Epsilon Eb Digital Servo Drive Installation Manual P/N: 400501-05 Revision: A2 Date: October 1, 2001 © Control Techniques Drives, Inc.
Epsilon Eb Digital Servo Drive Installation Manual Information furnished by Control Techniques Drives Inc. (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 Drives, Inc. 2000, 2001 Part Number: 400501-05 Revision: A2 Date: October 1, 2001 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.
Customer Service Control Techniques 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A. Telephone: (952) 995-8000 or (800) 397-3786 It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providing fast, friendly, and accurate assistance. That is why we offer you so many ways to get the support you need.
• 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? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’ technical service center when on-site service or maintenance is required. Training Services (952) 995-8000 or (800) 397-3786 Email: training@emersonct.
In addition, you will find the following typographic conventions throughout this manual. This Represents bold Characters that you must type exactly as they appear. For example, if you are directed to type a:setup, you should type all the bold characters exactly as they are printed. italic Place holders for information you must provide. For example, if you are directed to type filename, you should type the actual name for a file instead of the word shown in italic type.
Safety Instructions General Warning Failure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product can cause severe electric shock and/or burns and could be lethal. Extreme care is necessary at all times when working with or adjacent to the product. The installation must comply with all relevant safety legislation in the country of use.
Epsilon Eb Digital Servo Drive Installation Manual Safety Considerations Safety Precautions This product is intended for professional incorporation into a complete system. 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.
Epsilon Eb Digital Servo Drive Installation Manual at all times when working with or adjacent to this equipment. The installation must comply with all relevant safety legislation in the country of use. AC supply isolation device The AC supply must be removed from the drive using an approved isolation device or disconnect before any servicing work is performed, other than adjustments to the settings or parameters specified in the manual.
Underwriters Laboratories Listed LISTED 51Y8 IND. CONT. EQ. 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.
Drive Output Current vs. Time graph 60 Time (seconds) 50 40 30 20 10 0 100 125 150 175 200 % Drive Rated Current 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.
Declaration of Conformity Control Techniques Manufacturer’s Name: 12005 Technology Drive Eden Prairie, MN 55344 USA Manufacturer’s Address: Declares that the following products: Epsilon Digital Servo Drive Products Description: Model Number: Eb-202, Ei-202, Eb-203, Ei-203, Eb-205 and Ei-205 System Options: This declaration covers the above products with the ECI-44 Screw Terminal Interface.
xii
Epsilon Eb Digital Servo Drive Installation Manual Table of Contents Reference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi Safety Considerations Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Epsilon Eb Digital Servo Drive Installation Manual Modbus Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Multi-Drop Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Diagnostics and Troubleshooting Diagnostic Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault Codes . . . . . . . . . . . . . . .
CMDS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 CMMS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 CFCS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 CFCO-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Epsilon Eb Digital Servo Drive Installation Manual xvi
Epsilon Eb Digital Servo Drive Installation Manual Introduction Epsilon Eb Digital Servo Drive The Epsilon drives are standalone, fully digital brushless servo drives designed and built to reliably provide high performance and flexibility without sacrificing ease of use. The use of State-Space algorithms make tuning very simple and forgiving. The drives are designed to operate with up to a 10:1 inertia mismatch right out of the box.
Epsilon Eb Digital Servo Drive Installation Manual • 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 200% for 5 seconds • Sinusoidal commutation for efficiency and motor smooth motion • No potentiometers or selector switches • No tuning needed for no-load up to 10:1 inertia mismatch • High performance tuning ba
Epsilon Eb Digital Servo Drive Installation Manual Installation Basic Installation Notes You are required to follow all safety precautions during startup such as providing proper equipment grounding, correctly fused power, and an effective Emergency Stop circuit which can immediately remove power in the case of a malfunction. See the “Safety Considerations” section for more information. Electromagnetic Compatibility (EMC) Drives are designed to meet the requirements of EMC.
