Epsilon EP Drive Installation Manual P/N 400518-01 Revision: A1 Date: December 15, 2006 © Control Techniques Americas LLC, 2006
Epsilon EP Drive Installation Manual Information furnished by Control Techniques Americas LLC (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use. Control Techniques reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Control Techniques also assumes no responsibility for any errors that may appear in this document.
© Control Techniques Americas LLC, 2006 Part Number: 400518-01 Revision: A1 Date: December 2006 Printed in United States of America Information in this document is subject to change without notice. No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose, without the express written permission of Control Techniques Americas LLC. Control Techniques Americas LLC a division of EMERSON Co.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Safety Information Safety Precautions This product is intended for professional incorporation into a complete system by qualified persons. If you install the product incorrectly, it may present a safety hazard. The product and system may use high voltages and currents, carry a high level of stored electrical energy, or are used to control mechanical equipment that can cause injury.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification “Caution” used without the safety alert symbol indicates a potentially hazardous situation that, if not avoided, may result in property damage. For the purpose of this manual and product, “Note” indicates essential information about the product or the respective part of the manual. Throughout this manual, the word “drive” refers to an Epsilon EP drive.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Underwriters Laboratories Listed LISTED 51Y8 IND. CONT. EQ. File E 58592 Sec.5 The Epsilon Digital Servo Drives are marked with the “UL Listed” label after passing a rigorous set of design and testing criteria developed by UL (UL508C). This label indicates that UL certifies this product to be safe when installed according to the installation guidelines and used within the product specifications.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Drive Overload Protection Solid state motor overload protection is provided in each model at no more than 115% of rated FLA. This overload protection is based on maximum continuous output current capacity. It will allow up to 200 percent of drive FLA to be delivered for the amount of time determined by the following chart. Drive Output Current vs.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification CE Declaration of Conformity The Epsilon Digital Servo Drives are marked with the “Conformite Europeenne Mark” (CE mark) after passing a rigorous set of design and testing criteria. This label indicates that this product meets safety and noise immunity and emissions (EMC) standards when installed according to the installation guidelines and used within the product specifications.
Safety Information viii Product Overview Installation Diagnostics Options and Accessories Specification
Table of Contents Reference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii Safety Information iii Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Qualified Person . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Enclosure . . . . . . . . . . . . . . . . . .
Motor Feedback Wiring (J6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor Brake Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Input/Output and Drive Enable Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Analog Command Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Product Overview Epsilon EP Drive The Epsilon EP drive is a stand-alone, fully digital brushless servo drive designed and built to reliably provide high performance and flexibility without sacrificing ease of use. The use of State-Space algorithms make tuning very simple and forgiving. The drives are designed to operate with up to a 10:1 inertia mismatch right out of the box.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Epsilon EP drives are rated at 240 Vac input voltage and can operate with an input voltage from 20 to 264 Vac. The EP drives are available in three current ratings. 2 Drive Model Continuous Power Rating Continuous Current Peak Current Epsilon EP202 670 W 2.2 A RMS 4.4 A RMS Epsilon EP204 1140 W 4.0 A RMS 8.0 A RMS Epsilon EP206 1610 W 6.5 A RMS 13.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Installation Installation of the Epsilon EP drive is completed by following a simple step-by-step process. The Epsilon EP installation begins by mounting the drive to a metal mounting panel. Next, the high power connections are made to the drive, then the low power connections are made.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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 gauge rating.
