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Emerson Control Techniques Epsilon Eb-202, Reference Manual

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103

Tuning Procedures

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 greater than the actual friction, it may result in velocity error or instability. If the 
Friction parameter is less than the actual friction, velocity error will be reduced by not 
eliminated.

Feedforwards can be enabled in any operating mode, however, there are certain modes in 
which they do not function. These modes are described in table below.

*

EN revision B6 or later.

Low Pass Filter Enable and Frequency

The drive provides a low pass filter which may be used to reduce machine resonance due to 
mechanical coupling or other flexible load components. The low pass filter filters the torque 
command generated by the velocity loop. It is not active in Torque mode.

The low pass filter’s frequency must be at least 2.5 times greater than the actual velocity loop 
bandwidth. If there is no noticeable mechanical resonance effecting the system, the system is 
better off without the low pass filter. If the system has a mechanical resonance effecting the 
performance, the low pass filter can diminish the effects of the resonance and allow the tuning 
response parameter to be increased.

The low pass filter may improve system performance when there is an inertia mismatch 
between the load and the motor inertia causing compliance in the effective load shaft. For 
example, if an EN-214/MG-490 drive motor combination is driving a 16-inch long ne-inch 
steel shaft with a 40:1 inertia mismatch, the highest the tuning can be set to is 1 hertz. If the 
low pass filter is enabled at a frequency of 70 hertz, the system’s tuning response may be set 
to 15 hertz.

Line Voltage (E Series Only)

Line Voltage specifies the applied power and adjusts the internal gains to compensate for it. 
This parameter has two choices 115 VAC and 230 VAC. If the Line Voltage is set to 230 
VAC when the actual applied voltage is 115 VAC, the motor will be slightly less responsive 
to commands and load disturbances.

Operating Mode

Feedforward Parameters Active 

Accel FF

Vel FF

Analog Velocity

No

Yes

Preset Velocity

Yes

Yes

Pulse/Position

No

Yes

Summation

Yes

Yes

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Summary of Contents for Control Techniques Epsilon Eb-202

Page 1: ...ized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Ready to ship TAR certified secure asset solutions Expert team I Trust guarantee I 100 satisfaction All trademarks brand names and brands appearing herein are the property of their respective owners Fin...

Page 2: ...vision A3 Date May 9 2000 2000 EMERSON Motion Control All rights reserved Epsilon Eb and E Series E N Drives Reference Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 4: ...ribed 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 EN Drives Reference Manual Artisan Technology Group Qual...

Page 5: ...on 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 express...

Page 6: ...ould 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 W...

Page 7: ...r 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 info emersondrivesolutions com Document Conventions Manual conventions have been established to help you learn to use this manual quic...

Page 8: ...ning 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 abou...

Page 9: ...rive specifically E Series Only EN 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 10: ...be up to 50 C 122 F with 3 linear derating for every degree above 40 C 104 F This product is suitable for use on a circuit of delivering not more than 5000 RMS symmetrical amperes 240 volts maximum Motors must incorporate an overload protection device such as an overtemperature switch Drive Overload Protection The drive output current overload protection is provided by the drive and is not adjusta...

Page 11: ... 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 Artisan Technology ...

Page 12: ...on 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 an...

Page 13: ...pplementary 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 requi...

Page 14: ...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 Artisan Technology G...

Page 15: ...ning 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 Instal...

Page 16: ...s 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 Ve...

Page 17: ...xiv Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 18: ...ne 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 EN Drives with positioning capabilities such as Home Jog and Indexing FM 3 expands on the positioning ...

Page 19: ...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 mot...

Page 20: ...als 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...

Page 21: ...4 Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 22: ...nance must be carried out by personnel who have the necessary training and experience Read and follow this safety information and the instruction manual carefully Enclosure This product is intended to be mounted in an enclosure which prevents access except by trained and authorized personnel and which prevents the ingress of contamination This product is designed for use in an environment classifi...

Page 23: ...al The drive contains capacitors which remain charged to a potentially lethal voltage after the supply has been removed Allow at least 6 minutes for Epsilon 205 3 minutes for Epsilon 202 203 and 30 seconds for E Series drives 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 haza...

Page 24: ...ws you to set most of the parameters needed to configure your drive with the exception of the digital input and output functions You can change the software so that the Detailed Setup tab becomes the default tab Step 1 Changing the Default View To select the default setup screen view EZ Setup or Detailed Setup 1 Select Preferences from the Options menu 2 Select the General option from the menu 3 C...

Page 25: ...ss many additional parameters and details about your drive When you are online with a drive PowerTools will display twelve tabs if you have selected to view the Advanced tab in the Options Preferences General dialog box Figure 3 PowerTools Window Detailed Setup View Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 26: ...etup and press the OK button A new Configuration Window will be displayed Figure 5 Offline Configuration Window All drive setup parameters are accessible in the tabs of the offline configuration window You can now proceed to setup the drive parameters as desired Step 3 Entering General Drive Setup Information The Setup tab contains system data such as drive type motor type and axis name Artisan Te...

Page 27: ...rive addresses within a range For example if you wanted to download to drives 1 3 4 5 6 7 and 9 you could enter the addresses like this 1 3 7 9 Configuration Group 1 Click the down arrow of the Drive Type list box then select the drive model for 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 P...

Page 28: ...ain operating mode you selected Pulse Mode Setup This procedure assumes that you have connected the proper pulse mode wiring as described in the Installation section of this manual 1 Select the Pulse Mode radio button from the Operating Mode group Figure 8 Operating Mode View 2 Select one of the Interpretation group radio buttons Pulse Pulse Pulse Direction or Pulse Quadrature 3 Select Differentia...

Page 29: ...escribed in the Installation section of this manual Velocity Analog Submode Setup 1 Select the Velocity Mode radio button from the Operating Mode group 2 Select the Analog submode radio button from the Submode group Figure 9 Operating Mode Velocity Mode Selected 3 Enter a Full Scale Velocity value The velocity is equal to the Analog Full Scale parameter which is defaulted to a 10V analog command V...

Page 30: ...ways Active or Active Off by using the respective check box Velocity Summation Submode Setup 1 Select the Velocity Mode radio button from the Operating Mode group 2 Select the Summation submode radio button from the Submode group 3 Select the desired Velocity Preset number 4 Enter a Velocity Preset for each Preset Number being used 5 Enter an Accel Decel Presets value for each Preset Number being ...

Page 31: ... by highlighting the function then selecting one of the Input Line Selection radio buttons or by dragging the highlighted input function to the desired input line Torque Level 1 and 2 Setup This function can be active in any Operating Mode 1 Click on the Outputs tab 2 Highlight the Torque Level 1 Active or Level 2 Active output function in the Output Functions window 3 Select an Output Line radio ...

Page 32: ...at load inertia equals the rotor inertia 1 1 load to motor inertia The drives can control up to a 10 1 inertia mismatch with the default Inertia value of 0 0 Inertial Ratio mismatches of over 50 1 are possible with some minimal additional adjustments Note If the exact inertia value is unknown the value that is entered should be conservative because values higher than the actual can cause the motor...

Page 33: ... maximum value recommended is 100 Hz Step 6 Assigning Inputs Inputs are assigned in the Inputs tab which is divided into two windows The Input Functions window on the left side displays the input functions available the function polarity and the always active state The Input Lines window on the right side displays the drive enable input four input lines the debounce value and input function assign...

Page 34: ...setup To make an input function Always Active 1 Select the desired input function in the Input Functions window 2 Click the Always Active check box The Active Sstate column in the Input Functions window will automatically update to the current setup Step 7 Assigning Outputs Output functions are assigned in the Outputs tab which is divided into two windows The Output Functions window on the left si...

Page 35: ...previously created a configuration file go to Step 3 If you do not have one done go to Offline Setup Step 1 Do Steps 1 through 9 in the previous section Offline Setup before establishing conmmunications Note Generally online setup is used when editing parameters in a drive Offline setup editing is usually only done when not connected to a drive Step 1 Establishing Communications with Drive Now tha...

Page 36: ...ses within a range For example if you wanted to download to drives 1 3 4 5 6 7 and 9 you could enter the addresses like this 1 3 7 9 Note To download to more than one drive all drive models and motor models must be the same and any FM modules attached to the E Series drives must all be of the same model and firmware revision Click the Download button at the bottom of the Configuration Window or cl...

Page 37: ...ne device connected that device s address will be displayed in the Selected drives data box If you have more than one device connected in a multi drop configuration the Selected drives data box will be empty You can then select either the All drives radio button or the Show drives button All Drives Radio Button If you select the All drives radio button PowerTools will open a Configuration Window f...

Page 38: ...tem using the checklist below 1 I O powered 2 Connections installed 3 The drive enabled 4 The characters V T P or displays verified on the drive LED status display with the decimal point On Step 5 Saving the Configuration File To save the drive setup information select Save from the File menu Follow the dialog box instructions Step 6 Printing the Configuration File To generate a printed copy of al...

Page 39: ...ations link between the drive and your PC to clear the serial port or to access some PowerTools options only available when offline To disconnect serial communications click the Disconnect button at the bottom of the Configuration Window or select the Disconnect command from the Device menu Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 40: ... or an FM P PowerTools Software Option PowerTools software is an easy to use Windows based setup and diagnostics tool PowerTools software provides you with the ability to create edit and maintain your drive s setup You can download or upload your setup data to or from a drive and save it to a file on your PC or print it for review or permanent storage PowerTools software provides two setup views o...

