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Epsilon Eb Digital Servo Drive Installation Manual

Serial Interface

RS-232 / RS-485

Internal RS-232 to RS-485 converter

Modbus protocol with 32 bit data extention

9600 or 19.2 k baud

Control Inputs

Analog command:

 ±10 VDC 14 bit, 13 bit, 100 

kohm impedance, differential

Digital inputs:

 (5) 10-30 VDC, 2.8 kohm 

impedance; current sourcing signal compatible 

(active high); max input response time is 500 

µs; optically isolated

Input debounce:

 0-2000 ms

Control Outputs

Diagnostic analog outputs:

 (2) ±10 VDC 

(single ended, 20 mA max) 10 bit software 

selectable output signals

Digital outputs:

 (3) 10-30 VDC 150 mA max, 

current sourcing, (active high) optically 

isolated: Input debounce: Programmable range, 

0 to 200 ms

Motor temp sensor (analog):

 0 to +5 VDC 

(single ended), 10 Kohm impedance

Pulse Mode

Interface:

 Software selectable differential 

(RS422) or single ended (TTL Schmitt Trigger)

Maximum input frequency:

 Differential - 2 

MHz per channel; 50% duty cycle (8 MHz count 

in quadrature)

Single ended - 1 MHz per channel; 50% duty 

cycle (4 MHz count in quadrature)

Ratio Capabilities:

 20 to 163,840,000 PPR

Input Device = AM26C32

V

diff

 = 0.1 - 0.2 V

V 

common mode

 max = +/- 7 V

Input impedance each input to 0 V = 12 - 17 

kohm

Epsilon Series

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: ...cribed herein and any associated motion products without notice EMERSON Motion Control also assumes no responsibility for any errors that may appear in this document Information in this document is subject to change without notice P N 400501 05 Rev A1 Date April 3 2000 2000 EMERSON Motion Control All rights reserved Epsilon Eb Digital Servo Drive Installation Manual Artisan Technology Group Qualit...

Page 3: ... a registered trademark of International Business Machines Inc Modbus is a trademark of Modicon Inc Data Highway Plus is a trademark of Allen Bradley Schaffner is a trademark of Schaffner Commercial names of products from other manufacturers or developers that appear in this manual are registered or unregistered trademarks of those respective manufacturers or developers which have expressed neithe...

Page 4: ...seven days a week Our wide range of services include FAX 952 995 8011 You can FAX questions and comments to EMERSON Motion Control Just send a FAX to the number listed above Website and Email www emersondrivesolutions com Website www emersondrivesolutions com Email info emersondrivesolutions com If you have Internet capabilities you also have access to technical support using our website The websi...

Page 5: ...ase be at your computer have your documentation in hand and be prepared to provide the following information Product version number found by choosing About from the Help menu The type of controller or product you are using Exact wording of any messages that appear on your screen What you were doing when the problem occurred How you tried to solve the problem Need on site help EMERSON Motion Contro...

Page 6: ... Authorized EMERSON Motion Control distributors may place orders directly with our Order Processing Department by calling the number listed above For information on your local distributor call EMERSON Motion Control Document Conventions Manual conventions have been established to help you learn to use this manual quickly and easily As much as possible these conventions correspond to those found in...

Page 7: ...iliar with the installation construction and operation of the equipment and the hazards This Represents bold Characters that you must type exactly as they appear For example if you are directed to type a setup you should type all the bold characters exactly as they are printed italic Place holders for information you must provide For example if you are directed to type filename you should type the...

Page 8: ...For the purpose of this manual and product Warning indicates death severe personal injury or substantial damage CAN result if proper precautions are not taken Caution For the purpose of this manual and product Caution indicates minor personal injury or property damage CAN result if proper precautions are not taken Note For the purpose of this manual and product Note indicates information about the...

Page 9: ...50 C 122 F with 3 linear derating for every degree above 40 C 104 F This product is suitable for use on a circuit of delivering not more than 5000 RMS symmetrical amperes 240 volts maximum Motors must incorporate an overload protection device such as an overtemperature switch Drive Overload Protection The drive output current overload protection is provided by the drive and is not adjustable This ...

Page 10: ...oduct 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 Group Qu...

