Emerson Epsilon Eb Digital Servo Drive Manuel d'installation

Installation ManualP/N: 400501-05Revision: A2Date: October 1, 2001© Control Techniques Drives, Inc. 2000, 2001Epsilon Eb Digital Servo Drive

viiiEpsilon Eb Digital Servo Drive Installation Manualat all times when working with or adjacent to this equipment. The installation must comply with

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

ixUnderwriters Laboratories ListedThe Epsilon Digital Servo Drives are marked with the “UL Listed” label after passing a rigorous set of design and te

xCE Declaration of ConformityThe Epsilon Digital Servo Drives are marked with the “Conformite Europeenne Mark” (CE mark) after passing a rigorous set

xiDeclaration of ConformityManufacturer’s Name:Control TechniquesManufacturer’s Address:12005 Technology DriveEden Prairie, MN 55344USADeclares that

xii

xiiiReference Materials. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viSafety

xivEpsilon Eb Digital Servo Drive Installation ManualModbus Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xvCMDS-XXX Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72CMMS-XXX Cable . . .

xviEpsilon Eb Digital Servo Drive Installation Manual

1IntroductionEpsilon Eb Digital Servo DriveThe Epsilon drives are standalone, fully digital brushless servo drives designed and built to reliably prov

2Epsilon Eb Digital Servo Drive Installation Manual• Extensive fault sensing and diagnostics, including storage and time stamping of the last ten faul

3InstallationBasic Installation NotesYou are required to follow all safety precautions during startup such as providing proper equipment grounding, co

4Epsilon Eb Digital Servo Drive Installation ManualAchieving Low Impedance ConnectionsNoise immunity can be improved and emissions reduced by making s

5InstallationAC Line FiltersThe AC line filters used during Control Techniques’ compliance testing are listed below. These filters are capable of supp

6Epsilon Eb Digital Servo Drive Installation ManualCable to Enclosure ShieldingShielded motor, feedback, serial communications, and external encoder c

7Installation Figure 3: AC Filter and Cable Connections for Epsilon DrivesEnvironmental ConsiderationsIf the product will be subjected to atmospheric

8Epsilon Eb Digital Servo Drive Installation ManualWiring Notes• To avoid problems associated with EMI (electromagnetic interference), you should rout

9InstallationElectrical Installation Figure 4: Typical System Grounding Diagram

10Epsilon Eb Digital Servo Drive Installation ManualPower Supply RequirementsThe examples below show AC power connections for single phase and three p

11Installation Figure 5: Earth Grounded WYE Distribution Transformer Figure 6: Earth Grounded Delta Distribution TransformerAC Supplies Requiring Tran

Information furnished by Control Techniques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is as

12Epsilon Eb Digital Servo Drive Installation Manual Figure 7: Three Phase Delta (with mid-phase GND) Distribution to a Three-Phase Delta/WYE Isolatio

13Installation Figure 10: Single Phase Power Supply ConnectionsTransformer SizingIf your application requires a transformer, use the following table f

14Epsilon Eb Digital Servo Drive Installation ManualLine Fusing and Wire SizeYou must incorporate over current protection for the incoming AC power wi

15InstallationInput Power Connections Epsilon OnlyPower must be "Off" for a minimum of 6 minutes for the Epsilon drive before unplugging the

16Epsilon Eb Digital Servo Drive Installation Manual Figure 12: Epsilon Auxiliary Power Supply Wiring DiagramAlternate Power Supply WiringAn Alternate

17InstallationAPS Input SpecificationUsing the APS supply input to power the drive logic and motor encoder allows the drive bus to operate at DC volta

18Epsilon Eb Digital Servo Drive Installation Manual Figure 13: Multiple APS Wiring DiagramMotor Power WiringMotors are equipped with up to three male

19InstallationNoteThe motor ground wire and shields must be run all the way back to the amplifier terminal and must not be connected to any other cond

20Epsilon Eb Digital Servo Drive Installation Manual Figure 16: Epsilon Brake Wiring Diagram using the Command Connector Figure 17: Epsilon Brake Wiri

21InstallationInput/Output and Drive Enable WiringDrives are equipped with five optically isolated input lines (one is dedicated to a drive enable fun

ii© Control Techniques Drives, Inc. 2000, 2001Part Number: 400501-05Revision: A2Date: October 1, 2001Printed in United States of AmericaInformation in

22Epsilon Eb Digital Servo Drive Installation Manual Figure 19: Epsilon I/O to Command Connector Internal ConnectionsNoteIf loads are applied to the s

23Installation(ECI-44) which provides a convenient screw terminal connection strip. Connect one end of the CMDX command cable to your drive and the ot

24Epsilon Eb Digital Servo Drive Installation ManualCommand CablesThe CMDO, CMDX and CDRO cables are all cables that plug into the Command Connector.