Safety Information • Product Overview Installation Options and Accessories Diagnostics Specification 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 cables, stationary and moving, must be protected from abrasion.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Cable to Enclosure Shielding Shielded motor, feedback, serial communications and external encoder cables were used for 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 following figure.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification AC Line Filters The AC line filters are necessary to comply with EMC emission and immunity standards. The drive was tested with the filters presented in the table below and recommended by Control Techniques.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification The following table applies to the "A" dimension as shown in figure 4 below for the base and indexing drives. Drive Model -B or -I only Dimension "A" inches [mm] Minimum Panel Width inches [mm] EP202 2.11 [53.59] 2.90 [74] EP204 2.11 [53.59] 2.90 [74] EP206 2.82 [71.63] 3.60 [91] “A” 2.11 [53.59] 5.94 [150.88] 5.22 [132.59] 1.20 [30.48] .200 [5.08] 0.45 [23.4] 8.099 [205.72] 7.70 [195.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification The following table applies to the "A" dimension as shown in figure 5 for the programming drives. Drive Model Dimension "A" inches [mm] Minimum Panel Width inches [mm] EP202-Pxx-xxxx 2.69 [68.3] 3.45 [88] EP204-Pxx-xxxx 2.69 [68.3] 3.45 [88] EP206-Pxx-xxxx 3.40 [86.4] 4.15 [105] “A” 5.94 [150.88] 2.69 [68.3] 5.22 [132.59] 1.03 [26.16] 1.20 [30.48] .200 [5.08] (4X)Ø.219 [5.56] 8.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Step 3: High Power Connections System Grounding To insure a safe and quiet electrical installation, good system grounding is imperative. The figure below is an overview of the recommended system grounding. For more information on achieving an electrically quiet installation refer to “Step 1: Basic Installation Guidelines” on page 3.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Fixed Protective Earth (PE) connections are mandatory for human safety and proper operation. These connections must not be fused or interrupted by any means. Failure to follow proper PE wiring can cause death or serious injury. This equipment has high earth leakage current and requires a redundant PE connection from either terminal marked PE at J8 to PE connection point.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification DISTRIBUTION PANEL L3 SECONDARY L2 230 Vac No Fuse L1 (N) To Fusing and Drive Terminals PE (Protective Earth) EARTH GROUND NOTE: For single phase drives using lines L1 & L2 or L1 & L3, only one fuse is required on the high leg (L2 or L3). Lines L2 & L3 may be used to balance the load, requiring two fuses.
Safety Information Product Overview DISTRIBUTION PANEL Installation Options and Accessories Diagnostics Specification 3 Ø Isolation Transformer L3 L2 To Fusing and Drive Terminals L1 N PE (Protective Earth) EARTH GROUND Figure 10: Three-Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE Isolation Transformer DISTRIBUTION PANEL 3 Ø Isolation Transformer L3 L2 No Fuse EARTH GROUND Figure 11: Installation To Fusing and Drive Terminals L1 PE (Protective Earth) Three-Phase Delt
Safety Information Product Overview DISTRIBUTION PANEL Installation Diagnostics Options and Accessories Specification 3 Ø Isolation Step Down Transformer L3 L2 To Fusing and Drive Terminals > 140 Vac L1 N PE (Protective Earth) EARTH GROUND Figure 12: Grounded WYE Distribution >140 Vac Phase to Neutral. Recommend Using Step Down Transformer so Line to Line is 240 Vac or less.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification When multiple drives are connected to a single isolation transformer, add the suggested KVA ratings of the drives that would be operating simultaneously together for transformer sizing. Installation Drive/Motor Combination Suggested KVA Rating EP202/NT-207 1.2 EP202/NT-212 1.2 EP204/NT-207 1.2 EP204/NT-212 1.7 EP206/NT-212 1.7 EP206/NT-320 3.0 EP206/NT-330 3.0 EP206/NT-345 3.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Line Fusing and Wire Size You must incorporate over current protection for the incoming AC power with the rating shown here. UL approval for operation with the circuit breakers identified in the table below is pending. At present, fuses shown must be used for installation to meet UL.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification AC Input Power Connections Power must be "Off" for a minimum of 6 minutes for the Epsilon EP206 drive and 3 minutes for the Epsilon EP202/204 drives before unplugging the power connection. This will ensure the bus voltage has bled down to a safe level (below 50 Vdc). B+ PE SH PE B- Do not connect or disconnect AC power by inserting or removing the AC power connector.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Both supply conductors must be fused except one that is grounded. The fuse must be rated for at least the voltage applied. The current rating of the fuse should match the rated output current of the drive. A slow-blow fuse should be used if high peak loads are expected. External Shunt Electrical Installation Shunt connections at J8 remain at dangerous Voltages after disconnecting AC Power.
