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Control Techniques Epsilon EP-I, Reference Manual

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35

Setting Up Parameters

 Figure 27:

Index 0 Compounded into Index 1

Status View

This view has two tabs, the Status Online tab displays the drive status in real time and the Information tab displays general 
information about the drive/module the user is online with.

Status Online Tab

The information in this view is divided into five categories: Position, Velocity, Torque, Drive Status and Index.

 Figure 28:

Status View - Status Online Tab - Online

Note

The information in this view is for diagnostics purposes only and cannot be changed from within this view.

Position Group

Pulse Input Posn 

Position Command

This is the commanded position generated by the device. This is set to zero when the Absolute Position Valid output function 

is activated.

Summary of Contents for Epsilon EP-I

Page 1: ...Reference Manual P N 400518 02 Revision A2 Date December 29 2017 Epsilon EP I Indexing Drive and FM 2 Indexing Module ...

Page 2: ......

Page 3: ... to change the design or operation of the equipment described herein and any associated motion products without notice Control Techniques Americas 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 400518 02 Revision A2 Date December 29 2017 Epsilon EP I Indexing Drives and FM 2 Indexing Module Referen...

Page 4: ...e reproduced in any fashion without written approval of Control Techniques Americas PowerTools AXIMA Motion Made Easy Control Techniques Americas is not affiliated with Microsoft Corporation owner of the Microsoft Windows and Windows NT trademarks IBM is a registered trademark of International Business Machines Corporation Modbus is a registered trademark of Schneider Electric Schaffner is a regis...

Page 5: ...ntation 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 Note For the purpose of this manual ...

Page 6: ...ntry 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 and ground and tag circuits and equipment in accordance with established safet...

Page 7: ...safety practices Is trained in rendering first aid Enclosure This product is intended to be mounted in an enclosure that prevents access except by qualified persons and that prevents the ingress of contamination This product is designed for use in an environment classified as pollution degree 2 in accordance with IEC664 1 This means that only dry non conducting contamination is acceptable Setup Co...

Page 8: ...pply has been removed Allow at least 6 minutes for Epsilon EP206 and 3 minutes for Epsilon EP202 204 after removing the supply before carrying out any work which may involve contact with electrical connections to the drive Products connected by plug and socket A special hazard may exist where the drive is incorporated into a product which is connected to the AC supply by a plug and socket When unp...

Page 9: ... Analog Inputs View 27 Analog Outputs View 28 Jog View 28 Home View 30 Index View 31 Status View 35 Graph View 37 Operational Overview 41 User Interface 41 How Motion Works 41 How Jogging Works 41 How Home Works 43 How Indexes Work 58 How Chaining Works 64 Index Input and Output Functions 65 How Alternate Mode Works 69 Drive Modifiers 77 Encoder Output Scaling 77 Current Foldback 77 Shunt Operatio...

Page 10: ...Display 109 Fault Codes 110 Diagnostic Analog Output Test Points 113 Drive Faults 115 Watch Window 116 Error Messages 118 User Defined Motors 119 Commutation Basics 119 Options and Accessories 137 Epsilon EP Drive Options 137 FM 2 Indexing Module Options 138 STI 24IO Interface 139 STI EIO Interface 140 ECI 44 External Connector Interface 141 Specifications 143 FM 2 Specifications 143 Dimensions an...

Page 11: ...ves are available in three current ratings The NT and MG motors that are matched to the Epsilon drive provide low inertia high power to size ratios and encoder feedback for accurate positioning FM 2 Indexing Module The FM 2 Module is a compact and rugged indexing module that attaches to the front of the base drive MDS drive module It enables the user to initiate up to 16 different indexes jogging ...

Page 12: ...erTools Pro v4 0 is an easy to use Microsoft Windows based setup and diagnostics tool Figure 2 FM 2 Indexing Module Feature Location Locking Latch Aligning Tabs 100 Pin Connector Front Back 1 2 3 4 5 6 7 8 1 2 3 4 Indexing Module Inputs Outputs 10 30 VDC Inputs Outputs 10 30 VDC MODEL FM 2 PART 960503 01 REV EB 09 SER 9820B025 ...

Page 13: ...indow The user should wait for the Graph State to read Filled and Triggered before the data is uploaded Stop The Stop button stops the data capture with the data captured at that point You can upload and plot that data If the buffer is only partially filled you will get a combination of good and bad data Stop works well as a manual trigger in place of the configured trigger Automatically Re trigge...

Page 14: ...wo adjacent Channels with the same units mapped to separate axis on the graph then the selection none should be used on the channel in between these two parameters Trigger Radio Buttons Selecting the radio button will cause the graphical capture to trigger the capture off the selected Channel The Trigger Level text box on the bottom of the display will change units to the selected channel s parame...

Page 15: ...s Enter a 24 character alpha numeric name for the device you are currently setting up Assigning a unique name for each device in your system allows you to quickly identify a device when downloading editing and troubleshooting All keyboard characters are valid Axis Address Enter the Axis Address to which you wish to download the configuration file information Unless you have changed the Modbus addr...

Page 16: ...itive Direction Group The Positive Direction group consists of a CW clockwise Motor Rotation radio button and a CCW counter clockwise Motor Rotation radio button Positive motion will move in either a CW direction or CCW direction depending on which direction is selected Perspective of rotation is defined as you face the motor shaft from the front of the motor Figure 5 Motor Rotation Perspective CW...

Page 17: ... file and then is displayed in the Motor Parameters column on the Motor view see Figure 6 The parameters in this column will be dimmed and unavailable because the motor information comes directly from the ddf file If the user wishes to edit one or more of the parameters read from the ddf file it is necessary to clear the User Motor Data From ddf File check box Clearing the check box will break the...

Page 18: ...s used to determine the drive continuous current and peak current limits The drive can also limit the continuous current to the motor based on the drive capacity The motor manufacturer typically provides the continuous current data If a system is drive limited meaning that the motor can handle more current than the drive can deliver the continuous current actually used by the system may be lower t...

Page 19: ...U V and W commutation tracks and using this parameter obtains a crude 30 estimate of the electrical angle Encoder Reference Motion Specifies the direction of motion assumed in phase plots of the encoder s quadrature and summation signals The supported values are CW 1 and CCW 0 Your encoder may have the same phase plot but is generated from a different direction of rotation This parameter affects t...

Page 20: ... the Motor view The following table shows which parameters must be entered in order to run the Auto Tune feature and which parameters are measured by the Auto Tune Some Auto Tunes cause motion while others do not It is important to read and understand the warnings and instructions on the Auto Tune windows It is strongly recommended to unload the motor if Auto Tune Mode 3 is commanded When online w...

Page 21: ...le if PowerTools Pro finds that a motor already exists with the same name the User Defined Motor Name Conflict dialog box will appear The user must then decide how to proceed with saving the motor data ddf file User Defined Motor Name Conflict Dialog Box The purpose of this dialog box is to resolve conflicts between the application s motor settings and those defined in the ddf file The User Define...

Page 22: ...ot proceed The figure below shows the error message that will be produced when the user attempts to overwrite a standard motor In this case the user would need to change the motor name before saving to the ddf file Load and use motor parameters from matching motor in ddf file If this option is selected the motor data in the Motor ddf or stdmotor ddf file for the matching Motor Name will overwrite ...