Page 11: ... DIP ENV 50204 1995 Pulse 900 MHz 50 DTY 200 Hz Supplementary information The products herewith comply with the requirements of the Low Voltage Directive LVD 73 23 EEC and EMC Directive 89 336 EEC This electronic drive product is intended to be used with an appropriate motor electrical protection components and other equipment to form a complete end product or system It must only be installed by a...

Page 12: ...n Notes 11 Electromagnetic Compatibility EMC 11 Environmental Considerations 17 Wiring Notes 18 Mechanical Installation 19 Drive Mounting 19 Motor Mounting 19 Electrical Installation 20 Power Supply Requirements 21 Transformer Sizing 24 Line Fusing and Wire Size 26 Input Power Connections 26 Alternate Power Supply Wiring 28 Motor Power Wiring 31 Table of Contents Artisan Technology Group Quality I...

Page 13: ...Multi Drop Communications 49 Diagnostics and Troubleshooting Overview 51 Diagnostic Display 51 Fault Codes 53 Fault Descriptions 55 Diagnostic Analog Output Test Points 59 Drive Faults 61 Resetting Faults 61 Viewing Active Drive Faults 61 Rebooting the Drive 62 Watch Window 62 View Motor Parameters 65 Options and Accessories ECI 44 External Connector Interface 68 STI EIO Interface 69 Specification...

Page 14: ... Motor Dimensions 91 Cable Diagrams 99 CMDX XXX Cable 101 CMDO XXX Cable 102 CDRO XXX Cable 103 AX CEN XXX Cable 104 EIO XXX Cable 105 TIA XXX Cable 106 DDS XXX Cable 106 TERM H Head Terminator 107 TERM T Tail Terminator 107 CMDS XXX Cable 108 CMMS XXX Cable 108 CFCS XXX Cable 109 CFCO XXX Cable 110 CFOS XXX Cable 111 Vendor Contact Information 112 Index Artisan Technology Group Quality Instrument...

Page 15: ...xvi Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 16: ...ng Windows 95 98 or NT 4 0 Complete diagnostics are provided for quick troubleshooting A diagnostic display on the front of the drive informs the user the operational or fault status The last 10 faults are stored in non volatile memory along with a time stamp for easy recall Epsilon drives operate at 42 to 264 VAC standalone or at 24 to 375 VDC with an A P S Alternate Power Supply and are availabl...

Page 17: ...ree optically isolated outputs Built in RS 232C to RS 485 converter for multi drop applications RS 232C 485 serial communications interface using industry standard Modbus protocol up to 19 2 kbaud Diagnostic and operating mode status display Extensive fault sensing and diagnostics including storage and time stamping of the last ten faults Maximum input response time is 500 µs for command and input...

Page 18: ... input type selectable between differential and single ended Removable connectors for easy installation Single cable connection to EMERSON Motion Control s AXIMA 2000 and 4000 multi axis controllers Scalable Encoder Output in one line per revolution increments Travel Limit Function in Torque mode Access to bus voltage for external shunt Able to operate non EMERSON motors with encoders Artisan Tech...

Page 19: ...tion introduces you to the Epsilon Eb hardware and software features requirements and operation Safety Considerations This section describes a number of safety precautions that need to be addressed in a system design Diagnostics and Troubleshooting This section explains various diagnostic and troubleshooting aids Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisan...

Page 20: ...pecifications This section contains the specifications for the Epsilon Eb drive Reference Materials The following related reference and installation manuals may be useful with your particuliar system Epsilon Eb and E Series En Drives Reference Manual P N 400501 01 PowerTools Software User s Guide P N 400503 01 Epsilon and E Series Drive Parameters Reference Manual P N 400504 01 Artisan Technology ...

Page 21: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 22: ...s used to control mechanical equipment which can cause injury You should give close attention to the electrical installation and system design to avoid hazards either in normal operation or in the event of equipment malfunction System design installation commissioning and maintenance must be carried out by personnel who have the necessary training and experience Read and follow this safety informa...

Page 23: ...ct has been designed and tested to a high standard and failures are very unlikely However the level of integrity offered by the product s control function for example stop start forward reverse and maximum speed is not sufficient for use in safety critical applications without additional independent channels of protection All applications where malfunction could cause injury or loss of life must b...

Page 24: ...When unplugged the pins of the plug may be connected to the drive input which is only separated from the charge stored in the bus capacitor by semiconductor devices To avoid any possibility of electric shock from the pins if they are accessible a means must be provided for automatically disconnecting the plug from the drive e g a latching contactor Grounding Earthing equipotential bonding The driv...

