manual
Inputs Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Outputs Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Position Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Velocity Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Torque Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Motor Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Analog Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
I/O Status Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Status Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
History Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Advanced Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Tuning Procedures
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
PID vs. State-Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Tuning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Determining Tuning Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Diagnostics and Troubleshooting
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Diagnostic Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Diagnostic Analog Output Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Drive Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Watch Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
View Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
User Defined Motors
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Commutation Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Installation
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Basic Installation Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Electrical Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Input Power Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
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xiii
Serial Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Options and Accessories
E Series ENDrive Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Epsilon Eb Drive Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
STI-EIO Standard Terminal Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
ECI-44 External Connector Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
FM-P Portable Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
FM-1 Speed Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
FM-2 Indexing Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
FM-3 Programming Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Revision History
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
PowerTools-Base Revisions with Firmware Revisions . . . . . . . . . . . . . . . . . . . . . . 197
PowerTools-FM Revisions with Firmware Revisions . . . . . . . . . . . . . . . . . . . . . . . 198
Specifications
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Drive Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Drive and Motor Combination Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Motor Brake Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Power Dissipation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Speed Torque Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
E Series Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
MG Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
NT Motor Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Cable Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Vendor Contact Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Glossary
Index
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xiv
Epsilon Eb and E Series EN Drives Reference Manual
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1
Introduction
Overview
The Epsilon Eb and E Series 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 of the operational or fault status. The last 10 faults are
stored in non-volatile memory along with a time stamp for easy recall.
The E Series drives are designed to accept a line of function modules that further enhance its
use in various applications.
•FM-P can access and modify parameters in the drive and monitor drive functions.
•FM-1 is an expansion of the basic drive functions and can be used in various line shafting
and velocity control applications.
•FM-2 provides the ENDrives with positioning capabilities, such as Home, Jog and
Indexing.
•FM-3 expands on the positioning capabilities of the FM-2 with User Units, Programs,
Synchronized moves, 256 Indexes, and PLS Outputs features.
E Series drives are available in three power ratings
•EN-204 – 1.75 Kw (4.5 amps cont, 9.0 amps peak)
•EN-208 – 2.75 Kw (9.0 amps cont, 18.0 amps peak)
•EN-214 – 4.34 Kw (13 amps cont, 26 amps peak)
Epsilon drives are available in three 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)
Epsilon Eb and E Series EN Drives Reference
Manual
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2
Epsilon Eb and E Series EN Drives Reference Manual
The MG and NT motors that are matched to the Epsilon and E Series 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 and E Series ENDrives are rated at 90 to 264 VAC for input power. With an
Alternate Power Supply (APS) applied, the Epsilon Drive input range can be extended to
42 to 264 VAC.
•Small mounting footprint.
•Auxiliary logic power supply capability.
•Bus connections for external shunt capability.The EN-208 and EN-214 have internal
shunts.
•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.
•Sinusoidal commutation for efficiency and smooth motor motion.
•No potentiometers or selector switches.
•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.
•Eight 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.
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3
Introduction
•Scalable Encoder Output in one line per revolution increments.
•Travel Limit Function in Torque mode.
•Able to operate non-EMERSON motors with encoders.
Figure 1: Epsilon Eb and E Series ENDrives Feature Location
AC Power Input (J1)
Feedback Connection (J7)
Drive Reset Button
Bus Power Connection (J2)
Auxiliary Power Connection (J3)
Motor Power Connection (J8)
Input/Output Terminals (J6)
Status Display
Analog Output Test Points
Function Module Connection
Serial Communications Connection (J4)
Command Connection (J5)
AC Power Input (J1)
Bus Power Connection (J1)
Alternate Logic Power
Supply Connection (J1)
Drive Reset Button
Status Display
Analog Output Test Points (J4)
Serial Communications Connection (J2)
Command Connection (J5)
Feedback Connection (J6)
Motor Power Connection (J1)
Input/Output Connection (J3)
Epsilon Eb Drive
E Series E
N
Drive
Logic Power Supply
Selection Access Panel
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7
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