Page 41: ... Option E Series Only EN Another user interface option is the FM P The FM P provides display and modification of most E Series drive parameters An important feature of the FM P is that it is portable and can be attached and detached from an E Series drive at anytime even with power Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 42: ...ront of an E Series Drive How Motion Works Below is a list of details related to motion in a drive The Stop input function overrides motion in all operating modes including Pulse and Torque mode It shifts the mode to Velocity mode and decelerates the axis according to the Stop deceleration ramp The Travel Limits work in all operating modes including Pulse Velocity and Torque modes When a Travel Li...

Page 43: ...e interpretations associated with Pulse mode Pulse Pulse Pulse Direction and Pulse Quadrature These selections determine how the input pulses are interpreted by the drive Note High Performance Gains check box in PowerTools software is typically enabled when Pulse mode is used the default is enabled Pulse Source Selection The drive provides two types of pulse input circuits which allows you to choo...

Page 44: ...h input Maximum voltage applied to input pins A A or B B Single Ended referenced to 0V drive logic 10V Differential referenced to mating differential input 10V Maximum common mode voltage 7 V Minimum differential voltage required 200 mV Input voltage hysteresis 60 mV Single ended input circuit specifications Single ended input specifications 1 MHz maximum input frequency Internal 330 ohm pull up t...

Page 45: ... motion commands will be generated Note Actual motor rotation direction will depend on pulse ratio polarity and setting of the Positive Direction bit Pulse Direction Interpretation In Pulse Direction interpretation pulses are received on the A channel and the direction is received on the B channel If the B is high pulses received on the A are interpreted as positive changes to the Pulse Position I...

Page 46: ... 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 23 Pulse Quadrature Signals Command Figure 24 Pulse Quadrature Signals Command Pulse Pulse Interpretation In Pulse Pulse interpretation pulses received on the A channel are interpreted as positive changes to the Pulse Position Input Pulses received ...

Page 47: ...on Command and the Position Feedback It is positive when the Position Command is greater than the Position Feedback All accumulated Following Error will be cleared when the drive is disabled The Following Error Limit is functional in Pulse mode only A Following Error Limit can be set using PowerTools or a FM P This limit is in motor revolutions and has a range of 001 to 10 000 revolutions The Foll...

Page 48: ...l position change since power up in motor revolutions The Position Direction parameter setting will change which direction the motor rotates when the position feedback and position command are counting up In the default setting the position counts up when the motor shaft rotates clockwise when viewed from the shaft end The Encoder Feedback Position Feedback Encoder parameter can be pre loaded seri...

Page 49: ...he 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 The Analog Accel Decel Limit parameter is accessed on the Velocity tab Its range is 0 0 to 32700 0 ms kRPM Presets Submode Presets submode provides up to eight digital Velocity Presets and associated Accel Decel Pres...

Page 50: ...s equal to the Target Velocity all ramping is complete the Velocity Command Preset is constant and the At Velocity output function is active The Velocity Command is always equal to the Velocity Command Preset in Presets submode Figure 26 Velocity vs Time Diagram using Preset Velocities Summation Submode In Summation submode the Velocity Command is the result of the sum of the Velocity Command Anal...

Page 51: ...he motor thereby advancing or retarding the phase between the motor and the web material Example 2 Use the Velocity Command Analog as a trim adjustment to the digital Velocity Presets Velocity Preset 2 is selected with Analog Input at 0 so the Velocity Command Preset and Velocity Command are equal set to match a conveyor speed You can use the Analog Input Velocity Command Analog as a fine adjust f...

Page 52: ...s This section describes functions that can modify the operation of the drive Stop The Stop input function when activated will cause motion to stop regardless of motor direction or the operating mode The Stop Deceleration Ramp defines the rate of velocity change to zero speed Activating the Stop input function causes the drive to change to Velocity mode Therefore if you are operating in Torque mod...

Page 53: ...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 the drive Once the axis is driven off the limit switch the fault will be cleared and the L will disappear If both Travel Limit input function...

Page 54: ...s activated Setting the controllers analog torque command to zero in this situation will command the axis to move off the limit switch causing the load to drop If your controller removes the torque command zeroes the analog command output when a Travel Limit is activated you have a number of choices to prevent the load from dropping All of which require some external logic to determine when the co...

Page 55: ... to limit the Actual Torque Command to a lower value The Torque Limit parameter is active only when the Torque Limit Enable input function is active Where TTL Total Torque Limit PMT Peak motor torque PDT Peak drive torque RFL RMS foldback limit 80 percent of continuous system torque rating SFL Stall foldback limit 80 percent of drive stall current rating PTL Programmable Torque Limit Note The Torq...

Page 56: ... the actual motor speed exceeds the Overspeed Velocity Limit parameter 2 If the combination of command pulse frequency and Pulse Ratio can generate a motor command speed in excess of the fixed limit of 13000 RPM In Pulse mode operation and any Summation mode which uses Pulse mode the input pulse command frequency is monitored and this calculation is made For example with a Pulse Ratio of 10 pulses...

Page 57: ...back Current foldback is used to protect the motor and drive from overload There are two levels of current foldback RMS Foldback and Stall Foldback RMS and Stall Foldback are displayed on the diagnostic display as a C and c respectively RMS Foldback RMS foldback protects the motor from overheating The RMS Foldback parameter models the thermal heating and cooling of the drive and motor based on the...

Page 58: ...his graph is accurate to 5 percent Stall Foldback E Series Only Stall Foldback prevents overheating of the Power Stage It activates in any mode when the motor velocity is 100 RPM or less and the Torque Command causes the current to exceed the stall current threshold for 100 ms or more Note The stall current threshold is not the same as the drives continuous current rating For example the EN 204 ha...

Page 59: ...els the thermal heating and cooling of the drive internal shunt This parameter indicates the percent of shunt capacity utilization When this value reaches 100 percent the drive will generate an RMS Shunt Power Fault In drives with firmware Rev A4 or later The maximum safe level of shunt power is based on Drive Ambient Temperature parameter and the power being delivered by the drive as shown in Hea...

Page 60: ...city Heatsink RMS loading and Ambient Temperature is shown in the following charts Heatsink RMS E Series Only EN This parameter is available using the PowerTools Watch Window as a diagnostic tool It displays the effective Heatsink utilization based on the power dissipated by the input bridge rectifier and the output power stage The value of 100 percent is the maximum continuous power dissipation a...

Page 61: ...me an ambient temperature of 40 C which is the design ambient temperature for the nominal maximum drive current If the actual ambient is lower than this extra capacity is available for additional shunt power dissipation Setting the Drive Ambient Temperature parameter to the actual ambient temperature allows you to take advantage of a lower temperature and could eliminate the need for an external s...

Page 62: ...S vs Heatsink RMS Figure 32 EN 214 Shunt Power RMS vs Heatsink RMS 20 C 30 C 40 C 50 C 0 20 40 60 80 100 120 140 0 50 100 150 Heatsink RMS Shunt Power RMS 50 C 40 C 30 C 20 C 0 20 40 60 80 100 120 140 0 50 100 150 Heatsink RMS Shunt Power RMS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 63: ... acceptable bus voltage The shunt power rating required is determined by the application The connection for an external shunt regulator is between Bus and Bus External Shunt Regulator Requirements Shunt trip On voltage 415 to 435 VDC 390 to 395 VDC for Epsilon Shunt trip Off voltage 385 to 405 VDC 380 to 385 for Epsilon Minimum resistance 20 ohms 20 ARMS Power Requirements Application dependent Yo...

Page 64: ...iew V Bus Use 16 to 18 AWG stranded wire Bus J 2 J 3 Auxiliary Supply Auxiliary Supply Two position receptacle The mating cables are supplied with the ALP Auxiliary Power Supply Side View Front View J1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 65: ...unction Brake Control Input Function This input function when active will engage the brake unless overridden by the Brake Release input function This input lets you externally engage the brake while allowing the drive to also control the brake during fault and disabled conditions Brake Output Function The Brake output function is used to control the motor holding brake If the Brake output function...

Page 66: ...are filtered at a rate of 20 dB decade Analog Full Scale This parameter specifies the full scale voltage for the analog input When the drive receives an analog input equal to the Analog Input Full Scale parameter the drive will command either Full Scale Velocity or Full Scale Torque depending on the operating mode Analog Zero Offset Analog Input Zero Offset is used to null any input voltage that m...

Page 67: ...d Wiring Figure 36 Analog Command Differential Wiring Diagram Figure 37 Analog Command Single ended Wiring Diagram Command Connector with positive direction CW Command Connector Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 68: ...cale This feature allows you to zoom in to a desired range effectively increasing the resolution The units for both of these parameters is dependent upon the Analog Output Source selection Analog Output Offset units Velocity Command RPM Velocity Feedback RPM Torque Command Percent of continuous torque for selected motor Torque Feedback Percent of continuous torque for selected motor Following Erro...

Page 69: ...g signals active voltage and are designed to operate from a 10 to 30 VDC You are responsible for limiting the output current to less than 150 mA for each digital output These input and output lines can be accessed through the removable 10 pin I O Connector and through the 44 pin Command Connector Note See Input Output and Drive Enable Wiring Input Function Active State The active state of an input...