Page 25: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 26: ...derations section for more information Electromagnetic Compatibility EMC Drives are designed to meet the requirements of EMC Under extreme conditions a drive might cause or suffer from disturbances due to electromagnetic interaction with other equipment It is the responsibility of the installer to ensure that the equipment or system into which the drive is incorporated complies with the relevant E...

Page 27: ...num or stainless steel Devices mounted to the enclosure mounting plate which depend on their mounting surfaces for grounding must have the paint removed from their mounting surfaces and the mating area on the mounting plate to ensure a good ground See Achieving Low Impedance Connections section for more information If grounding is required for cable grommets connectors and or conduit fittings at l...

Page 28: ...mpedance connection Enclosure manufacturers offer corrosion resistant unpainted mounting plates to help Bringing components into direct contact cannot always be achieved In these situations a conductor must be relied upon to provide a low impedance path between components Remember a flat braided wire has lower impedance than a round wire of a large guage rating A low impedance connection should ex...

Page 29: ...s with the following line filters AC Line Filter Installation Notes EMC criteria can be met in installations where multiple drives are supplied through a single filter however it is the installers responsibility to verify EMC compliance Questions on this subject should be directed to the filter manufacturer Epsilon E Series Schaffner Part EMERSON Part Rating Eb 202 Eb 203 FN2070 10 08 960307 01 10...

Page 30: ...ed 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 below Figure 2 Through Wall Shield Grommet Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Page 31: ...tor 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www arti...

Page 32: ...ntaminants such as moisture oils conductive dust chemical contaminants and metallic particles you must mount it vertically in a metal NEMA type 12 enclosure If the ambient temperature inside the enclosure will exceed 40 C 104 F you must consider forced air cooling Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 33: ...ower lines encoder feedback serial communications etc If a neutral wire 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 cab...

Page 34: ... drive spacing requirements vary by drive size and RMS loading Additional space may be necessary for wiring and cable connections For drive dimensions weights and mounting specifications see the Specifications section Motor Mounting Motors should be mounted firmly to a metal mounting surface to ensure maximum heat transfer for maximum power output and to provide a good ground For motor dimensions ...

Page 35: ...silon Eb Digital Servo Drive Installation Manual Electrical Installation Figure 4 Typical System Grounding Diagram Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 36: ...onnected to any pair of power phases on a 1 Ø or 3 Ø power source that is grounded as shown in the following diagrams If using an APS Logic Power input and the Low DC Bus fault is disabled minimum supply voltage to an Epsilon can be reduced to 15 VAC on the AC inputs or 24 VDC on the Bus connections Note The maximum voltage applied to the drive terminals must not exceed 264 VAC phase to phase and ...

Page 37: ...rmer is configured as shown in the figures below the AC power supply can be connected directly to the amplifier terminals Figure 5 Earth Grounded WYE Distribution Transformer Figure 6 Earth Grounded Delta Distribution Transformer Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 38: ...stribution point and the drives the transformer secondary must be grounded for safety reasons as shown in the figures below Figure 7 Three Phase Delta with mid phase GND Distribution to a Three Phase Delta WYE Isolation Transformer Figure 8 Three Phase WYE ungrounded Distribution to a Three Phase Delta WYE Isolation Transformer Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOU...

Page 39: ...le for sizing the KVA rating The values in the table are based on worst case power usage and can be considered a conservative recommendation You can down size the values only if the maximum power usage is less than the transformer continuous power rating Other factors that may influence the required KVA rating are high transformer ambient Artisan Technology Group Quality Instrumentation Guaranteed...

Page 40: ...eeds and loads near maximum ratings Typically higher KVA transformers have lower voltage drop due to lower impedance Drive Motor Combination Suggested KVA Rating Eb 202 NT 207 1 0 Eb 203 NT 207 1 0 Eb 202 NT 212 1 2 Eb 203 NT 212 1 7 Eb 203 MG 316 2 3 Eb 205 MG 340 3 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 41: ...rrent will be higher Input Power Connections Power must be Off for a minimum of 6 minutes for the Epsilon drive before unplugging the power connection to ensure the bus voltage has bled down to a safe level below 50 VDC Drive Model External AC Line Fuse Recommended Minimum AC PE Line Wire Gauge Eb 202 LPN 6 Amp 16 AWG Eb 203 LPN 8 Amp 16 AWG Eb 205 LPN 12 Amp 16 AWG Drive Model Input Voltage VAC F...