Page 23: ...r Units View Distance Group Units Name Select the type of units to be used throughout the configuration for all Position Distance parameters The default units are revs Decimal Places This will specify the number of digits after the decimal place to be used in all distance position parameters for the entire configuration Distance Scaling This will specify the number of user units in 1 0000 motor re...

Page 24: ...he decimal place to be used in all Acceleration Deceleration parameters Position View The Position View allows you to set up and view the parameters related to drive positioning In Position has been selected in the Hierarchy Tree The right side of the view is divided into groups An explanation of the groups and their functions is provided below Figure 10 Position View Index In Position Group In Po...

Page 25: ...if check box is clear the rotary rollover feature Rollover Position This parameter is used in rotary applications and determines the position at which the internal position counter will be reset to zero Example The user has a rotary table application with distance user units of degrees 360 00 degrees 1 rev The Rotary Rollover would be set to a value of 360 The motor is traveling in the positive di...

Page 26: ...Position Command is greater than the Position Feedback Encoder Position The motor position in encoder counts since power up when the value was set to zero This is a signed 32 bit value This is set to zero when the Absolute Position Valid output function is activated Pulse Input Posn This parameter returns the total number of actual pulses received on the pulse input hardware This value is active i...

Page 27: ...percent of the Motor Maximum Operating Speed Trigger Group In Motion Velocity This parameter sets the activation point for both the In Motion and In Motion output functions The output function will deactivate when the motor velocity slows to half of this value Online Tab Velocity Group All parameters in this group are only available when online with the device Velocity Command The Velocity Command...

Page 28: ...o control the acceleration ramps In applications which do not require the drive to limit the ramps such as when using an external position controller the parameter can be set to 0 its default value If the Analog Accel Decel Limit parameter value is changed during a ramp the new ramp limit is imposed within the next servo loop update Torque View This view allows the user to edit the Torque Limit an...

Page 29: ...icular drive and motor combination This parameter returns the torque command value before it is limited The torque command may be limited by either the Torque Limit if the Torque Limit Enable input function is active or Current Foldback Torque Cmd Limited This displays the percent of torque being commanded to the motor This value is the result of the Torque Command after being limited by the curre...

Page 30: ...crease per 100 motor RPM If estimated always use a conservative less than or equal to actual estimate If the friction is completely unknown a value of zero should be used A typical value used here is less than one percent Tuning Group Velocity Response The Velocity Response parameter adjusts the velocity loop bandwidth with a range of 1 to 500 Hertz In general it affects how quickly the drive will...

Page 31: ...y torque disturbances typically less than 10 Hz or when holding a non counterbalanced vertical load in position The adjustment parameter is Position Error Integral Time Constant which is available in the Tuning View of PowerTools Pro This parameter determines how quickly the drive will attempt to eliminate the following error The time constant is in milliseconds and defines how long it will take t...

Page 32: ...EP I Indexing Drive and FM 2 Indexing Module Reference Manual Alternate Mode View Figure 14 Alternate View Alternate Mode Selection See Alternate Mode Select on page 70 for details on selecting a mode of operation ...

Page 33: ... parameter s default setting is enabled When enabled the drive will detect encoder state faults Refer to Fault Codes in the Diagnostic and Troubleshooting section of this manual The drive will not detect Encoder State faults when the fault is disabled Disabling encoder faults is necessary for some types of programmable encoders when the state transitions are not always deterministic Commutation Ha...

Page 34: ...his window allows the user to select an input function and assign it to an input line When online with the device there will be a virtual LED to the left of the input function name that shows the state of the input function Configuration The configuration of each input function is displayed next to the input function when the active state is changed from default The default configuration is Active...

Page 35: ...t function is shown next to the input function Debounce Text box The debounce value is displayed next to each input line This feature helps prevent false input triggering in noisy electrical environments Enter a Debounce Time in milliseconds The value entered here is the minimum amount of time the input line will need to be active before it is recognized as a valid input Figure 17 Input Line Diagr...

Page 36: ...position the mouse pointer over the function on the left to assign it to the line on the right Press the left mouse button while over the function and hold the button down While holding the left button down drag the function until the pointer is positioned over the desired line and release the left mouse button To unassign an output function position the pointer over the function on the left Press...

Page 37: ...g voltage to a usable parameter The analog input is scanned by the drive every 100 microseconds and the module at the trajectory update rate Figure 19 Analog Inputs View Bandwidth This parameter sets the low pass filter cutoff frequency applied to the analog input Signals exceeding this frequency will be filtered at a rate of 20 db per decade Analog Full Scale This voltage sets the maximum value t...

Page 38: ...er Offset Each analog output channel includes a programmable Analog Output Offset This feature allows you to zoom in to a desired range effectively increasing the resolution The units of this parameter is dependent upon the Analog Output Source selection Scale Each analog output channel includes a programmable Analog Output Scale This feature allows you to zoom in to a desired range effectively in...

Page 39: ...the Jog or Jog input functions Acceleration This parameter specifies the acceleration value to be used during the jog The acceleration units are defined by the Time Scale parameter on the User Units view Deceleration This parameter specifies the deceleration value to be used during the jog The deceleration units are defined by the Time Scale parameter on the User Units view Max Motor Speed This pa...

Page 40: ...me Sensor input function is used to establish the reference position Marker When the Home Reference is Marker the rising edge of the motor encoder s marker channel is used to establish the reference position Sensor and Marker When the Home Reference is Sensor and Marker the reference position is established using the first marker rising edge after the Home Sensor input function goes active Chain t...

Page 41: ...ffset Group Calculated Offset Option Button The calculated offset is defined as the distance travelled during deceleration ramp from the home velocity to a stop plus the distance travelled at the home velocity for 400µs This extra distance is used to guarantee that the motor will not need to backup after the deceleration ramp Specified Offset Option Button The specified offset allows the user to c...

Page 42: ...stance If a Registration Sensor is seen then the index runs an additional specified Registration Offset distance If Registration Indexes are compounded then Index ends a either Limit Dist or End of Registration offset It will then start the next index at the ending velocity Rotary Plus and Rotary Minus Rotary Plus and Rotary Minus type indexes are typically used in applications which use rotary ro...

Page 43: ...n Tab The registration index parameters are set on this tab The signal for the registration mark can come from one of four sources Registration Sensor 1 Registration Sensor 2 Torque Level 1 or Torque Level 2 The Offset can either be Calculated by PowerTools Pro or Specified by the user in user units If Calculated Offset is selected the motor will stop at the specified deceleration ramp If Specifie...

Page 44: ...ce is reached The program then moves on to the next index It smoothly transitions into the second index without stopping The second index then ramps to its pre configured velocity Multiple indexes can be compounded to create a complex velocity profile The last index in a complex profile must have a deceleration ramp Compound indexes are accomplished by selecting the Compound into option button loc...

Page 45: ...tus Online Tab The information in this view is divided into five categories Position Velocity Torque Drive Status and Index Figure 28 Status View Status Online Tab Online Note The information in this view is for diagnostics purposes only and cannot be changed from within this view Position Group Pulse Input Posn Position Command This is the commanded position generated by the device This is set to...

Page 46: ...returns the torque command value before it is limited The torque command may be limited by either the Torque Limit if the Torque Limit Enable input function is active or current foldback Torque Cmd Limited Torque Feedback Actual Command This is the sum of all torque commands applied in summation mode Drive Status Group Drive Status This reflects the state of the diagnostic LED on the drive i e Rea...