Page 70: ...Travel Limit input functions will stop motion in the direction indicated by the input function using the Travel Limit Deceleration rate This feature is active in all modes When an axis is stopped by a Travel Limit function it will maintain position until it receives a command that moves it in the opposite direction of the active Travel Limit For example the Travel Limit will stop motion only if th...

Page 71: ... Stop input function is activated with a Stop Deceleration Ramp of 500 ms kRPM the motor will decelerate to a stop in 500 ms Warning When the Stop input function is deactivated the previous operating mode is restored within 400 µs and the drive and motor will respond immediately with no ramping unless ramping is part of the selected mode Reset This input is used to reset fault conditions and is lo...

Page 72: ...e brake unless overridden by the Brake Release input function This input function lets you externally engage the brake while allowing the drive to also control the brake during fault and disabled conditions Torque Mode Enable This input function when active causes the drive cahnge operating mode to torque mode When this input function is deactivated the default operating mode is enabled with no tr...

Page 73: ...the In Motion Velocity parameter Power Stage Enabled This output is active when the drive is OK and enabled It will go inactive when anything happens to disable the output power stage Fault This output function is active whenever a drive fault condition exists The Travel Limits will also cause this output function to be active At Velocity This output function is active whenever the motor is at the...

Page 74: ...t Active This is a real time indicator of the internal shunt activity For EN 204 and Epsilon drives this output can be used to control all external shunt control switches Torque Level 1 and 2 Active These outputs are active if the Torque Command exceeds the respective Torque level value Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 75: ...58 Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 76: ... Tab Velocity Tab Torque Tab Motor Tab Analog Tab I O Status Tab Status Tab History Tab Advanced Tab EZ Setup Detailed Setup Tab This is the default tab that is displayed each time you open a Configuration Window Figure 39 Default Tab Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 77: ...download to more than one device simultaneously they must all be the same drive and any FM modules attached to E Series drives must all be of the same model and firmware revision Configuration Group Drive Type Select the drive model for the system you are currently setting up PowerTools software will only display the motor models that are compatible with the drive you selected and any user defined...

Page 78: ...esponse in greatly influenced by High Performance Gain settings With High performance Gains enabled the maximum value recommended is 100 Hz Operating Mode Group EZ Setup view only Disabled Radio Button Selecting this radio button to put the drive in the disabled mode This is equivalent to removing the Drive Enable input Figure 40 Operating Mode Disabled Mode Selected Pulse Mode Radio Button Select...

Page 79: ...lse Direction Radio Button Selecting this radio button puts your drive in Pulse Direction interpretation In Pulse Direction mode pulses are received on the A channel and the direction is received on the B channel If the B is high pulses received on the A are interpreted as positive changes to the Pulse Position Input If the B is low pulses received on the A are interpreted as negative changes to t...

Page 80: ... generating motion Following Error Limit Group Enable Check Box Check this box to enable or disable the Following Error Limit The Following Error is the algebraic difference between the Position Command and the Position Feedback It is positive when the Position Command is greater than the Position Feedback If the absolute value of the following error exceeds the value you enter here the drive will...

Page 81: ...xample 5V 2000 RPM CW 5V 2000 RPM CCW Analog Input Full Scale 10V Full Scale Velocity 4000 RPM Figure 42 Operating Mode Velocity Mode Selected Full Scale Velocity This parameter is the maximum motor velocity in RPM desired when the drive receives an analog voltage equal to the Analog Input Full Scale parameter setting Note Full Scale Velocity and Analog Input Full Scale do not set limits They only...

Page 82: ...nd the range is from maximum motor velocity A positive value will cause CW motion and a negative value will cause CCW motion Motor direction is determined as you face the shaft end of the motor Accel Decel Presets Enter an Accel Decel Presets value for each of the velocity presets you are using The units are milliseconds per 1000 RPM and the range is from 0 to 32700 0 Default is 1000 ms kRPM Summa...

Page 83: ...They only set the porportion of motor speed to Analog Input Voltage The Full Scale Velocity and Analog Input Full Scale parameters are used in the Analog or Summation operating modes Default values Motor Selection Full Scale Velocity Analog Input Full Scale MG 205 and MG 208 NT 207 NT 212 5000 RPM 10V MG 316 4000 RPM 10V MG 340 MG 455 MG490 and MG 4120 3000 RPM 10V Torque Mode Group Selecting this...

Page 84: ...will be limited to when the Torque Limit input function is active To make the Torque Limit always active set the Torque Limit Input Function to be Always Active Peak Torque Available This displays the maximum torque available from the selected drive and motor combination This is calculated by PowerTools and is not a drive parameter Operating Mode Group Detailed Setup view only Artisan Technology G...

Page 85: ...efines that the motor will rotate counterclockwise when given a positive velocity torque or position command CW CCW is defined when facing the motor output shaft Line Voltage Figure 49 Line Voltage 230 VAC Selected E Series Only EN Line Voltage specifies the applied power and adjusts the internal gains to compensate for it This parameter has two choices 115 VAC and 230 VAC If the Line Voltage is s...

Page 86: ...drive enable and four input lines the debounce value and input function assignments Figure 50 Inputs Tab Input Functions Window This window allows you to select the input function you wish to assign to an input line Active State The active state of each input function is displayed next to the output function See the Active Off check box section on the following page Always Active The setting for A...

Page 87: ...nput Function and dropping it onto an Input line To unassign an input function highlight the function in the Input Lines window and press the delete key or drag the input function from the window Figure 52 Epsilon Input Line Selection View Active Off Check Box This check box allows you to change the Active On Off state Select the desired function in the input functions window then check or uncheck...

Page 88: ...s 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 Outputs Tab This tab is divided into two windows The Output Functions window on the left side displays the available output functions The Output Lines window on the...

Page 89: ...utput Line Click on the list box arrow to see the possible assignment lines Then click on one of the line numbers to assign the function This list box would normally be used when a mouse is not available to navigate the software Assigning the input functions can also be accomplished by dragging the Output Function and dropping it onto an Output line To unassign an output function highlight the fun...

Page 90: ... function s assigned to that output line is active Making an output line Active Off means that the line will be Off not conducting when the result of the logical OR of the output function s assigned to that output line is active and will supply a voltage when the logical OR of the output function s is not active Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisant...

Page 91: ...lse mode The Following Error is the difference between the Position Command and the Position Feedback It is positive when the Position Command is greater than the Position Feedback If the absolute value of the following error exceeds the value you enter here the drive will generate a Following Error Fault F All accumulated Following Error will be cleared when the drive is disabled The Following Er...

Page 92: ... Position Command and the Position Feedback It is positive when the Position Command is greater than the Position Feedback Encoder Feedback The motor position in encoder counts since power up when the value was set to zero This is a signed 32 bit value The motor position in encoder counts since power up when the value was set to zero This parameter can be rewritten anytime after power up Position ...

Page 93: ...ge is from 0 to 32700 0 The default is 100 ms kRPM Travel Limit Deceleration The value you enter here defines the rate of velocity change to zero speed when a Travel Limit input function is activated The units are ms kRPM and the range is from 1 0 to 5000 0 Default is 100 ms kRPM Analog Accel Decel Limit This parameter determines the maximum accel and decel rate that will be allowed when using the...

Page 94: ...gger 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 The default is 10 RPMs Actual Group Preset Command Preset Velocity Command is based on the velocity preset selected Units are in RPMs Analog Command Analog command voltage currently being...

Page 95: ... Enter an Accel Decel Presets value for each of the velocity presets you are using The units are milliseconds per 1000 RPM and the range is from 0 to 32700 0 Default is 1000 ms kRPM Torque Tab This tab allows you to edit the Torque Limit and view the following torque parameters These parameters are continuously updated when you are online with the drive Figure 58 Torque Tab Note The Torque Limit v...

Page 96: ...ing This command is used by the current loop to generate motor torque Foldback RMS This parameter accurately models the thermal heating and cooling of the drive and motor When it reaches 100 percent current foldback will be activated Torque Level 1 and 2 This parameter sets the activation level for the appropriate Torque Level output function Motor Tab This tab allows you to select the motor to be...

Page 97: ...ompensate for systems with high friction or vertical loads A Low Pass Filter is provided to filter machine resonance that are present is some applications Figure 59 Motor Tab Configuration Group Motor Type Select the motor you wish to use PowerTools software will only display the motor models that are compatible with the drive you selected and any user defined motors Caution Selecting the wrong mo...

Page 98: ...er revolution up to the density of the encoder in the motor If the Encoder Scaling parameter is set to a value higher than the motor encoder density the drive encoder output density will equal that of the motor encoder Load Group Inertia Ratio Inertia Ratio specifies the load to rotor inertia ratio and has a range of 0 0 to 50 0 If the exact inertia is unknown a conservative approximate value shou...

Page 99: ...stant parameter This parameter determines how quickly the drive will correct for in position following error The time constant is in milliseconds and defines how long it will take to decrease the following error to 37 percent of the original value In certain circumstances the value actually used by the drive will be greater than the value specified here Min Time Constant 1000 Response For example ...

Page 100: ...n is less than the actual friction velocity error will be reduced by not eliminated Analog Tab This tab displays the setup and feedback data for the Analog Input and the two diagnostic Analog Outputs Figure 60 Analog Tab Analog Inputs Group Bandwidth This sets the low pass filter cut off frequency applied to the analog command input Signals exceeding this frequency will be filtered at a rate 20 db...