Safety Information Product Overview Installation SH Diagnostics Options and Accessories Specification B+ B+ PE SH PE B- Figure 15:Shunt Resistor Connections showing SM-Heatsink DBR-1 Kit Do Not make any shunt resistor connections to B-. Shunt connections are at main voltage potential. Components connected must be rated for the voltage and selected for safety. The external shunt resistor must have protection for a failed ON state of the shunt control.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Wire crimp ferrules are recommanded: For ground lead use Pheonix Contact p/n AI-TWIN 2X1, 5-8Bk/32 00 82 3 American Electrical/DigiKey 1381015/288-1130-ND For motor leads use Pheonix Contact p/n AI 1,5-8 RD/32 01 13 6 or ALTEC p/n H1.5/14 2204.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification XV Motor Power Wiring The XV 40 mm to 80 mm motors are equipped with up to three connectors, one for stator connections, one for encoder connections and one for the brake (if so equipped).
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Step 4: Low Power Connections DC Logic Power Supply Wiring The Epsilon drive requires a user supplied logic power supply, 24 Vdc ±10%, to power the internal logic of the drive. Use the table below to determine the current requirements of the application. Users should consider keeping logic power energized at all times because it helps prevent condensation and maintains position information in the drive.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification to the logic supply are PELV, the wiring need not be isolated from direct contact within a zone of equipotential bonding, normally an enclosure or set of enclosures bonded together. Otherwise, logic wiring and circuits must be isolated from direct contact by basic insulation for 300 V system voltage. In all applications, do not interconnect extra low voltage power supplies so that voltages add.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification XV 40-80 mm Motor XVM 40mm, 60mm, and 80mm Motor A A/ B B/ Z Z/ U U/ V V/ W W/ + 5 Vdc GND Shield 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Motor Feedback Cable Model # XEFTS-XXX Blue Orange Green Brown Black Yellow White/Brown Brown/White White/Gray Gray/White Red/Orange Orange/Red *Red/Blue *Blue/Red Red/Green Green/Red Epsilon Drive 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +5 V A A/ B B/ Z Z/ U 2K U/ U V U/
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Motor Brake Wiring The NT and MG motors equipped with brakes have a three-pin MS style connector. The brake power cable (model CBMS-XXX) has an MS style connector on the motor end and three wire leads on the drive end (see the following wiring diagrams). The XV 40-80 mm motors with brakes have a two-position connector.
Safety Information Product Overview Installation Options and Accessories Diagnostics Black - L1 Specification XV 40mm-80mm Motor L2 A2 A1 PE motor S logic R + _ T digital i/o (J3) Output #3 Drive Enable 8 10 I/O Supply 19 I/O Common 20 Customer supplied drive enable contact Internal to Motor 2 Amp Fuse 14 1 Amp Fuse J3 11 Relay: Model# BRM-1 EP204-I00-0000 9606XX-XX A1 SN 0610E014 Red + XTBMS-xxx Cable - + Single point PE ground Figure 24: C B A K1 Connected to grounded
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Inputs are ON with +10 Vdc to +30 Vdc applied and OFF when less than +1.5 Vdc or 0.2 mA is applied. Input current at 24 Vdc is 4.8 mA and input resistance is about 4.8k ohms. Maximum load on each output channel is 150 mA with 3.5 Vdc max voltage drop from I/O supply + to output. Outputs are rugged and require no freewheeling diode on inductive loads.
Safety Information Product Overview Installation Diagnostics J3 Connector Pin# Figure 27: Function 1 Input Line 1 2 Input Line 3 3 Input Line 5 4 Input Line 7 5 Input Line 9 6 Input Line 11 7 Output Line 1 8 Output Line 3 9 Output Line 5 10 Enable 11 Input Line 2 12 Input Line 4 13 Input Line 6 14 Input Line 8 15 Input Line 10 16 Input Line 12 17 Output Line 2 18 Output Line 4 19 I/O +V 20 I/O Common 21 Output Line 8 22 Input Line 13 23 Input Line 14 24
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Analog/Sync Output Connector (J5) All command, diagnostic, and sync signals are available using the 15-pin Analog/Sync Output connector. If interfacing the drive using field wiring, the optional standard terminal interface board (STI-SNCOA) may be used. It provides convenient connections using screw terminal strips.