Page 47: ...ered up since leaving the factory Power Up Count Number of times the drive has been powered up since leaving the factory Power Up Time Amount of time the drive has been powered up since last power up Graph View The Graph view is only available when online The Graphing function in the drive makes use of an internal high speed data capture After this capture is Arm ed the capture will begin to fill ...

Page 48: ...will be included on the graph display and data capture prior to the actual trigger If the Trigger offset slider is completely to the left min samples the data capture and graphing will start at the trigger location If the slider is completely to the right max samples the graph will capture data until the trigger point Buffer Upload Size In the instance that a user would like to save time in an upl...

Page 49: ...39 Setting Up Parameters Figure 30 Graphical Plot ...

Page 50: ...40 Epsilon EP I Indexing Drive and FM 2 Indexing Module Reference Manual ...

Page 51: ... EP I Indexing Drive and FM 2 Indexing Module provides six types of motion jogging home indexing and with alternate mode analog velocity analog torque and pulse mode Only one type of motion may be in process at any given moment With all EP I drives and the FM 2 modules motion can be initiated by input assignments or thru PowerTools Pro or over a network like DeviceNet using an EP IDN drive The FM ...

Page 52: ...2 depending on which Time Scale was selected on the User Units View The default value for both is 1000 ms kRPM For example at the default values if you initiated a Jog with a velocity of 500 RPM the motor will accelerate to 500 RPM in 0 5 seconds Accel Time 500 RPM x 1000 ms kRPM x 1 kRPM 1000 RPM 500 msec 0 5 sec Jog Input Functions The device has three input functions available which are used to...

Page 53: ... motion type homing indexing is in progress If both jog input functions are On there is no motion after a jog deceleration they effectively cancel each other The drive s display will show R for ready If the device is jogging with the Jog Input function On and the Jog Input function goes active the device behaves the same as if it would in Jog just turned Off The Stop input function will override t...

Page 54: ...sensor and then to the encoder marker pulse One Side Home The one side home is designed to add power to simple indexing applications where the machine can be stopped and re homed from either side of the home sensor Figure 36 Basic Standard Home Function The figure above shows a basic standard home function using a ball screw This example uses most of the setup features in the PowerTools Pro Home V...

Page 55: ...of the rising edge of the encoder marker pulse Most applications will use a sensor and marker to find an accurate home position in the vicinity of the home sensor Absolute Position Valid ON Travel Spec or Calc Offset Home Sensor ON Yes No Reverse Motor Direction Home Sensor OFF Yes No Reverse Motor Direction default Absolute Position Valid ON Travel Spec or Calc Offset Home Sensor ON Yes No Home S...

Page 56: ... The Home function will NOT be initiated when any other motion command is in progress Absolute Position Valid ON Travel Spec or Calc Offset Home Sensor OFF Yes No Reverse Motor Direction Home Sensor OFF Yes No Reverse Motor Direction default Absolute Position Valid ON Travel Spec or Calc Offset Home Sensor ON No Yes Reverse Motor Direction Home Sensor OFF Yes No Home Sensor ON Yes No Reverse Motor...

Page 57: ... Home Reference Position Marker Standard Home only Selecting Marker means the rising edge of the motor s encoder marker channel is used to establish the reference position Figure 40 Marker Home Reference Position Sensor and Marker Standard Home only Selecting Sensor and Marker means the reference position is established using the first marker rising edge after the device sees the rising edge of th...

Page 58: ...Note At 1000 RPM the motor will travel 0 0133 revolutions or 4 8 in 800 µs Figure 42 Sensor and Marker Position The Home Sensor must be On for at least 50 µsec to guarantee that it will be recognized Figure 43 Sensor Position Home Offset The Home Offset is the distance from the Reference Position to the final stopping point at the end of the homing sequence Regardless of the value you enter for th...

Page 59: ...ome reference is detected the device will do whatever is necessary to reach the offset position This may be as simple as a deceleration to a stop a continuation at speed followed by a deceleration to a stop or a deceleration followed by a move in the opposite direction To enter a specified home offset select the Specified Offset option button PowerTools Pro always displays the calculated offset va...

Page 60: ... Example 1 Calculated Offset In the example below a calculated offset is used Figure 45 Calculated Offset Screen Figure 46 Calculated Offset Example 2 Specified Offset Greater than Calculated Offset In the example below the specified offset is larger than the calculated offset This causes the axis to continue on at speed before decelerating and stopping at the offset position ...

Page 61: ...51 Operational Overview Figure 47 Specified Offset Screen Figure 48 Specified Offset Greater than Calculated Offset ...

Page 62: ...ns Home Limit Distance This parameter places an upper limit on the incremental distance the motor will travel during the home routine If no reference is found the system will decelerate and stop at the limit distance The Home Limit Distance Hit output function will be activated if the home stops at the limit distance without finding the reference Additionally the End of Home output will not turn O...

Page 63: ...from the sensor until the Home Sensor Input Function deactivates then move forward looking for the rising edge of the sensor When backing off of the sensor the motor will move in the opposite direction of the Home Velocity Backoff Motion External Home Sensor Gear Reducer Carriage NT Motor with Encoder Home Velocity Velocity Time Home Sensor Input On Off Off On Home Reference Position Start of Norm...

Page 64: ...red if you are homing to a sensor This function is edge sensitive The sensor position is determined when the Home Sensor Input Function is activated If the device receives a Home Initiate input while the Home Sensor input is active you can choose to have the motor back off of the home sensor before it initiates the home function If debounce is used on the Home Sensor Input Function the debounce de...

Page 65: ...e motor s encoder marker channel to establish a Home Reference Position This is the most accurate and most common way to home Figure 54 Home to Sensor and Marker When the device sees the rising edge of the Home Initiate input it accelerates the motor to the Home Velocity The motor continues at that velocity until it first senses the Home Sensor input It continues at the same velocity until the mot...

Page 66: ...igure 56 Home Velocity Profile Figure 57 Home Move Sequence Example 2 Rotary Application This example uses an external sensor and the motor s encoder marker pulse to establish a home reference position Velocity Time Sensor Back off Sensor Marker 100 100 100 Sensor Marker Offset Home Move Offset Move 2 0 Revs Final Position ...

Page 67: ...es the Home Sensor input The motor continues on at the home velocity until the marker is activated The rising edge of the motor s encoder marker channel is used to establish the reference position After sensing the rising edge of the motor s marker channel the device will continue moving and will decelerate to a stop at the specified offset position Figure 59 Sensor and Marker then Offset Screen N...

Page 68: ... An index is a complete motion sequence that moves the motor a specific incremental distance or to an absolute position This motion sequence includes an acceleration ramp to a programmed velocity a run at velocity a deceleration to a stop and a dwell time Figure 62 Complete Motion Sequence Velocity Time Acceleration Deceleration Run at Velocity Dwell ...

Page 69: ...ts five types of indexes Absolute Incremental Registration Rotary plus and Rotary minus Absolute vs Incremental The difference between absolute and incremental indexes is that absolute indexes move to a specific absolute position and incremental indexes move the motor a specific distance The figures and explanations below demonstrate this concept Absolute Indexes Absolute indexes are used in appli...

Page 70: ... 65 Incremental Index In the example above the motor starts at 6 revs and travels a distance of 4 revs and stops at 10 revs If the same index is initiated a second time the system would move another 4 revs to a final position of 14 revs Registration Indexes A Registration Index is used in applications where the motor must move until an object is detected and then move a specific distance from the ...