Page 101: ... options Velocity Feedback Velocity Command Torque Feedback Torque Command and Following Error The scaling and offset are affected by the source parameter selected The units of the scaling and offset are adjusted according to the source parameter Offset and Scale Each analog diagnostic output channel includes a programmable Analog Output Offset and an Analog Output Scale These features allows you ...

Page 102: ... line Forced The forced state is shown for each input line Forced On and Forced Off You can force an input line to a level by 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 Artisan Techno...

Page 103: ...xpanded view shows the relationship between functions and lines A collapsed view shows only lines or functions Figure 62 Collapsed and Expanded Views If the function or line is currently active the LED to the left of the function or line name will be green Note When a function or line is active the state of the LED associated with the function or line is dependent on how the Always Active Forced O...

Page 104: ...ne Button Click on this button to change how the Outputs window is sorted i e by functions or lines Each window can be sorted by either function or line The functions and lines are arranged in a hierarchy If the window is sorted by lines then each line is displayed and any functions assigned to a particular line are grouped below the line Expand Collapse Button This button expands or collapses the...

Page 105: ...atus in real time and is only available when you are on line with a drive The information in this tab is divided into six categories Position Velocity Torque Drive Status I D and Drive Run Time Figure 64 Status Tab Note The information in this tab is for diagnostics purposes only and cannot be changed from within this tab Position Group Pulse Position Input This parameter returns the total number ...

Page 106: ...s parameter can be preloaded using the serial interface Position Feedback This parameter is the motor position since power up This value is automatically reset to zero at power up Velocity Group Preset Command Preset Velocity command based on the velocity preset selected Analog Command Analog command voltage currently being applied to the analog command input on the command connector Velocity Comm...

Page 107: ...e drive internal shunt This parameter indicates the percent of shunt capacity utilization and is based on the Heat Sink RMS value When this value reaches 100 percent the drive will generate an RMS Shunt Power Fault Heatsink RMS E Series Only EN This parameter models the thermal utilization of the heatsink by the power stage It determines the amount of thermal capacity available for the Regen Shunt...

Page 108: ...al Number Displays the serial number of the drive with which you are currently online Drive Run Time Group Detailed Setup view only Total Power Up Time Total amount of time displayed in hours the drive has been powered 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 displayed in hours the drive has bee...

Page 109: ...tamps The first fault is the most recent fault The information in this window is read only and cannot be edited or cleared Power up This feature indicates during which power up that the fault occurred Time days hrs min This feature indicates the time into the power up that the fault occurred The time is displayed in days hours and minutes Artisan Technology Group Quality Instrumentation Guaranteed...

Page 110: ...e last ten drive faults with time stamps The first fault is the most recent fault The information in this window is read only and cannot be edited or cleared Power up This feature indicates during which power up that the fault occurred Time days hrs min This feature indicates the time into the power up that the fault occurred The time is displayed in days hours and minutes Artisan Technology Group...

Page 111: ... parameter in this tab is not at default then it will automatically be enabled when starting PowerTools All the setups here are effective for all modes used and for both the Main Default Operating Mode and the Alternate Operating Mode Drive Ambient Group Drive Ambient Temperature Firmware Version B4 and later drives E Series Only EN Drive Ambient Temperature is a parameter which will let the drive...

Page 112: ...long as the logic power is supplied by the A P S Alternate Power Supply Figure 69 Epsilon Drive Ambient View Encoder State Fault Enable This prameter 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...

Page 113: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 114: ...All the values needed for optimization are real world values that can be determined by calculation or some method of dynamic measurement PID vs State Space The power of the state space control algorithm 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 ...

Page 115: ...sition controller or as an open loop velocity drive only set the drive tuning parameters as follows Inertia Ratio 0 Friction 0 Response 50 High Performance Gains Enabled Feedforwards Disabled Velocity Mode with a position controller If you are using the drive in Velocity mode with a position controller set the drive tuning parameters as follows Inertia Ratio 0 Friction 0 Response 100 High Performa...

Page 116: ... best performance Intermediate Level 1 Calculate or estimate the load inertia It is always better to estimate low 2 Disable the drive 3 Enter the inertia value calculated into the Inertia Ratio parameter E Series Only EN Set the Line Voltage to the applied voltage default is 230 VAC 4 Leave all other tuning parameters at the initial values 5 Enable the drive and run the system 6 Adjust Response to...

Page 117: ...ing operation Tuning Parameters Inertia Ratio Inertia Ratio specifies the load to motor inertia ratio and has a range of 0 0 to 50 0 A value of 1 0 specifies that load inertia equals the motor inertia 1 1 load to motor inertia The drives can control up to a 10 1 inertia mismatch with the default Inertia Ratio value of 0 0 Inertial mismatches of over 50 1 are possible if response is reduced The Ine...

Page 118: ...led the actual command bandwidth of the drive system will be equal to the Response value In this case the load disturbance correction bandwidth is fixed at approximately 5 Hz Increasing the Response value will reduce the drive s response time to velocity command changes but will not affect the response to load or speed disturbances When High Performance Gains are enabled the actual response bandwi...

Page 119: ...ater than the value specified in the Power Tools because the minimum allowed time constant value is a function of the Response parameter The formula is Min Time Constant 1000 Response For example with Response set to 50 the minimum time constant value is 1000 50 20 msec A higher time constant value will minimize instability with more compliant loads such as long drive shafts or spring loads A lowe...

Page 120: ...ocity loop bandwidth If there is no noticeable mechanical resonance effecting the system the system is better off without the low pass filter If the system has a mechanical resonance effecting the performance the low pass filter can diminish the effects of the resonance and allow the tuning response parameter to be increased The low pass filter may improve system performance when there is an inert...

Page 121: ...efault parameter settings will be acceptable If the inertial mismatch is greater than 10 1 use the following table for initial parameter settings Determining Friction This parameter represents friction that increases proportionally as motor velocity increases The viscous friction of your system can be determined by reading the percent of continuous torque required to operate the loaded motor at tw...

Page 122: ...n loading of your system varies when operating at constant speed due to a load or spring load that changes as the motor rotates use the lowest value measured 3 Repeat Step 1 using a velocity at least two times the low speed 4 While at speed note the Torque Command Actual value TCH 5 Use the following formula to calculate the friction Where TCH Torque Command Limited value at higher speed TCL Torqu...

Page 123: ...rate 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 to accelerate read the Torque Command parameter on the Motor tab of PowerTools or with the Watch Window To best determine the inertia use both acceleration and deceleration torque value...

Page 124: ...Vm motor constant value from Table 18 below For un counter balanced vertical loads use the following formula Where IR Inertia Ratio R ramp in ms kRPM Vm motor constant value from the table below Tau unsigned percent continuous torque required during acceleration ramping while moving up against the constant force Tdu unsigned percent continuous torque required during deceleration ramping while movi...

Page 125: ...ramp in revolutions per second2 Motor Drive Vm Percent Continuous volt Scaled Torque Command Output default RPM volt Scaled Velocity Command Output default MG 205 EN 204 4 77 30 600 MG 208 5 11 30 600 MG 316 3 17 30 600 MG 316 EN 208 3 17 30 600 MG 340 3 14 30 600 MG 455 2 44 30 600 MG 455 EN 214 2 44 30 600 MG 490 1 85 30 600 MG 4120 1 69 30 600 NT 207 Eb 202 7 27 30 600 NT 212 5 37 30 600 MG 205...

Page 126: ...109 Tuning Procedures Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 127: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 128: ...atus code The decimal point is On when the drive is enabled and the Stop input is not active This indicates that the drive is ready to run and will respond to motion commands Commands will not cause motion unless the decimal point is On Display Indication Status Description Brake Engaged Output Off Motor brake is mechanically engaged This character will only appear if the Brake output function is ...

Page 129: ...l continue to track the motor s position provided the logic power is not interrupted The Travel Limit faults are automatically 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 Torque Torque mode operation Summation Summation mode op...

Page 130: ... for E Series Power for Epsilon Yes High DC Bus Button or Input Yes Low DC Bus Button or Input Yes Encoder State Power Yes Encoder Hardware Power Yes Motor Overtemp Cool down Button or Input Yes RMS Shunt Power E Series drives only Button or Input Yes Overspeed Button or Input Yes Display Fault Action to Reset Bridge Disabled Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURC...

Page 131: ... the drive on its previous power up To clear press and hold the Reset button for 10 seconds Epsilon Only This fault will occur if the digital board in the drive does not match the power board settings It is only useful during manufacturing A drive with this fault should be returned for service Drive Overtemp Epsilon Only Indicates the drive IGBT temperature has reached 100 C 212 F Following Error ...

Page 132: ... 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 With and Epsilon drive the low DC bus monitoring can be disabled with PowerTools software in the Advanced tab Encoder State Certain encoder states and state transitions are invalid and will cause the drive to report an encoder state fault This is usually the result...

Page 133: ...d In Pulse mode operation and any Summation mode which uses Pulse mode the input pulse command frequency is monitored and this calculation is made For example with a Pulse Ratio of 10 pulses per motor revolution the first pulse received will cause an Overspeed fault even before there is any motor motion Following Error This fault is generated when the following error exceeds the following error li...