Page 42: ...er by inserting or removing the AC power connector Using the connector in this manner even once will damage the connector making it unusable L2 Front View 50 60 Hz 90 264 VAC Tighten screws to 5 lb in L1 GND J1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 43: ...f the backup supplies have been active Enabling APS power is done by sliding open the access panel on the side of the drive Then move the jumper into the APS position using needle nose pliers Side View Front View 24 VDC Important Slide the side access panel up into the open position Remove the jumper from the AC position Default and reinstall it into the 24 V position A P S The instruction on the ...

Page 44: ...ing the APS supply input to power the drive logic and motor encoder allows the drive bus to operate at DC voltages below 42 VAC 60 VDC bus The drive will operate down to 12 VDC on the bus 10 VAC on L1 and L2 However the low DC bus monitoring must be disabled to prevent faults at these low DC bus voltage levels This can be done with PowerTools software on the Advanced tab in Detailed Setup mode Cau...

Page 45: ... removed from the L1 and L2 terminals Note Connecting 24V common on the APS to chassis ground reduces offset voltage in Analog Diagnostic Outputs Figure 13 Multiple APS Wiring Diagram Front View Front View 24 VDC J1 1 A Fuse J1 1 A Fuse Single point PE ground recommended Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 46: ... back to the amplifier terminal and must not be connected to any other conductor shield or ground 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 motor only Nothing should be connected between these devices J1 Brown Black Blue Green Yellow Shield 2 and 3 motor cable connector CMDS xxx cable PT06A 16 8S...

Page 47: ...A A B B and Z Z pairs the CFCS cable uses low capacitance 10 pf ft wire to get a characteristic impedance of 120 ohms This impedance match is important to minimize signal loss and ringing Figure 15 Motor Feedback Connector Pinout Motor Brake Wiring Motors equipped with brakes have a three pin MS style connector The EMERSON Motion Control brake power cable Artisan Technology Group Quality Instrumen...

Page 48: ...an one brake you must increase its current capability Figure 16 Epsilon Brake Wiring Diagram using the Command Connector 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 Su...

Page 49: ... to 30 VDC source All inputs and outputs are configured as sourcing You are responsible for choosing a load that will limit each output s current to less than 150 mA Front View 19 10 8 Output 3 Drive Enable I O Common I O Supply J3 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...

Page 50: ...ns Drive Enable Input 10 Input 4 Input 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...

Page 51: ... 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 Output 1 I O Common I O Common I O Supply 31 32 33 34 19 18 I O Supply 2 8 k J3 J5 Input 4 Input 3 Input 2 Input 1 Drive Enable Input 11 1 10 8 2 12 Output 3 Output 2 Output 1 I O Common I O Supply 20 19 7 17 Internal to Drive GND Artisan Technology Group Quality Instrumentation Guaranteed 88...

Page 52: ... AX 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 ECI 44 which provides a convenient screw terminal connection strip Connect one end of the CMDX command cable to your drive and the ot...

Page 53: ...l 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 A Pulse Input A Pulse Input Z Pulse Input Z Pulse In B Sing...

Page 54: ...p maximum I O Common 31 32 I O return Pulse Inputs Differential 25 26 27 39 40 41 5 V 200 mV differential 60 mV hysteresis RS 422 compatible Pulse Inputs Single Ended 20 36 TTL 330 ohm pull ups to internal 5 V 1 5 V low 3 5 V high Encoder Supply Output 5 V 11 5 V 200mA output self resetting fused internally Encoder Common 0 V 12 0 0 V 10 ohms away from PE Encoder Out 8 9 23 24 37 38 Differential l...

Page 55: ...ure above pins 6 and 21 The CDRO cable includes only the most commonly used signals to reduce the cable outer dimension and has a connector at only one end The 45 degree connector design used on the 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 Analog Command Wiring Figure 21 Ana...

Page 56: ...efault encoder output resolution is set so it outputs the actual motor encoder resolutions The standard MG and NT motors have 2048 lines per revolution This resolution is adjustable in one line per revolution increments with PowerTools software With the range of one line per revolution to the actual motor encoder density Command Connector Artisan Technology Group Quality Instrumentation Guaranteed...

