Emerson Epsilon Eb Digital Servo Drive- Manuals

Page 5 - Customer Service; Website and Email; Help

iii Customer Service Control Techniques 12005 Technology DriveEden Prairie, Minnesota 55344-3620U.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, frie...

Page 6 - Training Services; Document Conventions; File

iv • 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-si...

Page 7 - Note; Epsilon Only

v In addition, you will find the following typographic conventions throughout this manual. Note For the purpose of this manual and product, “Note” indicates essential information about the product or the respective part of the manual. Epsilon Only For the purpose of this manual and product, the “Eps...

Page 8 - Safety Instructions; General Warning; Reference Materials

vi 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 prod...

Page 9 - Safety Considerations; Safety Precautions; Epsilon Eb Digital Servo Drive Installation

vii 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 ener...

Page 11 - Underwriters Laboratories Listed; The “conditions of acceptability” required by UL are:; Drive Overload Protection

ix Underwriters Laboratories Listed 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...

Page 12 - CE Declaration of Conformity

x 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 ...

Page 15 - Table of Contents

xiii Reference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi Safety Considerations Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v...

Page 16 - Diagnostics and Troubleshooting

xiv Epsilon Eb Digital Servo Drive Installation Manual Modbus Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Multi-Drop Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....

Page 17 - Index

xv CMDS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72CMMS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72CFCS-XXX Cable . . . . . . . . . . . . . . ...

Page 19 - Introduction; Epsilon Eb Digital Servo Drive

1 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 ...

Page 21 - Installation; Basic Installation Notes

3 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 Consi...

Page 22 - Achieving Low Impedance Connections

4 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 frequenc...

Page 23 - AC Line Filters

5 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. Alternately, Control Techniques has also seen good result...

Page 24 - Cable to Enclosure Shielding

6 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 e...

Page 25 - Environmental Considerations

7 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 t...

Page 26 - Wiring Notes; Mechanical Installation; Drive Mounting

8 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 ...

Page 27 - Electrical Installation

9 Installation Electrical Installation Figure 4: Typical System Grounding Diagram

Page 28 - Power Supply Requirements

10 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)...

Page 29 - AC Supplies Requiring Transformers

11 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 transfor...

Page 31 - Transformer Sizing

13 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 ca...

Page 32 - Line Fusing and Wire Size

14 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. Epsilon Only This inrush current specification as...

Page 33 - Input Power Connections

15 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 ...

Page 34 - Alternate Power Supply Wiring

16 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. ...

Page 35 - APS Input Specification

17 Installation APS Input Specification 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). However the low DC bus monitoring must be di...

Page 36 - Motor Power Wiring

18 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). Stator connections...

Page 37 - Motor Feedback Wiring; Motor Brake Wiring

19 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 t...

Page 39 - Input/Output and Drive Enable Wiring

21 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 a...

Page 40 - Command Connector Wiring

22 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 C...

Page 42 - Command Cables

24 Epsilon Eb Digital Servo Drive Installation Manual Command Cables The CMDO, CMDX and CDRO cables are all cables that plug into the Command Connector. The CMDO and CMDX cables both use the same straight connector style, same color code and carry the full complement of signals available from the Co...

Page 43 - Analog Command Wiring

25 Installation Analog Command Wiring Figure 21: Analog Command, Differential Wiring Diagram Figure 22: Analog Command, Single Ended Wiring Diagram Command Connector

Page 44 - Encoder Output Signal Wiring

26 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...

Page 45 - Pulse Mode Wiring, Differential Inputs

27 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

Page 46 - Pulse Mode Wiring, Single Ended Inputs

28 Epsilon Eb Digital Servo Drive Installation Manual Pulse Mode Wiring, Single Ended Inputs Figure 27: Pulse Mode, Single Ended Output to Single Ended Input (twisted pair cable) Figure 28: Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) Common isolatedfrom other sourc...

Page 48 - Serial Communications

30 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 ...