Epsilon Eb Digital Servo Drive Installation Manual Achieving Low Impedance Connections Noise immunity can be improved and emissions reduced by making sure that all the components have a low impedance connection to the same ground point. A low impedance connection is one that conducts high frequency current with very little resistance. Impedance cannot be accurately measured with a standard ohmmeter, because an ohmmeter measures DC resistance.
Installation AC Line Filters The AC line filters used during Control Techniques’ compliance testing are listed below. These filters are capable of supplying the drive input power to the specified drive under maximum output power conditions.
Epsilon Eb Digital Servo Drive Installation Manual Cable to Enclosure Shielding Shielded motor, feedback, serial communications, and external encoder cables were used for Control Technicques’ 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.
Installation Figure 3: AC Filter and Cable Connections for Epsilon Drives Environmental Considerations If the product will be subjected to atmospheric contaminants 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.
Epsilon Eb Digital Servo Drive Installation Manual Wiring Notes • To avoid problems associated with EMI (electromagnetic interference), you should route high power lines (AC input power and motor power) away from low power 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.
Installation Electrical Installation Figure 4: Typical System Grounding Diagram 9
Epsilon Eb Digital Servo Drive Installation Manual Power Supply Requirements The examples below show AC power connections for single phase and three phase drives. These examples are shown for reference only. Local electrical codes should be consulted before installation. The Protective Earth (PE) wire connection is mandatory for human safety and proper operation. This connection must not be fused or interrupted by any means. Failure to follow proper PE wiring can cause death or serious injury.
Installation Figure 5: Earth Grounded WYE Distribution Transformer Figure 6: Earth Grounded Delta Distribution Transformer AC Supplies Requiring Transformers If the distribution transformer is configured as shown in the figures below, an isolation transformer is required. If an isolation transformer is used between the power distribution point and the drives, the transformer secondary must be grounded for safety reasons as shown in the figures below.
Epsilon Eb Digital Servo Drive Installation Manual 12 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 Figure 9: Delta to Delta Isolation Transformer
Installation Figure 10: Single Phase Power Supply Connections Transformer Sizing If your application requires a transformer, use the following table 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.
Epsilon Eb Digital Servo Drive Installation Manual Line Fusing and Wire Size You must incorporate over current protection for the incoming AC power with the minimum rating shown below. Control Techniques recommends Bussman type: LPN or equivalent.
Installation Input Power Connections Epsilon Only 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). Figure 11: Epsilon AC Power Wiring Diagram Do not connect or disconnect AC power by inserting or removing the AC power connector. Using the connector in this manner, even once, will damage the connector making it unusable.
Epsilon Eb Digital Servo Drive Installation Manual Figure 12: Epsilon Auxiliary Power Supply Wiring Diagram Alternate Power Supply Wiring An Alternate Power Supply (APS) allows the drive to retain motor position information and serial communications when the main AC power supply is disconnected. You must reset the drive, either using the reset button or a reset input, after AC power is re-applied if the backup supplies have been active.
Installation APS Input Specification Voltage Range Current Inrush Current 18-30 VDC 0.5 A maximum 0.7 A peak ( 0.4 A maximum 0.6 A peak if external encoder is not used ) 80 A for 1 ms if not limited by power supply Using 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).
Epsilon Eb Digital Servo Drive Installation Manual Figure 13: Multiple APS Wiring Diagram Motor Power Wiring Motors are equipped with up to three male MS (Military Style) connectors, one for stator connections, one for encoder connections and one for the brake (if so equipped).
Installation 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. Motor Feedback Wiring Encoder feedback connections are made with the CFCS cable. This cable has an MS style connector on the motor end and a 26-pin high density “D” connector on the drive end. For 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.
Epsilon Eb Digital Servo Drive Installation Manual CBMS-xxx Cable Black - Bottom View Output #3 17 16 Drive Enable I/O Supply Customer supplied drive enable contact 32 I/O Common 31 J5 Single point PE ground.