Page 57: ...gital Servo Drive Installation Manual Figure 23 Command Connector Encoder Output Wiring Figure 24 Direction Convention Diagram Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 58: ...Installation Pulse Mode Wiring Differential Inputs Figure 25 Pulse Mode Differential Output to Differential Input Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 59: ...Servo Drive Installation Manual Figure 26 Pulse Mode Single Ended Output to Differential Input Pulse Mode Wiring Single Ended Inputs Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 60: ...le 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 61: ...t resolution is 2048 lines per motor revolution This resolution is adjustable in one line per revolution increments with PowerTools software The range is between 200 and the actual motor encoder density Serial Communications Serial communications with the drive is provided through the female DB 9 connector located on the front of the drive The serial interface is either three wire non isolated RS ...

Page 62: ...al Connections between the Command Connector and the Serial Communication Connector Front View Bottom View RS 485 RS 485 6 12 21 To drive processor RS 485 N C N C 5 Comm Common 7 6 5 4 8 9 RS 485 TX 232 RX 232 Shield 1 2 3 PE Single point ground 10 Ohm J5 J2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 63: ...ound 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 Modbus Communications The drive s serial communication protocol is Modbus RTU slave with a 32 bit data extension The Modbus protocol is available on most operator interface panels and PLC s EMERSON Motion Control s Motion Interface panels ar...

Page 64: ...u to easily connect two or more drives Figure 31 Multi Drop Wiring Diagram Note The terminating resistor packs TERM 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 ...

Page 65: ...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 artisa...

Page 66: ... codes When a fault condition occurs the drive will display the fault code overriding the status 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 br...

Page 67: ...rque mode operation Summation Summation mode operation RMS Foldback Motor torque is limited to 80 percent Stall Foldback Drive output current is limited to 80 percent of drive stall current Ready to Run Drive enabled no Stop input Display Indication Status Description Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 68: ...t conditions For example if there is a Low DC Bus fault where the power stage is disabled the drive will 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 on...

Page 69: ...ate Power Yes Encoder Hardware Power Yes Motor Overtemp Cool down Button or Input Yes Overspeed Button or Input Yes Max Following Error Position mode Button or Input Yes Travel Limit Auto No Display Fault Action to Reset Bridge Disabled Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 70: ...ault 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 Indicates the drive IGBT temperature has reached 100 C Power Module This fault is generated when a power stage over temperature over current or loss of power stage logic supply occurs This can All On N...

Page 71: ...d contact Emerson Motion Control Technical Service High DC Bus This fault will occur whenever the voltage on the DC bus exceeds 415 VDC The most likely cause of this fault would be an open external shunt fuse a high AC line condition or an application that requires an external shunt e g a large load with rapid deceleration Low DC Bus This fault will occur whenever the voltage on the DC bus drops b...

Page 72: ...me state an encoder line fault is generated The most likely cause is a missing or bad encoder connection Motor Overtemp This fault is generated when the motor thermal switch is open due to motor over temperature or incorrect wiring Overspeed This fault occurs in one of two circumstances 1 When the actual motor speed exceeds the Overspeed Velocity Limit parameter or 150 of motor maximum operating s...

Page 73: ...t default following error limit is 2 revs With PowerTools you can change the Following Error Limit value or disable in the Position tab Travel Limit This fault is caused when either the or Travel Limit input function is active All On This is a normal condition during power up of the drive It will last for less than 1 second If this display persists call EMERSON for service advice Normally All On a...

Page 74: ...ns Velocity Command Velocity Feedback Torque Command equates to Torque Command Actual parameter Torque Feedback Following Error Default Analog Output Source Channel 1 Velocity Feedback Channel 2 Torque Command The DGNE cable was designed to be used with either an oscilloscope or a meter The wires are different lengths to avoid shorting to each other However if signals do get shorted to GND the dri...

Page 75: ...und reduces output offset voltage Figure 33 Diagnostic Cable DGNE Diagram Figure 34 Epsilon Location 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 888 88 SOURCE www artisantg com ...

Page 76: ...leared If you wish to continue working in the PowerTools software without resetting the fault 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 ...

Page 77: ...y available when you are online with the drive Note You cannot change the values of the parameters while they are being displayed in the Watch Window The parameter in the setup screens will look like they have been changed when they actually have not To update a parameter delete it from the Watch Window selection Note It is normal to have the Watch Window show up with the three motor parameters al...