Page 71: ...e specified position an Absolute index would travel 90 in the negative direction because that is the shortest path between 45 and 315 Rotary Plus indexes will move to the specified position and are forced in a positive or plus direction Rotary Plus index distances must be within the rotary rollover range Example 4 As in example 2 above the starting position is at 90 and 80 is the specified positio...

Page 72: ... level parameter will not LIMIT the torque produced by the drive Torque Level 2 option button When chosen the index will use a torque level as defined on the Torque view as a registration sensor Note The torque level parameter will not LIMIT the torque produced by the drive Calculated Offset option button When selected the drive will calculate the offset based on the deceleration and velocity spec...

Page 73: ... motion and does not include any limitations that might be introduced by the drive motor and load variables Deceleration Distance This parameter displays the calculated amount of distance that the motor will travel while the index is decelerating The deceleration distance is based completely on calculated time and does not include any limitations that might be introduced by the drive motor and loa...

Page 74: ...tically initiated Index1 could then be chained to a third index or back to Index0 if desired All chaining configuration is done on the Chain tab on the Indexes screen All index parameters are setup on the top portion of the screen The chaining parameters are found on the Chain tab as shown below Figure 67 Index View Chain Tab Chaining Parameters Several parameters must be setup in order to create ...

Page 75: ...of the chain must be set to the first index of the chain For example if Index0 is chained to Index1 which is chained to Index2 and the user wishes to run the chain multiple times The Index in the Index Chain text box for Index2 must be set to 0 Index 0 Global Chain Count This setting defines how many times a chain of indexes will be repeated The available options are Repeat Forever or Repeat Count...

Page 76: ...g multiple sensors Registration Sensor 2 This input function is usually used with an external hardware sensor It is used as the registration reference in a registration index If the option button on the registration tab on the Index View is set to Registration Sensor 2 then the registration offset portion of the index will begin when this input function is activated Two registration sensor input f...

Page 77: ...ommand is completed If a Stop is activated before the index has completed the function will not be activated This function is inactivated when the specified index command is executed When indexes are chained together the End of Index Motion output will turn on in between indexes Examples Below is a list of examples that use chaining and show timing diagrams for pertinent input and output functions...

Page 78: ...of 1 Figure 69 Example 2 Index3 is chained to Index4 with a Chain Count of 2 Less than 10 usec Index1 Dwell End of Index Motion End of Index End of Index Count Index1 Index1 Index2 Index1 Dwell Index2 Dwell End of Chain Count End of Index Motion End of Index End of Index Count Index3 Index3 Index3 Dwell Index4 Dwell Index4 Index4 Dwell Index4 Index3 Dwell End of Chain Count Less Than 10 usec ...

Page 79: ...orque and Pulse Mode When in Alternate Mode the drive will ignore all Index Home or Jog initiate requests If the drive is indexing homing or jogging when alternate mode is turned on the drive will initiate a stop command and use the stop decel to ramp down to zero then it will switch into alternate mode Figure 71 Alternate Mode Screen Pulse Mode End of Index Motion End of Index End of Index Count ...

Page 80: ...M AFS Analog Input Full Scale volts The Velocity Command is always equal to the Velocity Command Analog in Analog Velocity mode The Velocity Command is the command received by the velocity closed loop control Figure 72 Alternate Mode Analog Velocity Mode Analog Input Group Full Scale Velocity This parameter displays the maximum velocity attainable given the max analog value detailed in the Analog ...

Page 81: ...e Velocity Limiting Group Velocity Limit Enable Check box When this check box is selected the Max Velocity and Hysteresis parameters are available in torque mode This feature will stop the motor from running away when the torque is removed from the motor shaft Max Velocity When operating in Torque Mode this parameter represents the maximum velocity attainable independent of the torque on the motor...

Page 82: ...l are interpreted as positive changes to the Pulse Position Input Pulses received on the B channel are interpreted as negative changes to the Pulse Position Input Figure 75 Pulse Pulse Signals Differential Inputs Note If a travel limit is encountered when in Pulse mode the user must exit alternate mode and either jog or index off of the travel limit sensor before continuing Pulse Direction Interpr...

Page 83: ...Input All edges of A and B are counted therefore one revolution of a 2048 line encoder will produce an 8192 count change on the Pulse Position Input Figure 77 Pulse Quadrature Signals Command Figure 78 Pulse Quadrature Signals Command Pulse Signal Type The drive provides two types of pulse input circuits which allows you to choose the appropriate input type to match the device generating the posit...

Page 84: ...ide a more robust and noise immune system than a single ended input setup Differential input is recommended under any of the following conditions Pulse width 2 µs Pulse frequency 250 kHz Pulse command cable length 25 feet Noisy electrical environments Differential input circuit specifications Epsilon EP I Wiring Example Single ended input circuit specifications Single ended input specifications 1 ...

Page 85: ...e Distance Recovery feature of the drive If a master is traveling at a velocity when pulse mode is initiated the follower will travel up to the specified ratio using an acceleration as specified by the user If using the accel causes the follower to lose any pulses these pulses will be saved into the Recovery Distance parameter and will be added onto the followers profile after it obtains the speci...

Page 86: ...ter being limited by the current foldback and the Torque Limit value if active Analog Input Group Analog Input This parameter displays the actual value of the analog input in volts Distance Recovery Group Recovery Distance This parameter stores the number of counts that have been lost during the accel portion of pulse mode These pulses may be used to recover any distance lost during accel by selec...

Page 87: ...on only if the motor is moving but allows motion to move off the limit switch If both input functions are active at the same time no motion in either direction will be possible until at least one of the inputs is released When either or Travel Limit input function is activated a fault will be logged into the Fault Log and the drive will display an L on the LED diagnostics display on the front of t...

Page 88: ...l read higher than the Torque Command Actual The time constant for RMS Foldback is 10 seconds This means that if the load is 150 percent of continuous it will take about 10 seconds to reach the foldback trip point Figure 79 RMS Foldback Trip Point this graph is accurate to 5 percent Shunt Operation Epsilon EP I Shunt Operation The EP204 and EP206 drives provide an internal shunt transistor This tr...

Page 89: ... drive will display a b The drive outputs are limited to 150 mA capacity therefore a suppressed relay is required to control motor coil Control Techniques offers a relay model BRM 1 Analog Inputs View Settings Group Bandwidth This parameter sets the low pass filter cutoff frequency applied to the analog input Signals exceeding this frequency will be filtered at a rate of 20 db per decade Analog Fu...

Page 90: ... 200 RPM do the following 1 Selected Velocity Feedback for the Analog Output Source 2 Set the Analog Output Offset to 2000 RPM 3 Set the Analog Output Scale to 20 RPM VOLT This will provide an active range from 10 to 10 Volts to represent 1800 to 2200 RPM Therefore the measured resolution has been increased Digital Inputs and Outputs External control capability is provided through the use of input...

Page 91: ...using the Forced On and Forced Off check boxes When you force an input line On or Off all the functions assigned to that line will be affected Note The forced state of input and output lines are not saved to NVM and will be lost when the drive is powered down Input Line Debounce Time The user can program a Debounce Time which means the line will need to be On for at least the debounce time before ...