Installation Input/Output and Drive Enable Wiring Drives are equipped with five optically isolated input lines (one is dedicated to a drive enable function) and three optically isolated output lines. They are designed to operate from a +10 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.
Epsilon Eb Digital Servo Drive Installation Manual Figure 19: Epsilon I/O to Command Connector Internal Connections Note If loads are applied to the same output signal on both Command Connector and I/O Connector, the sum total current loading must be limited to 150 mA per output signal. Command Connector Wiring All command and digital I/O signals are available using the 44-pin Command Connector.
Installation (ECI-44) which provides a convenient screw terminal connection strip. Connect one end of the CMDX command cable to your drive and the other end to the ECI-44. Shield Connected to Connector Shell Command Connector (RED/BRN) 1 (BRN/RED) (BLK/BLU) 2 3 4 (BLU/BLK) (ORG/YEL) Input #1 Input #2 Input #3 10 Ohm Input #4 6 RS 485+ (YEL/ORG) (PRP/BLU) 21 8 RS 485- (BLU/PRP) (RED/BLU) 9 11 Encoder Output Channel A/ Encoder Supply +5 Volts - Output.
Epsilon Eb Digital Servo Drive Installation Manual Function Pin Numbers Electrical Characteristics 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.
Installation Analog Command Wiring Figure 21: Analog Command, Differential Wiring Diagram Command Connector Figure 22: Analog Command, Single Ended Wiring Diagram 25
Epsilon Eb Digital Servo Drive Installation Manual Encoder Output Signal Wiring The Epsilon drive encoder outputs meet RS-422 line driver specifications and can drive up to ten RS-422 signal recievers. The default 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.
Installation Pulse Mode Wiring, Differential Inputs Figure 25: Pulse Mode, Differential Output to Differential Input Figure 26: Pulse Mode, Single Ended Output to Differential Input 27
Epsilon Eb Digital Servo Drive Installation Manual Pulse Mode Wiring, Single Ended Inputs +5 Logic Power Pulse A/ Direct B Sinking Outputs (typ) Common isolated from other sources Figure 27: Pulse Mode, Single Ended Output to Single Ended Input (twisted pair cable) +5 Logic Power Pulse A/ Direct B Sinking Outputs (typ) Common isolated from other sources Figure 28: 28 Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable)
Installation Figure 29: Master/Slave Encoder Connections Note Epsilon encoder outputs meet RS-422 driver specifications and can drive up to 10 RS-422 signal recievers. Each Epsilon differential pulse input is an RS-422 line recievers. The default encoder output 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.
Epsilon Eb Digital Servo Drive Installation Manual 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-232C or two wire non-isolated RS-485. RS-485 is also available through the 44-pin Command Connector.
Installation 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 19.2k Start bit 1 Stop bit 2 Parity none Data 8 Control Techniques’ Motion Interface panels are supplied with a Modbus master communications driver.
Epsilon Eb Digital Servo Drive Installation Manual TIA Cable DDS Cable DDS Cable TERM-T TERM-H RX (232) TX (232) Ground 1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6 7 8 9 7 8 9 7 8 9 Drive Serial Port 120 Ohm Computer Computer Serial Port Drive Serial Port 1 2 3 4 5 6 1 2 3 4 5 6 7 8 9 7 8 9 7 8 9 Drive Serial Port Drive Serial Port Drive Serial Port 0V +5 485 - 576 Ohm TERM-T TIA Cable DDS Cable Top View of Multi-drop Cabling 32 120 Ohm Drive Serial Port TERM-H Figur
Epsilon Eb Digital Servo Drive Installation Manual Diagnostics and Troubleshooting Diagnostic Display 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. This indicates that the drive is ready to run and will respond to motion commands.
Epsilon Eb Digital Servo Drive Installation Manual Display Indication Status Ready to Run Description Drive enabled, no Stop input. Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some faults, like high DC bus and amplifier or motor over temperature, can be reset with the Reset button on the front of the drive or the Reset input function.