Page 49 - Modbus Communications; Multi-Drop Communications

31 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. Control Techniques’ Motion Interface panels are supplied with a Modbus master communications...

Page 51 - Diagnostic Display; Epsilon Eb Digital Servo Drive Installation

33 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 Sto...

Page 52 - Fault Codes

34 Epsilon Eb Digital Servo Drive Installation Manual 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 Rese...

Page 53 - Fault Descriptions; Power Up Test; NVM Invalid

35 Diagnostics and Troubleshooting Fault Descriptions Power Up Test This fault indicates that the power-up self-test has failed. This fault cannot be reset with the reset command or reset button. NVM Invalid At power-up the drive tests the integrity of the non-volatile memory. This fault is generate...

Page 54 - Invalid Configuration; Drive Overtemp; Power Module; High DC Bus

36 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 Ind...

Page 55 - Encoder State; Max Following Error

37 Diagnostics and Troubleshooting 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 line...

Page 56 - “All On”; Diagnostic Analog Output Test Points; Analog Output Source options

38 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 Tech...

Page 57 - Drive Faults

39 Diagnostics and Troubleshooting Note Connecting the A.P.S. 24V return to chassis ground reduces output offset voltage. Figure 33: Diagnostic Cable (DGNE) Diagram Figure 34: Epsilon Location Drive Faults The Drive Faults Detected dialog box is automatically displayed whenever a fault occurs. There...

Page 58 - Resetting Faults; Viewing Active Drive Faults; Rebooting the Drive; Device; Watch Window

40 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 contin...

Page 59 - Tools

41 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 ...

Page 60 - Group; Clear All Button; View Motor Parameters

42 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. The groups include: Clear All Button This button is used to clear all the parameter selections that were previously selec...

Page 61 - Options and Accessories

43 Options and Accessories Epsilon Eb Digital Servo Drive Epsilon Eb Digital Servo Drive Installation Manual

Page 62 - ECI-44 External Connector Interface

44 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...

Page 65 - Specifications; Drive Specifications

47 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, 0.5...

Page 67 - Drive and Motor Combination Specifications

49 Specifications Drive and Motor Combination Specifications Amplifier Weights Eb-2023.3 lb (1.5 kg)Eb-2033.3 lb (1.5 kg)Eb-2053.7 lb (1.7 kg) *Add 1 lb for shipping. Drive Motor Cont. Torque lb-in (Nm) Peak Torque lb-in (Nm) Power HP @ Rated Speed (kWatts) Inertia lb-in-sec 2 (kg-cm 2 ) Max speed R...

Page 68 - Motor Brake Specifications; Motor Weights

50 Epsilon Eb Digital Servo Drive Installation Manual Motor Brake Specifications Motor Weights 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 M...

Page 69 - IP Ratings

51 Specifications Axial/Radial Loading Figure 42: Axial/Radial Loading IP Ratings 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 Motor Rating MG (all) IP65 NT-207 IP65 NT-207 (w/o seals) IP...

Page 70 - Encoder Specifications; Power Dissipation Calculation; Psr

52 Epsilon Eb Digital Servo Drive Installation Manual Encoder Specifications 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. Logic power losses on the Epsilon drive are 11 W with norma...

Page 71 - Speed Torque Curves

53 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 = ...

Page 75 - MG Motor Dimensions

57 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 (1...

Page 79 - NT Motor Dimensions

61 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.

Page 83 - Cable Diagrams

65 Specifications Cable Diagrams Drive Signal CMDX, CMDO, ECI- 44 CDRO AX4-CEN Analog In + X X X Analog In - X X X Encoder Out A X X X Encoder Out A/ X X X Encoder Out B X X X Encoder Out B/ X X X Encoder Out Z X X X Encoder Out Z/ X X X Pulse In A X X Pulse In A/ X X Pulse In B X X Pulse In B/ X X ...

Page 94 - Vendor Contact Information

76 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 BussmanP.O. Box 14460St. Lois, MO. ...