Emerson Epsilon EP Drive 400518-01- Manuals
Emerson Epsilon EP Drive 400518-01– Installation Manual in PDF format online.
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Installation Manual Emerson Epsilon EP Drive 400518-01
Summary
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 an...
iii Customer Support Control Techniques Americas LLC 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A.Telephone: (952) 995-8000 or (800) 893-2321It is Control Techniques’ goal to ensure your greatest possible satisfaction with the operation of our products. We are dedicated to providi...
iv Need on-site help? Control Techniques provides service, in most cases, the next day. Just call Control Techniques’ technical support center when on-site service or maintenance is required. Training Services (952) 995-8000 or (800) 893-2321 Email: [email protected]Control Techniques maintains a hi...
Safety Information v 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, i...
vi Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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 Epsil...
Safety Information vii Safety Information Product Overview Installation Diagnostics Options and Accessories Specification 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 U...
viii Safety Information Product Overview Installation Diagnostics Options and Accessories 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 ...
Safety Information ix Safety Information Product Overview Installation Diagnostics Options and Accessories 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 criteri...
xi Customer Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiReference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv Safety Informati...
xii DC Logic Power Supply Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Motor Feedback Wiring (J6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33Motor Brake Wiring . . . . . . . . . . . . . . . ....
Product Overview 1 Safety Information Product Overview Installation Diagnostics Options and Accessories 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 w...
2 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 2: Epsilon EP216 Drive Feature Location Epsilon EP drives are rated at 240 Vac input voltage and can operate with an input voltage from 20 Vac to 264 Vac. The EP drives are available in five c...
Installation 3 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 pa...
4 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification resistance to prevent loss through corrosion that will hinder the low impedance connection. Enclosure manufacturers offer corrosion resistant, unpainted mounting plates to help.Bringing components in...
6 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Panel Layout Figure 3: AC Filter and Cable Connections External Encoder Customer suppliedterminal strip (optional)Connect shield through and to mounting plate Motor Feedback Cable Motor Power Cable B...
Installation 7 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. ...
8 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 Tec...
10 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification The following table applies to the "A" dimension as shown in figure 6 for the EP202 - EP206 programming drives. Figure 6: Mechanical Drawing for Epsilon EP202-206 Programming Drive To preven...
Installation 11 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification The following table applies to the minimum panel width for the EP209 drive. Figure 7: Mechanical Drawing for All Epsilon EP209 Models (EP209-PDN shown) To prevent drive from dropping ou...
12 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification The following table applies to the minimum panel width for the EP216 drive. Figure 8: Mechanical Drawing for All Epsilon EP216 Models (EP216-PDN shown) To prevent drive from dropping out of position...
Installation 13 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 recommend...
14 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification AC Power Requirements The Epsilon EP drives require 20 Vac to 264 Vac single phase power but, may operate on DC supplies, (See Operation on DC Supply). An Epsilon EP drive can be connected to any pa...
Installation 15 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 11: Earth Grounded Delta Distribution Transformer, 240 Vac 3 Ø Figure 12: Three Phase Delta (with mid-phase GND) Distribution,120 Vac split/240 Vac 3Ø supply AC Supplies Requirin...
16 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 13: Three-Phase WYE (ungrounded) Distribution to a Three-Phase Delta/WYE Isolation Transformer Figure 14: Three-Phase Delta (ungrounded) Distribution to a Three-Phase Delta Isolation Transfor...
Installation 17 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 15: Grounded WYE Distribution >140 Vac Phase to Neutral. Recommend Using Step Down Transformer so Line to Line is 240 Vac or less. Figure 16: Single Phase Power Supply Connect...
18 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Line Fusing and Wire Size You must incorporate over current protection for the incoming AC power with the rating shown here. The drive alone does not provide branch circuit protection. Branch circui...
Installation 19 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification This inrush current specification assumes the drive has been powered off for at least 8 minutes at 40ºC (104ºF) ambient or 5 minutes at 25ºC (77ºF) ambient. If this amount of time has n...
20 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 17: Epsilon EP202-206 AC Power Wiring Diagram Figure 18: Epsilon EP209 AC Power Wiring Diagram EP204-I00-00009606XX-XX A1SN 0610E014 Front View 24 Vdc R S T MOT OR L1 L2 PE 50/60 Hz 90-264 Va...
Installation 21 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 19: Epsilon EP216 AC Power Wiring Diagram Operation on DC Input Supply At this time, the EP drive is NOT UL listed for operation on a DC input supply, The Epsilon EP202, EP204 an...