Diagnostics and Troubleshooting Display Fault Action to Reset Bridge Disabled Encoder State 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 All "On" Normally "On" for one second during powerup Yes Fault Descriptions Power Up Test This fault indicates that the power-up self-test has failed.
Epsilon Eb Digital Servo Drive Installation Manual Invalid Configuration 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 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.
Diagnostics and Troubleshooting High DC Bus Threshold Low DC Bus Treshold E Series 440 96 Epsilon 415 60 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 of noisy encoder feedback caused by poor shielding. Encoder Hardware If any pair of complentary encoder lines are in the same state, an encoder line fault is generated. The most likely cause is a missing or bad encoder connection.
Epsilon Eb Digital Servo Drive Installation Manual 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 Control Techniques for service advice. Normally, “All On” appears for less than one second during power-up. All segments are dimly lit when power is “Off.
Diagnostics and Troubleshooting Note Connecting the A.P.S. 24V return to chassis ground reduces output offset voltage. D/A Black (GND) D/A Yellow Blue 10 Ohm 2 10 Ohm 2 DGNE Cable DGNE Cable Figure 33: Diagnostic Cable (DGNE) Diagram Figure 34: Epsilon Location GND GND 1 1 44 29 43 Command Connector Pin #'s Drive Faults The Drive Faults Detected dialog box is automatically displayed whenever a fault occurs. There are three options in this dialog box: Reset Faults, Ignore Faults and Help.
Epsilon Eb Digital Servo Drive Installation Manual Figure 35: Drive Faults Detected Dialog Box Resetting Faults Some drive faults are automatically reset when the fault condition is cleared. Others require drive power to be cycled or the drive to be “rebooted” to be cleared. If you wish to continue working in the PowerTools software without resetting the fault, click the Ignore Fault button.
Diagnostics and Troubleshooting Note 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 36: Watch Window The Watch Window is accessed by selecting Watch Drive Parameters from the Tools menu or by clicking on the Watch Window icon on the toolbar.
Epsilon Eb Digital Servo Drive Installation Manual Group This list box enables you to view the complete list of parameters or just a group of parameters you are interested in.
Epsilon Eb Digital Servo Drive Installation Manual Options and Accessories Epsilon Eb Digital Servo Drive 43
Epsilon Eb Digital Servo Drive Installation Manual ECI-44 External Connector Interface The ECI-44 allows access to all command and input and output signals. The ECI-44 should be mounted close to the drive and away from any high voltage 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.
Options and Accessories 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 45. Note Shield connection points are connected to the shell of the 44-pin “D” connector on the STI EIO. The STI-EIO wire range is #18 to 24 AWG stranded insulated wire. Note Wiring should be done with consideration for future troubleshooting and repair.
Epsilon Eb Digital Servo Drive Installation Manual Ext Encoder Supply Output + 15 V, 10 mA Pulse Input A, Single Ended Pulse Input B, Single Ended 20 EN V+ NC2 NC1 (Connector shell and strain relief points) Figure 41: 46 ECI-44 Signal Connections
Epsilon Eb Digital Servo Drive Installation Manual Specifications Drive Specifications Epsilon Series Power Requirements 42 - 264 VAC, 1 Ø, 47 - 63 Hz 240 VAC for 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.
Epsilon Eb Digital Servo Drive Installation Manual Epsilon Series Differential line driver, RS-422 and TTL compatible Scalable in one line increment resolution up to 2048 lines/rev of the motor (MG and NT) Encoder Output Signal Shunt Resistor Capacity/ Regeneration Capacity Output Device = AM26C31 20 mA per channel, sink and/or source Vout Hi @ 20 mA = 3.8 - 4.5 V Vout Lo @ 20 mA = 0.2 - 0.4 V Vout diff w/100 ohm termination = 2.0 - 3.1 V Vout common mode w/100 ohm termination = 0.0 - 3.