Safety Information Product Overview Function Installation Pin Numbers Diagnostics Options and Accessories Specification Electrical Characteristics Encoder Out 1, 2, 3, 9, 10, 11 Differential line driver output (RS 422) Diagnostic Output 7, 15 ± 10 Vdc 10 mA maximum analog diagnostic, ref. to pins 6 and 14 Diagnostic Output Common 6, 14 0.0 V, 10 ohms away from PE.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Sync Input Connector (J10) Sync Input signals are connected to the drive using the 9-pin Sync Input connector. If interfacing the drive using field wiring, the optional standard terminal interface board (STI-SNCI) may be used.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Analog/Sync Output Connector (J5) - Analog In + Analog In Analog Command Wiring (Internal) 10 Ohm Logic Common PE 5 13 Single Point Panel Ground External Controller + CW Rotation + Command = CW With positive direction = CW Vdc _ Controller Logic Common Single Point Panel Ground Analog/Sync Output Connector (J5) - Analog In Analog Command, Differential Wiring Diagram + Analog In Figure 33: (I
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Note: If the external controller does not have an internal terminating resistor R1, R2 and R3 must be mounted within 3 ft [1 m] of the external controller. A 120 ohm resistor is recommended for high frequency encoders (over 250 kHz) or cables longer than 25 feet. If encoder signals are multi-dropped, termination resistors are required only at the last drop point. Do not terminate at more than one point.
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Pulse Mode Wiring, Differential Inputs 500 ns Minimum 500 ns Minimum 250 ns Minimum Motion occurs on rising edge Shield connected to connector shell Drive Sync Input Connector (J10) 10 Ohm (A) Pulse CW CCW RS-422 Type Differential Drives A A/ B B/ 1 2 3 5 PE (B) Direction Single Point Panel Ground R1 = Twisted Pair R2 Single Point PE Ground Figure 37: Note: If the external controller
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Pulse Mode Wiring, Single Ended Inputs 1 µs Minimum 1 µs Minimum 500 ns Minimum Motion occurs on falling edge Pulse Drive Analog/Sync Output Shield connected to connector shell (J5) CW CCW 10 Ohm Direction Pulse Direction 12 8 4 Sinking Outputs (typ) logic common PE Single Point Panel Ground Pulse Direction = Twisted Pair Common isolated from other sources Figure 39: Pulse Mode, Single
Safety Information Product Overview Installation 1 µs Minimum Options and Accessories Diagnostics Specification 1 µs Minimum 500 ns Minimum Motion occurs on falling edge CW Pulse Drive Analog/Sync Output Connector Shield connected to connector shell (J5) CW CCW CCW Pulse Pulse 12 8 4 Sinking Outputs (typ) logic common 10 Ohm Direction PE Single Point Panel Ground CW Pulse CCW Pulse Common isolated from other sources Figure 41: Pulse/Pulse Mode, Single Ended Output to Single Ended I
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Communications Communications with the drive is provided through the RJ45 connectors located on the front of the drive. The two RJ45 connectors are identical and are used to provide a way to daisy chain two or more drives together using the DDC-RJ45 cable, see Figure 44. The Epsilon EP serial communication connector (serial port) as standard, supports 2 wire EIA485 communications.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 1 8 1 8 Figure 43: Epsilon EP Serial Communication Connector DDC-RJ45 cable Figure 44: 2 Epsilon Drives Daisy Chained Together When connecting the serial port of your PC to the serial port of the drive, verify that your PC’s ground is the same as the drive PE ground. Failure to do so can result in damage to your PC and/or your drive. It is best to use an isolating cable such as the CT-Comms cable.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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. Serial Communications Specifications Max baud rate 19.
Safety Information 40 Product Overview Installation Diagnostics Options and Accessories Specification
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Diagnostics and Troubleshooting Diagnostic Display Status Codes The diagnostic display on the front of the drive shows drive status and fault 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.
Safety Information Product Overview Display Indication Installation Diagnostics Options and Accessories Specification Status Description Summation Summation mode operation. RMS Foldback Motor torque is limited to 80 percent. Stall Foldback Drive output current is limited to 80 percent of the drive’s stall current. Ready to Run Drive enabled, no Stop input. Homing Home cycle is executing. Other motion commands do not function. Indexing A Index is executing.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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.