Page 134: ... control purposes These outputs are referred to as Channel 1 and Channel 2 They can be accessed from the Command Connector on the drive or from the Diagnostics Analog Output Pins located on the front of the drive Each Channel provides a programmable Analog Output Source Analog Output Source options are Velocity Command Velocity Feedback Torque Command equates to Torque Command Actual parameter Tor...

Page 135: ...ng to each other However if signals do get shorted to GND the drive will not be damaged because the circuitry is protected Figure 72 Diagnostic Cable DGNE Diagram Channel 2 Channel 1 Analog GND E Series Drive Epsilon Drive 10 Ohm 10 Ohm Yellow Black GND Blue D A D A DGNE Cable Command Connector DGNE Cable 2 GND 1 2 1 GND 44 29 43 Pin s Artisan Technology Group Quality Instrumentation Guaranteed 88...

Page 136: ...ault click the Ignore Fault button To reset faults that can be reset with the Reset Faults button simply click the Reset Faults button in the Drive Faults Detected dialog box 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 Faults command from the Device menu The dialog box displayed is the same ...

Page 137: ...te It is normal to have the Watch Window show up with the three motor parameters already selected if the motor parameters window has been accessed previously If you do not need to view them simply push the Clear All button and select the parameters you wish to view Figure 74 Watch Window The Watch Window is accessed by selecting Watch Drive Parameters from the Tools menu or by clicking on the Watc...

Page 138: ...e previously selected Save Selections Button This button saves the parameter selections This enables you to restore the same list of parameters for use in future online sessions Restore Selections Button This button restores the parameter selections previously saved This enables you to restore the list of parameters you created in a previous online session View Motor Parameters When online with th...

Page 139: ...ownloading to Change the drive type selected in the Drive Type list box to match the drive you are downloading to Non EMERSON 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 typ...

Page 140: ... suring flash upgrade Select device s from list box The drive at address is use Close any other windows that are using the same addresses and try again Problem Message Cause Solution Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 141: ...124 Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 142: ...the U V and W commutation tracks are ignored and the commutation is entirely based on the A and B incremental channels The number of U V and W cycles must match the number of poles in the motor but they do not have to be aligned with the motor poles in any particular way The U V and W tracks have a fairly coarse resolution therefore on power up the commutation accuracy is limited to 30 electrical ...

Page 143: ...tor file for each individual motor encoder 2 Design and assemble the cabling and interface circuitry required to connect the motor and drive Motor and feedback cables must be properly shielded and grounded 3 Determine the encoder alignment In order to commutate a motor correctly the angular relationship of the encoder commutation tracks and the marker pulse with respect to the R S and T windings i...

Page 144: ... 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 77 CCW Rotation of the Motor 5 Look at the phase to phase voltages VCA and VBA There are two possibilities If VCA leads VBA then assign B to S and C to T If VBA leads VCA then assign B to T and C to S These relationships are summarized in the figure below A...

Page 145: ...will refer to the motor terminals using the EMERSON Motion Control designations R S and T Step 2 Motor Feedback Wiring This step describes how to wire the feedback signals to the drive There are two parts to this step electrical interfacing and logical interfacing Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 146: ...s channel A and A etc For optimum performance these signals should be generated by an encoder with a line driver output Encoders which supply only single ended output signals will require some interfacing circuitry Figure 79 User Defined Motor Differential Feedback Connections Note The maximum current available out of the drive encoder 5 volt supply connection is 250 mA Artisan Technology Group Qu...

Page 147: ...t or it must increase in resistance as the temperature increases The cold resistance should be 500 ohms or less A motor fault will occur when the thermistor resistance reaches approximately 1 0 kohm Switch Operation open circuit on temperature rise Voltage rating min 10 VDC Current capacity min 1 mA Encoder Logical Interfacing The encoder is expected to provide six logical signals A B Z U V and W ...

Page 148: ...ch 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 81 Phase Plot of A and B Encoder Channels Figure 82 Phase Plot of U V and W En...

Page 149: ... the alignment to be specified using the Motor Encoder U Angle and Motor Encoder Marker Angle parameters If the motor under test has a defined encoder alignment which is repeated on all similar motors simply determine the proper angles then use the same settings on all similar motors If the motor under test does not have a specific encoder alignment you should establish some standard mechanical al...

Page 150: ...scope to examine the phase relationship between encoder channel U and positive peak of VTS the voltage at motor power terminal T with reference to S Use the figure below to determine the electrical angle at which the rising edge of U occurs This is the Motor Encoder U Angle Note that with a CCW reference rotation the positive peak of VTS is at zero electrical degrees and the electrical angle decre...

Page 151: ...f EUA is 360 subtract 360 Next use the oscilloscope to examine the phase relationship between Z and VTS Use Figure 84 to determine the electrical angle at the rising edge Z This is the Encoder Marker Electrical Angle t1 180 tu 90 EUA Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 152: ...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 motion for the encoder is CW i e Encoder Reference Motion parameter will be set to 1 rotate the motor in the CW direction Using an oscilloscope look at the phase relationship between the rising edge of U and negative peak of VTS Use the figure below to ...

Page 153: ...reference rotation the negative peak of VTS is at zero electrical degrees and the electrical angle decreases from left 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 motors pole count Establishing a Standard Alignment A typical encoder alignment practice is to set the rising edge of U...

Page 154: ...r is then locked down This will cause the rising edge of V to line up with the rising edge zero crossing of VRT when the encoder reference rotation is CCW Figure 86 CCW Alignment Plot Static Alignment Method Another method to align the encoder is to apply DC current through the motor power phases R to S and rotate the encoder on its mounting until the rising edge of U is detected with a voltmeter ...

Page 155: ...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 voltage generated by the motor or the CEMF Counter Electro Motive Force This measurement requires an AC voltmeter that can accurately read sine waves of any frequency and some way to determine the motor speed at the ...

Page 156: ...d to the S winding and one to the encoder Z channel referenced to the encoder power supply 0 volt 2 Connect S winding to the encoder power supply 0 volt wire thereby connecting the scope ground clips together 3 Set the scope up to trigger on the Z channel 4 Rotate the motor in either direction at any speed Note If you are using an electric drill to rotate the motor the drill s name plate should sp...

Page 157: ...ted file is saved as a text file otherwise it will be unusable as a ddf file After you have completed editing the file saved it as MOTOR DDF file Then copy it back to its original directory overwriting the existing MOTOR DDF file The next time PowerTools is started it will automatically recognize the new MOTOR DDF file Header The header includes the revision and serial number information along wit...

Page 158: ...Motor Type combo box in PowerTools The motor parameters do not define with which drive they may be used Therefore any user defined motor may be used with any drive Definition revision 0x4132 nameCount 2 Motor0 name User1 motorPoles 4 encoderLines 2048 encoderMarker 330 encoderU 330 encoderRef 0 rotorInertia 0 00010 motorKE 28 3 phaseResistance 20 80 phaseInductance 27 1 peakCurrent 4 29 continuous...

Page 159: ... 6 8 10 12 14 and 16 poles Motor Encoder Lines Per Revolution Specifies a coefficient for determining the number of encoder lines per mechanical revolution The supported values are 1 to 16383 The equation for determining the total number of encoder lines per revolution is nLines n 10x where nLines Total number of Encoder Lines Motor Parameter DDF Identifier Motor Poles motorPoles Motor Encoder Lin...

Page 160: ...he angle between the motor magnetic field and stator coils Motor Encoder Exponent Specifies the exponent for determining the number of encoder lines per mechanical revolution The supported values are 0 1 2 3 4 The equation for determining the total number of encoder lines per revolution is nLines n 10x where nLines Total Number of Encoder Lines n Motor Encoder Lines per Rev Coefficient x Motor Enc...

Page 161: ... 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 the way the drive interprets the quadrature and commutation signals Motor Inertia This parameter specifies the inertia of the motor The range is 00001 to 5 lb in sec2 The drive...

Page 162: ...mum Operating Speed If the actual velocity exceeds 150 percent of this value the drive will fault on Overspeed Typically this parameter is determined by the encoder bandwidth and or other mechanical or electrical parameters of the motor The maximum value is 11 000 RPM Step 6 Configuring the Drive Once you have determined the motor parameters and entered them into the MOTOR DDF file you can configu...

Page 163: ...ry 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 correctly Note For safety reasons it is a good idea to double check that the key motor parameters below have been specified correctly Motor Ke Motor Resistance Motor Inductance Motor Peak Current Motor Continuous...

Page 164: ...o perform the tests in the order given Note Do not attempt to perform a test if you have not been able to get the proceeding test to work Rotation Test This test verifies that the encoder has been correctly interfaced to the drive Figure 89 CW Rotation of the Motor Note This test assumes that you have completed Step 6 Configuring the Drive on page 287 1 Power up the drive but leave it disabled 2 W...

Page 165: ... again 10 Re establish communications with the drive by selecting the Upload button 11 Select View Motor Parameters from the Tools menu Note the value of the Commutation Angle Correction parameter Its value should be zero until the motor encoder Z channel is detected Rotate the motor through one or more complete revolutions until the Z channel is detected 12 The value should now have a non zero va...

Page 166: ...ncorrectly 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 motor be connected and ready to run but it will be spun by the drill motor while in Torque mode with a zero torque command 1 Disable the drive 2 Set the Torque Limit to 0 3 Make the Torque Lim...