Specifications Epsilon Series Eb-2023.3 lb (1.5 kg) Eb-2033.3 lb (1.5 kg) Eb-2053.7 lb (1.7 kg) Amplifier Weights *Add 1 lb for shipping. Drive and Motor Combination Specifications Drive Motor Cont. Torque lb-in (Nm) Peak Torque lb-in (Nm) Power HP @ Rated Speed (kWatts) Inertia lb-in-sec2 (kg-cm2) Max speed RPM 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.
Epsilon Eb Digital Servo Drive Installation Manual Motor Brake Specifications Motor Holding Torque lb-in (Nm) Added Inertia lb-in-sec2 (kg-cm2) Added Weight lb (kg) MGE-2XXCB 10 (1.13) 0.000025 (0.0282) 1.8 (0.55) MGE-316CB MGM-340CB 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 Disengagement Time Mechanical EngagementTime MGE-2XXCB 24 (±10%) 0.
Specifications Axial/Radial Loading Figure 42: Motor Max Radial Load (lb.) Max. Axial Load (lb.
Epsilon Eb Digital Servo Drive Installation Manual Encoder Specifications 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% Power Dissipation In general, the drive power stages are 90 to 95 percent efficient depending on the actual point of the torque speed curve the drive is operating.
Specifications TPL = Total power losses (Watts) TRMS = RMS torque for the application (lb-in) Vmax = Maximum motor speed in application (RPM) Pld = Logic Power Losses Drive (Watts) Psr = Shunt Regulation Losses (Watts)-(RSR-2 losses or equivalent) Note TRMS * Vmax / 1500 = Power Stage Dissipation = Pp A more accurate calculation would include even more specifics such as actual torque delivered at each speed plus actual shunt regulator usage.
Epsilon Eb Digital Servo Drive Installation Manual Figure 43: 54 Epsilon Speed Torque Curves, sheet 1 of 2
Specifications Figure 44: Epsilon Speed Torque Curves, sheet 2 of 2 55
Epsilon Eb Digital Servo Drive Installation Manual Epsilon Drive Dimensions: Eb 202, Eb-203, Eb-205 The following table applies to A* and B* as shown in Figure 45. 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.
Specifications MG Motor Dimensions MGE-205 and 208 Motors MGE-205 and 208 Mounting Dimensions inches (mm) AG A BC AH U Max XD S Min 205 5.60 (143.0 ) 2.25 (57.2) .46 (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.
Epsilon Eb Digital Servo Drive Installation Manual MGE-316 and 340 Motors MGE-316, MGM-316, and MGM-340 Mounting Dimensions inches (mm) AG A BC AH U Max XD 316 E 7.24 (184.0) 3.31 (84.0) .44 (11.2) 1.21 (30.7) .4997 (12.69) .90 (22.9) 316 M 7.24 (183.9) 3.50 (89.0) 0.44 (11.2) 1.20 (30.5) .5512 (14.00) 0.79 (20.0) 340 10.24 (260.1) 3.50 (89.0) .44 (11.2) 1.20 (30.6) .5512 (14.000) .787 (20.
Specifications MGE-455, 490 and 4120 Motors MGE-455, 490 and 4120 Mounting Dimensions inches (mm) AG A BC AH U Max XD S Min 455 8.61 (218.7) 5.00 (127.0 ) .53 (13.5 ) 190 (48.2 ) .6245 (15.862 ) 1.50 (38.1 ) .1875 (4.763 ) 490 11.11 (282.10 ) 5.00 (127.0 ) .53 (13.5 ) 190 (48.2 ) .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.
Epsilon Eb Digital Servo Drive Installation Manual MGM-455, 490 and 4120 Motors MGE-455, 490 and 4120 Mounting Dimensions mm (inches) AG A BC AH U Max XD S Min 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) 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 ) 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 (.
Specifications NT Motor Dimensions NTE-207 Motors; 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 flat hex nut.
Epsilon Eb Digital Servo Drive Installation Manual NTM-207 Motors; Metric Face Note Mounting ears have clearance for #10 or M5 Allen head screw or .3125" or 8mm across flat hex nut.