Page 78: ...dow will automatically appear as soon as you select a parameter from the Select Drive Parameters dialog box After you have selected the parameters you wish to watch click the Close button The Select Drive Parameters dialog box will close and the Watch Window will remain open Figure 37 Select Drive Parameters Dialog Box Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www a...

Page 79: ...tions 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 Analog Out Fault Log Setup Communication Home FM 2 Ei only Status Digital Inputs ID Torque Digital Outputs Index FM 2 Ei on...

Page 80: ...hree motor parameters These parameters are normally used when testing the setup of a User Defined Motor for commutation accuracy Figure 38 View Motor Parameters Window The View Motor Parameters window is accessed by selecting View Motor Parameters from the Tools menu Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 81: ...66 Epsilon Eb Digital Servo Drive Installation Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 82: ...67 Options and Accessories Epsilon Eb Digital Servo Drive STI EIO Epsilon Eb Digital Servo Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 83: ...e wiring The ECI 44 comes complete with the hardware necessary for mounting to most DIN rail mounting tracks Figure 39 Dimensions of ECI 44 Note Shield connection points are connected to the shell of the 44 pin D connector on the ECI 44 Also the shield connection points of the ECI 44 are also designed to provide a point for cable strain relief Artisan Technology Group Quality Instrumentation Guara...

Page 84: ...routed away from high voltage wiring STI EIO Interface The STI EIO interface allows access to all digital input and output signals The STI EIO mounts directly to the J3 connector on the drive See Figure 40 on page 70 Note Shield connection points are connected to the shell of the 44 pin D connector on the STI EIO The STI EIO wire range is 18 to 24 AWG stranded insulated wire Note Wiring should be ...

Page 85: ...70 Epsilon Eb Digital Servo Drive Installation Manual Figure 40 Dimensions of STI EIO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 86: ...71 Options and Accessories Figure 41 ECI 44 Signal Connections Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 87: ...72 Epsilon Eb Digital Servo Drive Installation Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 88: ...rated performance or 12 375 VDC when using an A P S Logic Supply Input and disabled Low DC Bus alarm Auxiliary Power Supply Auxiliary Logic Power Input For logic backup 24 VDC 0 5A Switching Frequency 20 kHz Power Supply Output 5 VDC 250 mA maximum for master encoder usage Efficiency Drive Eb 202 203 93 at full rated output power Eb 205 95 at full rated output power Ingress Protection IP Rating Dr...

Page 89: ...table output signals Digital outputs 3 10 30 VDC 150 mA max current sourcing active high optically isolated Input debounce Programmable range 0 to 200 ms Motor temp sensor analog 0 to 5 VDC single ended 10 Kohm impedance Pulse Mode Interface Software selectable differential RS422 or single ended TTL Schmitt Trigger Maximum input frequency Differential 2 MHz per channel 50 duty cycle 8 MHz count in...

Page 90: ...ad for Eb 202 203 with NT 212 or Eb 205 with MG 340 Repetition frequency limited only by drive RMS capacity No internal shunt resistor External Bus connection provided for external regeneration unit EMC model RSR 2 with a 20 ohms resistor 15 ARMS capacity Fault Detection Capability Low DC bus can be disabled High DC bus Power Stage fault Logic power Encoder state Encoder line break Drive overtempe...

Page 91: ...erating 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 Derating altitude Above 3 280 8 ft 1000 m reduce output by 1 per 328 08 ft 100 m Standards and Agency Approvals UL listed Canadian UL listed CE Mark Low voltage directive EMC directive Accessory Specifications Amplifier Weights Eb 202 3 ...

Page 92: ...0 58 NT 212 9 2 1 04 18 2 03 0 71 0 53 0 000164 0 185 5000 2048 34 7 5 08 0 57 Eb 203 MG 205 5 0 56 15 0 1 69 0 31 0 23 0 000084 0 95 5000 2048 28 3 4 1 0 46 MG 208 9 1 1 03 20 2 26 0 58 0 43 0 000144 0 163 5000 2048 28 3 4 1 0 46 MG 316 15 8 1 79 31 8 3 59 1 0 0 75 0 000498 0 562 4000 2048 37 6 5 5 0 62 NT 212 12 5 1 41 27 3 05 0 8 0 6 0 000164 0 185 5000 2048 34 7 5 08 0 57 Eb 205 NT 212 12 5 1 ...