25InstallationAnalog Command Wiring Figure 21: Analog Command, Differential Wiring Diagram Figure 22: Analog Command, Single Ended Wiring DiagramComma

26Epsilon Eb Digital Servo Drive Installation ManualEncoder Output Signal WiringThe Epsilon drive encoder outputs meet RS-422 line driver specificatio

27InstallationPulse Mode Wiring, Differential Inputs Figure 25: Pulse Mode, Differential Output to Differential Input Figure 26: Pulse Mode, Single En

28Epsilon Eb Digital Servo Drive Installation ManualPulse Mode Wiring, Single Ended Inputs Figure 27: Pulse Mode, Single Ended Output to Single Ended

29Installation Figure 29: Master/Slave Encoder ConnectionsNoteEpsilon encoder outputs meet RS-422 driver specifications and can drive up to 10 RS-422

30Epsilon Eb Digital Servo Drive Installation ManualSerial CommunicationsSerial communications with the drive is provided through the female DB-9 conn

31InstallationModbus CommunicationsThe drive’s serial communication protocol is Modbus RTU slave with a 32 bit data extension. The Modbus protocol is

iiiCustomer ServiceControl Techniques12005 Technology DriveEden Prairie, Minnesota 55344-3620U.S.A.Telephone: (952) 995-8000 or (800) 397-3786It is Co

32Epsilon Eb Digital Servo Drive Installation Manual Figure 32: Multi-Drop Wiring Pinout+ 50 V6187345621987RX (232)TX (232)Ground345621987Computer3456

33Diagnostics and TroubleshootingDiagnostic DisplayThe diagnostic display on the front of the drive shows drive status and fault codes. When a fault c

34Epsilon Eb Digital Servo Drive Installation ManualFault CodesA number of diagnostic and fault detection circuits are incorporated to protect the dri

35Diagnostics and TroubleshootingFault DescriptionsPower Up Test This fault indicates that the power-up self-test has failed. This fault cannot be res

36Epsilon Eb Digital Servo Drive Installation ManualInvalid Configuration Epsilon OnlyThis fault will occur if the digital board in the drive does not

37Diagnostics and TroubleshootingEncoder StateCertain encoder states and state transitions are invalid and will cause the drive to report an encoder s

38Epsilon Eb Digital Servo Drive Installation ManualTravel Limit +/- This fault is caused when either the + or - Travel Limit input function is active

39Diagnostics and TroubleshootingNoteConnecting the A.P.S. 24V return to chassis ground reduces output offset voltage. Figure 33: Diagnostic Cable (D

40Epsilon Eb Digital Servo Drive Installation Manual Figure 35: Drive Faults Detected Dialog BoxResetting FaultsSome drive faults are automatically re

41Diagnostics and TroubleshootingNoteIt is normal to have the Watch Window show up with the three motor parameters already selected if the motor para

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. Nee

42Epsilon Eb Digital Servo Drive Installation ManualGroupThis list box enables you to view the complete list of parameters or just a group of paramete

43Options and AccessoriesEpsilon Eb Digital Servo DriveEpsilon Eb Digital Servo Drive Installation Manual

44Epsilon Eb Digital Servo Drive Installation ManualECI-44 External Connector InterfaceThe ECI-44 allows access to all command and input and output si

45Options and AccessoriesSTI-EIO InterfaceThe STI-EIO interface allows access to all digital input and output signals. The STI-EIO mounts directly to

46Epsilon Eb Digital Servo Drive Installation Manual Figure 41: ECI-44 Signal Connections+ 15 V, 10 mAEN V+(Connector shelland strain reliefpoints)NC2

47SpecificationsDrive SpecificationsEpsilon SeriesPower Requirements42 - 264 VAC, 1 Ø, 47 - 63 Hz 240 VAC for rated performance or 12 - 375 VDC when u

48Epsilon Eb Digital Servo Drive Installation ManualEncoder Output SignalDifferential line driver, RS-422 and TTL compatibleScalable in one line incre

49SpecificationsDrive and Motor Combination SpecificationsAmplifier WeightsEb-2023.3 lb (1.5 kg)Eb-2033.3 lb (1.5 kg)Eb-2053.7 lb (1.7 kg)*Add 1 lb fo

50Epsilon Eb Digital Servo Drive Installation ManualMotor Brake Specifications Motor WeightsMotorHolding Torque lb-in (Nm)Added Inertia lb-in-sec2 (kg