Specifications NTE-212 Motors; English Face (NEMA 23 with 3/8 inch shaft) Note Mounting ears have clearance for #10mm or M5 Allen head screw or .3125" or 8mm across flat head screw.
Epsilon Eb Digital Servo Drive Installation Manual NTM-212 Motors; Metric Face Note Mounting ears have clearance for 10mm across flat hex nut or 13mm O.D. washer.
Specifications Cable Diagrams CMDX, CMDO, ECI44 CDRO AX4-CEN Analog In + X X X Analog In - X X X Encoder Out A X X X Drive Signal Encoder Out A/ X X X Encoder Out B X X X Encoder Out B/ X X X Encoder Out Z X X X X Encoder Out Z/ X X Pulse In A X X Pulse In 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 Pulse In B (single ended) X I/O Input Drive Enable X I/O Input #1 X I/O Input #2 X I/O Input #3 X
Epsilon Eb Digital Servo Drive Installation Manual CMDX-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).
Specifications CMDO-XXX Cable Note 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).
Epsilon Eb Digital Servo Drive Installation Manual CDRO-XXX Cable 68
Specifications AX-CEN-XXX Cable 69
Epsilon Eb Digital Servo Drive Installation Manual EIO-XXX Cable Input #1 Drive Enable 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 TIA-XXX Cable 70
Specifications DDS-XXX Cable TERM-H (Head) Terminator 71
Epsilon Eb Digital Servo Drive Installation Manual TERM-T (Tail) Terminator Note See “Multi-Drop Communications” on page 31 for resistor values.
Specifications CFCS-XXX Cable 73
Epsilon Eb Digital Servo Drive Installation Manual CFCO-XXX Cable 74
Specifications CFOS-XXX Cable 75
Epsilon Eb Digital Servo Drive Installation Manual Vendor Contact Information Schaffner (AC Line Filters) (800) 367-5566 or (201) 379-7778 www.schaffner.com Cooper Industries, Inc. Crouse-Hinds Division (Cable Shield Grommets) (315) 477-5531 www.crouse-hinds.com 76 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.
Epsilon Eb Digital Servo Drive Installation Manual Index A AC Line Filter Installation Notes, 5 AC Line Filters, 5 AC Supplies NOT Requiring Transformers, 10 AC Supplies Requiring Transformers, 11 Achieving Low Impedance Connections, 4 Analog Command Wiring, 25 AX-CEN-XXX Cable, 69 Axial/Radial Loading, 51 C Cable Diagrams, 65 Cable to Enclosure Shielding, 6 CDRO-XXX Cable, 68 CFCO-XXX Cable, 74 CFCS-XXX Cable, 73 CFOS-XXX Cable, 75 CMDO-XXX Cable, 67 CMDS-XXX Cable, 72 CMDX-XXX Cable, 66 CMMS-XXX Cable,
Epsilon Eb Digital Servo Drive Installation Manual L Pulse Mode Wiring, 27 Line Fusing, 14 R M Rebooting the Drive, 40 Resetting Faults, 40 Mechanical Installation, 8 MG Motor Dimensions, 57 MGE-205 and 208 Motors, 57 MGE-316 and 340 Motors, 58 MGE-455, 490 and 4120 Motors, 59, 60 Modbus Communications, 31 Motor Brake Specifications, 50 Motor Brake Wiring, 19 Motor Feedback Wiring, 19 Motor Mounting, 8 Motor Power Wiring, 18 Motor Weights, 50 Multi-Drop Communications, 31 N NT Motor Dimensions, 61 N
Index W Watch Window, 40 Wire Size, 14 Wiring Notes, 8 79
Epsilon Eb Digital Servo Drive Installation Manual 80
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) 397-3786 or contact our website at www.emersonct.com. Control Techniques Drives, Inc Division of EMERSON Co. 12005 Technology Drive Eden Prairie, Minnesota 55344 U.S.A.