Page 92: ...of this input function The drive will not initiate a home routine if there is an Index or Jog in progress or the stop input function is active The Home Initiate Input function cannot be set Active Off Home Sensor This input function defines the sensor used for homing It is required if you are homing to a sensor or a sensor and marker This function is edge sensitive The sensor position is defined w...

Page 93: ...Sensor 2 This input function is usually used with an external hardware sensor It is used as the registration reference in a registration index If the option button on the registration tab on the Index View is set to Registration Sensor 2 then the registration offset portion of the index will begin when this input function is activated Two registration sensor input functions have been provided for ...

Page 94: ...ault condition exists Travel limits and the Drive Enable have no effect on this output function End of Chaining Count This output function will activate when the index chain count is complete or the index chain has repeated itself the specified number of times This output function will remain active until another chain is started End of Home This output function is activated when a home cycle is c...

Page 95: ...ill stay active until the heatsink has had time to cool down to 60 C Power Module System Ready MDS Only The System Ready output is active high when the power module has completed the powerup sequence properly Once this signal is active the drive module can be enabled The System Ready output remains high during normal system operation and turns low in case of system fault If AC power is on and Syst...

Page 96: ...s the process of reading information back from the drive to the PowerTools Pro configuration file views To upload information from a drive click on the Upload All button on the PowerTools Pro toolbar or from the Device menu choose Upload All or Upload Drive The Upload Drive Configuration dialog box will open all communication connections are scanned and the results appear In Figure 81 it shows tha...

Page 97: ...ve Configuration dialog box contains the following information for every device found Ip Address COM Modbus Address ID Drive Type Module Type Communication Options Base Drive FW Revision Module FW Revision Module Serial Number Drive Serial Number Figure 82 Download to Device ID 1 Dialog Box Select the device to download to and click OK Change Path Connection This function allows the user to change...

Page 98: ...ase Drive FW Revision Module FW Revision Module Serial Number Drive Serial Number Figure 83 Change Path Dialog Box Select the device in the list and then click OK The communication connection path will then be displayed in the status bar at the bottom of PowerTools Pro window ...

Page 99: ...ew Dialog Box When the New dialog box appears select the drive setup selection and click the OK button A new Configuration Window will be displayed Figure 85 Offline Configuration Window All drive setup parameters are accessible in the hierarchy tree of the offline configuration window You can now proceed to setup the drive parameters as desired Step 2 Entering General Drive Setup Information The ...

Page 100: ... 1 Entering Configuration Parameters 1 Click the down arrow of the Drive Type list box then select the drive model of the drive you are currently setting up 2 Click the down arrow of the Motor Type list box then select the motor connected to the drive you are setting up Selecting the wrong motor type can cause poor performance and may even damage the motor and or drive Entering Positive Direction ...

Page 101: ...ine select the desired input function from the Input Functions window then drag the highlighted input assignment back to the Input Functions window To make an Input Function Active Off 1 Select the desired input function in the Input Functions window 2 Click the Active Off check box The Active State column in the Input Functions window will automatically update to the current setup To make an inpu...

Page 102: ...n from an output line select the desired output function from the Output Line window then drag the highlighted output assignment back to the Output Function window To make an Output Function Active Off 1 Select the desired output line in the Output Line window 2 Click the Active Off check box The Configuration column in the Output Line window will automatically update to the current setup Step 5 S...

Page 103: ...ration parameter specifies the acceleration value to be used during jogging 4 The Deceleration parameter specifies the deceleration value to be used during jogging Step 6 Setting Up the Home Routine Many applications require that the axis be aligned with some part of the machine before indexes are initiated The device has a powerful home routine for accomplishing this task The parameters used by t...

Page 104: ...es the location of the home position in the machine coordinate system relative to the home reference During the homing routine after the home reference is detected the device moves the motor to the home offset position This may be a calculated value or a specified value A calculated offset is the distance required to decelerate to a stop from the home velocity 6 After the motor reaches the home of...

Page 105: ...ications Note Generally online setup is used when editing parameters in a device Offline setup editing is usually only done when not connected to a device Step 1 Establishing Communications with Drive Now that the basic device setup parameters are entered it is time to establish communications with the device and download the configuration data Before proceeding be sure to connect the serial commu...

Page 106: ...ad button in the toolbar or from the Device menu Download PowerTools Pro will establish communications and transfer all the information in the current Configuration Window to the device you select Note Downloading will automatically clear an Invalid Configuration fault U fault Step 3 Opening an Online Configuration Window If you are not already online with the device use this section to upload a c...

Page 107: ...the drive setup information select Save from the File menu Follow the dialog box instructions Step 7 Printing the Configuration File To generate a printed copy of all the data in the drive configuration select Print from the File menu If you print while online the print out will include several pages of useful online diagnostic information Step 8 Disconnecting Communications After you successfully...

Page 108: ...98 Epsilon EP I Indexing Drive and FM 2 Indexing Module Reference Manual ...

Page 109: ...orithm is that there is no guessing and no fine tuning as needed with PID methods PID methods work well in controlled situations but tend to be difficult to setup in applications where all the effects of the system are not compensated for in the PID loop The results are that the system response is compromised to avoid instability The drive state space control algorithm uses a number of internally ...

Page 110: ...nitial values 6 Enable the drive and run the system 7 Adjust Response to obtain the best performance Fully Optimized Level 1 Determine the actual system parameters 2 Disable the drive 3 Enter the parameters 4 Line Voltage set to the applied voltage default is 230 Vac 5 Enable the drive and run the system 6 Adjust Response to obtain the best performance General Tuning Hints General Tuning Procedure...

Page 111: ... if there is a long drive shaft the Response should be decreased The highest recommended Response with High Performance Gains enabled is 100 Hz The next step in tuning the system to its optimal level is to move the response of the system up to the point of the desired system rigidity A standard way of accomplishing this is to slowly increase the response of the system until the system becomes unst...

Page 112: ... with the position error integral enabled and the time constant set for 20ms Note the settling time difference of the two indexes Figure 98 PEI off Figure 99 PEI on Feedforwards gain can be enabled if the performance requirements are very demanding However when using them make sure the Inertia Ratio and Friction values are an accurate representation of the load Otherwise the system performance can...

Page 113: ...e default value of 0 zero will be used 2 If the inertia of the machines varies or there is uncertainty in the estimate use the lowest value for inertia 3 The machine system bandwidth is reduced if the inertia estimate is low Consequently a low inertia estimate can sometimes add a level of robustness Friction In the drive this is a viscous friction parameter characterized in terms of the rate of fr...

Page 114: ...ter When Feedforwards are enabled the accuracy of the Inertia Ratio and Friction parameters is very important If the Inertia Ratio parameter is larger than the actual inertia the result would be a significant velocity overshoot during ramping If the Inertia parameter is smaller than the actual inertia velocity error during ramping will be reduced but not eliminated If the Friction parameter is gre...

Page 115: ...is range of motion The accel and decel ramp should be aggressive enough to require at least 20 percent of continuous motor torque The higher the torque used during the ramp the more accurate the final result will be With ramps that take less than 1 2 second to accelerate read the Diagnostic Analog Outputs with an oscilloscope to measure the Torque Feedback With ramps that take 1 2 second or longer...

Page 116: ...ng deceleration ramping while moving up against the constant force Tad unsigned percent continuous torque required during acceleration ramping while moving down aided by the constant force Tdd unsigned percent continuous torque required during deceleration ramping while moving down aided by the constant force Ramp Units Conversion If you are using an external position controller to generate motion...