Safety Information Product Overview Display Installation Diagnostics Options and Accessories Specification Fault Action to Reset Bridge Disabled Motor Overtemp Allow Motor to cool down, Reset Button or Input Line Yes RMS Shunt Power Reset Button or Input Line Yes Overspeed Reset Button or Input Line Yes Following Error (Pulse mode only) Reset Button or Input Line Yes Travel Limit +/- Auto No Sync Fault Cycle Logic Power Yes Run Time (EP-P Only) Reset Button or Input Line Yes A
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification NVM Invalid At power-up the drive tests the integrity of the non-volatile memory. This fault is generated if the contents of the nonvolatile memory are invalid. Invalid Configuration 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.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Encoder Hardware If any pair of complementary encoder lines (A, B, Z) are in the same state, an encoder line fault is generated. Also, can be generated if all three commutation channels (U, V, W) are 0 or 1, an illegal state. The most likely cause is a missing or bad encoder connection.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Trajectory Fault #2 This fault occurs when using the "Using Capture.#" option in a user program. If the capture has never been triggered, or the capture data has gone "stale", the drive will not be able to process motion properly. Program Fault This fault indicates a problem was encountered in a user program.
Safety Information Product Overview Figure 45: Installation Diagnostics Options and Accessories Specification Active Drive Faults Detected Dialog Box Resetting Faults Some drive faults are automatically reset when the fault condition is cleared. Other faults require drive logic power to be cycled or the drive to be “rebooted”. If you wish to continue working in the PowerTools Pro software without resetting the fault, click the Ignore Fault button.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Options and Accessories Epsilon EP Drive Options Drive Brake Relay, BRM-1 External Shunt Resistor, SM-Heatsink DBR1 Motor Power Cable, XTMDS-xxx Motor Brake Cable, XTBMS-xxx XV Motors ESA HMI to Drive, ESA-SP-485-xxx Ethernet Splitter, RJ45-5 Motor Power Cable, XCMDS-xxx or XCMDBS-XXX Drive to Drive, Drive RS485 to Drive RS485 DDC-RJ45-xxx NT or MG Motors J8 PC to Drive, PC RS232 to Drive RS485 S
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification STI-24IO The STI-24IO interface board allows access to all digital input and output signals. The STI-24IO mounts directly to the digital I/O connector (J3) on the front of the EP drive. See figure 47 below. Do not allow ESD directly to terminals. Always discharge static electricity to enclosure, not the drive when performing maintenance.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification STI-SNCOA The STI-SNCOA interface board allows access to the analog/sync signals. The STI-SNCOA plugs directly into the J5 connector on the bottom of the drive. The numbers printed on the connector label correlate to the screw terminal numbers. Do not allow ESD directly to terminals. Always discharge static electricity to enclosure, not the drive when performing maintenance.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification STI-SNCI The STI-SNCI interface board allows access to the sync input connections on the EP drive. The STI-SNCI plugs directly into the J10 connector on the bottom of the drive. The numbers printed on the connector label correlate to the screw terminal numbers. Do not allow ESD directly to terminals. Always discharge static electricity to enclosure, not the drive when performing maintenance.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification STI-ENC The STI-ENC interface board allows the user access to the encoder feedback connector (J6) on the EP drive. The STI-ENC plugs directly in J6 on the bottom of the drive. The numbers printed on the connector label correlate to the screw terminal numbers. Do not allow ESD directly to terminals. Always discharge static electricity to enclosure, not the drive when performing maintenance.
Safety Information 54 Product Overview Installation Diagnostics Options and Accessories Specification
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Specifications Epsilon EP Specifications Epsilon EP Series Power Requirements 20 Vac-264 Vac, 1 Ø, 47-63 Hz (240 Vac for rated performance) Type TN (Grounded) Installation Category III SCCR (Short Circuit Current Rating) 10,000 Symmetrical RMS Amps Rated Output Current and Power Model Continuous Power Continuous Current Peak Current EP202 670 W 2.2 A RMS at 40°C or 50°C 4.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Epsilon EP Series Analog command: ±10 Vdc 14 bit, 100 kOhm impedance, differential Absolute Maximum Input Voltage Input: +/- 14 Vdc to ground or differential, including drive enable Control Inputs Digital Inputs: 5 on the EP-B and 16 on the EP-I and EP-P including the drive enable input, 10 Vdc - 30 Vdc, 4.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Epsilon EP Series Fault Detection Capability Low DC bus (can be disabled) High DC bus Power Stage fault Logic power Encoder state Encoder line break Drive overtemperature Motor overtemperature Overspeed Travel limit (+) Travel limit (-) Following error Power-up self test failure Non-volatile memory invalid Cooling Method EP202, EP204, EP206: Natural Convection Environmental Pollution degree 2 envir
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Epsilon EP Drive Dimensions The following table applies to A* and B* as shown in the figure below. Drive Model Dimension A* (shown in inches/mm) Dimension B* (shown in inches/mm) EP202-B,-I,-IDN 2.11 [53.59] 0.45 [11.4] EP204-B,-I,-IDN 2.11 [53.59] 0.45 [11.4] EP206-B,-I,-IDN 2.82 [71.63] 0.45 [11.4] EP202-P 2.69 [68.3] 1.03 [26.16] EP204-P 2.69 [68.3] 1.03 [26.16] EP206-P 3.40 [86.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Cable Diagrams EIO26 Cable 1.530 EIO PIN 1 0.770 10 LT.