22 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification External Shunt Electrical Installation The EP204, EP206, EP209, and EP216 drives provide an internal shunt transistor to direct regen energy to an external shunt or braking resistor. The resistor is...
24 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Motor Power Wiring The following paragraphs provide details of motor connections. When motor power cables are long, 100ft. [30 m], a ferrite (Control Techniques p/n 157016-13, Steward p/n 28A3851-0A...
Installation 25 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 23: EP216 Ferrite Placement with Cable Lengths Longer Than 100 FT. R S T MOT OR L1 L2 L3 PE Motor Power Connections R S T Ground Connector Shell Ferrite Front View
26 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification NT and MG Motors NT and MG motors are equipped with up to three male MS (Military Standard) connectors, one for stator connections, one for encoder connections and one for the brake (if so equipped)...
Installation 27 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 25: Epsilon EP209 - NT/MG Motor Power Wiring Diagram Figure 26: Epsilon EP216 - NT/MG Motor Power Wiring Diagram NT or MG Motor Power Connection R S T Ground Connector Shell Brow...
28 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).Stator con...
Installation 29 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 29: Epsilon EP216 - XV 40 mm - 80 mm Motor Power Wiring Diagram The XV 130 mm motors have two MS (Military Standard) connectors, one for the stator connections and one for the en...
30 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 31: Epsilon EP209 - XV 130 mm Motor Power Wiring Diagram Figure 32: Epsilon EP216 - XV 130 mm Motor Power Wiring Diagram XVM 130M Motor Power Connection U V W Ground Connector Shell D B C A B...
Installation 31 Safety Information Product Overview Installation Diagnostics Options and Accessories 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 ...
32 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 34: Logic Power Supply Wiring Diagram for EP209 Drive Figure 35: Logic Power Supply Wiring Diagram for EP216 Drive 24 Vdc Logic Power Supply (User Supplied) 24 Vdc24 V RTN Single point PE gro...
Installation 33 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification For UL applications, the logic power supply must be a UL recognized or UL listed limited voltage/limited energy or limited voltage/limited current supply, or a limited voltage supply wi...
34 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification NT/MG Motor Figure 36: Motor Encoder Feedback Connector Pinout XV 40-80 mm Motor Figure 37: Motor Encoder Feedback Connection For XV 40-80 mm Motors NT or MG Motor Blue Orange GreenBrown Black Yello...
Installation 35 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification XV 130 mm Motor Figure 38: Motor Encoder Feedback Connection For XV 130 mm Motors Motor Brake Wiring The NT and MG motors equipped with brakes have a three-pin MS style connector. The b...
36 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 39: Epsilon EP to NT or MG Motor Brake Wiring Diagram Figure 40: Epsilon EP/XV 40-80 mm Motor Brake Wiring Diagram EP204-I00-00009606XX-XX A1SN 0610E014 motor logic +_ L1 L2 PE R S T digital ...
Installation 37 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 41: Epsilon EP/XV 130 mm Motor Brake Wiring Diagram Input/Output and Drive Enable Wiring The Epsilon EP-B drive is equipped with 5 optically isolated input lines (one is dedicate...
Installation 39 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 43: I/O Connector (J3) Functions Figure 44: STI-24IO Interface Board Input Line 5 Input Line 7 7 8 9 5 6 4 3 1 2 16 17 18 14 15 13 12 10 11 25 26 23 24 22 21 19 20 Input Line 1 I...
42 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 b...
Installation 43 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Analog Command Wiring Figure 49: Analog Command, Differential Wiring Diagram Figure 50: Analog Command, Single Ended Wiring Diagram Encoder Output Signal Wiring The encoder outputs meet...
44 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 51: Analog/Sync Output Connector (J5) Encoder Output Wiring Figure 52: Direction Convention Diagram If the external controller does not have an internal terminating resistorR1, R2 and R3 must...
Installation 45 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Pulse Mode Wiring, Differential Inputs Figure 53: Pulse Mode, Differential Output to Differential Input Figure 54: Pulse Mode, Single Ended Output to Differential Input = Twisted Pair I...
46 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Pulse Mode Wiring, Single Ended Inputs Figure 55: Pulse Mode, Single Ended Output to Single Ended Input (twisted pair cable) Figure 56: Pulse Mode, Single Ended Output to Single Ended Input (non-twi...
Installation 47 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 57: Pulse/Pulse Mode, Single Ended Output to Single Ended Input (non-twisted pair cable) Figure 58: Master/Slave Encoder Connections Encoder outputs meet RS-422 driver specificat...