Page 117: ...4 30 600 MG 490 1 85 30 600 MG 4120 1 69 30 600 NT 345 6 72 30 600 NT 355 5 97 30 600 NT 207 Ei 202 7 16 30 600 NT 212 9 22 30 600 MG 205 5 00 30 600 MG 208 6 47 30 600 NT 207 Ei 203 7 16 30 600 NT 212 12 40 30 600 MG 205 5 00 30 600 MG 208 8 25 30 600 MG 316 15 68 30 600 Motor Drive Vm Percent Continuous volt default scaled Torque Command RPM volt default scaled Actual Velocity ...

Page 118: ...108 Epsilon EP I Indexing Drive and FM 2 Indexing Module Reference Manual ...

Page 119: ...Off Motor brake is mechanically engaged This character will only appear if the Brake output function is assigned to an output line Disabled Power Stage is disabled Ready The Epsilon or FM 2 MDS drive system is functioning normally and is ready to execute a motion command Indexing Index in progress Other motion commands do not function Jogging Jog function in progress Other motion commands do not f...

Page 120: ...tomatically cleared when the fault condition is removed The table below lists all the fault codes in priority order from highest to lowest This means that if two faults are active only the higher priority fault will be displayed Stall Foldback EN drive only Drive output current is limited to 80 percent of drive stall current Ready to Run Drive enabled no Stop input Display Fault Action to Reset Br...

Page 121: ... power up the drive tests the integrity of the non volatile memory This fault is generated if the contents of the non volatile memory are invalid Invalid Configuration Epsilon Only If this occurs call Technical Support at Control Techniques The FM was not on this drive during its previous power up and it is not known if the setup data in the FM matches the drive and motor to which the FM is now at...

Page 122: ...an external shunt e g a large load with rapid deceleration Low DC Bus This fault will occur whenever the voltage on the DC bus drops below 60 volts The most likely cause of this fault is a reduction or loss of AC power A 50 ms debounce time is used with this fault to avoid faults caused by intermittent power disruption For some types of custom motors it may be necessary to disable this fault Refer...

Page 123: ...last for less than 1 second If this display persists call Technical Service at Control Techniques Diagnostic Analog Output Test Points The DGNE cable was designed to be use with either an oscilloscope or a meter The wires are different lengths to avoid shorting to each other However if signals do get shorted to GND the drive will not be damaged because the circuitry is protected Figure 100 Diagnos...

Page 124: ...114 Epsilon EP I Indexing Drive and FM 2 Indexing Module Reference Manual Figure 101 Diagnostic Cable DGNE Diagram ...

Page 125: ...rebooted to be cleared If you wish to continue working in the PowerTools Pro software without resetting the fault click the Ignore Fault button To reset faults that can be reset with the Reset button simply click the Reset button in the Faults view or push the Reset button on the front of the drive where the fault occurred Viewing Active Drive Faults To view all active drive faults select the View...

Page 126: ...s Watch Window from the PowerTools Pro menu If not online with the device the Watch Window will be unavailable on the menu Upon selecting Watch Window the following Select Parameters window will appear Figure 103 Watch Window Select Parameters Window The Select Parameters window as seen in Figure 103 allows the user to specify which parameters are to be seen in the Watch Window To select a paramet...

Page 127: ...ist of parameters for use in future online sessions Once the selections have been saved the Restore Selections button can be used to monitor all the same parameters the next time the user opens the Watch Window Therefore if there is a list of helpful diagnostic parameters the user wishes to see when online those specific parameters can be saved and recalled in the Watch Window at any time The sett...

Page 128: ...ques device attached address When trying to program more than one drive only EMC drives of the same type can be attached to the network This error is caused When you attempting to perform an upload or download to multiple drives and one or more of the drives are not the same type Disconnect the device s that has been specified and try the operation again or program each device individually You hav...

Page 129: ...ed to conveniently connect the motor power and encoder wires during testing Method to securely hold the motor during operation a vise or large C clamp Procedure The steps required to assemble a servo system consisting of a drive and a non Control Techniques motor are listed below 1 Determine if your motor is compatible with the drive by verifying its characteristics There are a number of restricti...

Page 130: ...te dangerous voltages and currents on the motor phase leads Make sure the wires and connections are properly insulated 3 Connect the scope to read VCA and VBA VCA and VBA are measured by putting the probe ground clips on A and the scope probes on C and B 4 Rotate the motor CCW i e rotate the shaft counter clockwise as you face the shaft end of the motor Figure 105 CCW Rotation of the Motor 5 Look ...

Page 131: ... parts to this step electrical interfacing and logical interfacing Encoder Electrical Interfacing Each of the encoder signals is received by a differential receiver to minimize the noise susceptibility and to increase frequency bandwidth This requires two wires for each logical signal i e signal A requires channel A and A etc For optimum performance these signals should be generated by an encoder ...

Page 132: ...and shut the drive down in the event of a motor overtemp condition This must be connected properly in order to enable the protection If your motor does not have a thermal sensor the sensor input pin is simply tampered to the encoder common ground 0 volt pin The thermal sensor requirements are as follows If a thermistor is used it must be a PTC positive temperature coefficient or increases in resis...

Page 133: ...s different from that which U V and W are plotted Note that A leads B and U leads V and V leads W Plots like these are obtained by powering the encoder then rotating the motor while observing the signals on an oscilloscope It is important to note which direction of motor rotation CW or CCW generates the phasing shown in the figures below Figure 109 Phase Plot of A and B Encoder Channels Figure 110...

Page 134: ...nment without going through this procedure each time Reading Encoder Alignment The reference motion for this test can be either CW or CCW We will first use CCW An oscilloscope will be used to monitor the signals This procedure must be performed with the motor disconnected from the drive with the exception of the encoder power supply Be careful when using the drive encoder power supply for testing ...

Page 135: ...umber of electrical degrees from the rising edge of U You could obtain this value from the encoder specification sheet however to minimize errors in conversion you should make this measurement If you cannot obtain a stable angle measurement between U or Z and VTS check the encoder to verify it has the proper cycles per revolution for your motors pole count CW Reference Rotation If the reference mo...

Page 136: ...ft to right Note If you cannot obtain a stable angle measurement between U or Z and VTS check the encoder to verify it has the proper cycles per revolution for your motor s pole count Establishing a Standard Alignment A typical encoder alignment practice is to set the rising edge of U to zero crossing of the rising wave of VSR with the motor rotating CCW Dynamic Alignment Method This method is use...

Page 137: ...the shaft is rotated in the encoder reference direction Step 4 Determine Motor Parameters Measuring the actual motor Ke is recommended because not all motor manufacturers use the same measurement techniques Normally the number of motor poles and the Ke is specified on the motor data sheet If it not or you wish to verify it use the following tests Motor Ke In this test you will be measuring the AC ...

Page 138: ...ll cycles of the Motor waveform you see between the rising edges of the Z pulses 7 Calculate the number of motor poles Step 5 Editing the MOTOR DDF File The PowerTools Pro software obtains the names and parameters of user defined motors from the Motor Data Definition File MOTOR DDF This file is automatically loaded during the PowerTools Pro installation and is located in the same directory as the ...