Safety Information Product Overview Installation Diagnostics Options and Accessories XV Motor Cables XTMDS-XXX Cable PIN 1 PE/GND 4 R 1 S 3 T 2 1 BRAID SHIELD GRN/YEL BRN BLK BLU 2 3 4 REAR VIEW OF CONNECTOR 60 FORM WIRE Specification
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification XCMDS-XXX PE/GND D U A V C W B BRAID SHIELD GRN/YEL FORM WIRE BRN BLK BLU BLU (20 AWG) BLU/WHT (20 AWG) Drain Wire D A C B SOLDER SIDE Socket Specifications 61
Safety Information Product Overview Installation Diagnostics Options and Accessories XCMDBS-XXX PE/GND D U A V C W B BRK+ E BRK - F BRAID SHIELD GRN/YEL BRN BLK BLU BLU (20 AWG) BLU/WHT (20 AWG) Drain Wire F A G E D B C SOLDER SIDE Socket 62 FORM WIRE Specification
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification XTBMS-XXX PIN 1 +24V 1 0V 2 RED BLK DRAIN WIRE 1 2 REAR VIEW OF CONNECTOR Specifications 63
Safety Information Product Overview Installation Options and Accessories Diagnostics XEFTS-XXX Cable Pin 1 PIN 1 BLU A 1 A/ 2 B 3 B/ 4 Z 5 Z/ 6 U 7 U/ 8 V 9 V/ W 10 W/ 12 P ORN GRN Inner Drain Wire P BRN BLK Inner Drain Wire P YEL WHT/BRN Inner Drain Wire P BRN/WHT WHT/GRY RED/ORG 11 +5 VDC 13 0V 14 P GRY/WHT P ORG/RED RED/BLU (18 ga.) BLU/RED (18 ga.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification XEFCS-XXX Cable Pin 1 A A A/ B B C B/ D Z E Z/ F U K U/ L V M V/ W N W/ R BLU GRN BLK P Inner Drain Wire P YEL WHT/BRN Inner Drain Wire P BRN/WHT WHT/GRY P GRY/WHT RED/ORG P ORG/RED RED/BLU (18 ga.) H BLU/RED (18 ga.
Safety Information Product Overview Installation NT and MG Motor Cables CMDS-XXX Cable 1 1/2" MAX. 3 3/4" MAX. GRN/YEL BRN D A B C BLK BLU SHELL A G B H F E C D SOLDER SIDE CMMS-XXX Cable 1 1/2" MAX.