Page 167: ...y 6 RPM The motor should be moving at 6 RPM If the system got through the Torque test the motor should not run away at this point If it does go back and repeat the Torque test 5 Confirm that the motor velocity is really 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...

Page 168: ...installation guidance designed to help you meet the requirements of the EMC Directive 89 336 EEC Adhering to the following guidelines will greatly improve the electromagnetic compatibility of your system however final responsibility for EMC compliance rests with the machine builder and EMERSON Motion Control cannot guarantee your system will meet tested emission or immunity requirements If you nee...

Page 169: ...her In most cases this requires paint removal because a ground connection through bolt threads is not sufficient However component materials should be conductive compatible and exhibit good atmospheric corrosion resistance to prevent loss through corrosion which will hinder the low impedance connection Enclosure manufacturers offer corrosion resistant unpainted mounting plates to help Bringing com...

Page 170: ...vent noise from being induced into them and carried out of the enclosure Cable to Enclosure Shielding Shielded motor feedback serial communications and external encoder cables were used for EMERSON Motion Control s compliance testing and are necessary to meet the EMC requirements Each cable shield was grounded at the enclosure wall by the type of grommet described earlier and shown in the figure 9...

Page 171: ...7 8 Motor Cable 12 Ga CMMS CGS 050 1 2 pipe 7 8 Feedback Cable CFOS CGS 050 1 2 pipe 7 8 Flex Motor Cable 16 Ga CMDF CGS 050 1 2 pipe 7 8 Flex Motor Cable 12 Ga CMMF CGS 075 3 4 pipe 1 1 16 Flex Feedback Cable CFCF CFOF CGS 063 3 4 pipe 1 1 16 External Encoder ENCO CGS 038 1 2 pipe 7 8 AC Power user supplied user supplied user supplied user supplied Artisan Technology Group Quality Instrumentation...

Page 172: ...n Figure 91 AC Filter and Cable Connections for E Series Drives Figure 92 AC Filter and Cable Connections for Epsilon Drives Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 173: ...re not the same as Earth Ground is supplied from the building distribution panel it should never be bonded with PE wire in the enclosure You should consider future troubleshooting and repair when installing all wiring All wiring should be either color coded and or tagged with industrial wire tabs As a general rule the minimum cable bend radius is ten times the cable outer diameter All wiring and c...

Page 174: ...nting surface to ensure maximum heat transfer for maximum power output and to provide a good ground For motor dimensions weights and mounting specifications see the Specifications section Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 175: ... and E Series EN Drives Reference Manual Electrical Installation System Grounding Figure 93 Typical System Grounding Diagram Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 176: ... shown in the following diagrams The input power range of the Epsilon drives can be extended to 42 to 264 VAC with the Low DC Bus fault disabled E Series Only EN The EN 204 and EN 208 drives require 90 to 264 VAC single phase power The EN 214 can operate with single or three phase 90 to 264 VAC If single phase power is used with the EN 214 you must de rate the output power available by 20 percent ...

Page 177: ...rmer is configured as shown in the figures below the AC power supply can be connected directly to the amplifier terminals Figure 94 Earth Grounded WYE Distribution Transformer Figure 95 Earth Grounded Delta Distribution Transformer Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 178: ... drives the transformer secondary must be grounded for safety reasons as shown in the figures below Figure 96 Three Phase Delta with mid phase GND Distribution to a Three Phase Delta WYE Isolation Transformer Figure 97 Three Phase WYE ungrounded Distribution to a Three Phase Delta WYE Isolation Transformer Figure 98 Delta to Delta Isolation Transformer Artisan Technology Group Quality Instrumentat...

Page 179: ...rmer ambient temperatures 40 C or 104 F and drive operation near the maximum speeds Transformer output voltage drop may become a limiting factor at motor speeds and loads near maximum ratings Typically higher KVA transformers have lower voltage drop due to lower impedance Drive Motor Combination Suggested KVA Rating EN 204 MG 205 0 8 EN 204 MG 208 1 5 EN 204 MG 316 2 3 EN 208 MG 316 2 3 EN 208 MG ...

Page 180: ...es for the Epsilon 205 and 3 minutes for the Epsilon 202 203 drives before unplugging the power connection to ensure the bus voltage has decreased to a safe level below 50 VDC Drive Model External AC Line Fuse Recommended Minimum AC PE Line Wire Gauge EN 204 KTK 15 Amp 1Ø 14 AWG EN 208 KTK 20 Amp 1Ø 12 AWG EN 214 KTK 20 Amp 3Ø 12 AWG Eb 202 LPN 6 Amp 16 AWG Eb 203 LPN 8 Amp 16 AWG Eb 205 LPN 12 Am...

Page 181: ...oving the AC power connector Using the connector in this manner even once will damage the connector making it unusable Top View L1 L2 L3 PE Wire crimp ferrules are recommended If 14 AWG use panduit PV14 P47 If 12 AWG use Panduit PV10 P55 50 60 Hz 90 264 VAC Note L3 is used with the EN 214 only When cycling power make sure AC power is off for 5 seconds minimum before reapplying power L1 Tighten scr...

Page 182: ...is can be accomplished by isolating rectifying and filtering 90 to 264 VAC EMERSON Motion Control offers Auxiliary Logic Power Supplies models ALP 130 and 430 that supply enough power for one E Series drive with an FM P module and four E Series drives with FM P s respectively See the Options and Accessories section for more information Warning Do not connect AC power directly into the auxiliary lo...

Page 183: ...21 watts Top View V Bus Use 16 to 18 AWG stranded wire Bus J 2 J 3 Auxiliary Supply Auxiliary Supply Two position receptacle The mating cables are supplied with the ALP Auxiliary Power Supply V Auxiliary Supply V Auxiliary Supply V Auxiliary Supply Drive 1 0 5 Amp Fuses 0 5 Amp Fuses Drive 2 AC V Auxiliary Supply 127 to 373 VDC 220µ F 127 to 373 VDC 220µ F J3 J3 Artisan Technology Group Quality In...

Page 184: ...n 24 VDC power supply for multiple drives without concern for ground loops and noise coupling between drives The APS connection will generate some high frequency ripple 25 Amps at 80 khz on the APS power lines This may disturb sensitive equipment that shares the same power supply Side View Front View 24 VDC Important Slide the side access panel up into the open position Remove the jumper from the ...

Page 185: ... ground reduces offset voltage in the Analog Diagnostics Outputs Voltage Range Current Inrush Current 18 30 VDC 0 5 A maximum 0 7 A peak 0 4 A maximum 0 76 A peak if external encoder is not used 80 A for 1 ms if not limited by power supply Drive Logic with Motor Encoder Only Add for Master Encoder Other Dependancies APS Applied Voltage 18 24 28 18 24 28 Add 10 per axis for fewer than 4 axis on sam...

Page 186: ...CMDS or CMMS cable have a female MS style connector on the motor end and four individual wires and shield that connect to the motor power connector on the bottom of the drive Note The motor ground wire and shields must be run all the way back to the amplifier terminal and must not be connected to any other conductor shield or ground Front View Front View 24 VDC J1 1 A Fuse J1 1 A Fuse Single point...

Page 187: ... Ground Motor Power Connection Drive PE GND R S T D A B C Shield Green Yellow Brown Black Blue 2 or 3 Motors PT06A 15 8SSR 4 Motors MS3106A 20 15SSR Important Ground should connect to drive and motor only Nothing should be connected between these devices Connector Shell R S T Ground Motor Power Connection B C D A Front View Tighten screws to 5 lb in Important PE ground should connect to drive and ...

Page 188: ...ctor on the motor end and three wire leads on the amplifier end see the following wiring diagrams You must provide a DC power supply rated at 24 VDC with a 2 amp minimum current capacity for the brake If you use this voltage source to power other accessories such as I O or more than one brake you must increase its current capability Artisan Technology Group Quality Instrumentation Guaranteed 888 8...

Page 189: ...eference Manual Figure 108 E Series Brake Wiring Diagram using the Command Connector Figure 109 E Series Brake Wiring Diagram using the I O Connector Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 190: ...rrent to less than 150 mA Bottom View K1 A Internal to Motor C B Red Black Connected to grounded mounting panel Single point PE ground 11 A2 14 A1 2 Amp Fuse Customer supplied drive enable contact Relay EMC BRM 1 24 VDC Motor Output 3 Drive Enable I O Common I O Common I O Supply 34 33 32 31 16 17 I O Supply J5 1 Amp Fuse CBMS xxx Cable Front View 19 10 8 Output 3 Drive Enable I O Common I O Suppl...

Page 191: ... 3 Input 2 Input 1 11 1 2 12 8 Output 3 Output 2 Output 1 7 17 I O Supply I O Common 19 20 Front View Single point PE ground 24 VDC Load Load Load A highspeed diode such as a 1N4000 is required for inductive loads such as a relay solenoid or contactor I O supply 10 to 30 VDC 2 8 k J3 1 Amp Fuse Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 192: ...silon Only The I O connector is a 26 pin male connector on the front of the drive EMERSON Motion Control offers a low profile interface plug STI EIO and cable EIO xxx for connections Figure 114 E Series I O Connector to Command Connector Internal Connections Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 193: ...pin connector of your AX4 CEN XXX cable to the drive and the 25 pin connector to the AXIMA multi axis controller If you are interfacing your drive s to an AXIMA or any other motion controller you may use either the CDRO sss or CMDO xxx cables or the optional External Connection Interface Front View Bottom View Input 4 Input 3 Input 2 Input 1 Drive Enable Input 2 1 16 17 3 4 Output 3 Output 2 Outpu...