Page 139: ...er defined motors MotorID is used for each motor to mark the beginning of a new user defined motor definition The format is MotorXX where XX is the ID number starting with zero and incrementing by one You must use both ID numbers For example an ID of 1 would be entered as 01 There is no practical limit to the number of user defined motors allowed in the ddf file Only one set of user defined motor ...

Page 140: ...ied here because quadrature decoding is used This parameter is used both for commutation and for position velocity control To properly commutate the motor the drive must know the electrical angle the angle between the motor magnetic field and stator coils Motor Encoder Marker Angle Specifies the electrical angle at which the marker Z pulse occurs with reference to VTS when the motor is spun in the...

Page 141: ...hm meter The range is 1 to 50 ohms Motor Inductance Specifies the phase to phase inductance of the motor The range is 1 0 to 100 0 mH Motor Peak Current Specifies the peak current allowed by the motor The range is 1 to 100 ARMS If the peak current of the motor is greater than 30 ARMS specify the peak as 30 ARMS The drive will limit the peak current to the drive s capacity Motor Continuous Current ...

Page 142: ...e type 4 Download the configuration to the drive 5 Select the OK button The drive will now be configured for the non Control Techniques motor Step 7 Verification and Checkout Once the cabling and interface circuitry have been assembled and the drive has been correctly configured you are ready to power up the drive Use the procedure below to power up the servo system and verify that it is operating...

Page 143: ...nce Motion parameter is correct 5 Manually rotate the motor as accurately as you can CW 20 revolutions The Position Feedback should increase by exactly 20 revs If the change has some significant fractional part 20 5 for example the Motor Encoder Lines Per Revolution parameter is probably wrong 6 Select View Motor Parameters from the Tools menu Note the value of the Commutation Track Angle paramete...

Page 144: ...moves 30 to 90 and then stops there could be one of several problems The number of Motor Poles has been specified incorrectly The Encoder Lines Per Revolution parameter has been specified incorrectly The motor terminals have been mis identified see Step 1 Motor Wiring Commutation Accuracy Test This test will determine how accurately the encoder Z channel has been specified It requires that the mot...

Page 145: ...ly 6 RPM by confirming that it takes 10 seconds to make one revolution If this is not the case the problem may be that both the motor poles and the encoder line density are off by the same factor 6 Reduce the analog command voltage to zero volts and disable the drive ...

Page 146: ...136 Epsilon EP I Indexing Drive and FM 2 Indexing Module Reference Manual ...

Page 147: ...ble SNCMD 815 xxx Drive Sync In to Drive Sync Out Cable SNCDD 915 xxx Drive Sync In Cable SNCFLI xxx Drive Sync In from FM 3 4 Module Out Cable SNCMD 89 xxx Motor Power Cable PSBAFA xxx PBBAFA xxx EZ Motors Motor Power Cable CMDS xxx or CMMS xxx Motor Brake Cable CBMS xxx NT or MG Motors Motor Power Cable XCMDS xxx or XCMDBS XXX Motor Brake Cable XTBMS xxx Motor Power Cable XTMDS xxx External Shun...

Page 148: ...ault AC Interlock System Ready I O 10 30 VDC Over Temp Shunt Fault Shunt Active System Ready Logic Power Power Module Status High VAC Input PE FM 2 Inputs Outputs 10 30 VDC 1 2 3 4 5 6 7 8 1 2 3 4 RESET Command Cable CMDX 003 Base Drive to ECI 44 Command Cable CMDO XXX from lead encoder Command Cable CDRO XXX Drive to AXIMA Classic or other controller OIT PC 232 XXX and D9P D9P adapter OIT EN 232 ...

Page 149: ...ve Input Output Connection J3 and away from any high voltage wiring Figure 116 Dimensions of the STI 24IO Board Note Wiring should be done with consideration for future troubleshooting and repair All wiring should be either color coded and or tagged with industrial wire tabs Low voltage wiring should be routed away from high voltage wiring 24V 0V 1 2 3 4 5 6 7 8 OUTPUTS 1 2 3 4 5 6 7 8 INPUTS 9 10...

Page 150: ...t Connection J3 and away from any high voltage wiring Figure 117 Dimensions of STI EIO Board Note Shield connection points are connected to the shell of the 44 pin D connector on the STI EIO The STI EIO wire range is 18 to 24 AWG stranded insulated wire Note Wiring should be done with consideration for future troubleshooting and repair All wiring should be either color coded and or tagged with ind...

Page 151: ...d connection points are connected to the shell of the 44 pin D connector on the ECI 44 Use tie wraps to provide a strain relief and a ground connection at the shield connection points If you do not wish to use the DIN rail mounting hardware the ECI 44 can be disassembled and the mounting clips removed The ECI 44 wire range is 18 to 24 AWG stranded insulated wire Note Wiring should be done with con...

Page 152: ...put Channel A Encoder Output Channel A Encoder Output Channel B Encoder Output Channel B Encoder Output Channel Z Encoder Output Channel Z Encoder Supply 5 Volts Encoder Common Pulse Input A Pulse Input B Pulse Input B Pulse Input Z Pulse Input Z Analog Command In Diagnostics Output Channel 1 Diagnostics Output Channel 2 Diagnostics Output Common Analog Command In I O Supply I O Supply I O Common ...

Page 153: ...supply Rated output current Amps RMS Drive Model Continuous Peak Ei 202 1 8 3 6 Ei 203 3 0 6 0 Ei 205 5 0 10 0 Function Electrical Characteristics Inputs 10 30 V On 0 3 V Off optically isolated Outputs 10 30 V DC sourcing 150 mA optically isolated Epsilon EP I Indexing Drive and FM 2 Indexing Module Reference Manual ...

Page 154: ... EP I Drive The following table applies to the A as shown in the figure below Drive Model Dimension A shown in inches mm EP202 204 2 11 53 59 EP206 2 82 71 63 DDC RJ45 Cable 0 75 19 05 0 19 4 8 EIO Cable 1 20 30 48 0 45 23 4 4X Ø 219 5 56 5 22 132 59 5 94 150 88 8 099 205 72 200 5 08 7 70 195 58 2 5 63 50 A ...

Page 155: ...145 Specifications FM 2 Dimensions and Clearances Figure 120 FM 2 Module Dimensions ...

Page 156: ...lt in a conservative estimate for power losses Where TPL Total power losses Watts TRMS RMS torque for the application lb in Vmax Maximum motor speed in application RPM Pld Logic Power Losses Drive Watts Psr Shunt Regulation Losses Watts RSR 2 losses or equivalent Note TRMS Vmax 1500 Power Stage Dissipation Pp A more accurate calculation would include even more specifics such as actual torque deliv...

Page 157: ...rams CMDS XXX Cable CMMS XXX Cable SOLDER SIDE GRN YEL BRN BLK BLU C B D A A B C D E F G H R S T PE GND BRAID SHIELD FORM WIRE Socket SOLDER SIDE GRN YEL BRN BLK BLU C B D A R S T PE GND BRAID SHIELD FORM WIRE D E G F C B A Socket ...

Page 158: ...17 17 4 19 19 6 18 18 16 16 20 20 8 7 22 22 9 21 21 23 23 11 11 13 13 12 12 25 25 24 24 10 10 8 4 5 1 3 7 2 6 BLU WHT BRN GRN WHT ORG BRN ORG WHT BLU Drain Wire WHT GRN P P P P Pin SOLDER SIDE 470 Ω 470 Ω 220 Ω 10 22 7 5 4 15 16 18 25 470 Ω 220 Ω 470 Ω PIN 1 TXRX SIGNAL GND TXRX SIGNAL GND TXRX TXRX Pin 1 ...