48 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 c...
Installation 49 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 59: Epsilon EP Serial Communication Connector Figure 60: 2 Epsilon Drives Daisy Chained Together When connecting the serial port of your PC to the serial port of the drive, verif...
50 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. Ethern...
Diagnostics and Troubleshooting 51 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 cond...
52 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some faults, like high DC bus and drive or motor over temperature, can be reset with the Reset ...
54 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Fault Descriptions Flash Invalid This fault indicates that the firmware checksum has failed. From the Tools>Program Flash menu in PowerTools Pro the firmware stored in flash memory can be reprogr...
56 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) ar...
Diagnostics and Troubleshooting 57 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 ...
58 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 61: 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...
Options and Accessories 59 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Options and Accessories Epsilon EP Drive Options Figure 62: Epsilon EP-P Drive shown with Options EP204-IDN-EN009606XX-XX A1SN 0610E014 l ink ac t et her n et ( J4 ) Epsilon ...
60 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 6...
Options and Accessories 61 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 p...
62 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 ...
Options and Accessories 63 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...
Specifications 65 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Specifications Epsilon EP Specifications Epsilon EP Series Power Requirements (240 Vac for rated performance) Model AC Power DC Power (UL Pending) EP202 20 Vac-264 Vac, 1 Ø, 47-63 Hz ...
Specifications 69 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Epsilon EP Drive Dimensions The following table applies to A* and B* as shown in Figure 67 below. Figure 67: Dimensional Drawing for the Epsilon EP202 through EP206 Drives Drive Model...
70 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 68: Dimensional Drawing for all Epsilon EP209 Drives EP209-XXX-XX00 9606XX-XX A1 SN 0610E014 5.23 [132.84] 5.86 [148.85] 5.94 [150.88] 9.60 [243.84] 0.20 [5.08] 9.20 [233.68] 2.69 [68.33] 3.4...
Specifications 71 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Figure 69: Dimensional Drawing for all Epsilon EP216 Drives 9.60 [243.84] 9.20 [233.68] 3.40 [876.9] 1.03 [26.16] 1.20 [30.48] 5.96 [151.38] 5.23 [132.84] 3.50 [88.0] Cable Clearence ...
72 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Cable Diagrams EIO26-XXX EI O PIN 1 0.770 1.530 SOLDER SIDE Socket 20 19 24 22 21 23 26 25 1 2 3 4 6 5 8 7 9 11 10 15 13 12 14 17 16 18 17 6 24 25 26 9 23 16 15 5 14 18 20 19 8 3 4 7 13 2 12 1 11 10...
Specifications 73 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification XV Motor Cables XTMDS-XXX PIN 1 GRN/YEL BRN BLK BLU 2 3 4 1 BRAID SHIELD FORM WIRE R S T PE/GND 1 3 2 4 REAR VIEW OF CONNECTOR
76 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification XTBMS-XXX RED BLK DRAIN WIRE 1 2 0V +24V PIN 1 1 2 REAR VIEW OFCONNECTOR
Specifications 79 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification NT and MG Motor Cables CMDS-XXX CMMS-XXX 3 3/4" MAX. 1 1/2" MAX. F C SOLDER SIDE E D BLKBLU A G H B SHELL C B GRN/YELBRN A D 1 1/2" MAX. C BLU SOLDER SIDE D E G F C B A SH...
82 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Sync Cables SNCDD-915-XXX SNCFLOA-XXX ORG RED P BRN BLK GRN YEL PUR BLU 8 P 3 11 10 2 1 9 P P Drain Wire A Z A GND Z B B 7 4 8 1 2 3 5 6 Pin 7 SOLDER SIDE 9 8 5 3 4 6 2 1 Pin 10 SOLDER SIDE 12 11 5 ...
Specifications 85 Safety Information Product Overview Installation Diagnostics Options and Accessories Specification Communications Cables ESA-SP-485-XXX ETH-PATCH-XXX 14 14 1 3 15 15 2 5 17 17 4 19 19 6 18 18 16 16 20 20 8 7 22 22 9 21 21 23 23 11 11 13 13 12 12 25 25 24 24 10 10 8 4 5 1 3 7 2 6 BL...
87 Index A AC Line Filter Installation Notes , 8 AC Line Filters , 7 AC Supplies NOT Requiring Transformers , 14 AC Supplies Requiring Transformers , 15 Achieving Low Impedance Connections , 3 Analog Command Wiring , 43 B Basic Installation Guidelines , 3 C Cable Diagrams , 72 Cable to Enclosure Shi...
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