Page 194: ...mmon I O Common I O Supply I O Supply Encoder Output Channel Z Encoder Output Channel Z Diagnostics Output Channel 1 Diagnostics Output Channel 2 Command Connector Do Not Connect Do Not Connect Do Not Connect Do Not Connect Do Not Connect Do Not Connect Do Not Connect Do Not Connect Shield PE 10 Ohm Connector Shell Connected to 15 Out Test Only Twisted Pair Pulse Input B Pulse Input B Pulse Input ...

Page 195: ...he CDRO cable also reduces the enclosure spacing requirement below the drive For information about the CDRO XXX 13 pair cable wire colors see the Specifications section Function Pin Numbers Electrical Characteristics Inputs and Drive Enable 1 2 3 4 16 10 30 V On 0 3 V Off optically isolated Outputs 17 18 19 10 30 VDC sourcing 150 mA I O Supply 33 34 10 30 VDC 1 Amp maximum I O Common 31 32 I O ret...

Page 196: ... Single Ended Output Wiring Diagram Encoder Output Signal Wiring The encoder outputs meet RS 422 line driver specifications and can drive up to ten RS 422 signal recievers Command Connector with positive direction CW Command Connector Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 197: ...G and NT motors have 2048 lines per revolution With PowerTools this resolution is adjustable in one line per revolution increments up to the density of the encoder in the motor Figure 119 Command Connector Encoder Output Wiring Figure 120 Direction Convention Diagram Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 198: ...ifferential Inputs Figure 121 Pulse Mode Differential Output to Differential Input Figure 122 Pulse Mode Single Ended Output to Differential Input Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 199: ...ed pair cable Figure 124 Pulse Mode Single Ended Output to Single Ended Input non twisted pair cable Common isolated from other sources Sinking Outputs typ Pulse A Direct B 5 Logic Power Common isolated from other sources Sinking Outputs typ Pulse A Direct B 5 Logic Power Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 200: ...r outputs meet RS 422 driver specifications and can drive up to 10 RS 422 signal recievers Each differential pulse input is an RS 422 line recievers The default encoder Common isolated from other sources Sinking Outputs typ 5 Logic Power CW Pulse CCW Pulse CCW Pulse CW Pulse Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 201: ...cated on the front of the drive The serial interface is either three wire non isolated RS 232C or two wire non isolated RS 485 RS 485 is also available through the 44 pin Command Connector Figure 127 E Series RS 232 and RS 485 Internal Connections between the Command Connector and the Serial Communication Connector Front View RS 485 RS 485 6 12 21 To drive processor RS 485 N C N C 5 Comm Common 7 ...

Page 202: ...rrors can usually be avoided by powering the computer or host device off of a convenience outlet that is mounted in the enclosure and whose neutral and ground are wired to the same single ended point ground that the drives and controllers are using This is sometimes benefical even with battery powered computers Front View Bottom View RS 485 RS 485 6 12 21 To drive processor RS 485 N C N C 5 Comm C...

Page 203: ...igurations of up to 32 drives EMERSON Motion Control provides a special multi drop serial cable which allows you to easily connect two or more drives Figure 129 E Series EN Multi Drop Wiring Diagram Serial Communications Specifications Max baud rate 19 2k Start bit 1 Stop bit 2 Parity none Data 8 Note The terminating resistor packs TERM H and TERM T should be installed on the first TERM H and last...

Page 204: ...RM H and TERM T should be installed on the first TERM H and last TERM T drive in the string if the total cable length is over 50 feet TIA XXX Serial Cable TERM H DDS XXX Serial Cables DDS XXX Serial Cables TERM T Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 205: ... 3 4 5 6 2 1 9 8 7 Drive Serial Port 3 4 5 6 2 1 9 8 7 Drive Serial Port TERM H TIA Cable DDS Cable DDS Cable TERM T 120 Ohm 120 Ohm 576 Ohm 576 Ohm 485 485 5 2 3 9 4 Computer Serial Port Drive Serial Port Drive Serial Port Drive Serial Port Top View of Multi drop Cabling TIA Cable DDS Cable DDS Cable TERM H TERM T Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artis...

Page 206: ...189 Options and Accessories E Series EN Drive Options Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 207: ...190 Epsilon Eb and E Series EN Drives Reference Manual Epsilon Eb Drive Options STI EIO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 208: ...e 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 industrial wire tabs Low voltage wiring should be routed away from high voltage wiring Figure 132 Dimensions of STI EIO Board Artisan Technology ...

Page 209: ...f 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 consideration for future troubleshooting and repair...

Page 210: ...193 Options and Accessories Figure 134 ECI 44 Signal Connections Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 211: ... the user to display drive status and diagnostic information and to edit control functions such as gains and speeds Note See the FM P Portable Module User s Guide P N 400505 01 for more information FM 1 Speed Module The FM 1 is a compact and rugged module that attaches to the front of the E Series drive It provides eight digital input lines and four digital output lines in addition to the four inp...

Page 212: ...tup and diagnostics tool Note See the FM 2 Indexing Module Reference Manual P N 400506 01 for more information FM 3 Programming Module The FM 3 is a compact and rugged programming module that attaches to the front of the E Series drive It provides eight digital input lines and four digital output lines in addition to the four input and three output lines available on the E Series drive The FM 3 is...

Page 213: ...196 Epsilon Eb and E Series EN Drives Reference Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 214: ...h Firmware Revisions All revisions are backward compatible EN A3 A4 and B3 were never released FM P A1 was never released PowerTools Revision Interface Revision Firmware Revision EN Eb FM P 2 2 REV_13 B7 A3 2 1 REV_10 B6 A2 2 0 REV_9 A1 1 6 REV_8 A4 REV_7 B5 1 5 REV_6 B4 1 4 REV_5 B2 B1 A3 1 3 REV_4 A2 1 2 REV_3 A8 A7 A6 1 1 REV_2 A2 A5 1 0 REV_1 A1 Epsilon Eb and E Series EN Drives Reference Manu...

Page 215: ...ver released FM P A1 was never released PowerTools Revision Interface Revision Firmware Revision EN Eb Ei FM P FM 1 FM 2 2 2 REV_13 A3 A3 A3 A3 A3 2 1 REV_11 B6 A2 A1 A6 2 0 REV_10 A1 REV_9 A1 1 3 REV_8 A4 A1 REV_7 B5 A4 1 2 REV_6 B4 A3 1 1 REV_5 B2 B1 A3 A2 A1 1 0 REV_4 A2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 216: ...ard Range 90 264 VAC 1 Ø 47 63 Hz Extended Range requires APS 42 264 VAC 1 Ø 47 63 Hz Auxiliary Power Supply Auxiliary Logic Power Input 130 370 VDC 18 W load including FM s attached to the drive For logic backup 24 VDC 0 5 A loading Switching Frequency 20 kHz Power Supply Output 5 VDC 250 mA maximum for master encoder usage Efficiency Drive 90 93 at full rated output power Eb 202 203 93 Eb 205 95...

Page 217: ... ohm termination 2 0 3 1 V Vout common mode w 100 ohm termination 0 0 3 0 V Iout short circuit 30 130 ma Shunt Resistor Capacity Regeneration Capacity Internal The internal shunting capacity for the drive motor combinations listed below is based on full speed and peak torque reversal EN 204 MG 316 10 1 Mismatch Bus Capacitance EN 208 MG 455 5 1 Mismatch 50W 50 Ohm EN 214 MG 4120 10 1 Mismatch 50 W...

Page 218: ... 50 C with power derating of 3 C Rated altitude 3 280 feet 1000 m Vibration 10 2000 Hz at 2g Humidity requirement 10 95 non condensing Storage temperature 13 F to 167 F 25 C to 75 C Derating Temperature Operation in ambient temperature over 50 C 122 F not recommended Drive output power must be derated by 3 C between 104 F to 122 F 40 C to 50 C Single phase operation EN 214 drive output power ratin...

Page 219: ...5 2 79 0 00648 7 319 3000 2048 58 9 8 6 0 97 MGE M 4120 132 14 92 257 0 29 03 5 30 3 95 0 00938 10 593 3000 2048 71 8 10 5 1 19 Eb 202 MG 205 5 0 56 13 5 1 53 0 31 0 23 0 000084 0 95 5000 2048 28 3 4 1 0 46 MG 208 6 7 0 76 13 2 1 49 0 53 0 4 0 000144 0 163 5000 2048 28 3 4 1 0 46 NT 207 7 3 0 82 15 2 1 72 0 45 0 34 0 000094 0 1063 5000 2048 35 5 124 0 58 NT 212 9 2 1 04 18 2 03 0 71 0 53 0 000164 ...

Page 220: ...455CB MG 490CB MG 4120CB 220 24 9 0 000412 0 4652 5 8 2 6 24 10 0 88 10 100 ms 250 ms Motor Weight lb kg without Brake Weight lb kg with Brake MGE 205 3 0 1 36 N A MGE 208 4 0 1 8 5 8 2 6 MGE 316 8 3 3 8 10 7 4 9 MGE M 340 14 6 6 6 17 0 7 7 MGE M 455 18 5 8 4 24 3 11 0 MGE M 490 27 0 12 3 32 8 14 9 MGE M 4120 38 0 17 3 43 8 19 9 NT 207 3 1 36 N A NT 212 4 1 81 N A Motor Max Radial Load lb Max Axia...