Page 159: ...149 Specifications SNCE Pin 1 C J D A B I H F 1 RED WHT 6 8 7 3 5 2 DRAIN WIRE BLK RED BLU BLK WHT BLU WHT YEL WHT YEL P P P P 4 A A B B Z Z 5 Vdc GND GND 5 Vdc Z Z B B A A ...

Page 160: ...D 915 YEL GRN P ORG RED BRN BLK BLU PUR 8 14 15 13 12 6 7 4 5 P 3 11 10 2 1 9 P P Drain Wire A Z A GND N C Z B B 7 4 8 1 2 3 5 6 N C N C N C N C N C N C Pin 7 SOLDER SIDE 9 8 5 3 4 6 2 1 Pin 10 SOLDER SIDE 12 11 5 3 4 9 2 1 13 6 14 7 15 8 A Z A GND Z B B 9 N C Pin 1 Pin 1 5V N C ...

Page 161: ...151 Specifications SNCFLI YEL GRN P ORG RED BRN BLK BLU PUR P P P Drain Wire 7 4 8 1 2 3 5 6 Pin 7 SOLDER SIDE 9 8 5 3 4 6 2 1 A Z A GND 5V Z B B 9 N C Pin 1 Blunt end ...

Page 162: ... 11 10 2 1 9 ENCODER OUT A ENCODER OUT Z ENCODER OUT A PULSE IN A SINGLE ENDED ENCODER OUT Z ENCODER OUT B ENCODER OUT B ANALOG OUT 0V ANALOG OUT 0V ANALOG COMMAND IN ANALOG COMMAND IN ANALOG OUT CHANNEL 1 ANALOG OUT CHANNEL 2 GND PULSE IN B SINGLE ENDED GRY WHT RED ORG ORG RED RED BLU GRN RED BLU RED RED GRN BRN WHT WHT GRY WHT BRN BLK YEL ORN GRN BRN BLU P P P P P P P P ...

Page 163: ...153 Specifications MOTOR POWER CABLES XTMDS PIN 1 GRN YEL BRN BLK BLU 2 3 4 1 BRAID SHIELD FORM WIRE R S T PE GND 1 3 2 4 REAR VIEW OF CONNECTOR ...

Page 164: ... XCMDBS GRN YEL BRN BLK BLU B C D A BRAID SHIELD FORM WIRE BLU 20 AWG BLU WHT 20 AWG Drain Wire U V W PE GND SOLDER SIDE C D B A Socket U V W PE GND BRK BRK SOLDER SIDE D E G F C B A GRN YEL BRN BLK BLU B C D A BRAID SHIELD FORM WIRE E F BLU 20 AWG BLU WHT 20 AWG Drain Wire Socket ...

Page 165: ...2 13 14 15 6 7 10 9 8 SHIELD Overall Shield Drain Wire 9 10 7 8 6 14 SOLDER SIDE 15 Pin 12 13 11 5 4 3 1 2 6 15 11 13 14 12 10 9 8 7 5 4 2 3 1 Z MOTOR TEMP 5 VDC W COMMON W U V V U B Z A B A Pin 1 P P P P P P P BLU ORN GRN BRN BLK YEL WHT BRN BRN WHT WHT GRY GRY WHT RED ORG ORG RED RED BLU 18 ga BLU RED 18 ga Inner Drain Wire Inner Drain Wire Inner Drain Wire Inner Drain Wire ...

Page 166: ...1 P P P P P P P P RED GRN GRN RED Overall Shield Drain Wire BLU ORN GRN BRN BLK YEL WHT BRN BRN WHT WHT GRY GRY WHT RED ORG ORG RED RED BLU 18 ga BLU RED 18 ga Inner Drain Wire Inner Drain Wire Inner Drain Wire Inner Drain Wire M P R F J L H S G N T D E C A B K SOLDER SIDE Socket U 5 VDC 0V W V W V U Z Z B B A A SHIELD M G H R K P E B A C N L D F J 14 15 13 12 11 10 9 8 7 6 5 4 3 2 1 ...

Page 167: ... Z B B A A Socket SOLDER SIDE Pin 9 10 7 8 6 14 15 12 13 11 5 4 3 1 2 6 15 11 13 14 12 10 9 8 7 5 4 2 3 1 Z MOTOR TEMP 5 VDC W COMMON W U V V U B Z A B A BLU ORN GRN BRN BLK YEL WHT BRN BRN WHT WHT GRY GRY WHT RED ORG ORG RED RED BLU BLU RED RED GRN Outer Drain Wire GRN RED Inner Drain Wire Inner Drain Wire Inner Drain Wire Inner Drain Wire To Epsilon EP To Motor MG NT MH Pin 1 ...

Page 168: ...158 Epsilon EP I Indexing Drive and FM 2 Indexing Module Reference Manual ...

Page 169: ...or downloaded to configure the FM 3 It includes all the user defined setup assignments and programs CRC Cyclical Redundancy Check Dialog Box A dialog box is a window that appears in order to collect information from the user When the user has filled in the necessary information the dialog box disappears DIN Rail Deutsche Industrie Norm Rail DLL In Microsoft Window a Dynamic Link Library contains a...

Page 170: ...ng input signal versus a decreasing input signal I O Input Output The reception and transmission of information between control devices In modern control systems I O has two distinct forms switches relays etc which are in either an on or off state or analog signals that are continuous in nature generally depicting values for speed temperature flow etc Index An index is a complete motion sequence d...

Page 171: ...f a group of mutually exclusive options Opto isolated A method of sending a signal from one piece of equipment to another without the usual requirement of common ground potentials The signal is transmitted optically with a light source usually a Light Emitting Diode and a light sensor usually a photosensitive transistor These optical components provide electrical isolation Output Function A functi...

Page 172: ...ions Per Minute Serial Port A digital data communications port configured with a minimum number of signal lines This is achieved by passing binary information signals as a time series of 1 s and Ø s on a single line Travel Limit The distance that is limited by either a travel limit switch or the software Torque The moment of force a measure of its tendency to produce torsion and rotation about an ...

Page 173: ...alog Outputs 79 Brake Operation 78 Current Foldback 77 Digital Inputs and Outputs 80 Encoder Output Scaling 77 How Home Works 43 How Indexes Work 58 How Jogging Works 41 How Motion Works 41 Offline Setup 89 Online Setup 95 Shunt Operation 78 User Interface 41 R Registration Index 60 Rotary and Rotary Indexes 60 Rotary Indexes 61 S Safety Considerations vii Safety of Machinery vii Safety Precaution...

Page 174: ...xing Drive and FM 2 Indexing Module Reference Manual T Tuning Procedures 99 Determining Tuning Parameter Values 105 Fault Codes 110 PID vs State Space 99 Tuning Procedure 99 U User Defined Motors 119 Commutation Basics 119 ...

Page 175: ......

Page 176: ...ion Made Easy products and services call 800 893 2321 or contact our website at www controltechniques com Control Techniques Americas 7078 Shady Oak Rd Eden Prairie Minnesota 55344 U S A For all customer questions and needs please call us at the number below or visit us online at www controltechniques com to find the appropriate email address under the support tab Phone 952 995 8000 or 800 893 232...

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