Safety Information Product Overview Installation Diagnostics Options and Accessories Specification CBMS-XXX Cable RED B BLK C DRAIN WIRE A GND C A B SOLDER SIDE Socket Specifications 67
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification EFCS-XXX Cable Pin 1 A B A/ C B N BLU GRN P Z M U U E U/ R V F V/ W S G W/ H +5 VDC K GND T MOTOR OVERTEMP A NOT USED V BLK BRN/WHT GRY/WHT P P RED/ORG ORG/RED P RED/BLU BLU/RED P RED/GRN Inner Drain Wire GRN/RED P 1 A 2 A/ 3 B 4 B/ 5 Z 6 Z/ 7 U 8 U/ 9 V 10 11 V/ W 12 W/ 13 +5 VDC 14 COMMON 15 MOTOR TEMP Outer Drain Wire A P B R Z
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Sync Cables SNCDD-915-XXX Pin 1 Pin 1 A 1 A 2 RED GRN 3 B Z 6 Z 7 GND 8 5V 4 P YEL 5 B P ORG BLK P BRN PUR 1 A 9 A 2 B 10 B 3 Z 11 Z 8 GND 4 3 P BLU Drain Wire 4 5 9 3 8 2 7 8 1 7 6 5 2 1 15 14 13 12 11 10 9 6 SOLDER SIDE SOLDER SIDE Pin Pin SNCFLOA-XXX Pin 1 Blunt end ENCODER OUT A 1 ENCODER OUT A 9 ENCODER OUT B 2 ENCODER OUT B 10
Safety Information Product Overview Installation Options and Accessories Diagnostics SNCMD-815-XXX Pin 1 +A -A +B -B +Z -Z GND +5 VDC RED ORG GRN YEL BLK BRN PUR BLU DRAIN WIRE 1 2 3 5 6 7 8 4 6 3 1 9 2 10 P 3 11 8 P P 8 7 6 5 4 3 2 1 7 4 2 1 P 5 15 14 13 12 11 10 9 8 SOLDER SIDE CONNECTOR END VIEW Pin Pin SNCFLI-XXX Pin 1 Blunt end A 1 A 2 B 3 B 5 Z 6 Z 7 GND 8 5V 4 RED ORG YEL BRN 9 BLU Drain Wire 3 8 2 7 1 6 SOLDER SIDE Pin 70 P PUR 4 5 P
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification SNCMD-89-XXX Pin 1 A 1 A 2 B 3 B 5 Z 6 Z 7 GND 8 5V 4 N/C 9 RED ORG 1 P 2 GRN YEL 3 P 5 BLK BRN 6 P 7 PUR BLU 8 P 4 Pin removed Drain Wire Completely remove pin 4 4 5 3 2 1 6 3 9 8 7 6 1 4 2 5 7 8 SOLDER SIDE Pin Specifications CONNECTOR END VIEW Pin 71
Safety Information Product Overview Installation Options and Accessories Diagnostics Specification Communications Cables ESA-SP-485-XXX Drain Wire GRN 3 7 WHT/BLU 10 TXRX- WHT/ORG 5 ORG 6 P 220 Ω BLU 7 15 16 WHT/BRN 1 BRN 8 SIGNAL GND 22 TXRX+ P 470 Ω TXRX+ 2 TXRX- 5 P 470 Ω SIGNAL GND 4 WHT/GRN 4 18 P 25 470 Ω 13 12 11 10 9 8 7 6 5 4 3 2 25 24 23 22 21 20 19 18 17 16 15 1 14 470 Ω 220 Ω SOLDER SIDE Pin PIN 1 Pin 1 ETH-PATCH-XXX 8 1 1 8 1 2 3 6 4 5 7 8
Index A E AC Line Filter Installation Notes, 7 AC Line Filters, 6 AC Supplies NOT Requiring Transformers, 11 AC Supplies Requiring Transformers, 12 Achieving Low Impedance Connections, 3 Analog Command Wiring, 32 EIO26-XXX Cable, 59 Electromagnetic Compatibility, 3 Encoder Output Signal Wiring, 32 Environmental Considerations, 4 Epsilon EP Drive Options, 49 Epsilon EP Specifications, 55 B Basic Installation Guidelines, 3 C Cable Diagrams, 59 Cable to Enclosure Shielding, 6 CMDS-XXX Cable, 66 CMMS-XXX C
M U Motor Brake Wiring, 25 Motor Feedback Wiring, 23 Motor Power Wiring, 19 Underwriters Laboratories Recognition, v O Options and Accessories, 49 P Product Overview, 1 Pulse Mode Wiring, 34 R Rebooting the Drive, 48 Resetting Faults, 48 S Safety Information, iii Safety of Machinery, iii Safety Precautions, iii Setup, Commissioning and Maintenance, iii Shunt Control, 18 Shunt Resistor Kit Installation, 18 Specifications, 55 T Transformer Sizing, 14 74 V Viewing Active Drive Faults, 48 W Wire Size
Since 1979, the “Motion Made Easy” products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease of use, reliability and high performance. For more information about Control Techniques “Motion Made Easy” products and services, call (800) 893-2321 or contact our website at www.emersonct.com. Control Techniques Americas LLC Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A.