Page 93: ...50 5 6 0 00015 0 1693 2 4 1 1 MGE M 455CB MG 490CB MG 4120CB 220 24 9 0 000412 0 4652 5 8 2 6 Motor Coil Voltage VDC Coil Current Amps Mechanical Disengage ment Time Mechanical Engagement Time MGE 2XXCB 24 10 0 48 10 25 ms 40 ms MGE 316CB MGM 340CB 24 10 0 52 10 100 ms 250 ms MGE M 455CB MG 490CB MG 4120CB 24 10 0 88 10 100 ms 250 ms Artisan Technology Group Quality Instrumentation Guaranteed 888 ...

Page 94: ...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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 95: ...g Figure 42 Axial Radial Loading Motor Max Radial Load lb Max Axial Load lb MGE 205 20 15 MGE 208 20 15 MGE 316 40 25 MGM 340 40 25 MGE M 455 100 50 MGE M 490 100 50 MGE M 4120 100 50 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 96: ...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 97: ...120 VAC on AC input The values 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 Eb 202 MG 205 11 25 36 Eb 202 NT 207 25 36 Eb 202 NT 212 30 41 Eb 203 NT 207 30 41 Eb 203 MG 208 55 66 Eb 203 NT 2...

Page 98: ...power losses Watts TRMS RMS torque for the application lb in Vmax Maximum motor speed in application RPM Pld Logic Power Losses Drive Watts Psr Shunt Regulation Losses Watts RSR 2 losses or equivalent Note TRMS Vmax 1500 Power Stage Dissipation Pp A more accurate calculation would include even more specifics such as actual torque delivered at each speed plus actual shunt regulator usage For help i...

Page 99: ... motor mounted to 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 artis...

Page 100: ...85 Specifications Figure 43 Epsilon Speed Torque Curves sheet 1 of 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 101: ...86 Epsilon Eb Digital Servo Drive Installation Manual Figure 44 Epsilon Speed Torque Curves sheet 2 of 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 102: ...shown in Figure 45 Figure 45 Drive Dimesions Eb 202 Eb 203 Eb 205 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 103: ...11 2 1 20 30 5 375 9 525 563 14 3 127 3 23 208 6 75 171 4 2 25 57 2 46 11 2 1 20 30 5 375 9 525 563 14 3 127 3 23 MGE 205 and 208 Mounting Dimensions inches mm R C Max AJ BB AK BF 205 0 300 7 62 2 0 51 2 625 66 68 063 1 60 1 502 38 15 205 5 21 208 0 300 7 62 2 0 51 2 625 66 68 063 1 60 1 502 38 15 205 5 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 104: ...4 260 1 3 50 89 0 44 11 2 1 20 30 6 5512 14 000 787 20 0 MGE 316 MGM 316 and MGM 340 Mounting Dimensions inches mm S Min R C Max AJ BB AK BF 316 E 1265 3 213 42 10 7 2 50 64 0 3 875 98 43 06 1 600 2 877 73 08 233 66 0 316 M 0 20 5 08 0 43 10 9 2 5 64 0 3 937 108 0 0 12 3 0 3 15 80 0 276 7 01 340 197 5 00 429 10 90 2 50 64 0 3 937 100 00 118 3 00 3 150 80 01 276 7 01 Artisan Technology Group Qualit...

Page 105: ... 2 8750 22 225 1 50 38 1 1875 4 763 4120 13 61 345 70 5 00 127 0 53 13 5 190 48 2 8750 22 225 1 50 38 1 1875 4 763 MGE 455 490 and 4120 Mounting Dimensions inches mm R C Max AJ BB AK BF 455 51 13 0 3 20 81 3 5 875 149 23 10 2 50 4 500 114 30 3 8 16 UNC 490 77 19 6 3 20 81 3 5 875 149 23 10 2 50 4 500 114 30 3 8 16 UNC 4120 77 19 6 3 20 81 3 5 875 149 23 10 2 50 4 500 114 30 3 8 16 UNC Artisan Tech...