Page 221: ...4 NT 212 IP65 NT 212 w o seals IP54 Motor Density Output Type Output Frequency Output Signals Power Supply MG and NT 2048 lines rev RS422 differential driver 250 kHz per channel A B Z Comm U Comm W Comm V and all complements 5V 200 mA 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 222: ...ues shown in the table below represent the typical dissipation that could occur with the drive motor combination specified at maximum output power Drive Model Logic Power Losses typ Drive Pld Watts Maximum Power Stage Losses Pp Watts Total Power Losses Watts EN 204 MG 205 19 30 52 EN 204 MG 208 50 72 EN 204 MG 316 82 104 EN 208 MG 340 160 182 EN 208 MG 455 200 222 EN 214 MG 490 300 322 EN 214 MG 4...

Page 223: ...osses 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 delivered at each speed plus actual shunt regulator usage For help in calcu...

Page 224: ... an aluminum mounting plate as shown in the table below Speed torque curves are based on 240 VAC drive operation All specifications are 5 percent due to motor parameter variations Motor Mounting Plate Size MG 205 and 208 NT 207 and 212 6 x 6 x 25 MG 316 through 490 10 x 10 x 375 MG 4120 12 x 16 x 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 225: ...208 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 226: ...209 Specifications Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 227: ...210 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 228: ...211 Specifications Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 229: ...212 E Series Drive Dimensions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 230: ... and B as shown in the figure below Drive Model Dimension A shown in inches mm Dimension B shown in inches mm Eb 202 2 10 53 3 45 11 4 Eb 203 2 10 53 3 45 11 4 Eb 205 3 56 90 42 7 17 78 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 231: ...9 525 563 14 3 127 3 23 0 300 7 62 2 0 51 2 625 66 68 063 1 60 1 502 38 15 205 5 21 MGE 316 and MGM 340 Mounting Dimensions inches mm AG A BC AH U Max XD S Min R C Max AJ BB AK BF 316 7 24 184 0 3 31 84 0 44 11 2 1 21 30 7 4997 12 69 90 22 9 1265 3 213 42 10 7 2 50 64 0 3 875 98 43 06 1 600 2 877 73 08 233 66 0 340 10 24 260 1 3 50 89 0 44 11 2 1 20 30 6 5512 14 000 787 20 0 197 5 00 429 10 90 2 5...

Page 232: ... 1 1875 4 763 77 19 6 3 20 81 3 5 875 149 23 10 2 50 4 500 114 30 3 8 16 UNC MGM 455 490 and 4120 Mounting Dimensions mm inches AG A BC AH U Max XD S Min R C Max AJ BB AK BF 455 216 0 8 59 121 0 4 764 13 0 51 50 5 1 99 19 000 7480 40 0 1 58 6 00 236 15 5 61 70 3 2 77 145 00 5 709 3 00 118 110 10 4 331 10 00 394 490 281 7 11 09 121 0 4 764 13 0 51 50 5 1 99 24 000 9 449 37 1 1 46 7 963 3135 19 9 78...

Page 233: ...ors English Face NEMA 23 with 3 8 inch shaft Note Mounting ears have clearance for 10 or M5 Allen head screw or 3125 or 8mm across flats hex nut Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 234: ...fications NTM 207 Motors Metric Face Note Mounting ears have clearance for 10mm across flats hex nut or 13mm O D washer Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 235: ...h Face NEMA 23 with 3 8 inch shaft Note Mounting ears have clearance for 10 or M5 Allen head screw or 3125 or 8mm across flats hex nut Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 236: ...fications NTM 212 Motors Metric Face Note Mounting ears have clearance for 10mm across flats hex nut or 13mm O D washer Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 237: ... X X Pulse In B single ended X X I O Input Drive Enable X X X I O Input 1 X I O Input 2 X I O Input 3 X I O Input 4 X X X I O Output 1 X X X I O Output 2 X X X I O Output 3 X X X I O Power In 1st wire X X X I O Power In 2nd wire X X X I O Power 0V In 1st wire X X X I O Power 0V In 2nd wire X Analog Out 0V X X X Analog Out 1 X X X Analog Out 2 X X X External Encoder 5 Power Out 200 ma X X X 15V Pow...

Page 238: ... Some CMDX cables may have White Yellow and Yellow White wires in place of the White Orange and Orange White shown in the figure above pins 6 and 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 239: ...DO cables may have White Yellow and Yellow White wires in place of the White Orange and Orange White shown in the figure above pins 6 and 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 240: ...223 Specifications CDRO XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 241: ...224 AX CEN XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 242: ...225 Specifications EIO XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 243: ...226 TIA XXX Cable DDS XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 244: ...cations TERM H Head Terminator TERM T Tail Terminator Note See the Multi drop Communications section for resistor values Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 245: ...228 CMDS XXX Cable CMMS XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 246: ...229 Specifications CFCS XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 247: ...230 CFCO XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 248: ...231 Specifications CFOS XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 249: ...m Bussman P O Box 14460 St Lois MO 63178 4460 314 394 3877 www bussman com Littelfuse 800 E Northwest Hwy Des Plaines IL 60016 847 824 0400 www littelfuse com Wickmann USA 4100 Shirlel Dr Atlanta GA 30336 404 699 7820 www wickmann com Corcom 844 E Rockland Road Libertyville IL 60048 847 680 7444 www corcom com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg ...

Page 250: ...not affect each other any check box can be On or Off independently of all the others 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 Windows a Dynamic Link Library contains a library of ma...

Page 251: ...ctionality Hysteresis For a system with an analog input the output tends to maintain it s current value until the input level changes past the point that set the current output value The difference in response of a system to an increasing 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 ...

Page 252: ...Diode List Box In a dialog box a list box is an area in which the user can choose among a list of items such as files directories printers or the like mA Milliamp MB Mega byte Most Significant Bit The bit in a binary number that is the most important or that has the most weight ms Millisecond NVM Non Volatile Memory NTC Negative Temperature Resistor Option Button See Radio Button Artisan Technolog...

Page 253: ...e and control the drive operation PE Protective Earth PID Proportional Integral Derivative An acronym that describes the compensation structure that can be used in many closed loop systems PLC Programmable Logic Controller Also known as a programmable controller these devices are used for machine control and sequencing PowerTools Base and FM Windows based software to interface with the Epsilon dri...

Page 254: ...perating system RPM Revolutions 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 Uploading The transfer of a complete set of parameters from PowerTools or an FM P VAC Volts Alternating Current VDC Volts Direct Current Windows Microsoft Mi...

Page 255: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 256: ...efault View 7 CMDO XXX Cable 222 CMDS XXX Cable 228 CMDX XXX Cable 221 CMMS XXX Cable 228 Command Cables 178 Command Connector Wiring 176 Communications with Drive 18 Commutation Accuracy Test 149 Commutation Basics 125 Configuring the Drive 145 Current Foldback 40 CW Reference Rotation 135 D DDS XXX Cable 226 Debounce Time 53 Declaration of Conformity viii Detailed Setup 59 Detailed Setup View 8 ...

Page 257: ...Output Signal Wiring 179 Encoder Specifications 204 Entering Load Parameters 15 Environmental Considerations 156 Epsilon Drive Dimensions 213 Epsilon Eb Drive Options 190 Error Messages 122 Establishing a Standard Alignment 136 External Shunt Operation 46 EZ Setup 59 EZ Setup View 7 F Fault Codes 112 Fault Descriptions 114 Feature Location 3 Features 2 Feedforwards 102 FM 1 Speed Module 194 FM 2 I...

Page 258: ...18 Opening an Online Configuration Window 20 Operation Verification 21 Operational Overview 23 Options and Accessories 189 Output Functions 55 Outputs Tab 71 P PID vs State Space 97 Position Error Integral 102 Position Tab 74 Power Dissipation 205 Power Dissipation Calculation 206 PowerTools Software 23 PowerTools Base Revisions with Firmware Revisions 197 PowerTools FM Revisions with Firmware Rev...

Page 259: ... Terminator 227 Thermal Switch Interfacing 130 TIA XXX Cable 226 Torque Limit Setup 14 Torque Limiting 38 Torque Mode 35 Torque Mode Setup 13 Torque Tab 78 Torque Test 148 Transformer Sizing 162 Travel Limit Application Notes 36 Tuning Hints 100 Tuning Parameters 100 Tuning Procedure 98 Tuning Procedures 97 Tuning steps 99 U Underwriters Laboratories Recognition vii User Defined Motors 125 User In...

Page 260: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 261: ... improve production efficiency For more information about EMERSON Motion Control products and services call 1 800 39 SERVO or contact our website at www emersondrivesolutions com EMERSON Motion Control Subsidiary of Emerson Electric Co 12005 Technology Drive Eden Prairie Minnesota 55344 U S A Sales 952 995 8000 or 1 800 39 SERVO Service 952 995 8033 Fax 952 995 8011 Printed in U S A Artisan Techno...

Page 262: ...quipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentation Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate representative or authorized distributor for any manufacturer listed herein We re here to make your life easier How...

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