51SpecificationsAxial/Radial Loading Figure 42: Axial/Radial LoadingIP RatingsMotor Max Radial Load (lb.) Max. Axial Load (lb.)MGE-205 20 15MGE-208 20

vIn addition, you will find the following typographic conventions throughout this manual. NoteFor the purpose of this manual and product, “Note” indic

52Epsilon Eb Digital Servo Drive Installation ManualEncoder SpecificationsPower DissipationIn general, the drive power stages are 90 to 95 percent eff

53SpecificationsTPL = Total power losses (Watts)TRMS = RMS torque for the application (lb-in)Vmax = Maximum motor speed in application (RPM)Pld = Logi

54Epsilon Eb Digital Servo Drive Installation Manual Figure 43: Epsilon Speed Torque Curves, sheet 1 of 2

55Specifications Figure 44: Epsilon Speed Torque Curves, sheet 2 of 2

56Epsilon Eb Digital Servo Drive Installation ManualEpsilon Drive Dimensions: Eb 202, Eb-203, Eb-205The following table applies to A* and B* as shown

57SpecificationsMG Motor DimensionsMGE-205 and 208 MotorsMGE-205 and 208 Mounting Dimensions inches (mm)AG A BC AHU MaxXD S Min2055.60(143.0)2.25(57.2

58Epsilon Eb Digital Servo Drive Installation ManualMGE-316 and 340 MotorsMGE-316, MGM-316, and MGM-340 Mounting Dimensions inches (mm)AG A BC AH U Ma

59SpecificationsMGE-455, 490 and 4120 MotorsMGE-455, 490 and 4120 Mounting Dimensions inches (mm)AG A BC AH U Max XD S Min4558.61(218.7)5.00(127.0).53

60Epsilon Eb Digital Servo Drive Installation ManualMGM-455, 490 and 4120 Motors MGE-455, 490 and 4120 Mounting Dimensions mm (inches) AG A BC AH U Ma

61SpecificationsNT Motor DimensionsNTE-207 Motors; English Face (NEMA 23 with 3/8 inch shaft)NoteMounting ears have clearance for #10 or M5 Allen head

viSafety InstructionsGeneral WarningFailure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product

62Epsilon Eb Digital Servo Drive Installation ManualNTM-207 Motors; Metric FaceNoteMounting ears have clearance for #10 or M5 Allen head screw or .312

63SpecificationsNTE-212 Motors; English Face (NEMA 23 with 3/8 inch shaft)NoteMounting ears have clearance for #10mm or M5 Allen head screw or .3125&q

64Epsilon Eb Digital Servo Drive Installation ManualNTM-212 Motors; Metric FaceNoteMounting ears have clearance for 10mm across flat hex nut or 13mm

65SpecificationsCable DiagramsDrive SignalCMDX, CMDO, ECI-44CDRO AX4-CENAnalog In + X X XAnalog In - X X XEncoder Out A X X XEncoder Out A/ X X XEncod

66Epsilon Eb Digital Servo Drive Installation ManualCMDX-XXX CableNoteSome CMDX cables may have White/Yellow and Yellow/White wires in place of the Wh

67SpecificationsCMDO-XXX CableNoteSome CMDO cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown in

68Epsilon Eb Digital Servo Drive Installation ManualCDRO-XXX Cable

69SpecificationsAX-CEN-XXX Cable

70Epsilon Eb Digital Servo Drive Installation ManualEIO-XXX CableTIA-XXX CableInput #1Drive Enable InputInput #3Input #2Input #5Input #4Input #7Input

71SpecificationsDDS-XXX CableTERM-H (Head) Terminator

viiSafety ConsiderationsSafety PrecautionsThis product is intended for professional incorporation into a complete system. If you install the product i

72Epsilon Eb Digital Servo Drive Installation ManualTERM-T (Tail) Terminator NoteSee “Multi-Drop Communications” on page 31 for resistor values.CMDS-X

73SpecificationsCFCS-XXX Cable

74Epsilon Eb Digital Servo Drive Installation ManualCFCO-XXX Cable

75SpecificationsCFOS-XXX Cable

76Epsilon Eb Digital Servo Drive Installation ManualVendor Contact InformationSchaffner (AC Line Filters)(800) 367-5566 or (201) 379-7778 www.schaffne

77IndexAAC Line Filter Installation Notes, 5AC Line Filters, 5AC Supplies NOT Requiring Transformers, 10AC Supplies Requiring Transformers, 11Achievin

78Epsilon Eb Digital Servo Drive Installation ManualLLine Fusing, 14MMechanical Installation, 8MG Motor Dimensions, 57MGE-205 and 208 Motors, 57MGE-31

79IndexWWatch Window, 40Wire Size, 14Wiring Notes, 8

80Epsilon Eb Digital Servo Drive Installation Manual