Page 106: ...1 1 46 7 963 3135 4120 343 1 13 59 121 0 4 764 13 0 51 50 5 1 99 24 000 9 449 37 1 1 46 7 963 3135 MGE 455 490 and 4120 Mounting Dimensions mm inches R C Max AJ BB AK BF 455 15 5 61 70 3 2 77 145 00 5 709 3 00 118 110 10 4 331 10 00 394 490 19 9 78 70 3 2 77 145 00 5 709 3 00 118 110 10 4 331 10 00 394 4120 19 9 78 70 3 2 77 145 00 5 709 3 00 118 110 10 4 331 10 00 394 Artisan Technology Group Qua...

Page 107: ... Eb Digital Servo Drive Installation Manual NT Motor Dimensions NTE 207 Motors English Face NEMA 23 with 3 8 inch shaft Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 108: ...Specifications Note Mounting ears have clearance for 10 or M5 Allen head screw or 3125 or 8mm across flat hex nut Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 109: ...94 Epsilon Eb Digital Servo Drive Installation Manual NTM 207 Motors Metric Face Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 110: ...Specifications Note Mounting ears have clearance for 10 or M5 Allen head screw or 3125 or 8mm across flat hex nut Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 111: ...96 Epsilon Eb Digital Servo Drive Installation Manual NTE 212 Motors English Face NEMA 23 with 3 8 inch shaft Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 112: ...cifications Note Mounting ears have clearance for 10mm or M5 Allen head screw or 3125 or 8mm across flat head screw Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 113: ...98 Epsilon Eb Digital Servo Drive Installation Manual NTM 212 Motors Metric Face Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 114: ...99 Specifications Note Mounting ears have clearance for 10mm across flat hex nut or 13mm O D washer Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 115: ... A X X Pulse In B X X Pulse In B X X Pulse In Z X Pulse In Z X Pulse In A single ended 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 A...

Page 116: ...X Analog Out 2 X X X External Encoder 5 Power Out 200 ma X X X 15V Power Out 10 ma X RS 485 X RS 485 X Drive Signal CMDX CMDO ECI 44 CDRO AX4 CEN Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 117: ...MDX XXX Cable Note 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 118: ... Some CMDO 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 119: ...CDRO XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 120: ...105 Specifications AX CEN XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 121: ...ble Input Input 3 Input 2 Input 5 Input 4 Input 7 Input 6 Input 9 Input 8 Input 11 Input 10 Output 1 Output 2 Output 5 Input 12 Output 3 Output 4 I O V I O Common N C N C N C N C Output 6 Output 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 122: ...107 Specifications TIA XXX Cable DDS XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 123: ...Drive Installation Manual 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 124: ...109 Specifications CMDS XXX Cable CMMS XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 125: ...CFCS XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 126: ...111 Specifications CFCO XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 127: ...112 Epsilon Eb Digital Servo Drive Installation Manual CFOS XXX Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 128: ...hinds com 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 ar...

Page 129: ...114 Epsilon Eb Digital Servo Drive Installation Manual Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 130: ...XX Cable 102 CMMS XXX Cable 109 Command Cables 39 Command Connector Wiring 37 D DDS XXX Cable 107 Declaration of Conformity x Diagnostic Analog Output Test Points 59 Diagnostic Cable DGNE Diagram 60 Diagnostic Display 51 Diagnostics and Troubleshooting 51 Drive and Motor Combination Specifications 77 Drive Enable Wiring 34 Drive Mounting 19 Drive overload protection ix Drive Specifications 73 E EC...

Page 131: ... 26 M Mechanical Installation 19 MG Motor Dimensions 88 MGE 205 and 208 Motors 88 MGE 316 and 340 Motors 89 MGE 455 490 and 4120 Motors 90 91 Modbus Communications 48 Motor Brake Specifications 78 Motor Brake Wiring 32 Motor Feedback Wiring 32 Motor Mounting 19 Motor Power Wiring 31 Motor Weights 79 Multi Drop Communications 49 N NT Motor Dimensions 92 NTE 207 Motors 92 NTE 212 Motors 97 NTM 207 M...

Page 132: ... 46 Setup Commissioning and Maintenance 8 Specifications 73 Speed Torque Curves 84 T TERM H Head Terminator 108 TERM T Tail Terminator 108 TIA XXX Cable 107 Transformer Sizing 24 U Underwriters Laboratories Recognition ix V Vendor Contact Information 113 View Motor Parameters 65 Viewing Active Drive Faults 61 W Watch Window 62 Wire Size 26 Wiring Notes 18 Artisan Technology Group Quality Instrumen...

Page 133: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 134: ...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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